CN102085087B - Three-dimensional electronic esophagoscope system and using method thereof - Google Patents
Three-dimensional electronic esophagoscope system and using method thereof Download PDFInfo
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- CN102085087B CN102085087B CN201110033399XA CN201110033399A CN102085087B CN 102085087 B CN102085087 B CN 102085087B CN 201110033399X A CN201110033399X A CN 201110033399XA CN 201110033399 A CN201110033399 A CN 201110033399A CN 102085087 B CN102085087 B CN 102085087B
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Abstract
The invention belongs to a medical appliance and particularly relates to a three-dimensional electronic esophagoscope system. The three-dimensional electronic esophagoscope system comprises a soft electronic esophagoscope, wherein the soft electronic esophagoscope comprises a soft work end; the soft work end is provided with a multi-charge-coupled device (CCD) array module which performs three-dimensional scanning and shooting, displays a panoramic three-dimensional image and reconstructs the three-dimensional image of an esophagus; and the multi-CCD array module comprises at least one first CCD array which is arranged on the front end face of a tip end of the soft work end and at least one second CCD array which is arranged on the excircle surface of the tip end of the soft work end. The three-dimensional electronic esophagoscope system performs annular and linear image shooting on an esophagus body to acquire the three-dimensional image of the esophagus, transmits detected data to a processing host, performs centralized processing and reconstruction, and reproduces a three-dimensional environment in the esophagus. The three-dimensional image of the esophagus has practical significance to doctors who observe internal lesions of the esophagus at multiple angles, research the environment of the esophagus, and formulate the most reasonable and effective treatment scheme.
Description
Technical field
The invention belongs to medical equipment, be specifically related to a kind of 3 D stereo electronics esophagoscope system that utilizes many ccd array to carry out stereoscopic image reconstruct.
Background technology
CCD (Charge-Coupled Device, charge-coupled image sensor) is a kind of important component part that can be used for stereoscopic camera.It is a kind of photosensitive semiconductor device, and the photosensitive unit on it converts the light that receives into the quantity of electric charge, and quantity of electric charge size is directly proportional with the incident light intensity.The technology of ccd image sensor is very ripe, can be spliced into the array of Any shape as required.Company of Fuji in 1999 releases super CCD technology, with the situation of common CCD equal area and photosensitive unit number under, its resolution raising 60%; Dynamic range improves 130%; Color reproducibility improves 40%, and energy consumption descends 40%, has further improved the function of CCD.The photosensitive unit size of CCD is constantly reducing; At present there has been the photosensitive unit size of report to be merely 0.5 μ m; Got into the submicron epoch, CCD will further develop round aspects such as high-resolution, high reading speed, low cost, microminiaturization, structure optimization, multispectral application and 3D photograph.But the area array CCD sensed image that the photosensitive unit of arranged constitutes.CCD is widely used in digital camera and the DV now, also in astronomical telescope, scanner and barcode reader, application is arranged simultaneously." Chang'e-2 " uses 96 line ccd array that same target is sampled, and all adds up signal at last.The target that very dark target, resolution are very high, " Chang'e-2 " can both break forth, and its resolution can reach 1 meter.
Present employed endoscope; Can be divided into monocular and binocular, monocular endoscope is by an optical system imaging, and the doctor can directly use eyes to observe through the eyepiece end; But owing to be monocular instrumnent; Can only obtain the image of an angle of object, just as using single eyes to see the effect of object, object lacks third dimension and distance perspective.The doctor uses monocular endoscope to undergo surgery, because monocular instrumnent becomes planar image, lacks spatial perception, so need to rely on doctor's technical merit.
Some stereo endoscope, use be the binocular structure, its endoscope distal end can be a camera lens or two camera lenses; The image of object is through the output of two eyepieces, and the doctor can observe the stereoscopic image with the human eye similar object through binocular, also can be through connecting particular processing main frame and display; Processing through processing host; Can in display, show spatial image, but this image also is single angle, has certain limitation.Though the binocular stereo endoscope can obtain the stereoperception of similar eye-observation object; But because the limitation of human body cavity; The three-dimensional overall picture that can not reflect the whole surgery zone three-dimensionally; So the doctor will receive visual restriction when using existing scope to undergo surgery, for the cure rate of carrying out and improve disease of performing the operation certain restriction is arranged.
In the prior art, also the ccd array notion is not combined application with esophagoscope, therefore,, design a kind of that many ccd array technology are extremely urgent with the bonded endoscopic technic of esophagoscope in order to obtain in the esophageal lumen 3 D stereoscopic image clearly.
Summary of the invention
The present invention has overcome shortcoming of the prior art; A kind of 3 D stereo electronics esophagoscope system is provided; Can in operation process, carry out stereoscopic three-dimensional reconstruct, help medical personnel to understand the intracavity lesion situation, the better pictures foundation is provided for formulating processing scheme to the esophagus road.
In order to solve the problems of the technologies described above, the present invention realizes through following technical scheme:
A kind of 3 D stereo electronics esophagoscope system; Comprise soft electronics esophagoscope; This soft electronics esophagoscope comprises soft work end; This soft work end is provided with carries out 3 D stereo scanning shoot, demonstration panorama three-dimensional image; And many ccd array module that esophagus is carried out stereoscopic image reconstruct, said many ccd array module comprises at least one first ccd array of being located at this soft work end tip portion front end face, and at least one second ccd array of being located at soft work end tip portion outer round surface.
Further, the first end outer circumference surface of said soft work end is arranged with the rotating ring carrier, and said second ccd array is located on this rotating ring carrier, and the front end face of said first end and rotating ring carrier are provided with range finder.
Further, said soft work end also is provided with instrument channel, and its internal diameter is smaller or equal to 3.0mm.
Further, said first ccd array comprises 2 CCD elements at least, the corresponding set of shots of each CCD element.
Further, said second ccd array comprises one group of ccd array at least, and one group of ccd array comprises at least 2 CCD elements and corresponding camera lens, at least 90 ° of the angles of visual field of every set of shots.
Further, the external diameter of said soft work end is smaller or equal to 20mm, and its tip minister degree is 8-12mm.
Further, said soft work end is provided with air bag, and the diameter of this air bag work is smaller or equal to 200mm.
Further, also comprise the external stability support, this external stability support comprises accurate mobile device, support and stationary fixture, and this precision mobile device is through motor-driven, and this precision mobile device is affixed through support, stationary fixture and said soft work end.
Further, said soft electronics esophagoscope also is connected with the processing host that deal with data is used, and the work station assembly, and said work station assembly is connected through data wire with processing host, and the work station assembly comprises monitor, work station main frame and control assembly.
Further; High speed central processing unit and high-performance video card are adopted in the core of said processing host; Be used to receive and handle the packet that the data of image information that soft electronics esophagoscope returns and range finder are formed; Through the various data of analytical data bag, the cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.
Further, the method for using of 3 D stereo electronics esophagoscope system:
(1) the soft work end of soft electronics esophagoscope imports in patient's mouth, slowly gets into esophagus;
(2) scanning shoot that through many ccd array module esophagus is carried out straight line and rotation promptly carries out the 3 D stereo scanning shoot, shows the panorama three-dimensional image and esophagus is carried out stereoscopic image reconstruct esophagus simultaneously.
Compared with prior art, the invention has the beneficial effects as follows:
The present invention carries out annular and linear filming image to the food pipe body; The integrated treatment of treated main frame obtains the 3 D stereoscopic image in esophagus road, and the transfer of data of measuring is focused on reconstruct to handling main frame; Reappear the three-dimensional environment in the esophagus road; The stereo-picture in esophagus road is observed its intrinsic pathological changes and is studied its environment with multi-angle for the doctor, formulates rational and effective processing scheme, has practical significance.
Description of drawings
Below in conjunction with the accompanying drawing and the specific embodiment the present invention is done further detailed explanation.
Fig. 1 is a 3 D stereo electronics esophagoscope system schematic of the present invention;
Fig. 2 a is the structure chart of soft electronics esophagoscope of the present invention;
Fig. 2 b is the structure chart of soft electronics esophagoscope of the present invention;
Fig. 3 is the first end sketch map of soft electronics esophagoscope of the present invention;
Fig. 4 is first end many ccd array module generalized section of soft electronics esophagoscope of the present invention;
Fig. 5 is the external stability supporting structure sketch map of 3 D stereo electronics esophagoscope of the present invention system;
Fig. 6 is the clinical practice sketch map of 3 D stereo electronics esophagoscope of the present invention system.
The specific embodiment
As shown in Figure 1; 3 D stereo electronics esophagoscope of the present invention system comprises soft electronics esophagoscope 1, external stability support 2, processing host 3, light source main frame 5, work station assembly etc., and the work station assembly comprises work station main frame 4; Control assembly 6, monitor 7 and external equipment 8 etc.High speed central processing unit and high-performance video card are adopted in the core of processing host 3; Be used to receive and handle the packet that the data of image information that soft electronics esophagoscope returns and range finder are formed; Various data through the analytical data bag; The cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.Work station assembly and processing host 3 are connected through data wire, and the work station assembly comprises monitor, main frame, control assembly (keyboard and mouse etc.), external equipment (external storage, printer etc.).The function of work station assembly is the three-dimensional image of display process main frame output, analysis, storage data and printing related data etc.
Fig. 2 a is the structure chart of soft electronics esophagoscope of the present invention, and soft electronics esophagoscope 1 comprises soft work end 11, control handgrip part 13, data connector end 15, instrument channel 12 etc., and its instrument channel 12 internal diameters are smaller or equal to 3.0mm.The soft fibre material manufacture is adopted in the soft work end 11 of soft electronics esophagoscope 1, and its front end has initiatively crooked function, and control assembly 131 is arranged on control handgrip part 13.Certain gripping pressure can be born in soft work end 11; The stationary fixture 23 of external stability support 2 cooperates with soft work end 11; Can control soft work end 11 with certain speed motion, cooperate many ccd array module (151,152,153,154) of first end to carry out the scanning shoot in esophagus road 9.The soft work end 11 of soft electronics esophagoscope 1, external diameter are smaller or equal to 20mm, and its front end 10mm is first end, and first end is designed with many ccd array module (151,152,153,154), optical fibers part 159, instrument channel outlet 131.Consult Fig. 2 b, first end is designed an air bag 14 at the back, and the diameter of air bag 14 work is smaller or equal to 200mm, and its effect is the fixing position of soft electronics esophagoscope 1 in esophagus road 9, for the scanning shoot that carries out esophagus road 9 creates conditions.
Be illustrated in figure 3 as the first end sketch map of soft electronics esophagoscope 1 of the present invention.The first end of soft electronics esophagoscope 1 is designed with the more ccd array module (151,152,153,154), optical fibers part 159 and air bag 14; Optical fibers part 159 provides soft electronics esophagoscope 1 front end and circular end surface to observe necessary brightness, and the maximum gauge after air bag 14 inflations is smaller or equal to 100mm.
Like Fig. 4; In conjunction with shown in Figure 3 be the first end sketch map and the profile of soft electronics esophagoscope 1 of the present invention; Described the more ccd array module; First ccd array 151 and range finder 152 that comprises the tip end surface, second ccd array 153 and the range finder 154 thereof of first end outer round surface.First ccd array 151 of tip end surface, its internal structure is minimum to comprise 2 CCD elements, the CCD element linear is arranged; The corresponding set of shots of each CCD; Can partly form images to same intracavity simultaneously, at least 90 ° of the angles of visual field of every set of shots, ccd array has per second at least and takes 5 speed.Range finder 152 utilizes the principle of reflection of laser or sound wave etc., and cavity distance, the degree of depth are carried out Determination of distance.The operating frequency of range finder 152 is consistent with the operating frequency of ccd array, guarantees data sync, is beneficial to and carries out stereo reconstruction.Second ccd array 153 of elder generation's end outer round surface; At least comprise one group of ccd array, one group of ccd array comprises at least 2 CCD elements and corresponding camera lens, can partly form images to same intracavity simultaneously; At least 90 ° of the angles of visual field of every set of shots, ccd array have per second at least and take 5 speed.Range finder of appropriate location configuration of one group of ccd array, its operating frequency is consistent with the operating frequency of ccd array, guarantees data sync, is beneficial to carry out stereo reconstruction.Second ccd array 153 is installed on the rotating ring carrier 155 that can rotate with work end 11 main shafts; The CCD filming image that can be rotated cavity; The speed of rotating ring carrier 155 rotations and the movement velocity of external stability support 2 are proportional, carry out the seamless combination of multi-angle to guarantee the intravital image energy in chamber.First ccd array 151 of tip end surface is a fixed form with range finder 152, minimum 90 ° of the angle of visual field of first ccd array 151, and its effect mainly is a 3-D view of taking the scope front end; What second ccd array 153 and the range finder 154 of elder generation's end outer round surface was installed in scope elder generation end can be on the rotating ring carrier 155 of scope work end main axis rotation; Rotating ring carrier 155 is through the fixed mechanism 158 of matching and fixing in scope inside; Can carry out level and smooth relative rotary motion with fixed mechanism 158; The data of second ccd array 153 and range finder 154 also transfer to processing host through suitable transmission means through data wire 156; The power of rotating ring carrier 155 comes from the micromotor 157 of scope elder generation end, through drive mechanism the energy of rotating ring carrier around fixed mechanism 158 rotations is provided.
Be illustrated in figure 5 as the structure diagram of external stability support 2 according to the invention.The effect of external stability support 2 is to cooperate soft electronics esophagoscope 1 to carry out the ccd array scanning of cavity, and many ccd array (153,154) rotation sweep shooting speed of its translational speed and soft electronics esophagoscope 1 first end is proportional.Its structure comprises stationary fixture 23, support 22, accurate mobile device 21.Stationary fixture 23 is used for the scope main part of closely fixing soft electronics esophagoscope 1; Support 22 connects stationary fixture 23 and accurate mobile device 21; Accurate mobile device 21 uses high performance motor-driven, and the movement velocity of motor is by the 4 unified controls of work of treatment station host.Accurate mobile device 21 kinds of drive are not limit, and can adopt screw mandrel transmission or guide rail transmission, and accurate mobile device 21 is fixed on the rigid platfor.
Be illustrated in figure 6 as the clinical practice sketch map of 3 D stereo electronics esophagoscope of the present invention system.Soft electronics esophagoscope 1 connects cold light source main frame 5 and processing host 3; Work station assembly (4,6,7,8) is in normal operating conditions, and the soft work end 11 of soft electronics esophagoscope 1 imports in patient's mouth, slowly gets into esophagus road 9; To carry out the scanning shoot of 3 D stereo to esophagus road 9; Then need fix first end, can make first end be fixed on esophagus road 9 mid portions through swelling gasbag 14, soft work end 11 be fixed on the stationary fixture 23 of external stability support 2; External processing host of data connector 15 ends of soft electronics esophagoscope 13 and light source main frame 5, work station 4 and processing host 3 and external stability support 2 are connected through data wire.Esophagus road 9 is carried out to keep the in stable condition of esophagus road 9 in the process of 3 D stereo scanning as far as possible; Start the many ccd array module (151,152,153,154) and the external stability support 2 of soft electronics esophagoscope simultaneously; When many ccd array module (151,152,153,154) is carried out the scanning shoot of straight line and rotation to esophagus road 9; External stability support 2 is done moving at the uniform velocity; The ratio that is rotated into of its speed and second ccd array 153; Range finder will be measured the ccd array of first end and the accurate distance of esophagus road tissue in real time, the packet of many ccd array module (151,152,153,154) and range finder through data wire transfer to processing host 3, work station 4 carries out computing, the monitor 7 that transfers to the work station assembly carries out the demonstration of three-dimensional image.
The present invention is not limited to above-mentioned embodiment; If various changes of the present invention or distortion are not broken away from the spirit and scope of the present invention; If these changes and distortion belong within claim of the present invention and the equivalent technologies scope, then the present invention also is intended to comprise these changes and distortion.
Claims (9)
1. 3 D stereo electronics esophagoscope system; Comprise soft electronics esophagoscope; This soft electronics esophagoscope comprises soft work end; It is characterized in that: this soft work end is provided with carries out the 3 D stereo scanning shoot, shows the panorama three-dimensional image, and many ccd array module that esophagus is carried out stereoscopic image reconstruct, and said many ccd array module comprises at least one first ccd array of being located at this soft work end tip portion front end face; And at least one second ccd array of being located at soft work end tip portion outer round surface; The first end outer circumference surface of said soft work end is arranged with the rotating ring carrier, and said second ccd array is located on this rotating ring carrier, and the front end face of said first end and rotating ring carrier are provided with range finder.
2. 3 D stereo electronics esophagoscope according to claim 1 system, it is characterized in that: said soft work end also is provided with instrument channel, and its internal diameter is smaller or equal to 3.0mm.
3. 3 D stereo electronics esophagoscope according to claim 1 system, it is characterized in that: said first ccd array comprises 2 CCD elements at least, the corresponding set of shots of each CCD element.
4. 3 D stereo electronics esophagoscope according to claim 1 system, it is characterized in that: said second ccd array comprises one group of ccd array at least, one group of ccd array comprises at least 2 CCD elements and corresponding camera lens, at least 90 ° of the angles of visual field of every set of shots.
5. 3 D stereo electronics esophagoscope according to claim 1 system, it is characterized in that: the external diameter of said soft work end is smaller or equal to 20mm, and its tip minister degree is 8-12mm.
6. 3 D stereo electronics esophagoscope according to claim 1 system, it is characterized in that: said soft work end is provided with air bag, and the diameter of this air bag work is smaller or equal to 200mm.
7. according to each described 3 D stereo electronics esophagoscope system of claim 1 to 6; It is characterized in that: also comprise the external stability support; This external stability support comprises accurate mobile device, support and stationary fixture; This precision mobile device is through motor-driven, and this precision mobile device is affixed through support, stationary fixture and said soft work end.
8. 3 D stereo electronics esophagoscope according to claim 1 system; It is characterized in that: said soft electronics esophagoscope also is connected with the processing host that deal with data is used; And work station assembly; Said work station assembly is connected through data wire with processing host, and the work station assembly comprises monitor, work station main frame and control assembly.
9. 3 D stereo electronics esophagoscope according to claim 8 system; It is characterized in that: high speed central processing unit and high-performance video card are adopted in the core of said processing host; Be used to receive and handle the packet that the data of image information that soft electronics esophagoscope returns and range finder are formed; Through the various data of analytical data bag, the cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.
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| CN102058387B (en) * | 2011-01-31 | 2012-05-30 | 广州宝胆医疗器械科技有限公司 | Novel three-dimensional electronic choledochoscope system and use method thereof |
| CN110151118B (en) * | 2018-03-01 | 2022-03-11 | 中国人民解放军第四军医大学 | Gastroscope device convenient for omnibearing detection |
| CN113951809B (en) * | 2021-12-22 | 2022-03-22 | 广州乔铁医疗科技有限公司 | Electronic choledochoscope and electronic choledochoscope system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101264002A (en) * | 2008-05-06 | 2008-09-17 | 中国科学院上海光学精密机械研究所 | Three-dimensional endoscope measuring device and method based on optical grating projection |
| CN201987538U (en) * | 2011-01-31 | 2011-09-28 | 广州宝胆医疗器械科技有限公司 | Three-dimensional electronic esophagoscope system |
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| JP2005040205A (en) * | 2003-07-23 | 2005-02-17 | Olympus Corp | Three-dimensional endoscope apparatus |
| DE102007060263A1 (en) * | 2007-08-16 | 2009-02-26 | Steinbichler Optotechnik Gmbh | Scanner for scanning e.g. teeth, in mouth of patient, has image optics arranged at distance to each other, where distance of optics and directions of optical axes are selected such that optics and axes are oriented to common area of tooth |
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| CN101264002A (en) * | 2008-05-06 | 2008-09-17 | 中国科学院上海光学精密机械研究所 | Three-dimensional endoscope measuring device and method based on optical grating projection |
| CN201987538U (en) * | 2011-01-31 | 2011-09-28 | 广州宝胆医疗器械科技有限公司 | Three-dimensional electronic esophagoscope system |
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