CN106618450A - Three-camera three-dimensional endoscope - Google Patents
Three-camera three-dimensional endoscope Download PDFInfo
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- CN106618450A CN106618450A CN201611040901.9A CN201611040901A CN106618450A CN 106618450 A CN106618450 A CN 106618450A CN 201611040901 A CN201611040901 A CN 201611040901A CN 106618450 A CN106618450 A CN 106618450A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00188—Optical arrangements with focusing or zooming features
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30204—Marker
- G06T2207/30208—Marker matrix
Abstract
The invention discloses a three-camera three-dimensional endoscope, which can be calibrated in a normal using process without the assistance of an external calibration module. Specifically, the three-dimensional endoscope is used by the following steps: firstly, conducting initial calibration on three endoscope cameras by virtue of a calibration plate, so as to acquire corresponding initial calibration parameters; and secondly, under the circumstance of guaranteeing parameters of two cameras unchanged, conducting zooming in/out or focusing adjustment on the other camera, acquiring three images which are shot by the three adjusted cameras at a same moment, conducting characteristic point detection and matching operation on an overlap area of the three images, on the basis of a characteristic point matching result of the three images, calculating three-dimensional coordinates of characteristic points in a designated coordinate system through 3D reconstruction, calibrating a to-be-calibrated camera on the basis of the three-dimensional coordinates of the obtained characteristic points as well as pixel coordinate information of the obtained characteristic points in an image corresponding to the to-be-calibrated camera, and acquiring new parameters of the to-be-calibrated camera.
Description
Technical field
The invention belongs to endoscopic technique field, more specifically, is related to a kind of three mesh stereo endoscope.
Background technology
Minimally invasive and noinvasive surgical operation is one of topmost development trend in contemporary clinical medical science, with traditional operation phase
Than it can greatly improve the quality of operation, reduce the wound of operative site, mitigate the pain of patient, shorten postoperative rehabilitation
Time, this also becomes it as the important support of an international study hotspot.
Traditional stereo endoscope is made up of two camera lenses, i.e., equivalent to binocular camera, its general use process
For：First focal length is being set as requested using front elder generation, recycle calibrated reference to demarcate stereo endoscope, then
Stretch into tissue by little wound again to be shot, due to the reason that endoscope's focal length is fixed so that in shooting process
In often can only obtain clearly image by changing the distance of endoscope and the tissue to be shot, and these actions
Will greatly increase endoscopic catheters occur in intervention procedure conduit winding and it is unexpected contact human body vitals it is general
Rate, and if be taken through adjusting this operation of focal length of endoscope obtaining the clearly tissue image wanted, can lose
The calibrating parameters of endoscope are lost, and calibrating parameters are the important parameters of stereo endoscope, in operation process, only combine and demarcate
Parameter, could get the three-dimensional information of region of interest by stereo endoscope, and by gained three-dimensional information, doctor is to phase of performing the operation
There is an accurate positioning GUAN spot position, is conducive to the correct enforcement performed the operation；Simultaneously in detection process, calibrating parameters it is important
Property is also indispensable, and by the calibrating parameters of stereo endoscope and acquired tissue image, restructural goes out linked groups' table
The three-dimensional information in face, and then can have one more accurately to recognize the true form of pathological tissues and size, contribute to doctor
Diagnosis to patient's state of an illness.
At present, need not refer to demarcate thing in the case of, by self-calibrating method can with the inside for getting camera
Parameter, conventional self-calibrating method includes：Based on self-calibrating methods such as absolute quadric and planes at infinity, but these are passed
The stated accuracy of system self-calibrating method is not high, and robustness deficiency [1] (Meng Xiaoqiao, Hu Zhanyi, " camera self-calibration method
Research and progress ", automatization's journal, 0254-4156), so this method fails to meet actual demand.
In order to obtain accurate endoscope's calibration information, then can only be utilized in external environment condition by taking out endoscope
Calibrated reference re-starts demarcation, for this solution, the complexity of operation is this considerably increases, for
The stereo endoscope used during operation technique is performed, this operation is absolutely not allowed.If can get in real time its compared with
For accurate camera parameter, then can just be prevented effectively from that some during stereo endoscope use are unnecessary to be operated, together
When also reduce the complexity of operation, reduce the additional pain brought to patient and dangerous.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided a kind of three mesh stereo endoscope, to realize solid
Real-time calibration in the real-time use of endoscope after Parameters variation.
For achieving the above object, a kind of three mesh stereo endoscope of the present invention, it is characterised in that include：It is fixed on same
The light of three independent electronic scopes of one tubular device and the multiple LED compositions being uniformly looped around around three independent electronic scopes
Source, and a USB interface for three mesh stereo endoscopes to be connected with computer；
The position of three described independent electronic scopes is relatively fixed, and is evenly distributed in tubular device, three independent electricals
The camera lens of sub- scope is located at tubular device front end, and with the light source of multiple LED compositions image-generating unit, three independent electronics are collectively formed
The afterbody of scope is located at tubular device rear end, and the afterbody of each independent electronic scope possesses the rotation of an independent regulation focal length
Button, when some video image dendoscope is zoomed in and out or during focusing operation, then three mesh stereo endoscope parameters change, then when three
Mesh stereo endoscope is completed after initial alignment, and two other unadjusted video image dendoscope can obtain image and carry out self-calibration；
When patient needs to carry out endoscope detecting, three mesh stereo endoscopes are first put into, then are gathered by the knob of afterbody
Jiao, then by three video image dendoscope imagings under the cooperation of light source, finally by the holding wire transmission being connected in USB interface
To computer.
Wherein, the method that described video image dendoscope carries out self-calibration is：
(1), three mesh stereo endoscopes initialization
Using front, three mesh stereo endoscopes are demarcated using calibrating template, obtain the initial alignment parameter of each scope
Matrix Aa、Ab、AcWith distortion factor vector K1、K2、K3, and the transformational relation [R between each scope camera coordinates systemab Tab]、
[Rac Tac]、[Rbc Tbc]；
Wherein, the common version of parameter matrix is：α, β are respectively camera in the x and y direction
Focal length, γ is obliquity factor, (u0 v0) it is pixel coordinate of the camera photocentre in image plane subpoint under pixel coordinate system；K=
[k1 k2 k3 k4], k1, k2For coefficient of radial distortion, k3, k4For centrifugal distortion coefficient；R is tied to left side phase for right camera coordinate
The spin matrix of machine coordinate system, T is the translation vector that right camera coordinate is tied to left camera coordinate system；
(2), when a certain video image dendoscope is zoomed in and out or during focusing operation, first get parms known video image dendoscope with wait to mark
Determine the distortion factor k of each video image dendoscope of gained in image of the video image dendoscope in synchronization, recycle step (1)1, k2, k3, k4
Distortion correction is carried out to gained image, feature extraction is then carried out to the image after correction, obtain the characteristic point in each image, then
Feature Points Matching is carried out, n stack features points are finally chosen in the characteristic point of equal successful match from three images；
(3), according to the n stack features point construction solution line chosen in transformational relation and step (2) between each coordinate system in step (1)
Property equation group；
If A video image dendoscopes are video image dendoscope to be calibrated, then the solution system of linear equations for constructing is：
Wherein, [ub vb 1]T[uc vc 1]TRespectively Feature point correspondence has carried out initial alignment video image dendoscope B and C pair
Answer the homogeneous coordinates of the pixel at image midpoint；Rbc、TbcAnd Rab、TabThe camera coordinates of respectively video image dendoscope C are tied to B cameras
The spin matrix of coordinate system, translational movement and B camera coordinates are tied to the spin matrix of A camera coordinates systems, translational movement；[Xb Yb Zb]T
[Xc Yc Zc]TRespectively three-dimensional coordinate in Feature point correspondence B, C camera coordinates systems；[Xa Ya Za 1]T、[Xb Yb Zb 1]T
[Xc Yc Zc 1]TRespectively homogeneous coordinates of the point of A, B, C camera coordinates system；
It is last to solve equation group again, obtain three-dimensional coordinate [X of the n stack features point in scope camera coordinates system to be calibrateda1
Ya1 Za1]T......[Xan Yan Zan]T；
(4), using the pixel coordinate [u of characteristic point in n video image dendoscope correspondence image to be calibrateda1 va1]T......[uan
van]TWith three-dimensional coordinate [X of the n stack features point in scope camera coordinates system to be calibrateda1 Ya1 Za1]T......[Xan Yan
Zan]T, with reference to the relation between bothBuild following linear equation：
The linear equation is solved using method of least square, the inner parameter matrix of video image dendoscope to be calibrated, Ran Houli is obtained
With nonlinear optimization algorithm, distortion factor is introduced, internal parameter matrix is modified, obtain the new abnormal of video image dendoscope to be calibrated
Variable coefficient, so as to complete the self-calibration of video image dendoscope to be calibrated.
What the goal of the invention of the present invention was realized in：
A kind of three mesh stereo endoscope of the present invention, can be during normal use not by extrinsic calibration template to solid
Endoscope demarcates；Specifically, initial alignment is carried out to three scope cameras first with scaling board, obtains its correspondence initial alignment
Parameter；Secondly, in the case where ensureing that two camera parameters are constant, an other camera is zoomed in and out or focus adjustment, obtains and adjust
Three images that three camera synchronizations are photographed after section, to the overlapping region of three images feature point detection and matching are carried out
Operation, based on the Feature Points Matching result of three images, by 3D reconstruct three-dimensional seat of the characteristic point in specified coordinate system is obtained
Mark, using gained characteristic point three-dimensional coordinate and gained characteristic point camera correspondence image to be calibrated pixel coordinate information, then
Treat calibration for cameras to be demarcated, obtain the new parameter of camera to be calibrated.
Meanwhile, a kind of three mesh stereo endoscope of the present invention also has the advantages that：
(1), the present invention is in actual use, it is possible to achieve the online function of obtaining scope calibrating parameters, without
Endoscope is taken out from patient's body demarcation.
(2), invention introduces initial alignment this operation, and because initial alignment is obtained by calibrated reference
, i.e. its initial alignment parameters precision reliability, and the initial alignment parameter of the endoscope to obtain is interior as after to Parameters variation
Mirror carries out the basis of new demarcation, so the present invention is more accurate relative to existing self-calibrating method result.
Description of the drawings
Fig. 1 is a kind of three mesh stereo endoscope structural representation of the present invention；
Fig. 2 is a kind of three mesh stereo endoscope camera lens distribution schematic diagram of the present invention；
Fig. 3 is a kind of theory diagram of three mesh stereo endoscope of the present invention；
Fig. 4 is a kind of self-calibration flow chart of three mesh stereo endoscope of the present invention.
Specific embodiment
The specific embodiment of the present invention is described below in conjunction with the accompanying drawings, so as to those skilled in the art preferably
Understand the present invention.Requiring particular attention is that, in the following description, when known function and design detailed description perhaps
When can desalinate the main contents of the present invention, these descriptions will be ignored here.
Embodiment
Fig. 1 is a kind of three mesh stereo endoscope structural representation of the present invention.
In the present embodiment, the Medical endoscope using three super eye 5mm specifications is former as the composition of three mesh stereo endoscopes
Part, imaging sensor therein is CMOS optical pickocffs.
As shown in figure 1, a kind of three mesh stereo endoscope of the present invention, including：It is fixed on three independences of same tubular device
The light source of video image dendoscope and the multiple LED compositions being uniformly looped around around three independent electronic scopes, and one be used for three
The USB interface that mesh stereo endoscope is connected with computer；
As shown in Fig. 2 the position of three independent electronic scopes is relatively fixed, it is evenly distributed in tubular device, three solely
The camera lens of vertical video image dendoscope is located at tubular device front end, and with the light source of multiple LED compositions image-generating unit, three independences are collectively formed
The afterbody of video image dendoscope is located at tubular device rear end, and the afterbody of each independent electronic scope possesses independent regulation focal length
Knob, when some video image dendoscope is zoomed in and out or during focusing operation, then three mesh stereo endoscope parameters change, then when
Three mesh stereo endoscopes are completed after initial alignment, and two other unadjusted video image dendoscope can obtain image and carry out self-calibration；
As shown in figure 1,1 in figure is camera lens part, it is made up of three independent scopes with light source, and 2,3,4 are respectively three
The focus adjustment knob of individual video image dendoscope；
When patient needs to carry out endoscope detecting, three mesh stereo endoscopes are first put into, then are gathered by the knob of afterbody
Jiao, then by the imaging of three video image dendoscopes under the cooperation of light source, its image-forming principle is as shown in figure 3, finally by being connected to
Holding wire in USB interface is sent to computer.
In actual diagnosis and treatment process, because needing to change scope camera parameter in real time, therefore, three mesh stereo endoscopes need
Real-time self-calibration is carried out when camera parameter changes, is to the method that video image dendoscope carries out self-calibration below：
(1), three mesh stereo endoscopes initialization
Using front, three mesh stereo endoscopes are demarcated using calibrating template, obtain the initial alignment parameter of each scope
Matrix Aa、Ab、AcWith distortion factor vector K1、K2、K3, and the transformational relation [R between each scope camera coordinates systemab Tab]、
[Rac Tac]、[Rbc Tbc], in the present embodiment, calibrating template selects gridiron pattern scaling board；
Wherein, the common version of parameter matrix is：α, β are respectively camera in the x and y direction
Focal length, γ is obliquity factor, (u0 v0) it is pixel coordinate of the camera photocentre in image plane subpoint under pixel coordinate system；K
=[k1 k2 k3 k4], k1, k2For coefficient of radial distortion, k3, k4For centrifugal distortion coefficient；R is tied to left side for right camera coordinate
The spin matrix of camera coordinates system, T is the translation vector that right camera coordinate is tied to left camera coordinate system；
Wherein, distortion factor correspondence model is:
xu- x=(k1x(x2+y2)+k2x(x2+y2)2)+(2k3xy+k4(3x2+y2))
yu- y=(k1y(x2+y2)+k2y(x2+y2)2)+(k3(x2+3y2)+2k4xy)
Wherein, (xu yu) and (x y) represent preferable respectively and have without distortion and actually distortion.
(2), when a certain video image dendoscope is zoomed in and out or during focusing operation, first get parms known video image dendoscope with wait to mark
Determine the distortion factor k of each scope of gained in image of the video image dendoscope in synchronization, recycle step (1)1, k2, k3, k4To institute
Obtaining image carries out distortion correction, and feature extraction is then carried out to the image after correction, obtains the characteristic point in each image, then carries out
Feature Points Matching, finally chooses n stack features points from three images in the characteristic point of equal successful match；
In the present embodiment, using Scale invariant features transform algorithm SIFT, video image dendoscope correspondence image a to be calibrated is obtained
With the characteristic matching point set X of any one parameter known electronic scope correspondence image bab, obtain respectively with SIFT algorithms treat again
Demarcation video image dendoscope correspondence image a matches point set X with another parameter known electronic scope correspondence image cacIt is single with known to parameter
Sub- scope correspondence image b matches point set X with parameter known electronic scope correspondence image cbc, such as Xab、XacWith XbcIn certain point
It is same point, then judges match point of this point as three images, that is, has obtained the matching point set of three images, match point concentration
With group number n >=3.
(3), according to the n stack features point construction solution line chosen in transformational relation and step (2) between each coordinate system in step (1)
Property equation group；
If A video image dendoscopes are video image dendoscope to be calibrated, then the solution system of linear equations for constructing is：
Wherein, [ub vb 1]T[uc vc 1]TRespectively Feature point correspondence has carried out initial alignment video image dendoscope B and C pair
Answer the homogeneous coordinates of the pixel at image midpoint；Rbc、TbcAnd Rab、TabThe camera coordinates of respectively video image dendoscope C are tied to B cameras
The spin matrix of coordinate system, translational movement and B camera coordinates are tied to the spin matrix of A camera coordinates systems, translational movement；[Xb Yb Zb]T
[Xc Yc Zc]TRespectively three-dimensional coordinate in Feature point correspondence B, C camera coordinates systems；[Xa Ya Za 1]T、[Xb Yb Zb 1]T
[Xc Yc Zc 1]TRespectively homogeneous coordinates of the point of A, B, C camera coordinates system；
It is last to solve equation group again, obtain three-dimensional coordinate of the n stack features point in scope camera coordinates system to be calibrated
[Xa1Ya1Za1]T......[Xan Yan Zan]T；
(4), using the pixel coordinate [u of characteristic point in n video image dendoscope correspondence image to be calibrateda1 va1]T......[uan
van]TWith three-dimensional coordinate [X of the n stack features point in scope camera coordinates system to be calibrateda1 Ya1 Za1]T......[Xan Yan
Zan]T, with reference to the relation between bothHave it is above-mentioned understand, a match point and its correspondence
Three-dimensional coordinate is obtained two linear equation, and there are 5 unknown parameters, i.e., at least need 3 match points just to obtain one
Unique solution, thus three interior mirror unit correspondence images are implemented the match point group number that matching operations obtain need to meet n >=3 this
Part.Therefore when there is n match point, you can obtain following equation and build following linear equation：
The linear equation is solved using method of least square, the inner parameter matrix of video image dendoscope to be calibrated, Ran Houli is obtained
With nonlinear optimization algorithm, distortion factor is introduced, internal parameter matrix is modified, obtain the new abnormal of video image dendoscope to be calibrated
Variable coefficient, so as to complete the self-calibration of video image dendoscope to be calibrated.
Wherein, the model that nonlinear optimization algorithm is adopted for：
Wherein, K is distortion factor, and A is inner parameter matrix, miRepresent that ith feature point correspondence is waited to mark in n stack features points
Determine the actual pixels coordinate of video image dendoscope correspondence image, MiBe ith feature point in scope camera coordinates system to be matched three
Dimension coordinate, m (K, A, Mi) it is point MiThe pixel coordinate of the subpoint in video image dendoscope correspondence image to be calibrated.
Although being described to illustrative specific embodiment of the invention above, in order to the technology of the art
Personnel understand the present invention, it should be apparent that the invention is not restricted to the scope of specific embodiment, the common skill to the art
For art personnel, as long as various change is in the spirit and scope of the present invention of appended claim restriction and determination, these
Change is it will be apparent that all utilize the innovation and creation of present inventive concept in the row of protection.
Claims (4)
1. a kind of three mesh stereo endoscope, it is characterised in that include：It is fixed on three independent electronic scopes of same tubular device
The light source of the multiple LED compositions being uniformly looped around around three independent electronic scopes, and one be used for by three mesh it is three-dimensional in
The USB interface that sight glass is connected with computer；
The position of three described independent electronic scopes is relatively fixed, and is evenly distributed in tubular device, in three independent electronics
The camera lens of mirror is located at tubular device front end, and with the light source of multiple LED compositions image-generating unit, three independent electronic scopes are collectively formed
Afterbody be located at tubular device rear end, and the afterbody of each independent electronic scope possesses the knob of an independent regulation focal length, when
Some video image dendoscope is zoomed in and out or during focusing operation, then three mesh stereo endoscope parameters change, then when three mesh it is vertical
In vivo sight glass is completed after initial alignment, and two other unadjusted video image dendoscope can obtain image and carry out self-calibration；
When patient needs to carry out endoscope detecting, three mesh stereo endoscopes are first put into, then are focused by the knob of afterbody, so
It is sent to electricity finally by the holding wire being connected in USB interface by three video image dendoscope imagings under the cooperation of light source afterwards
Brain.
2. a kind of three mesh stereo endoscope according to claim 1, it is characterised in that described video image dendoscope is carried out from mark
Fixed method is：
(1), three mesh stereo endoscopes initialization
Using front, three mesh stereo endoscopes are demarcated using calibrating template, obtain the initial alignment parameter matrix of each scope
Aa、Ab、AcWith distortion factor vector K1、K2、K3, and the transformational relation [R between each scope camera coordinates systemab Tab]、[Rac
Tac]、[Rbc Tbc]；
Wherein, the common version of parameter matrix is：α, β are respectively camera Jiao in the x and y direction
It is obliquity factor away from, γ, (u0 v0) it is pixel coordinate of the camera photocentre in image plane subpoint under pixel coordinate system；K=[k1
k2 k3 k4], k1, k2For coefficient of radial distortion, k3, k4For centrifugal distortion coefficient；R is tied to left camera and sits for right camera coordinate
The spin matrix of mark system, T is the translation vector that right camera coordinate is tied to left camera coordinate system；
(2), when a certain video image dendoscope is zoomed in and out or during focusing operation, first get parms known video image dendoscope and electricity to be calibrated
Sub- scope synchronization image, the distortion factor k of each video image dendoscope of gained in recycle step (2)1, k2, k3, k4To institute
Obtaining image carries out distortion correction, and feature extraction is then carried out to the image after correction, obtains the characteristic point in each image, then carries out
Feature Points Matching, finally chooses n stack features points from three images in the characteristic point of equal successful match；
(3), according to the linear side of the n stack features point construction solution chosen in transformational relation and step (2) between each coordinate system in step (1)
Journey group；
If A video image dendoscopes are video image dendoscope to be calibrated, then the solution system of linear equations for constructing is：
Wherein, [ub vb 1]T[uc vc 1]TRespectively Feature point correspondence has carried out initial alignment video image dendoscope B and C corresponding diagram
As the homogeneous coordinates of the pixel at midpoint；Rbc、TbcAnd Rab、TabThe camera coordinates of respectively video image dendoscope C are tied to B camera coordinates
Revolve spin matrix, translational movement and the B camera coordinates of system are tied to the spin matrix of A camera coordinates systems, translational movement；[Xb Yb Zb]TWith
[Xc Yc Zc]TRespectively three-dimensional coordinate in Feature point correspondence B, C camera coordinates systems；[Xa Ya Za 1]T、[Xb Yb Zb 1]TWith
[Xc Yc Zc 1]TRespectively homogeneous coordinates of the point of A, B, C camera coordinates system；
It is last to solve equation group again, obtain three-dimensional coordinate [X of the n stack features point in scope camera coordinates system to be calibrateda1 Ya1
Za1]T......[Xan Yan Zan]T；
(4), using the pixel coordinate [u of characteristic point in n video image dendoscope correspondence image to be calibrateda1 va1]T......[uan van]T
With three-dimensional coordinate [X of the n stack features point in scope camera coordinates system to be calibrateda1 Ya1 Za1]T......[Xan Yan Zan]T, knot
Close the relation between bothBuild following linear equation：
The linear equation is solved using method of least square, the inner parameter matrix of video image dendoscope to be calibrated is obtained, then using non-
Linear optimization algorithm, introduces distortion factor, and internal parameter matrix is modified, and obtains the new distortion system of video image dendoscope to be calibrated
Number, so as to complete the self-calibration of video image dendoscope to be calibrated.
3. a kind of three mesh stereo endoscope according to claim 2, it is characterised in that in described step (2), n's takes
Value meets n >=3.
4. a kind of three mesh stereo endoscope according to claim 2, it is characterised in that non-linear in described step (4)
The model that optimized algorithm is adopted for：
Wherein, K is distortion factor, and A is inner parameter matrix, miRepresent ith feature point correspondence electricity to be calibrated in n stack features points
The actual pixels coordinate of sub- scope correspondence image, MiThe three-dimensional seat for being ith feature point in scope camera coordinates system to be matched
Mark, m (K, A, Mi) it is point MiThe pixel coordinate of the subpoint in camera correspondence image to be calibrated.
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