CN107811705A - Novel endoscope system - Google Patents
Novel endoscope system Download PDFInfo
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- CN107811705A CN107811705A CN201711205836.5A CN201711205836A CN107811705A CN 107811705 A CN107811705 A CN 107811705A CN 201711205836 A CN201711205836 A CN 201711205836A CN 107811705 A CN107811705 A CN 107811705A
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- infrared light
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- ureter
- visible ray
- video camera
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- 210000000626 ureter Anatomy 0.000 claims abstract description 47
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000005286 illumination Methods 0.000 claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims description 11
- 239000013308 plastic optical fiber Substances 0.000 claims description 6
- 230000013011 mating Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 4
- 238000004364 calculation method Methods 0.000 abstract description 2
- 238000003384 imaging method Methods 0.000 abstract description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 238000001356 surgical procedure Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000012084 abdominal surgery Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000002485 urinary effect Effects 0.000 description 2
- 206010058046 Post procedural complication Diseases 0.000 description 1
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000004148 unit process Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
-
- 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
- A61B1/00165—Optical arrangements with light-conductive means, e.g. fibre optics
-
- 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
- A61B1/04—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 combined with photographic or television appliances
-
- 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
- A61B1/06—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 with illuminating arrangements
- A61B1/0661—Endoscope light sources
-
- 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
- A61B1/307—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 for the urinary organs, e.g. urethroscopes, cystoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
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- General Health & Medical Sciences (AREA)
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- Animal Behavior & Ethology (AREA)
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- Optics & Photonics (AREA)
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- Endoscopes (AREA)
Abstract
The invention belongs to the technical field of medical endoscope imaging, and discloses a novel endoscope system which comprises an auxiliary detection unit, an image acquisition unit, an image processing unit and an image display unit, wherein the auxiliary detection unit is used for providing a light guide pipe with an infrared light source to mark the position of a ureter in real time; the infrared light is provided for the light guide pipe, and a camera capable of simultaneously collecting visible light and infrared light image information is adopted to collect images; because the additional infrared light source is provided for the light guide pipe, and the infrared light source does not have the problem of being covered by a strong illumination light source, the scheme of image enhancement processing and multiple cameras is not needed, compared with the prior art, the method can greatly reduce the calculation cost, reduce the complexity of the system and improve the image processing efficiency and the real-time property.
Description
Technical field
The invention belongs to medical endoscopes technical field of imaging, more particularly, to a kind of new endoscopic system.
Background technology
At present, in the Minimally Invasive Surgery of gynemetrics, abdominal surgery and Urology Surgery, it is possible to occur due to can not be accurate
The malpractice for positioning ureter position and causing ureter to be cut or pricked by mistake by mistake.General injury of ureter is not easy to differentiate, if
Deal with improperly and serious postoperative complication easily occurs, great pain, the life of severe patient entail dangers to patient are brought to patient.
It is inserted into prior art discloses a kind of luminous light pipe, during operation in patient ureter, the light sent by it
To indicate ureter；The position of ureter can be indicated using the technology in open operation, but in Minimally Invasive Surgery very
Hardly possible to indicate the position of ureter in real time using the technology；Because in Minimally Invasive Surgery, doctor be according to endoscope in patient
Portion collection and the image of real-time display is performed the operation on the display device；On the one hand, the light that light pipe is sent is through cladding
During the tissue of ureter, the light that light pipe is sent passes through the light transmitted after these tissues to weaken, and endoscope work
Make under stronger illumination condition, stronger illumination may fall into oblivion the faint light that luminous light pipe is sent so that luminous to lead
Light pipe can not accurately indicate ureter position；On the other hand, due to when light passes through endoscope in the presence of certain decay, therefore
Make natively faint light fainter, therefore can not accurately indicate the position of ureter.
Publication No. CN 105942960A Chinese patent " a kind of endoscopic system that may indicate that ureter position and side
Method ", Application No. 2017106528895 Chinese patent " a kind of endoscopic system for real-time display ureter position and
Method " is by providing visible light source to the luminous light pipe for being inserted into ureter, and is gathered using common camera defeated
The positional information of urinary catheter；The faint light that this mode has luminous light pipe is easily asked by what stronger lighting source was covered
Topic, therefore the ureter information that detects is fainter, it is necessary to carry out image enhaucament, but the enhancing of image can increase it is extra
Calculate cost.Application No. 201710922845X Chinese patent " a kind of endoscopic system of infrared acquisition ureter position and
Method " realizes the detection of ureter using infrared light supply, but its use Visible Light Camera and infrared camera come and meanwhile gather figure
The structure of picture is relatively complicated, and algorithm is relatively complicated.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of new endoscopic system, its
Purpose is the system architecture and algorithm for simplifying the endoscopic system of existing infrared acquisition ureter position.
To achieve the above object, according to one aspect of the present invention, there is provided a kind of new endoscopic system, including it is auxiliary
Help detection unit, image acquisition units, graphics processing unit and image-display units；
Wherein, accessory detection unit is used to provide the light pipe with infrared light supply with the position of real-time mark ureter；
Image acquisition units are used to gather the inner chamber image under visible ray and/or infrared light；
The inner chamber image that graphics processing unit is used to collect store and transmit in real time；
The inner chamber image that image-display units are used to collect carries out real-time display.
Preferably, above-mentioned endoscopic system, its accessory detection unit include infrared light supply and light pipe；Infrared light supply is used
Infrared illumination condition is provided in giving light pipe；Light pipe is inserted into ureter for real-time mark ureter in use
Positional information.
Preferably, above-mentioned endoscopic system, light pipe is replaced using side-view light emitting plastic optical fiber, in connection infrared light
After source, whole side-view light emitting plastic optical fiber can all light.
Preferably, above-mentioned endoscopic system, its image acquisition units include lighting source, light source controller, endoscope,
Video camera；
Wherein, lighting source is used to provide the visible illumination condition needed for IMAQ；Light source controller is used to allow
Or infrared light is blocked to enter video camera；
Video camera is used for the image for shooting human intracavity, and the video camera can both photograph the image of visible ray, and can shoot again
To the image of infrared light；The inner chamber image under visible ray is only obtained when infrared light supply is blocked, is not blocked in infrared light supply
When obtain inner chamber image under visible ray and infrared light.
Preferably, above-mentioned endoscopic system, in addition to joystick；Provided with accessory detection unit in the joystick
The switch controller of infrared light supply；It can be closed when the positional information of ureter need not be shown by the switch controller infrared
Light source.
Preferably, above-mentioned endoscopic system, at least two optical filters are provided with its light source controller；One of which is filtered
Mating plate allows visible ray and infrared light by the way that another optical filter only allows visible ray to pass through；Pass through toggle lights controller
Optical filter come switch to video camera provide light source；
When needing to indicate the positional information of ureter, the optical filter in light source controller is switched to can be simultaneously
The optical filter for allowing visible ray and infrared light to pass through, the visible ray that lighting source provides and the infrared light that accessory detection unit provides are equal
Video camera can be entered, the inner chamber image under visible ray and infrared light is obtained by the video camera；When ureter need not be indicated
Positional information when, then be switched to the optical filter that visible ray can only be allowed to pass through, then the infrared light supply quilt of accessory detection unit
Block, it is impossible to enter video camera, the inner chamber image under visible ray is only obtained by the video camera.
A kind of endoscopic system, using equipment of the luminous tube with infrared light supply as instruction ureter position；Using
Not only the image that visible ray can have been photographed but the image of infrared light can be photographed video camera as inner chamber image collecting device so that
The infrared light in ureter region is arrived by the cameras capture, and the image that is captured by the video camera indicates ureter
The band of position.
In general, by the contemplated above technical scheme of the present invention compared with prior art, it can obtain down and show
Beneficial effect：
(1) new endoscopic system provided by the invention to light pipe by providing infrared light, and uses and can adopt simultaneously
Collection visible ray and the video camera of infrared light image information gather image；Due to providing extra infrared light supply for light pipe,
And the problem of being covered by strong lighting source is not present in the infrared light supply, therefore image enhancement processing need not be carried out and taken the photograph more
As the scheme of head, compared to prior art, it can greatly reduce and calculate cost and reduce system complexity, improve image procossing effect
Rate and real-time；
In the Minimally Invasive Surgeries such as gynemetrics, abdominal surgery and Urology Surgery, doctor can not with the naked eye be visually observed that defeated
The position of urinary catheter, ureter can not be identified with hand perceptual organ；Endoscopic system provided by the invention, the figure shown by it
As the positional information of reaction ureter that can be real-time in surgical procedure, eye-catching, great convenience is provided for operation, is performed the operation improving
While efficiency, it can reduce because the inconvenience observation of ureter position causes the probability of happening of malpractice, high degree avoids disease
The pain that people bears by the malpractice of injury of ureter；
(2) this new endoscopic system provided by the invention, can not only be applied in minimally heart surgery, in opening
Property operation in it is equally applicable.
Brief description of the drawings
Fig. 1 is the schematic diagram of new endoscopic system one embodiment provided by the invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
It is the schematic diagram of new endoscopic system one embodiment provided by the invention shown in reference picture 1.Embodiment carries
This endoscopic system supplied includes accessory detection unit, image acquisition units, graphics processing unit and image-display units；
Wherein, accessory detection unit is used to provide the light pipe with infrared light supply with the position of real-time mark ureter；
In embodiment, accessory detection unit includes infrared light supply and light pipe；Infrared light supply is used to shine bar to light pipe offer infrared light
Part；Light pipe is inserted into the positional information for being used for real-time mark ureter in ureter in use.In accessory detection unit
Light pipe can also be replaced using side-view light emitting plastic optical fiber, after infrared light supply is connected, whole side-view light emitting plastics
Optical fiber can all light.
Image acquisition units are used to gather the inner chamber image under visible ray and/or infrared light, including lighting source, light source control
Device processed, endoscope, video camera；Wherein, lighting source is used to provide the visible illumination condition needed for IMAQ；Light source control
Device is used to block infrared light to enter video camera；
Video camera is used for the image for shooting human intracavity, and the video camera can both photograph the image under visible ray, and can clap again
The image taken the photograph under infrared light；The inner chamber image under visible ray is only obtained when infrared light supply is closed or is blocked, infrared
The inner chamber image under visible ray and infrared light is obtained when light source is not closed or blocked.
The inner chamber image that graphics processing unit is used to collect store and transmit in real time；Can use PC or
Person's host computer realizes that the inner chamber image of storage is primarily used to preserve the video and picture in operation, for forming electronics disease
Go through.Image-display units be used for the image sequence collected is shown in real time, can using commonly use liquid crystal display come
Realize.
The another a kind of new endoscopic system for thering is embodiment to provide, using the luminous tube with infrared light supply as instruction
The equipment of ureter position；Using can not only photograph visible images but also infrared light image video camera can be photographed as inner chamber figure
As harvester so that the infrared light in ureter region is arrived by the cameras capture, the image captured by the video camera
To indicate the band of position of ureter.
New endoscopic system provided by the invention, the positional information of ureter can be accurately indicated in real time, by it
Applied in operation, then can avoid accidentally injure ureter；And for prior art, without carrying out the place of image enhaucament
Reason, greatly reduce amount of calculation and calculate cost, reduce the requirement to graphics processing unit process performance, and can improve in real time
Property, it is the most efficient technical scheme for detecting ureter, there is greatly value.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (7)
1. a kind of new endoscopic system, it is characterised in that including accessory detection unit, image acquisition units, image procossing
Unit and image-display units；
The accessory detection unit is used to provide the light pipe with infrared light supply with the position of real-time mark ureter；
Described image collecting unit is used to gather the inner chamber image under visible ray and/or infrared light；
The inner chamber image that described image processing unit is used to collect store and transmit in real time；
The inner chamber image that described image display unit is used to collect carries out real-time display.
2. endoscopic system as claimed in claim 1, it is characterised in that described image collecting unit includes lighting source, light
Source controller, endoscope and video camera；
The lighting source is used to provide the visible illumination condition needed for IMAQ；The light source controller be used for allow or
Infrared light is blocked to enter video camera；
The video camera is used for the image for shooting human intracavity, and the video camera can both photograph the image of visible ray, and can shoot again
To the image of infrared light.
3. endoscopic system as claimed in claim 1 or 2, it is characterised in that institute is replaced using side-view light emitting plastic optical fiber
State light pipe；After infrared light supply is connected, whole side-view light emitting plastic optical fiber can all light the side-view light emitting plastic optical fiber.
4. endoscopic system as claimed in claim 2, it is characterised in that also including joystick；Set in the joystick
There is the switch controller for controlling infrared light supply to open or close；Opened when the positional information of ureter need not be shown by described
Gateway controller closes infrared light supply.
5. endoscopic system as claimed in claim 2, it is characterised in that at least two filters are provided with the light source controller
Mating plate；One of which optical filter allows visible ray and infrared light by the way that another optical filter only allows visible ray to pass through.
6. endoscopic system as claimed in claim 5, it is characterised in that when need indicate ureter positional information when
Wait, the optical filter in the light source controller is switched to the optical filter that visible ray and infrared light can be allowed to pass through simultaneously, illuminate
The infrared light that the visible ray that light source provides provides with accessory detection unit can enter video camera, be obtained by the video camera
Inner chamber image under visible ray and infrared light；When need not indicate the positional information of ureter, then being switched to allow
The optical filter that visible ray passes through, then the infrared light supply of accessory detection unit be blocked, it is impossible to enter video camera, taken the photograph by described
Camera only obtains the inner chamber image under visible ray.
A kind of 7. new endoscopic system, it is characterised in that
Using equipment of the luminous tube with infrared light supply as instruction ureter position；
Using the image that can not only photograph under visible ray but also the video camera under infrared light can be photographed as inner chamber image collector
Put so that the infrared light in ureter region is arrived by the cameras capture, and the image that is captured by the video camera indicates
The band of position of ureter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711205836.5A CN107811705A (en) | 2017-11-27 | 2017-11-27 | Novel endoscope system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711205836.5A CN107811705A (en) | 2017-11-27 | 2017-11-27 | Novel endoscope system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107811705A true CN107811705A (en) | 2018-03-20 |
Family
ID=61610378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711205836.5A Pending CN107811705A (en) | 2017-11-27 | 2017-11-27 | Novel endoscope system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111281545A (en) * | 2020-03-02 | 2020-06-16 | 北京大学第三医院 | Spinal laminectomy surgical equipment |
| WO2021051222A1 (en) * | 2019-09-16 | 2021-03-25 | 北京数字精准医疗科技有限公司 | Endoscope system, mixed light source, video acquisition device and image processor |
| CN114513600A (en) * | 2022-04-20 | 2022-05-17 | 深圳市星卡科技有限公司 | Endoscope and thermal imaging combined detection device, method, equipment and medium |
| CN115100147A (en) * | 2022-06-24 | 2022-09-23 | 华中科技大学协和深圳医院 | Intelligently switched spinal endoscope system, device and computer readable medium |
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| CN111281545B (en) * | 2020-03-02 | 2022-04-08 | 北京大学第三医院 | Spinal laminectomy surgical equipment |
| CN114513600A (en) * | 2022-04-20 | 2022-05-17 | 深圳市星卡科技有限公司 | Endoscope and thermal imaging combined detection device, method, equipment and medium |
| CN115100147A (en) * | 2022-06-24 | 2022-09-23 | 华中科技大学协和深圳医院 | Intelligently switched spinal endoscope system, device and computer readable medium |
| CN115100147B (en) * | 2022-06-24 | 2023-10-24 | 华中科技大学协和深圳医院 | Intelligent switching spinal endoscope system, intelligent switching spinal endoscope device and computer readable medium |
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