CN109091099A - The high definition miniature electronic endoscopic system of binocular vision - Google Patents
The high definition miniature electronic endoscopic system of binocular vision Download PDFInfo
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- CN109091099A CN109091099A CN201810446245.5A CN201810446245A CN109091099A CN 109091099 A CN109091099 A CN 109091099A CN 201810446245 A CN201810446245 A CN 201810446245A CN 109091099 A CN109091099 A CN 109091099A
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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
- A61B1/06—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
- A61B1/07—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 using light-conductive means, e.g. optical fibres
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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
- A61B1/00165—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
- A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion
Abstract
A kind of high definition miniature electronic endoscopic system of binocular vision, it include: two groups of mutually isostructural image acquisition units, the digital signal processing module being sequentially connected with image acquisition units, binocular vision constructs module, wherein: image acquisition units include sequentially connected optical fiber, camera lens, Miniature high-definition imaging sensor and image capture module, optical fiber is by light source-guide to camera lens front end, illumination is provided for camera lens, the signal output end of image capture module by LVDS conducting wire be connected with LVDS interface simultaneously output digital image signal to digital signal processing module, digital signal processing module carries out geometric dimension measurement to data image signal and exports geological information to binocular vision building module, binocular vision is realized after binocular vision constructs the reparation of module match point, the binocular image that the present invention will acquire by dsp processor into Row fusion realizes the information such as size, size, the depth of shooting image, provides accurate quantitative analysis and medical endoscope image high-definition for surgical operation.
Description
Technical field
The present invention relates to a kind of technology of medical field, peeped in the high definition miniature electronic of specifically a kind of binocular vision
Mirror system.
Background technique
Only one imaging sensor of cannula type endoscopic system, can only obtain flat image, can only in flat image
The relative positional relationship between image is obtained, the accurate size information of image can not be obtained, and in clinical application, it is peeped by interior
Sem observation to image quantitatively to obtain its accurate size information extremely important, such as determine wound size size, lesion area, it is existing
Some cannula type endoscopes are unable to complete above-mentioned requirements.
Summary of the invention
The present invention is proposed for the defects of prior art size is big, power consumption is high, structure is complicated and image quality is affected
A kind of high definition miniature electronic endoscopic system of binocular vision, can obtain high-definition image in real time, will acquire by dsp processor
Binocular image merged, realize the three-dimensional reconstruction of shooting image, obtain the information such as size, size, depth of shooting image,
Accurate quantitative analysis and medical endoscope image high-definition are provided for surgical operation, improves the standard of surgical operation diagnosis
True rate.
The present invention is achieved by the following technical solutions:
The present invention includes: two groups of mutually isostructural image acquisition units, the number letter being sequentially connected with image acquisition units
Number processing module and binocular vision construct module, in which: image acquisition units include sequentially connected optical fiber, camera lens, miniature height
Clear imaging sensor and image capture module, optical fiber provide illumination, Image Acquisition mould by light source-guide to camera lens front end, for camera lens
The signal output end of block by LVDS conducting wire be connected with LVDS interface simultaneously output digital image signal to digital signal processing module,
Digital signal processing module carries out geometric dimension measurement to data image signal and exports geological information to binocular vision building mould
Block realizes binocular vision after binocular vision building module carries out match point reparation.
The image acquisition units are set to inside cylinder housing, in which: two optical fiber and two camera lenses are distributed in
On the cross section of cylinder housing.
The geometric dimension measurement refers to: digital signal processing module carries out data image signal according to calibrating parameters
After distortion correction and polar curve are handed over just, for the certain point in binocular image in the image of side, its local feature information structuring is utilized
Local feature description's, it is special by same structure method construct part for all the points gone together in the figure of the other side with the figure point
Sign description, calculates the Euclidean distance between the Feature Descriptor of two sides picture point, selected distance minimum value is other side figure
In match point, obtain three-dimensional coordinate of the left and right match points in world coordinate system using triangle geometric method, and by multiple
It is mutually matched a little to carry out length, width, depth, area and cubing and obtain geological information.
The match point reparation refers to: causing match point for mistake when the part in the figure of side is blocked in the figure of the other side
When match point, Mismatching point is rejected by consistency check, and for the point of non-successful match, using with its most neighbor
The parallax value successfully put is carried out the calculating of three-dimensional coordinate using principle of triangulation, obtains three of all the points on the image of two sides
Dimension coordinate is to realize binocular vision.
Technical effect
Compared with prior art, the present invention can obtain the three of the geometry information for shooting image and shooting image in real time
Image is tieed up, provides the geometry information of lesion accurate quantitative analysis, compared with prior art, this hair for the diagnosis decision of clinician
It is bright that the flat image information of shooting image can not only be provided for clinician, additionally it is possible to which that the geometric dimension letter of accurate quantitative analysis is provided
Breath and three-dimensional image information provide more acurrate and quantitative information to the correct diagnosis of clinician and decision.
Detailed description of the invention
Fig. 1 is structure chart of the invention；
The top view of the end face of the present invention Fig. 2；
Fig. 3 is left images captured by the present invention；
Fig. 4 is the image of three-dimensional reconstruction of the present invention；
Wherein: camera lens 1, Miniature high-definition imaging sensor 2, image capture module 3, power supply line 4, LVDS conducting wire 5, cylindrical body
Shell 6, LVDS interface 7, digital signal processing module 8, USB3.0 interface 9, computer 10, image processing module 11, optical fiber 12.
Specific embodiment
As shown in Figure 1, the present embodiment include: two groups of mutually isostructural image acquisition units, with image acquisition units successively
Connected digital signal processing module 8, the computer 10 with image processing module 11, in which: image acquisition units include according to
Optical fiber 12, camera lens 1, Miniature high-definition imaging sensor 2 and the image capture module 3 of secondary connection, optical fiber 12 is by light source-guide to mirror
First 1 front end provides illumination for camera lens 1, and the signal output end of image capture module 3 is connected by LVDS conducting wire 5 with LVDS interface 7
And output digital image signal is to digital signal processing module 8.
The digital signal processing module 8 is connected by USB3.0 interface 9 with computer 10.
The image acquisition units are set to inside cylinder housing 6, in which: two optical fiber 12 and two camera lenses 1 are equal
It is distributed on the cross section of cylinder housing 6.
The mutually isostructural image acquisition units parameter of described two groups is identical, by identical camera lens, LVDS conducting wire and
LVDS interface is sent to dsp processor, and two sets of high-definition images are sent to computer, computer by USB3.0 by dsp processor
Two sets of images are carried out three-dimensional reconstruction by upper image processing module 11, obtain the 3D rendering of shooting object.
As shown in figure 3, the image acquisition units carry out geometric dimension measurement to shooting image by following steps:
The first step uses 13 rows, 8 column, gridiron pattern of the cell having a size of 1.5mm square as calibration chessboard, inside peeps
Mirror with different view takes pictures 25 to chessboard with distance, carries out parameter to two Miniature high-definition cameras using Zhang Zhengyou calibration method
Calibration；
Second step, the parameter obtained using calibration carries out distortion correction to image and polar curve is handed over just；
Third step, for the certain point in left image, using its local feature information structuring local feature description, for
The all the points gone together in right figure with left figure point pass through same structure method construct local feature description；
4th step, computer calculate third step in left images point Feature Descriptor between Euclidean distance, choose away from
From the match point that minimum value is in right figure；
5th step is obtained three-dimensional coordinate of the left and right match points in world coordinate system using triangle geometric method, and passed through
It is multiple to be mutually matched a little to carry out length, width, depth, area and cubing.
As shown in figure 4, the image processing module 11 carries out match point reparation to shooting image by following steps:
The first step, according to from left to right, sequence from top to bottom successively traverses the every bit in left image, and in right figure
The point to match is searched in corresponding row, the three-dimensional coordinate of the point is obtained according to the parallax of match point；
Due to visual angle, the part in left figure may will appear the case where blocking in right figure, the matching obtained at this time
Point is Mismatching point, is in the case rejected Mismatching point using left and right consistency check；
Second step, the point for non-successful match utilize triangle using the parallax value successfully put with its most neighbor
Measuring principle carries out the calculating of three-dimensional coordinate, finally obtains the three-dimensional coordinate of all the points on image and is achieved binocular vision.
By above method, the present invention can obtain the geometry information of shooting image in real time and shoot the three-dimensional of image
Image provides the geometry information of lesion accurate quantitative analysis for the diagnosis decision of clinician, compared with prior art, the present invention
The flat image information of shooting image can not only be provided for clinician, additionally it is possible to provide the geometry information of accurate quantitative analysis
And three-dimensional image information, accurate and quantitative information is provided to the correct diagnosis of clinician and decision.
Above-mentioned specific implementation can by those skilled in the art under the premise of without departing substantially from the principle of the invention and objective with difference
Mode carry out local directed complete set to it, protection scope of the present invention is subject to claims and not by above-mentioned specific implementation institute
Limit, each implementation within its scope is by the constraint of the present invention.
Claims (5)
1. a kind of high definition miniature electronic endoscopic system of binocular vision characterized by comprising two groups of mutually isostructural images
Acquisition unit, the digital signal processing module being sequentially connected with image acquisition units, binocular vision building module, in which: image
Acquisition unit includes that sequentially connected optical fiber, camera lens, Miniature high-definition imaging sensor and image capture module, optical fiber draw light source
It is directed at camera lens front end, provides illumination for camera lens, the signal output end of image capture module passes through LVDS conducting wire and LVDS interface phase
Even and output digital image signal is to digital signal processing module, and digital signal processing module carries out geometry to data image signal
Dimensional measurement simultaneously exports geological information to binocular vision building module, realizes after binocular vision building module match point is repaired double
Visually feel.
2. system according to claim 1, characterized in that the image acquisition units are set in cylinder case body
Portion, in which: two optical fiber and two camera lenses are distributed on the cross section of cylinder housing.
3. system according to claim 1, characterized in that the geometric dimension measurement refers to: Digital Signal Processing mould
Root tuber carries out after distortion correction and polar curve hand over just data image signal according to calibrating parameters, in binocular image in the image of side
Certain point, using its local feature information structuring local feature description son, for the institute gone together in the figure of the other side with the figure point
A little, it by same structure method construct local feature description, calculates European between the Feature Descriptor of two sides picture point
Distance, selected distance minimum value are the match point in the figure of the other side, show that left and right match points are alive using triangle geometric method
Three-dimensional coordinate in boundary's coordinate system, and be mutually matched a little by multiple to carry out length, width, depth, area and cubing
And obtain geological information.
4. system according to claim 3, characterized in that the calibrating parameters refer to: image acquisition units are from difference
After visual angle and distance take pictures to calibration chessboard, parameter calibration institute is carried out to two Miniature high-definition cameras using Zhang Zhengyou calibration method
Obtained calibrating parameters.
5. system according to claim 3, characterized in that the match point reparation refers to: the part in the figure of side
Be blocked in the figure of the other side cause match point be Mismatching point when, Mismatching point is rejected by consistency check, and for
The point of non-successful match carries out three-dimensional seat using principle of triangulation using the parallax value successfully put with its most neighbor
Target calculates, and obtains the three-dimensional coordinate of all the points on the image of two sides to realize binocular vision.
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| CN201810446245.5A CN109091099A (en) | 2018-05-11 | 2018-05-11 | The high definition miniature electronic endoscopic system of binocular vision |
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| CN201810446245.5A CN109091099A (en) | 2018-05-11 | 2018-05-11 | The high definition miniature electronic endoscopic system of binocular vision |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110992431A (en) * | 2019-12-16 | 2020-04-10 | 电子科技大学 | Combined three-dimensional reconstruction method for binocular endoscope soft tissue image |
| CN111080778A (en) * | 2019-12-23 | 2020-04-28 | 电子科技大学 | Online three-dimensional reconstruction method of binocular endoscope soft tissue image |
| CN113349926A (en) * | 2021-05-31 | 2021-09-07 | 甘肃省人民医院 | Wound digital model construction system |
| CN117179676A (en) * | 2023-11-08 | 2023-12-08 | 北京市春立正达医疗器械股份有限公司 | Disposable intelligent visual multi-functional miniature catheter |
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