CN111643031A - Endoscope device and system - Google Patents
Endoscope device and system Download PDFInfo
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- CN111643031A CN111643031A CN202010334391.6A CN202010334391A CN111643031A CN 111643031 A CN111643031 A CN 111643031A CN 202010334391 A CN202010334391 A CN 202010334391A CN 111643031 A CN111643031 A CN 111643031A
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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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
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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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
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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
- A61B1/00064—Constructional details of the endoscope body
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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
- A61B1/00131—Accessories for endoscopes
-
- 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
- A61B1/04—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
- A61B1/07—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
- 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
- A61B90/06—Measuring instruments not otherwise provided for
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/061—Measuring instruments not otherwise provided for for measuring dimensions, e.g. length
Abstract
The invention relates to the technical field of endoscopes and discloses an endoscope device and a system, wherein the endoscope device comprises an insertion part, a light emitting mechanism, a light receiving mechanism and a ranging signal processing mechanism, the light emitting mechanism comprises a light emitting unit, a light emitting optical fiber and an output light collimator which are sequentially connected, the light emitting optical fiber is arranged in the insertion part in a penetrating way, and the output light collimator is arranged at the head part of the insertion part to output parallel light beams to be projected to a target object; the light receiving mechanism is used for receiving a reflected light beam of the target object and extracting a ranging signal, and the ranging signal processing mechanism is used for receiving the ranging signal and calculating the distance between the head of the inserting part and the target object. The endoscope device applies the optical fiber and collimated light technology to the endoscope body, realizes the distance measuring function at the head of the insertion part of the endoscope, and has high integration level, high measurement precision and strong anti-interference capability.
Description
Technical Field
The invention relates to the technical field of endoscopes, in particular to an endoscope device and system.
Background
The endoscope is a detection instrument integrating traditional optics, ergonomics, precision machinery, modern electronics, mathematics and software, has an image sensor, an optical lens, light source illumination, water vapor control and the like, can enter the stomach through the oral cavity or enter the body through other natural pores, and can see pathological changes which cannot be displayed by other medical equipment such as X rays and the like by utilizing the endoscope.
In the course of endoscopy or endoscopic surgery, it is necessary to grasp the condition of a diseased tissue and a medical instrument used in a patient's body using an image of an endoscope, and the measurement of a distance based on the endoscope can increase the image information of the endoscope, thereby improving the visibility of the endoscope and the operability of the medical instrument. However, the conventional endoscope cannot directly present information on the distance (or depth) between the endoscope lens and the measured lumen, and needs a medical staff to judge the displayed image based on a great amount of experience, which is limited by the personal experience of the medical staff and the imaging resolution of the endoscope lens. Although some endoscope distance measurement technologies have been proposed to use dual image pickup units or specially-made image pickup units to improve the image pickup accuracy, or to use a ruler to calculate the distance information through the endoscopic forceps channel, these distance measurement methods have disadvantages of low distance measurement accuracy or complicated structure.
Disclosure of Invention
The embodiment of the invention provides an endoscope device and system, which are used for solving the problems of low precision and complex structure of the existing endoscope distance measuring technology.
The embodiment of the invention provides an endoscope device, which comprises an insertion part, a light emitting mechanism, a light receiving mechanism and a ranging signal processing mechanism, wherein the light emitting mechanism comprises a light emitting unit, a light emitting optical fiber and an output light collimator which are sequentially connected, the light emitting optical fiber is arranged in the insertion part in a penetrating way, and the output light collimator is arranged at the head part of the insertion part to output parallel light beams to be projected to a target object; the light receiving mechanism is used for receiving a reflected light beam of the target object and extracting a ranging signal, and the ranging signal processing mechanism is used for receiving the ranging signal and calculating to obtain the distance between the head of the inserting part and the target object.
The light emitting unit comprises a driver and a laser, the driver is electrically connected with the ranging signal processing mechanism, and the driver is used for driving the laser to emit laser beams with preset frequency; the light-emitting optical fiber is connected to the laser through a first optical fiber coupling connector.
The optical receiving mechanism comprises an optical receiving unit, a second optical fiber coupling connector, a light receiving optical fiber and a light receiving coupler which are sequentially connected, wherein the light receiving coupler is arranged at the head of the inserting part so as to focus and couple the reflected light beam into the light receiving optical fiber; the light receiving optical fiber penetrates through the insertion part so as to transmit the reflected light beam to the light receiving unit through the second optical fiber coupling connector; the light receiving unit is used for extracting and converting the reflected light beam into an electric signal and sending the electric signal to the distance measuring signal processing mechanism;
the distance measurement signal processing mechanism is configured to calculate a phase difference between the laser beam and the reflected beam, and obtain a distance between the head of the insertion portion and the target object based on the phase difference.
The light receiving coupler is a light receiving focusing lens arranged in parallel with the output light collimator, or a plurality of light receiving cones wound on the output light collimator.
The illumination device comprises an insertion part, an illumination optical fiber and an illumination dodging lens, wherein the insertion part is provided with a head part, one end of the insertion part is used for receiving an illumination light beam, the other end of the insertion part is connected with the illumination dodging lens, and the illumination dodging lens is arranged at the head part of the insertion part;
the light receiving mechanism is arranged at one end of the illumination optical fiber for receiving the illumination light beam, and comprises a reflecting mirror and a light receiver, wherein the reflecting mirror can move to the light path of the illumination optical fiber to switch the light path; when the reflector moves to the light path of the illumination optical fiber, the reflected light beam is reversely coupled and input into the light receiving optical fiber through the illumination light-homogenizing lens, the reflected light beam is emitted to the reflector through the illumination optical fiber and reflected to the light receiver, and the light receiver is used for extracting and converting the reflected light beam into an electric signal and sending the electric signal to the distance measurement signal processing mechanism; or when the reflector is far away from the light path of the illumination optical fiber, the illumination light beam is emitted to the target object through the illumination optical fiber and the illumination dodging lens;
the distance measurement signal processing mechanism is configured to calculate a phase difference between the laser beam and the reflected beam, and obtain a distance between the head of the insertion portion and the target object based on the phase difference.
The light receiving mechanism further comprises a turntable and a turntable motor, an output shaft of the turntable motor is fixedly connected with the turntable, the reflector is fixedly connected with the turntable and faces one side of the lighting optical fiber, light outlet through holes are further formed in the turntable, and the light outlet through holes and the reflector are arranged at intervals in the circumferential direction of the turntable.
The light receiving mechanism comprises a camera shooting assembly, the camera shooting assembly is installed on the head of the inserting part and used for shooting an image irradiated on the target object by the parallel light beams and sending an image signal to the distance measuring signal processing mechanism;
the distance measurement signal processing mechanism is used for extracting coordinate values of the feature points in the image signal and obtaining the distance between the head of the insertion part and the target object based on the coordinate values.
Wherein the characteristic point in the image signal is an imaging beam spot of the center line of the parallel light beam on the imaging plane of the camera assembly, the imaging beam spot is defined as O ', a point where the center line of the parallel light beam irradiates on the target object is defined as O, an included angle between O-O' and a main optical axis of the camera assembly is defined as θ, a distance between the main optical axis of the camera assembly and an axis of the output light collimator is defined as h, and a distance between the head of the insertion portion and the target object is defined as d, and the following formula is satisfied:
the endoscope plug is used for connecting an endoscope control device; the light emitting unit and the distance measuring signal processing mechanism are installed in the operation portion or the endoscope plug.
An embodiment of the present invention also provides an endoscope system using the endoscope apparatus described above, further including an endoscope control apparatus connected to the endoscope plug.
The endoscope device and the system provided by the embodiment of the invention comprise an insertion part, a light emitting mechanism, a light receiving mechanism and a ranging signal processing mechanism, wherein a light beam emitted by a light emitting unit passes through a light emitting optical fiber and an output light collimator in sequence and then is projected to a target object in parallel, the light receiving mechanism receives a reflected light beam of the target object and extracts a ranging signal, and the ranging signal processing mechanism receives the ranging signal and calculates to obtain the distance between the head part of the insertion part and the target object. The endoscope device applies the optical fiber and collimated light technology to the endoscope body, realizes the distance measuring function at the head of the insertion part of the endoscope, and has high integration level, high measurement precision and strong anti-interference capability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of an endoscopic device in an embodiment of the present invention;
FIG. 2 is a schematic view of the ranging principle of an endoscopic device in an embodiment of the present invention;
FIG. 3 is a front view of a head portion of an insert in an embodiment of the invention;
FIG. 4 is a front view of a head portion of another insert in an embodiment of the invention;
FIG. 5 is an enlarged partial view of the light-receiving coupler and the output light collimator of FIG. 4;
FIG. 6 is a schematic layout of the light-emitting optical fiber and the light-receiving optical fiber corresponding to the head of the insertion portion in FIG. 4;
FIG. 7 is a schematic view of the ranging principle of another endoscopic device in an embodiment of the present invention;
FIG. 8 is a schematic view of the endoscopic device of FIG. 7 in a non-ranging state;
FIG. 9 is a front view of the head of the insertion section of the endoscopic device of FIG. 7;
FIG. 10 is a front view of the turntable of FIG. 7;
FIG. 11 is a schematic view of a distance measurement principle of another endoscopic device in an embodiment of the present invention;
fig. 12 is a schematic structural view of an endoscope system in an embodiment of the present invention.
Description of reference numerals:
1. an insertion portion; 11. An insertion portion head portion; 111. A channel opening is clamped;
112. a water gas port; 2. A light emitting mechanism; 21. A light emitting unit;
211. a driver; 212. A laser; 22. An optical fiber for emitting light;
221. a first fiber coupling connector; 23. An output light collimator;
3. a light receiving mechanism; 31. A light receiving unit; 32. A light receiving optical fiber;
321. a second fiber coupling connector; 33. A light receiving coupler;
331. a light-collecting focusing lens; 332. A light receiving cone; 34. A camera assembly;
35. a mirror; 36. An optical receiver; 37. A turntable;
371. a light exit through hole; 38. A turntable motor;
4. a ranging signal processing mechanism; 5. A target object;
61. an illumination fiber; 62. An illumination dodging lens; 7. An operation section;
8. an endoscope plug; 81. A main hose; 9. An endoscope control device;
91. an illumination source.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "upper", "lower", "left", "right", and the like are used only to indicate a relative positional relationship, and when the absolute position of a described object is changed, the relative positional relationship may also be changed accordingly. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.
It is to be understood that, unless otherwise expressly specified or limited, the term "coupled" is used broadly, and may, for example, refer to directly coupled devices or indirectly coupled devices through intervening media. Specific meanings of the above terms in the embodiments of the invention will be understood to those of ordinary skill in the art in specific cases.
As shown in fig. 1 to 11, an endoscope apparatus provided in an embodiment of the present invention includes an insertion portion 1, and further includes a light emitting mechanism 2, a light receiving mechanism 3, and a distance measuring signal processing mechanism 4, where the light emitting mechanism 2 includes a light emitting unit 21, a light emitting optical fiber 22, and an output light collimator 23 connected in sequence, the light emitting optical fiber 22 is inserted into the insertion portion 1, and the output light collimator 23 is installed on the insertion portion head portion 11 to output parallel light beams to be projected onto a target object 5. The light receiving means 3 is for receiving the reflected light beam of the target object 5 and extracting a ranging signal, and the ranging signal processing means 4 is for receiving the ranging signal and calculating the distance between the insert head 11 and the target object 5.
Specifically, the light emitting unit 21 may be a laser light source or an LED light source. The output light collimator 23 can adopt one or more of a graded index lens C-lens, a graded index lens G-lens and a fixed index lens to realize the function thereof, and performs zooming processing on the light output by the light-emitting optical fiber 22 to obtain approximately parallel light beams. The light emitting unit 21 may be installed in the operation portion 7 or the endoscope plug 8 according to actual requirements, or may be installed in the endoscope control device 9, and then connected to the light emitting optical fiber 22 through the endoscope plug 8.
The light receiving mechanism 3 can adopt a phase type laser ranging mechanism or a camera module ranging mechanism. The distance measuring signal processing means 4 uses different calculation methods according to the type of the distance measuring means of the light receiving means 3.
Fig. 2 shows a schematic diagram of a distance measurement principle using a phase type laser distance measurement mechanism, which compares a laser emission signal emitted from a light emission unit 21 with a reflection signal obtained by a light receiving mechanism 3 to calculate a phase difference, i.e., a phase delay generated by one round trip of a laser beam (usually modulated light), and then converts a distance represented by the phase delay, i.e., a distance between an insertion portion head 11 and a target object 5, according to a frequency modulated by the laser beam. The precision of the phase type laser ranging can reach 1 mm.
Fig. 11 shows a schematic diagram of a distance measurement principle using a camera module distance measurement mechanism, wherein a light beam emitted by a light emitting unit 21 is collimated by an output light collimator 23 and then projected onto a target object 5 to form a light spot (which may be a point, a line or a circle), then an image pickup assembly 34 (which may be a camera component carried by an insertion portion head 11 of an endoscope) picks up an image of the target object 5, the image includes the light spot, and the distance measurement signal processing mechanism 4 identifies and processes the light spot signal on the image, so that the distance between the insertion portion head 11 and the target object 5 can be calculated based on the lens imaging principle because the relative positions of the output light collimator 23 and the image pickup assembly 34 are fixed. This module range finding mechanism of making a video recording is higher than laser rangefinder at closely precision, and when the distance is great, laser rangefinder's precision is then higher relatively.
When the camera module is used for ranging, the light emitting unit 21 may be a laser light source or an LED source or other light sources. And when light emission unit 21 can adopt laser source, when 3 modules ranging mechanism that make a video recording of light receiving mechanism adopted, then belong to the combination form of laser rangefinder and the module range finding of making a video recording, under the condition that does not increase hardware structure as far as possible, can improve the module ranging mechanism that makes a video recording in the range of closely measuring the precision, the precision can reach about 0.5 mm.
The endoscope device provided by the embodiment comprises an insertion part 1, a light emitting mechanism 2, a light receiving mechanism 3 and a ranging signal processing mechanism 4, wherein a light beam emitted by a light emitting unit 21 passes through a light emitting optical fiber 22 and an output light collimator 23 in sequence and then is projected to a target object 5 in parallel, the light receiving mechanism 3 receives a reflected light beam of the target object 5 and extracts a ranging signal, and the ranging signal processing mechanism 4 receives the ranging signal and calculates to obtain the distance between a head part 11 of the insertion part and the target object 5. The endoscope device applies the optical fiber and collimated light technology to the endoscope body, realizes the distance measuring function at the head of the insertion part of the endoscope, and has high integration level, high measurement precision and strong anti-interference capability.
Further, the diameter of the light exit of the output light collimator 23 may be between 0.5mm and 3mm, and in a specific embodiment, the diameter of the light exit is 1 mm. Thus, the projection of the parallel beam onto the target object 5 can be approximated as a beam spot, and since the surface of the target object 5 is not flat, if the range of the irradiation spot is too large, the accuracy of measuring the distance is lowered, and thus the smaller the reflection spot, the more concentrated the light and thus the easier it is to be collected. By realizing single-point ranging, the ranging precision is improved.
Further, as shown in fig. 2, the light emitting unit 21 includes a driver 211 and a laser 212, the driver 211 is electrically connected to the distance measuring signal processing mechanism 4, and the driver 211 is used for driving the laser 212 to emit a laser beam with a preset frequency. The outgoing optical fiber 22 is connected to the laser 212 through a first fiber-coupled connector 221. Specifically, laser 212 may be a semiconductor laser, and driver 211 may be a tunable cross current driving circuit to drive the semiconductor laser to emit a laser ranging signal with a specific frequency. The driver 211 can also receive the control signal output by the ranging signal processing means 4 to adjust the value of the specific frequency.
Further, as shown in fig. 2, the light receiving mechanism 3 includes a light receiving unit 31, a second fiber coupling connector 321, a light receiving fiber 32 and a light receiving coupler 33 connected in sequence, and the light receiving coupler 33 is mounted on the insert head 11 to focus and couple the reflected light beam into the light receiving fiber 32. The light receiving fiber 32 is disposed through the insertion portion 1 to transmit the reflected light beam to the light receiving unit 31 through the second fiber coupling connector 321. The light receiving unit 31 is used for extracting and converting the reflected light beam into an electric signal, and sending the electric signal to the ranging signal processing mechanism 4. Further, the light receiving unit 31 may amplify and filter the received signal, so as to improve the accuracy of signal transmission.
The distance measurement signal processing means 4 is for calculating a phase difference between the laser beam and the reflected beam, and obtaining the distance between the insert head 11 and the target object 5 based on the phase difference. The specific calculation method may adopt the basic principle of phase laser ranging, which is the prior art and is not described herein again.
Further, as shown in fig. 2 and 3, the light receiving coupler 33 may employ a light receiving focusing lens 331 disposed in parallel with the output light collimator 23. The diameters of the output light collimator 23 and the light collecting and focusing lens 331 are about 1 mm.
Alternatively, as shown in fig. 4, 5 and 6, the light-receiving coupler 33 may further employ a plurality of light-receiving cones 332 surrounding the output light collimator 23. By integrating the light receiving coupler 33 and the output light collimator 23 into a whole, the volume of the insertion portion head 11 occupied by the light receiving coupler can be reduced, the light receiving effect can be increased, new components are difficult to add due to the fact that the structural size of the insertion portion head 11 of the medical endoscope is greatly limited, and the maximum utilization of the volume of the insertion portion head 11 can be achieved through the integrated design.
Further, as shown in fig. 7, 8 and 9, the endoscope apparatus further includes an illumination fiber 61 and an illumination dodging lens 62, one end of the illumination fiber 61 is used for receiving an illumination light beam, the other end of the illumination fiber 61 is connected to the illumination dodging lens 62, and the illumination dodging lens 62 is mounted on the insertion portion head 11. The speed of illumination light may be provided by an illumination light source 91 provided in the endoscope control device 9.
The light receiving mechanism 3 is disposed at one end of the illumination fiber 61 for receiving the illumination light beam, the light receiving mechanism 3 includes a reflecting mirror 35 and a light receiver 36, and the reflecting mirror 35 is movable to the optical path of the illumination fiber 61 to switch the optical path.
As shown in fig. 7, when the reflector 35 moves to the optical path of the illumination fiber 61, laser ranging can be performed at this time, after the parallel light beam emitted by the light emitting mechanism 2 is reflected by the target object 5, the reflected light beam is coupled back to the light receiving fiber via the illumination dodging lens 62, the reflected light beam exits to the reflector 35 via the illumination fiber 61 and is reflected to the light receiver 36, and the light receiver 36 is configured to extract and convert the reflected light beam into an electrical signal and send the electrical signal to the ranging signal processing mechanism 4. Specifically, the optical receiver 36 may include an optical receiving unit 31 and a light condensing device (not shown in the figure), and the light receiving efficiency is improved by the light condensing device, and the received signal may be amplified and filtered by the optical receiving unit, and the optical signal may be converted into an electrical signal. The distance measurement signal processing means 4 is for calculating a phase difference between the laser beam and the reflected beam, and obtaining the distance between the insert head 11 and the target object 5 based on the phase difference. The calculation principle here is the same as the above embodiment, except that the distance measurement is lengthened by a part, but since the lengthened distance is fixed, the deviation correction is initiated during calculation.
Or as shown in fig. 8, when the reflector 35 is far away from the optical path of the illumination fiber 61, the laser ranging is not performed at this time, the original illumination pipeline is recovered, and the illumination beam is emitted to the target object 5 through the illumination fiber 61 and the illumination dodging lens 62.
By multiplexing the illumination fiber 61 and the illumination dodging lens 62, one light receiving fiber 32 can be reduced, and one or two illumination fibers 61 are generally arranged in the endoscope body. As shown in fig. 9, in the present embodiment, two illumination fibers 61 are provided, and correspondingly, two illumination dodging lenses 62 are provided at the insertion head 11, so that one illumination fiber 61 can be multiplexed, and the multiplexed illumination fiber 61 can be used for both illumination and receiving distance measurement signal light, but the two functions are alternatively used, that is, no distance measurement is performed during illumination, and no illumination is performed during distance measurement. Since the time for ranging is short, the influence on the lighting function can be reduced.
Further, as shown in fig. 7, 8 and 10, the light receiving mechanism 3 further includes a turntable 37 and a turntable motor 38, an output shaft of the turntable motor 38 is fixedly connected to the turntable 37, the reflector 35 is fixedly connected to one side of the turntable 37 facing the illumination fiber 61, the turntable 37 is further provided with light exit holes 371, and the light exit holes 371 and the reflector 35 are arranged at intervals along the circumferential direction of the turntable 37. The turntable motor 38 can be electrically connected to the distance measurement signal processing mechanism 4 to receive distance measurement control, and when distance measurement is required, the turntable motor 38 drives the turntable 37 to rotate, so that the reflector 35 moves to the light path of the illumination optical fiber 61; when illumination is needed, the turntable motor 38 drives the turntable 37 to rotate, so that the reflector 35 is far away from the light path of the illumination fiber 61, and the light exit through hole 371 moves to the light path of the illumination fiber 61. More specifically, the reflecting mirror 35, the light receiver 36, the turntable 37, and the turntable motor 38 may be integrated and mounted together in the endoscope control device 9, and may also be mounted in the operation section 7 or the endoscope plug 8.
In addition, the reflecting mirror 35 may also use a translation mechanism, such as an electric telescopic rod, a slide rail slider, a lead screw slider, or the like, so that the reflecting mirror 35 can be close to or far from the optical path of the illumination fiber 61. Other moving structures can be adopted as long as the mirror 35 can be driven to move, such as forward and backward or rotate, and the present invention is not limited herein.
In another embodiment, the light receiving mechanism 3 may also use a camera module to measure distance. As shown in fig. 11, the light receiving means 3 includes an image pickup unit 34, the image pickup unit 34 is attached to the insertion portion head 11, and the image pickup unit 34 picks up an image of the parallel light beam irradiated on the target object 5 and sends an image signal to the distance measurement signal processing means 4. The distance measurement signal processing means 4 is for extracting coordinate values of the feature points in the image signal, and obtaining the distance between the head of the insertion portion and the target object based on the coordinate values. Specifically, the imaging unit 34 may directly employ an imaging means provided in the insertion head 11, and may be fixed-focus or zoom. The parallel light beam emitted by the light emitting mechanism 2 irradiates a light spot formed on the target object 5, and the characteristic point in the image signal can be selected from a central point on an image formed by the light spot on the camera assembly 34.
Further, the characteristic point in the image signal is an imaging beam spot of the center line of the parallel beam in the imaging plane of the camera module 34, and the imaging beam spot is defined as O'. The point where the center line of the parallel beam is irradiated onto the target object 5 is O, i.e., the midpoint of the spot. The included angle between O-O' and the main optical axis of the camera assembly 34 is θ, the distance between the main optical axis of the camera assembly 34 and the axis of the output light collimator 23 is h, and the distance between the insertion portion head 11 and the target object 5 is d, then the following formula is satisfied:
the distance d can be obtained by calculating the pixel coordinates of the imaging beam spot O' with respect to the axis in the captured frame image by the distance measurement signal processing means 4 (or by directly using an image processing unit provided in the endoscope control device 9), and by setting the distance h between the main optical axis of the imaging unit 34 and the axis of the output light collimator 23 to a constant value. The larger d, the closer the imaging beam spot O 'is to the center in the screen, and the smaller d, the farther the imaging beam spot O' is from the center. Further, when the light exit of the output light collimator 23 is small, the light spot can be approximated to a beam spot, which is O.
In addition to the above-described embodiments, as shown in fig. 1, the endoscope apparatus further includes an operation portion 7 and an endoscope plug 8, the insertion portion 1, the operation portion 7 and the endoscope plug 8 are connected in this order, the endoscope plug 8 is connected to the operation portion 7 through a main hose 81, and a pipeline such as a water pipe, an air pipe or an electric wire may be sealed in the main hose 81. The endoscope plug 8 is used for connecting an endoscope control device 9. The light emitting unit 21 and the distance measurement signal processing means 4 are mounted in the operation section 7 or the endoscope plug 8, or may be mounted in the endoscope control device 9.
Specifically, the endoscope control device 9 has functions of providing the illumination light source 91, moisture, image signal processing control, image output, and the like. The endoscope plug 8 mainly realizes the connection between the operation unit 7 and the endoscope control device 9 and the functions of transmitting signals, electric power, illumination light, and moisture. The operation unit 7 mainly realizes the operation and control of the insertion unit head 11, the remote function control of the endoscope control device 9, the control of water supply and air supply, and various signal and power processing functions. The insertion part head 11 mainly utilizes the camera module 34 to realize the image signal acquisition and transmission function, provides an operation channel for the endoscope auxiliary equipment through the forceps opening 111, emits illumination light through the illumination dodging lens 62, and realizes the functions of water and air supply through the water opening 112.
As shown in fig. 12, the embodiment of the present invention further provides an endoscope system using the endoscope apparatus, further comprising an endoscope control apparatus 9, wherein the endoscope control apparatus 9 is electrically connected to the ranging signal processing means 4 to receive the distance measurement result transmitted by the ranging signal processing means 4.
As can be seen from the above embodiments, the endoscope apparatus and system provided by the present invention includes an insertion portion 1, a light emitting mechanism 2, a light receiving mechanism 3, and a ranging signal processing mechanism 4, wherein a light beam emitted from the light emitting unit 21 passes through a light emitting fiber 22 and an output light collimator 23 in sequence and then is projected to a target object 5 in parallel, the light receiving mechanism 3 receives a reflected light beam of the target object 5 and extracts a ranging signal, and the ranging signal processing mechanism 4 receives the ranging signal and calculates a distance between the insertion portion head 11 and the target object 5. The endoscope device applies the optical fiber and collimated light technology to the endoscope body, realizes the distance measuring function at the head of the insertion part of the endoscope, and has high integration level, high measurement precision and strong anti-interference capability.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An endoscope device comprises an insertion part and is characterized by further comprising a light emitting mechanism, a light receiving mechanism and a ranging signal processing mechanism, wherein the light emitting mechanism comprises a light emitting unit, a light emitting optical fiber and an output light collimator which are sequentially connected, the light emitting optical fiber is arranged in the insertion part in a penetrating mode, and the output light collimator is installed at the head of the insertion part to output parallel light beams to be projected to a target object; the light receiving mechanism is used for receiving a reflected light beam of the target object and extracting a ranging signal, and the ranging signal processing mechanism is used for receiving the ranging signal and calculating to obtain the distance between the head of the inserting part and the target object.
2. The endoscopic device as defined in claim 1, wherein said light emitting unit includes a driver and a laser, said driver being electrically connected to said distance measuring signal processing means, said driver being adapted to drive said laser to emit a laser beam having a predetermined frequency; the light-emitting optical fiber is connected to the laser through a first optical fiber coupling connector.
3. The endoscope apparatus according to claim 2, wherein the light receiving mechanism comprises a light receiving unit, a second fiber coupling connector, a light receiving fiber, and a light receiving coupler, which are connected in this order, the light receiving coupler being mounted on the head portion of the insertion portion to focus and couple the reflected light beam into the light receiving fiber; the light receiving optical fiber penetrates through the insertion part so as to transmit the reflected light beam to the light receiving unit through the second optical fiber coupling connector; the light receiving unit is used for extracting and converting the reflected light beam into an electric signal and sending the electric signal to the distance measuring signal processing mechanism;
the distance measurement signal processing mechanism is configured to calculate a phase difference between the laser beam and the reflected beam, and obtain a distance between the head of the insertion portion and the target object based on the phase difference.
4. An endoscope apparatus according to claim 3 and wherein said light collecting coupler is a light collecting focusing lens juxtaposed with said output light collimator or a plurality of light collecting cones disposed around said output light collimator.
5. The endoscopic device of claim 2, further comprising an illumination fiber and an illumination dodging lens, wherein one end of the illumination fiber is used for receiving the illumination light beam, the other end of the illumination fiber is connected to the illumination dodging lens, and the illumination dodging lens is mounted on the head of the insertion portion;
the light receiving mechanism is arranged at one end of the illumination optical fiber for receiving the illumination light beam, and comprises a reflecting mirror and a light receiver, wherein the reflecting mirror can move to the light path of the illumination optical fiber to switch the light path; when the reflector moves to the light path of the illumination optical fiber, the reflected light beam is reversely coupled and input into the light receiving optical fiber through the illumination light-homogenizing lens, the reflected light beam is emitted to the reflector through the illumination optical fiber and reflected to the light receiver, and the light receiver is used for extracting and converting the reflected light beam into an electric signal and sending the electric signal to the distance measurement signal processing mechanism; or when the reflector is far away from the light path of the illumination optical fiber, the illumination light beam is emitted to the target object through the illumination optical fiber and the illumination dodging lens;
the distance measurement signal processing mechanism is configured to calculate a phase difference between the laser beam and the reflected beam, and obtain a distance between the head of the insertion portion and the target object based on the phase difference.
6. The endoscope apparatus according to claim 5, wherein the light receiving mechanism further comprises a turntable and a turntable motor, an output shaft of the turntable motor is fixedly connected to the turntable, the reflector is fixedly connected to a side of the turntable facing the illumination optical fiber, the turntable is further provided with light exit holes, and the light exit holes and the reflector are arranged along a circumferential direction of the turntable at intervals.
7. The endoscope apparatus according to claim 1, wherein the light receiving mechanism includes a camera module mounted on a head portion of the insertion portion, the camera module being configured to take an image of the parallel light beam irradiated on the target object and send an image signal to the distance measurement signal processing mechanism;
the distance measurement signal processing mechanism is used for extracting coordinate values of the feature points in the image signal and obtaining the distance between the head of the insertion part and the target object based on the coordinate values.
8. The endoscopic device according to claim 7, wherein the characteristic point in the image signal is an imaging beam spot of the center line of the parallel light beam in an imaging plane of the image pickup assembly, the imaging beam spot is defined as O ', a point where the center line of the parallel light beam is irradiated onto the target object is defined as O, an included angle between O-O' and a main optical axis of the image pickup assembly is defined as θ, a distance between the main optical axis of the image pickup assembly and an axis of the output light collimator is defined as h, and a distance between the head of the insertion portion and the target object is defined as d, the following formula is satisfied:
9. the endoscope apparatus according to any one of claims 1 to 8, further comprising an operation section and an endoscope plug, the insertion section, the operation section and the endoscope plug being connected in this order, the endoscope plug being used for connecting an endoscope control apparatus; the light emitting unit and the distance measuring signal processing mechanism are installed in the operation portion or the endoscope plug.
10. An endoscope system utilizing the endoscopic device of claim 9 further comprising an endoscope control device connected to the endoscope plug.
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| CN202010334391.6A CN111643031A (en) | 2020-04-24 | 2020-04-24 | Endoscope device and system |
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| CN202010334391.6A CN111643031A (en) | 2020-04-24 | 2020-04-24 | Endoscope device and system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112244752A (en) * | 2020-11-09 | 2021-01-22 | 嘉兴学院 | Soft endoscope structure |
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