CN116869458A - Stereoscopic endoscope, assembling method and image generating method thereof - Google Patents
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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
- A61B1/04—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
- A61B1/042—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 a proximal camera, e.g. a CCD camera
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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
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
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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
- A61B1/00112—Connection or coupling means
- A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
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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
- A61B1/04—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
- A61B1/051—Details of CCD assembly
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Abstract
The application provides a stereoscopic endoscope, an assembling method and an image generating method thereof, relating to the technical field of medical instruments, wherein the stereoscopic endoscope comprises two image pickup parts with optical axes arranged at intervals, and the image pickup parts are arranged at the front end part of the endoscope; the image pickup part sequentially comprises an optical lens group, an image rotator and an image pickup element from the object side, wherein the image rotator is used for enabling an imaging surface of the corresponding optical lens group to rotate a first preset angle along a first direction relative to the incident side and enabling the imaging surface of the corresponding optical lens group to be imaged on a photosensitive surface of the corresponding image pickup element; wherein, two light sensing surfaces of two image pickup elements are rectangle surfaces, and the long sides of two rectangle surfaces are arranged side by side in a mutually adjacent manner for receiving corresponding images. The three-dimensional endoscope relieves the technical problems that the size of the front end part of the existing endoscope is generally larger and the tissue in the body cavity of a patient is easily damaged, and achieves the technical effects that the front end part of the endoscope is smaller and the diameter is reduced.
Description
Technical Field
The application relates to the technical field of medical instruments, in particular to a stereoscopic endoscope, an assembly method and an image generation method thereof.
Background
In the medical field, endoscopes are widely used for performing various examinations. Among them, medical endoscopes are widely used because an elongated insertion portion is inserted into a body cavity of a subject such as a patient, and an in-vivo image of the body cavity can be obtained without cutting the subject. In endoscopes, particularly stereoscopic endoscopes, it is extremely important to seek a reduction in diameter of an insertion portion due to a limitation in the size of the distal end portion of the stereoscopic endoscope (as small as possible in diameter).
In order to obtain a clear stereoscopic image of a subject, a conventional stereoscopic endoscope is generally configured with two optical channels for observation, and an image of each optical channel is imaged on an image sensor CCD (charge coupled device ) or CMOS (Complementary Metal Oxide Semiconductor, complementary metal oxide semiconductor) respectively, and a stereoscopic image is synthesized.
However, in a stereoscopic endoscope provided with two CCDs or CMOS, in order to realize binocular stereoscopic imaging with left-right parallax, the size (diameter) of the distal end portion of the endoscope is generally large, and it is easy to cause damage to tissues in the body cavity of the patient.
Disclosure of Invention
The application aims to provide a stereoscopic endoscope, an assembling method and an image generating method thereof, which are used for solving the technical problems that the size of the front end part of the endoscope is generally large and the tissue in the body cavity of a patient is easily damaged in the prior art.
The present application provides a stereoscopic endoscope, comprising:
two imaging units having optical axes arranged at intervals, the imaging units being provided at the distal end portion of the endoscope;
the image pickup part sequentially comprises an optical lens group, an image rotator and an image pickup element from the object side, wherein the image rotator is used for enabling an imaging surface of the corresponding optical lens group to rotate a first preset angle along a first direction relative to the incident side and enabling the imaging surface of the corresponding optical lens group to be imaged on a light sensitive surface of the corresponding image pickup element;
wherein, two light sensing surfaces of two image pickup elements are rectangle surfaces, and the long sides of two rectangle surfaces are arranged side by side in a mutually adjacent way for receiving corresponding images.
Further, the two image pickup elements are arranged in parallel;
the image rotator comprises a dove prism, the dove prism is provided with a reflecting surface, and the surfaces of the two dove prisms opposite to the reflecting surface are fixed in a staggered manner by rotating in the same direction or rotating in the opposite direction by 45 degrees.
Further, the face of the dove prism opposite to the reflecting face is configured as a convex spherical face.
Further, a shielding member is arranged between the two image pickup elements, and extends to a direction close to the dove prism for separating two light paths.
Further, the optical lens group comprises a convex-concave lens, a first biconvex lens, a cylindrical lens, a plano-convex lens, a first concave-convex lens, a second concave-convex lens, a biconcave lens and a second biconvex lens which are sequentially arranged from the object side;
the sum of the focal lengths of the convex-concave lens and the first biconvex lens is negative;
an aperture diaphragm is arranged between the cylindrical lens and the plano-convex lens, the cylindrical lens and the plano-convex lens form a first double-cemented lens, and the focal length of the first double-cemented lens is positive;
the concave surface of the first concave-convex lens is close to the convex surface of the plano-convex lens;
the first concave-convex lens and the second concave-convex lens form a second double-cemented lens, the biconcave lens and the second biconvex lens form a third double-cemented lens, and the sum of the focal lengths of the second double-cemented lens and the third double-cemented lens is positive.
Further, an infrared filter is provided between the image rotator and the image pickup device.
Further, a black coating layer is arranged at the joint surface of the two infrared filters.
Further, a protective glass is provided between the infrared filter and the corresponding image pickup device.
The stereoscopic endoscope provided by the application has at least the following beneficial effects:
the stereoscopic endoscope comprises an imaging part arranged at the front end part of the endoscope, wherein the imaging part sequentially comprises an optical lens group, an image rotator and an imaging element from the object side, and the imaging of the optical lens group can be carried out on a light sensitive surface of the imaging element through the image rotator; in this process, since the two photosurfaces of the two image capturing elements are rectangular and the long sides of the two rectangular surfaces are arranged side by side in a mutually adjacent manner, by the arrangement of the image rotator, the imaging surface of the corresponding optical lens group can rotate by a first preset angle along a first direction relative to the incident side and can be imaged on the photosurfaces of the image capturing elements; in addition, compared with the prior art, the two long sides of the photosensitive surfaces of the two image pickup elements are arranged side by side in a mutually adjacent mode, so that the diameter size of the front end part of the endoscope can be effectively reduced, the front end part of the endoscope is more compact and smaller, and damage to tissues in a body cavity of a patient is reduced.
The application provides an assembly method based on the stereoscopic endoscope, which comprises the following steps:
inserting the two image pickup elements into the endoscope front end portion from the rear end side in a vertical posture, respectively;
then, the two image rotators are respectively rotated by a second preset angle along the first direction from the initial posture, then fixed in the front end part of the endoscope and aligned with the corresponding image pickup elements;
two optical mirrors are respectively inserted into the endoscope front end portion from the front end side and aligned with the corresponding image rotators.
The assembly method is based on the stereoscopic endoscope, and can achieve the beneficial effects of the stereoscopic endoscope, and the description is omitted here.
The application provides an image generation method based on the stereoscopic endoscope, which comprises the following steps:
two vertical images are acquired simultaneously by two image pickup elements;
rotating the acquired two images by the first preset angle along a second direction opposite to the first direction to obtain two transverse images;
and synthesizing the two transverse images to obtain a stereoscopic image, and outputting the stereoscopic image through a 3D display.
The image generating method is based on the stereoscopic endoscope, and can achieve the beneficial effects of the stereoscopic endoscope, and the description is omitted here.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present application, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the optical path composition of a stereoscopic endoscope according to an embodiment of the present application;
FIG. 2 is a schematic layout of an imaging plane, an imaging element, and an outer tube of the endoscope of the optical lens set composed of the optical paths shown in FIG. 1;
FIG. 3 is a second schematic view of the optical path of the stereoscopic endoscope according to the embodiment of the present application;
FIG. 4 is a schematic layout of an imaging plane, an imaging element, and an outer tube of the endoscope of the optical lens set composed of the optical paths shown in FIG. 3;
FIG. 5 is a schematic structural view of a dove prism;
FIG. 6 is a side view of two dove prisms in an initial attitude;
FIG. 7 is a side view of two dove prisms with their reflective surfaces facing each other rotated 45 counter-clockwise from a facing position;
FIG. 8 is a side view of one of the dove prisms rotated 45 counter-clockwise from a facing position and the other dove prism rotated 45 clockwise from a facing position;
fig. 9 is an MTF graph of a stereoscopic endoscope provided by an embodiment of the present application.
Icon:
10-convex-concave lenses; 20-a first lenticular lens; 30-a cylindrical lens; 40-plano-convex lens; 50-a first meniscus; 60-a second meniscus lens; 70-biconcave lens; 80-a second biconvex lens; 90-dove prism; a 100-infrared filter; 110-an image pickup element; 120-imaging plane; 130-blinders.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are some embodiments of the present application, but not all embodiments of the present application. The components of the embodiments of the present application generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the application, as presented in the figures, is not intended to limit the scope of the application, as claimed, but is merely representative of selected embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present application, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present application and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang" and the like do not denote a requirement that the component be absolutely horizontal or overhang, but may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application will be understood in specific cases by those of ordinary skill in the art.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Example 1
Referring to fig. 1, the present embodiment provides a stereoscopic endoscope including two imaging units having optical axes arranged at intervals, the imaging units being provided at a distal end portion of the endoscope; the image pickup part sequentially comprises an optical lens group, an image rotator and an image pickup element 110 from the object side, wherein the image rotator is used for enabling an imaging surface of the corresponding optical lens group to rotate a first preset angle along a first direction relative to the incident side and enabling the imaging surface of the corresponding optical lens group to be imaged on a photosensitive surface of the corresponding image pickup element 110; wherein, both light sensing surfaces of the two image pickup elements 110 are rectangular surfaces, and long sides of the two rectangular surfaces are arranged side by side in a mutually adjacent manner for receiving corresponding images.
In the stereoscopic endoscope of the present embodiment, since both of the two photosurfaces of the two image capturing elements 110 are rectangular surfaces, and long sides of the two rectangular surfaces are arranged side by side in a manner of being adjacent to each other, by the arrangement of the image rotator, the imaging surface of the corresponding optical lens group can be rotated by a first preset angle along the first direction with respect to the incident side and can be imaged on the photosurfaces of the image capturing elements 110; in addition, compared with the prior art, the two photosensitive surfaces of the two image pickup elements 110 are arranged side by side in a mutually adjacent manner, so that the diameter size of the front end portion of the endoscope can be effectively reduced, and the front end portion of the endoscope is further miniaturized and reduced in diameter, thereby being beneficial to reducing the damage to the tissues in the body cavity of a patient.
In short, the image rotator is used for rotating the imaging surface of the corresponding optical lens group by a certain angle along the first direction relative to the incident side, but the direction of the light path is not changed.
Specifically, the rotation angle of the imaging surface of the optical lens group with respect to the incident side in the first direction is related to the light sensing surface arrangement direction of the image pickup element 110, so as to ensure that the imaging of the optical lens group can be accurately imaged on the light sensing surface of the image pickup element 110.
Referring to fig. 1 and 2, two image pickup elements 110 are arranged in parallel and side by side with a gap left therebetween, at this time, the imaging surfaces 120 of the two light paths are circular surfaces and do not interfere with each other, the circular dotted line of the outer ring is the outer tube contour line of the conventional endoscope, and the circular solid line of the inner ring is the outer tube contour line of the stereoscopic endoscope of the present embodiment, so that it can be intuitively seen that the diameter size of the front end portion of the endoscope can be effectively reduced by adopting the stereoscopic endoscope of the present embodiment.
In this embodiment, the first direction may be a clockwise direction or a counterclockwise direction, and the arrangement of the two image rotators ensures that the rotation angles and the directions of the two imaging paths are both consistent; the first preset angle of rotation of the imaging surface of the optical lens group is 90 degrees, and at the moment, the photosensitive surfaces of the two imaging elements 110 are arranged in parallel; in consideration of the existence of errors, the first preset angle may be about 90 °, for example, 90++1°, and correspondingly, the photosurfaces of the two image pickup elements 110 may be parallel or nearly parallel, which is advantageous in saving the occupied space and optimizing the diameter size of the front end portion of the endoscope.
Further, referring to fig. 3, a shutter 130 is provided between the two image pickup elements 110, and the shutter 130 is extended in a direction toward the dove prism 90 to separate the two optical paths so that there is no image overlapping in the area where the light sensing surfaces of the two image pickup elements 110 meet.
Alternatively, the shielding member 130 may be any material member, and is coated with a black light-shielding coating on its surface; alternatively, the shielding member 130 is made of a light shielding material.
In connection with fig. 3 and 4, two image pickup elements 110 are arranged in parallel and side by side, and there is no gap between them, at this time, referring to fig. 4, the imaging surfaces 120 of the two optical paths are straight lines at adjacent positions and do not interfere with each other, the circular solid line of the outer ring is the outer tube contour line of the stereoscopic endoscope of this embodiment, and the diameter of the outer tube contour line is smaller than that of the outer tube contour line shown in fig. 2, so that the size of the front end portion of the endoscope can be further reduced while ensuring that the two optical paths have no overlapping interference area, and in this structural form, the distance between the optical axes corresponding to the two optical paths is reduced relative to that of fig. 1, and the overall layout is compact.
In one embodiment of the present application, the image rotator comprises a dove prism 90, the dove prism 90 has a reflecting surface, and the surfaces of the two dove prisms 90 opposite to the reflecting surface are fixed in a staggered manner by being in a state of being opposite to each other and rotated in the same direction or rotated in the opposite direction by 45 degrees; since the dove prism 90 is rotated by 90 ° about its optical axis with respect to the initial attitude, the rotation angle of the image can be rotated by 90 °, so that the imaging plane of the optical lens group can be rotated by 90 °, in short, the imaging plane can be changed from the landscape arrangement to the portrait arrangement, so that the image can be better matched with the image pickup element 110 arranged in the vertical attitude.
In this embodiment, referring to fig. 5, the face of the dove prism 90 facing the reflecting face is configured as a convex spherical surface. Alternatively, the face of the dove prism 90 opposite to the reflecting face may be ground into a hemispherical surface by grinding.
Briefly, the dove prism 90 may be regarded as a trapezoidal prism, the bottom surface of which is a reflecting surface, and the top surface of which is a spherical surface.
FIG. 6 is a side view of the dove prism 90 in two light paths in an initial position; fig. 7 is a side view of two dove prisms 90, which face opposite to the reflecting surface thereof, rotated 45 ° counterclockwise from the opposite state, fig. 8 is a side view of one dove prism 90, which face opposite to the reflecting surface thereof, rotated 45 ° counterclockwise from the opposite state, and the face opposite to the reflecting surface thereof, which face opposite to the reflecting surface thereof, rotated 45 ° clockwise from the opposite state, wherein both arrangement modes of fig. 7 or fig. 8 can rotate the imaging surface of the optical lens set by 90 ° along the first direction relative to the incident side, and can bring the two dove prisms 90 closer together, effectively reducing the distance between the optical axes corresponding to the two optical paths, thereby making the overall layout more compact.
In the present embodiment, referring to fig. 1 or 3, the optical lens group includes a convex-concave lens 10, a first biconvex lens 20, a cylindrical lens 30, a plano-convex lens 40, a first concave-convex lens 50, a second concave-convex lens 60, a biconcave lens 70, and a second biconvex lens 80, which are arranged in this order from the object side; the sum of the focal lengths of the convex-concave lens 10 and the first biconvex lens 20 is negative; an aperture diaphragm is arranged between the cylindrical lens 30 and the plano-convex lens 40, and the cylindrical lens 30 and the plano-convex lens 40 form a first double-cemented lens, and the focal length of the first double-cemented lens is positive; the concave surface of the first meniscus lens 50 is adjacent to the convex surface of the plano-convex lens 40; the first meniscus lens 50 and the second meniscus lens 60 constitute a second bicontinuous lens, the biconcave lens 70 and the second bicontinuous lens 80 constitute a third bicontinuous lens, and the sum of the focal lengths of the second bicontinuous lens and the third bicontinuous lens is positive.
The optical lens group has negative focal length of the convex-concave lens 10 and the first biconvex lens 20, so that the lens group can be folded to reduce the divergence angle of light rays and increase the angle of view of the stereoscopic endoscope; the focal length of the first double-cemented lens is positive, so that aberration generated by the front negative focal length lens can be reduced; the sum of the focal lengths of the second double-cemented lens and the third double-cemented lens is positive, so that aberration can be further reduced, the incident angle of the outgoing light entering the dove prism 90 is smaller, the dimension of the dove prism 90 is reduced, and the diameter dimension of the front end part of the endoscope is further reduced.
The stereoscopic endoscope constituted by the optical lens group in the present embodiment is an electronic endoscope, and of course, the stereoscopic endoscope in the present embodiment can also be converted into an optical endoscope by changing the composition of lenses in the optical lens group.
Further, referring to fig. 1 or 3, an infrared filter 100 is provided between the image rotator and the corresponding image pickup element 110 for visible light imaging.
On the basis of the above embodiment, the black coating layer is disposed at the joint surface of the two infrared filters 100, wherein one of the shielding member 130 and the black coating layer may be selected, or of course, the shielding member and the black coating layer may be simultaneously disposed, so that the interference between the two light paths may be further reduced.
In other embodiments, the two infrared filters 100 may be integrally formed, and the shielding member 130 may be disposed between the two image capturing elements 110, or the shielding member 130 may be disposed at a middle position of the integrally formed infrared filters 100.
Further, a protective glass is provided between the infrared filter 100 and the corresponding image pickup element 110, thereby protecting the image pickup element 110.
Alternatively, the image pickup element 110 is a device capable of converting an optical signal into an electrical signal, and may employ a charge coupled device (Charge Coupled Device, abbreviated as CCD) or a complementary metal oxide semiconductor device (Complementary Metal Oxide Semiconductor, abbreviated as CMOS) commonly used in the art.
FIG. 9 is a graph of MTF for an optical lens set, where the spatial frequency is 120lp/mm, the full field contrast can be above 0.22, and where the spatial frequency is 60lp/mm, the full field contrast can be above 0.54.
Example two
The present embodiment also provides an assembly method of the stereoscopic endoscope based on the foregoing embodiment, including the steps of:
inserting the two image pickup elements 110 into the endoscope front end portion from the rear end side in the vertical posture, respectively;
then, the two image rotators are respectively rotated by a second preset angle along the first direction from the initial posture, then fixed in the front end part of the endoscope, and aligned with the corresponding image pickup element 110;
two optical mirrors are respectively inserted into the front end of the endoscope from the front end side and abutted against the corresponding image rotator through the spacer.
In this embodiment, the second preset angle is 45 °, specifically, the two image rotators are fixed in the endoscope front end portion after being rotated 45 ° in the clockwise direction from the initial posture, respectively, and aligned with the corresponding image pickup elements 110 arranged in the vertical posture.
Illustratively, the endoscope front end portion includes a scope tube for mounting the optical lens group, a side opening for mounting the image rotator, and a slot for mounting the image pickup element 110, and the inside diameter of the scope tube, the aperture sizes of the side opening and the slot, the opening direction, the slotting direction, and the like are set according to the mounting requirements so that the respective components are mounted in place.
Specifically, the two slot holes have the same size and are vertically arranged side by side for clamping the image pickup element 110; the two side open holes are opposite and symmetrically arranged for accommodating the dove prism 90 fixed in a 45-degree posture, and the holes for installing the two optical lens groups are arranged in parallel; wherein the lenses of the optical lens group can be assembled by means of spacers in order to maintain a suitable spacing.
Example III
The present embodiment also provides an image generating method of a stereoscopic endoscope based on the foregoing embodiment, including the steps of:
two vertical images are simultaneously acquired by the two image pickup elements 110;
rotating the two acquired images by a first preset angle along a second direction opposite to the first direction to obtain two transverse images;
and synthesizing the two transverse images to obtain a stereoscopic image, and outputting the stereoscopic image through a 3D display.
Specifically, the two collected vertical images are rotated by 90 degrees clockwise or anticlockwise to obtain two horizontal images, and then the two horizontal images are synthesized.
In this embodiment, after the image pickup element 110 converts the optical signal into the electrical signal, the electrical signal is transmitted to the image pickup device through the PCB board, and is transmitted to the image processing station after the AD conversion, the image processing station receives the digitized image information, and rotates the image information by 90 ° according to the preset information.
Wherein, the PCB board can be arranged at the front end part of the endoscope for clamping the rear end side of the image pickup element 110, namely the rear end side of the slot hole, and is connected with the image pickup element 110; the image processing station is connected to the image pickup element 110 through an image pickup device, receives digitized image information, and an output end of the image processing station is connected to a 3D display to output stereoscopic image information to the 3D display.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (10)
1. A stereoscopic endoscope, comprising:
two imaging units having optical axes arranged at intervals, the imaging units being provided at the distal end portion of the endoscope;
the image pickup part sequentially comprises an optical lens group, an image rotator and an image pickup element from the object side, wherein the image rotator is used for enabling an imaging surface of the corresponding optical lens group to rotate a first preset angle along a first direction relative to the incident side and enabling the imaging surface of the corresponding optical lens group to be imaged on a light sensitive surface of the corresponding image pickup element;
wherein, two light sensing surfaces of two image pickup elements are rectangle surfaces, and the long sides of two rectangle surfaces are arranged side by side in a mutually adjacent way for receiving corresponding images.
2. The stereoscopic endoscope according to claim 1, wherein two of the image pickup elements are arranged in parallel;
the image rotator comprises a dove prism, the dove prism is provided with a reflecting surface, and the surfaces of the two dove prisms opposite to the reflecting surface are fixed in a staggered manner by rotating in the same direction or rotating in the opposite direction by 45 degrees.
3. The stereoscopic endoscope according to claim 2, wherein the face of the dove prism facing the reflecting face is configured as a convex spherical face.
4. A stereoscopic endoscope according to claim 2, wherein a shielding member is provided between the two image pickup elements, the shielding member extending in a direction approaching the dove prism for separating the two optical paths.
5. The stereoscopic endoscope according to any one of claims 1 to 4, wherein the optical lens group comprises a convex-concave lens, a first biconvex lens, a cylindrical lens, a plano-convex lens, a first concave-convex lens, a second concave-convex lens, a biconcave lens, and a second biconvex lens, which are arranged in this order from the object side;
the sum of the focal lengths of the convex-concave lens and the first biconvex lens is negative;
an aperture diaphragm is arranged between the cylindrical lens and the plano-convex lens, the cylindrical lens and the plano-convex lens form a first double-cemented lens, and the focal length of the first double-cemented lens is positive;
the concave surface of the first concave-convex lens is close to the convex surface of the plano-convex lens;
the first concave-convex lens and the second concave-convex lens form a second double-cemented lens, the biconcave lens and the second biconvex lens form a third double-cemented lens, and the sum of the focal lengths of the second double-cemented lens and the third double-cemented lens is positive.
6. The stereoscopic endoscope according to claim 5, wherein an infrared filter is provided between the image rotator and the corresponding image pickup element.
7. The stereoscopic endoscope according to claim 6, wherein a black coating layer is provided at a junction surface of the two infrared filters.
8. The stereoscopic endoscope according to claim 6, wherein a cover glass is provided between the infrared filter and the corresponding image pickup element.
9. A method of assembling a stereoscopic endoscope according to any one of claims 1-8, comprising the steps of:
inserting the two image pickup elements into the endoscope front end portion from the rear end side in a vertical posture, respectively;
then, the two image rotators are respectively rotated by a second preset angle along the first direction from the initial posture, then fixed in the front end part of the endoscope and aligned with the corresponding image pickup elements;
two optical mirrors are respectively inserted into the endoscope front end portion from the front end side and aligned with the corresponding image rotators.
10. An image generation method based on the stereoscopic endoscope according to any one of claims 1 to 8, characterized by comprising the steps of:
two vertical images are acquired simultaneously by two image pickup elements;
rotating the acquired two images by the first preset angle along a second direction opposite to the first direction to obtain two transverse images;
and synthesizing the two transverse images to obtain a stereoscopic image, and outputting the stereoscopic image through a 3D display.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117283296A (en) * | 2023-11-23 | 2023-12-26 | 广东欧谱曼迪科技股份有限公司 | Three-dimensional optical medical endoscope assembly equipment and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117283296A (en) * | 2023-11-23 | 2023-12-26 | 广东欧谱曼迪科技股份有限公司 | Three-dimensional optical medical endoscope assembly equipment and method |
| CN117283296B (en) * | 2023-11-23 | 2024-03-22 | 广东欧谱曼迪科技股份有限公司 | Three-dimensional optical medical endoscope assembly equipment and method |
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