CN202015157U - Novel three-dimensional electronic choledochoscope system - Google Patents
Novel three-dimensional electronic choledochoscope system Download PDFInfo
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- CN202015157U CN202015157U CN2011200335702U CN201120033570U CN202015157U CN 202015157 U CN202015157 U CN 202015157U CN 2011200335702 U CN2011200335702 U CN 2011200335702U CN 201120033570 U CN201120033570 U CN 201120033570U CN 202015157 U CN202015157 U CN 202015157U
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Abstract
The utility model belongs to a medical apparatus and particularly relates to a novel three-dimensional electronic choledochoscope system which uses a plurality of charge coupled device (CCD) arrays for stereoscopic image reconstruction. The novel three-dimensional electronic choledochoscope system comprises a soft electronic choledochoscope, and a processing host, a light source host and a workstation assembly which are connected with the soft electronic choledochoscope. The three-dimensional electronic choledochoscope can enter the cavity of a gall bladder through a small incision at the bottom of the gall bladder, can also enter the gall bladder through a small incision on the wall of a bile duct during operation, then is turned into a cystic duct through good flexibility and operability and enters a common bile duct to probe the situation of the common bile duct. A plurality of CCD array modules at the tip end part of the soft working end part of the electronic choledochoscope can precisely scan the common bile duct and even a bile duct in a liver to obtain three-dimensional images of bile ducts and the like. Doctors can treat the pathological changes of the bile ducts according to the three-dimensional images.
Description
Technical field
This utility model belongs to medical equipment, is specifically related to a kind of novel three-dimensional tridimensional electronic choledochoscope system that utilizes many ccd array to carry out stereoscopic image reconstruct.
Background technology
CCD (Charge-Coupled Device, charge-coupled image sensor) is a kind of important component part that can be used for stereoscopic camera.It is a kind of photosensitive semiconductor device, and the photosensitive unit on it is converted to the quantity of electric charge with the light that receives, and quantity of electric charge size is directly proportional with the incident light intensity.The technology of ccd image sensor is very ripe, can be spliced into the array of Any shape as required.Company of Fuji released super CCD technology in 1999, with the situation of common CCD equal area and photosensitive unit number under, its resolution improves 60%, dynamic range improves 130%, color reproducibility improves 40%, and energy consumption descends 40%, has further improved the function of CCD.The photosensitive unit size of CCD is constantly reducing, at present the photosensitive unit size of report having been arranged only is 0.5 μ m, entered the submicron epoch, CCD will further develop round aspects such as high-resolution, high reading speed, low cost, microminiaturization, structure optimization, multispectral application and 3D photograph.But the area array CCD sensed image that the photosensitive unit that matrix is arranged constitutes.CCD is widely used in digital camera and the DV now, also in astronomical telescope, scanner and barcode reader application is arranged simultaneously." Chang'e-2 " uses 96 line ccd array that same target is sampled, and at last signal all added up.The target that very dark target, resolution are very high, " Chang'e-2 " can both break forth, and its resolution can reach 1 meter.
Present employed endoscope, can be divided into monocular and binocular, monocular endoscope is by an optical system imaging, the doctor can directly use eyes to observe by the eyepiece end, but owing to be monocular instrumnent, can only obtain the image of an angle of object, just as using single eyes to see the effect of object, object lacks third dimension and distance perspective.The doctor uses monocular endoscope to undergo surgery, because monocular instrumnent becomes planar image, lacks spatial perception, so need to rely on doctor's technical merit.
Some stereo endoscope, what use is the binocular structure, its endoscope distal end can be a camera lens or two camera lenses, the image of object is by the output of two eyepieces, and the doctor can observe stereoscopic image with the human eye similar object by binocular, also can be by connecting particular processing main frame and display, processing by processing host, can in display, show spatial image, but this image also is single angle, has certain limitation.Though the binocular stereo endoscope can obtain the stereoperception of similar eye-observation object, but because the limitation of human body cavity, the three-dimensional overall picture that can not reflect the whole surgery zone three-dimensionally, so the doctor is when using existing scope to undergo surgery, all to be subjected to visual restriction, certain restriction be arranged for the cure rate of carrying out and improve disease of performing the operation.
In the prior art, also the ccd array notion is not combined application with soft choledochoscope, therefore,, design a kind of that many ccd array technology and the bonded endoscopic technic of fiber endoscopy is extremely urgent in order to obtain in the bile duct 3 D stereoscopic image clearly.
The utility model content
This utility model has overcome existing choledochoscope shortcomings more of the prior art, a kind of novel three-dimensional tridimensional electronic choledochoscope system is provided, make soft choledochoscope can enter cystic duct, common bile duct even stones in intrahepatic bile duct, utilize many ccd array module of its work end tip portion that bile duct is carried out 3 D stereo scanning, obtain spatial image.
In order to solve the problems of the technologies described above, this utility model is achieved through the following technical solutions:
A kind of novel three-dimensional tridimensional electronic choledochoscope system, comprise soft electronics choledochoscope, and connected processing host, the light source main frame, the work station assembly, described soft electronics choledochoscope comprises soft work end, operating portion and the FPDP that is connected with the outside, this soft work end comprises the first end of controlled deflection, this elder generation end is connected with described operating portion, described first end is provided with carries out the 3 D stereo scanning shoot, show the panorama three-dimensional image, and many ccd array module of the biliary tract chamber being carried out stereoscopic image reconstruct, described many ccd array module comprises at least one first ccd array of being located at this elder generation's end front end face, and at least one second ccd array of being located at first end outer round surface, correspondence is provided with range finder on the front end face of described first end and the first end outer round surface.
Further, the diameter of described soft work end is smaller or equal to 6.0mm, and length is smaller or equal to 500mm, and described tip minister degree is 20mm at least.
Further, described soft work end tip portion outer round surface is provided with the rotating ring carrier, and described second ccd array is located on this rotating ring carrier, and described range finder is located on the front end face and rotating ring carrier of first end.
Further, described operating portion is provided with the control wheel of the above-mentioned first end bending of control, the button and the instrument channel of the fine setting of control image.
Further, be provided with the micromotor that drives the rotation of rotating ring carrier in the described soft work end.
Further, described first ccd array comprises 2 CCD elements at least, the corresponding set of shots of each CCD element.
Further, described CCD element linear is arranged, at least 90 ° of the angles of visual field of every set of shots.
Further, described second ccd array comprises at least one group of ccd array, and one group of ccd array comprises at least 2 CCD elements and corresponding camera lens.
Further, also comprise the external stability support, this external stability support comprises accurate mobile device, support and stationary fixture, and this precision mobile device is by motor-driven, and this precision mobile device is affixed by support, stationary fixture and described soft work end.
Further, high speed central processing unit and high-performance video card are adopted in the core of described processing host, be used to receive and handle the packet that the data of image information that soft electronics choledochoscope returns and range finder are formed, various data by the analytical data bag, the cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.
Further, the using method of 3 D stereo choledochoscope system:
(1) miniature incision of soft electronics choledochoscope bottom gallbladder entered the gallbladder intracavity, the guide function of the controlled bending of active by soft electronics choledochoscope work end tip portion, can conveniently find cystic duct and enter cystic duct, and then enter common bile duct by suitable operation technique;
(2) the many ccd array module that is provided with by first end is promptly carried out the 3 D stereo scanning shoot, shows the panorama three-dimensional image and common bile duct, cystic duct is carried out stereoscopic image reconstruct common bile duct, cystic duct.
Compared with prior art, the beneficial effects of the utility model are:
This utility model carries out annular and linear filming image to bile duct, the integrated treatment of the treated main frame of data that obtains, obtain the 3 D stereoscopic image of cystic duct, common bile duct or stones in intrahepatic bile duct, the stereo-picture of bile duct is observed its intrinsic pathological changes and is studied its environment with multi-angle for the doctor, formulate rational and effective processing scheme, have practical significance.
Description of drawings
Below in conjunction with the drawings and specific embodiments this utility model is described in further detail.
Fig. 1 is system of the present utility model and clinical operation sketch map;
Fig. 2 is the structural representation of soft electronics choledochoscope of the present utility model;
Fig. 3 is the first end sketch map of soft electronics choledochoscope of the present utility model;
Fig. 4 is first end many ccd array module generalized section of soft electronics choledochoscope of the present utility model;
Fig. 5 is an external stability supporting structure sketch map of the present utility model.
The specific embodiment
As shown in Figure 1, novel three-dimensional tridimensional electronic choledochoscope described in the utility model system comprises soft electronics choledochoscope 1, external stability support 2, and connected processing host 3, light source main frame 5, work station assembly, the work station assembly comprises work station main frame 4, control assembly 6 (keyboard and mouse etc.), monitor 7 and external equipment 8 (external storage, printer etc.) etc.Described work station assembly is connected by data wire with processing host, and the function of work station assembly is the three-dimensional image of display process main frame 3 outputs, analysis, storage data and printing related data etc.High speed central processing unit and high-performance video card are adopted in the core of processing host 3, be used to receive and handle the packet that the data of image information that soft electronics choledochoscope 1 returns and range finder are formed, various data by the analytical data bag, the cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.Inner motion control card is used for accurately controlling the motion of external stability support.
Be illustrated in figure 2 as the structural representation of soft electronics choledochoscope 1 of the present utility model.The structure of soft electronics choledochoscope 1 comprises soft work end 11 at least, operating portion 12 and the FPDP 13 that is connected external treatment main frame 3 and light source main frame 5.The diameter of its soft work end 11 is smaller or equal to 6.0mm, effective length is smaller or equal to 500mm, before its soft work end 11 at least 20mm be the controlled deflection part, be called first end, elder generation end 111 is provided with many ccd array module (131 of carrying out the 3 D stereo scanning shoot, showing the panorama three-dimensional image simultaneously, 132,134,135); Its operating portion 12 provides the part of doctor's holding operation, is provided with the control wheel 123 of control first end bending, the button 122 of control scope state and instrument channel 121 etc.; FPDP 13 external processing host 3 and light source main frames 5 provide the passage of output for the data of many ccd array module (131,132,134,135).
Be illustrated in figure 3 as the first end sketch map of novel 3 D stereo choledochoscope 1 described in the utility model.The first end design of soft electronics choledochoscope 1 has many ccd array module (131,132,134,135), optical fibers part 133 and instrument channel outlet 1211, optical fibers part 133 provides soft electronics choledochoscope 1 front end and circular end surface to observe necessary brightness.
As Fig. 4, in conjunction with shown in Figure 3 be the first end sketch map and the profile of soft electronics choledochoscope 1, many ccd array module comprises first ccd array 131 and the range finder 132 of first end front end face, second ccd array 134 and the range finder 135 thereof of first end outer round surface.First ccd array 131 of elder generation's end front end face, its internal structure is minimum to comprise 2 CCD elements, the CCD element linear is arranged, the corresponding set of shots of each CCD, can be simultaneously to the imaging of same intracavity part, at least 90 ° of the angles of visual field of every set of shots, ccd array have per second at least and take 5 speed.Range finder 132 utilizes the principle of reflection of laser or sound wave etc., and cavity distance, the degree of depth are carried out Determination of distance.The operating frequency of range finder 132 is consistent with the operating frequency of ccd array, guarantees data sync, is beneficial to and carries out stereo reconstruction.Second ccd array 134 of elder generation's end outer round surface, at least comprise one group of ccd array, one group of ccd array comprises at least 2 CCD elements and corresponding camera lens, can be simultaneously to the imaging of same intracavity part, at least 90 ° of the angles of visual field of every set of shots, ccd array have per second at least and take 5 speed.Range finder 1325 of appropriate location configuration of one group of ccd array, its operating frequency is consistent with the operating frequency of ccd array, guarantees data sync, is beneficial to carry out stereo reconstruction.Second ccd array 134 is installed on the rotating ring carrier 136 that can rotate with first end 111 main shafts of soft work end 11, the CCD filming image that can be rotated cavity, the speed of rotating ring carrier 136 rotations and the movement velocity of external stability support 2 are proportional, carry out the seamless combination of multi-angle to guarantee the intravital image energy in chamber.First ccd array 131 and the range finder 132 of elder generation's end front end face are fixed form, minimum 90 ° of the angle of visual field of first ccd array 131, and its effect mainly is a 3-D view of taking the scope front end; What second ccd array 134 of described first end outer round surface and range finder 135 were installed in scope elder generation end can be on the rotating ring carrier 136 of 11 first ends, scope work end, 111 main axis rotation, rotating ring carrier 136 is fixed on the fixed mechanism 138 of scope inside by cooperation, can carry out level and smooth relative rotary motion with fixed mechanism 138, the data of second ccd array 134 and range finder 135 also transfer to processing host by suitable transmission means through data wire 137, the power of rotating ring carrier 136 comes from the micromotor 139 of scope elder generation end, provides the energy of rotating ring carrier 136 around fixed mechanism 138 rotations by drive mechanism.
Be illustrated in figure 5 as the structure diagram of external stability support 2 described in the utility model.The effect of external stability support 2 is to cooperate soft electronics choledochoscope 1 to carry out the ccd array scanning of cavity, many ccd array module (131 of the soft electronics choledochoscope of its translational speed and 3 D stereo 1 first end, 132,134,135) the rotation sweep shooting speed is proportional.Its structure comprises stationary fixture 23, support 22, accurate mobile device 21.Stationary fixture 23 is used for the scope main part of closely fixing soft electronics choledochoscope 1, support 22 is connected and fixed anchor clamps 23 and accurate mobile device 21, accurate mobile device 21 uses high performance motor-driven, and the movement velocity of motor is by the 4 unified controls of work station main frame.Accurate mobile device 21 kinds of drive are not limit, and can adopt screw mandrel transmission or guide rail transmission, and accurate mobile device 21 is fixed on the rigid platfor.
Be illustrated in figure 1 as the clinical practice sketch map of novel three-dimensional tridimensional electronic choledochoscope described in the utility model system.Novel three-dimensional tridimensional electronic choledochoscope system connects as shown in Figure 1, its clinical application method is: the doctor uses soft electronics choledochoscope 1 to enter the gallbladder intracavity via the miniature incision of gallbladder 9 bottoms, also can in art, enter biliary tract by the little otch on the bile duct wall, the guide function of the controlled bending of active of the first end 111 by soft electronics choledochoscope 1 work end 11, can conveniently find cystic duct and enter cystic duct 92 by suitable operation technique, and then entering common bile duct 91, the many ccd array that are provided with by first end 111 can obtain common bile duct 91, the picture rich in detail of cystic duct 92 grades.To carry out the scanning of 3 D stereo to common bile duct 91 or cystic duct 92, then at first need soft electronics choledochoscope 1 is fixed on the stationary fixture 23 of external stability support 2, scanning process keeps stablizing between gallbladder 9 and the soft electronics choledochoscope 1 as far as possible, start many ccd array module (131 of soft electronics choledochoscope 1 simultaneously, 132,134,135) and external stability support 2, in many ccd array module (131,132,134, when 135) common bile duct 91 and cystic duct 92 being carried out the scanning shoot of straight line and rotation, external stability support 2 is done moving at the uniform velocity, the ratio that is rotated into of its speed and second ccd array 134, range finder 135 will be measured first ccd array 131 of first end and the accurate distance of common bile duct 91 or cystic duct 92 walls in real time, many ccd array module (131,132,134,135) and the packet of range finder transfer to processing host 3 by data wire, work station main frame 4 carries out computing, and the monitor 7 that transfers to the work station assembly carries out the demonstration of three-dimensional image.
This utility model is not limited to above-mentioned embodiment, if various changes of the present utility model or distortion are not broken away from spirit and scope of the present utility model, if these changes and distortion belong within claim of the present utility model and the equivalent technologies scope, then this utility model also is intended to comprise these changes and distortion.
Claims (10)
1. novel three-dimensional tridimensional electronic choledochoscope system, comprise soft electronics choledochoscope, and connected processing host, the light source main frame, the work station assembly, described soft electronics choledochoscope comprises soft work end, operating portion and the FPDP that is connected with the outside, this soft work end comprises the first end of controlled deflection, this elder generation end is connected with described operating portion, it is characterized in that: described first end is provided with carries out the 3 D stereo scanning shoot, show the panorama three-dimensional image, and many ccd array module of the biliary tract chamber being carried out stereoscopic image reconstruct, described many ccd array module comprises at least one first ccd array of being located at this elder generation's end front end face, and at least one second ccd array of being located at first end outer round surface, correspondence is provided with range finder on the front end face of described first end and the first end outer round surface.
2. according to the described novel three-dimensional tridimensional electronic of claim 1 choledochoscope system, it is characterized in that: the diameter of described soft work end is smaller or equal to 6.0mm, and length is smaller or equal to 500mm, and described tip minister degree is 20mm at least.
3. according to the described novel three-dimensional tridimensional electronic of claim 1 choledochoscope system, it is characterized in that: described soft work end tip portion outer round surface is provided with the rotating ring carrier, described second ccd array is located on this rotating ring carrier, and described range finder is located on the front end face and rotating ring carrier of first end.
4. according to the described novel three-dimensional tridimensional electronic of claim 1 choledochoscope system, it is characterized in that: described operating portion is provided with the control wheel of the above-mentioned first end bending of control, the button and the instrument channel of the fine setting of control image.
5. according to the described novel three-dimensional tridimensional electronic of claim 3 choledochoscope system, it is characterized in that: be provided with the micromotor that drives the rotation of rotating ring carrier in the described soft work end.
6. according to each described novel three-dimensional tridimensional electronic choledochoscope system of claim 1 to 5, it is characterized in that: described first ccd array comprises 2 CCD elements at least, the corresponding set of shots of each CCD element.
7. according to the described novel three-dimensional tridimensional electronic of claim 6 choledochoscope system, it is characterized in that: described CCD element linear is arranged, at least 90 ° of the angles of visual field of every set of shots.
8. according to each described novel three-dimensional tridimensional electronic choledochoscope system of claim 1 to 5, it is characterized in that: described second ccd array comprises at least one group of ccd array, and one group of ccd array comprises at least 2 CCD elements and corresponding camera lens.
9. according to the described novel three-dimensional tridimensional electronic of claim 1 choledochoscope system, it is characterized in that: also comprise the external stability support, this external stability support comprises accurate mobile device, support and stationary fixture, this precision mobile device is by motor-driven, and this precision mobile device is affixed by support, stationary fixture and described soft work end.
10. according to the described novel three-dimensional tridimensional electronic of claim 1 choledochoscope system, it is characterized in that: high speed central processing unit and high-performance video card are adopted in the core of described processing host, be used to receive and handle the packet that the data of image information that soft electronics choledochoscope returns and range finder are formed, various data by the analytical data bag, the cavity image is carried out stereo reconstruction, the stereoscopic three-dimensional image of reduction cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200335702U CN202015157U (en) | 2011-01-31 | 2011-01-31 | Novel three-dimensional electronic choledochoscope system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200335702U CN202015157U (en) | 2011-01-31 | 2011-01-31 | Novel three-dimensional electronic choledochoscope system |
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| CN202015157U true CN202015157U (en) | 2011-10-26 |
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| CN2011200335702U Expired - Lifetime CN202015157U (en) | 2011-01-31 | 2011-01-31 | Novel three-dimensional electronic choledochoscope system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102058387A (en) * | 2011-01-31 | 2011-05-18 | 广州宝胆医疗器械科技有限公司 | Novel three-dimensional electronic choledochoscope system and use method thereof |
| CN104434016A (en) * | 2014-12-12 | 2015-03-25 | 上海市同济医院 | Laparoscopic two-dimensional bending controllable choledochoscope clamp |
-
2011
- 2011-01-31 CN CN2011200335702U patent/CN202015157U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102058387A (en) * | 2011-01-31 | 2011-05-18 | 广州宝胆医疗器械科技有限公司 | Novel three-dimensional electronic choledochoscope system and use method thereof |
| CN102058387B (en) * | 2011-01-31 | 2012-05-30 | 广州宝胆医疗器械科技有限公司 | Novel three-dimensional electronic choledochoscope system and use method thereof |
| WO2012103767A1 (en) * | 2011-01-31 | 2012-08-09 | 广州宝胆医疗器械科技有限公司 | New 3d electronic choledochoscopy system and method for use thereof |
| CN104434016A (en) * | 2014-12-12 | 2015-03-25 | 上海市同济医院 | Laparoscopic two-dimensional bending controllable choledochoscope clamp |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20111026 Effective date of abandoning: 20120530 |