CN206880656U - Augmented reality wireless electronic endoscope surgery systems - Google Patents
Augmented reality wireless electronic endoscope surgery systems Download PDFInfo
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- CN206880656U CN206880656U CN201720071697.0U CN201720071697U CN206880656U CN 206880656 U CN206880656 U CN 206880656U CN 201720071697 U CN201720071697 U CN 201720071697U CN 206880656 U CN206880656 U CN 206880656U
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Abstract
It the utility model is related to medical instruments field, and in particular to a kind of augmented reality wireless electronic endoscope surgery systems, the surgery systems include：Endoscope, bracket assembly and light source main frame, imaging main frame and display device on bracket assembly；And augmented reality device, the augmented reality device have support, and the second wireless communication unit, microprocessing unit and micro display unit on the support, wherein, the micro display unit is when support is worn over human body head in front of human eye.Augmented reality wireless electronic endoscope surgery systems of the present utility model, using supplement of the augmented reality device as system displaying device, enable medical personnel to watch the image of endoscope collection and other images by the micro-display on augmented reality device, while do not influence medical worker directly by eye observation target.Minimally Invasive Surgery precision and level are brought up to new height by the system.
Description
Technical field
The utility model belongs to medical instruments field, and in particular to a kind of augmented reality wireless electronic endoscope operation system
System.
Background technology
At present, the research of medical robot technology has become one of forward position study hotspot of international robot field, doctor
Business personnel and Scientific Engineering technical staff are fitted close, and have researched and developed some Medical surgical systems, but do not have also at present
Horizontal high very ripe system is applied in clinical practice.
Existing fujinon electronic video endoscope surgery systems, it is mainly formed as at various forms of endoscopes, light source main frame, image
Main frame and display device are managed, after endoscope enters body cavities, image is gathered by image unit, through image procossing host process
Show, referred to for doctor in operation on the display apparatus afterwards.But doctor is in operation, when generally requiring longer
Between, and the screen for staring at display device for a long time can increase the region of interest fatigue strength of body, easily influence the progress of operation.
Meanwhile screen is stared at during operation technique always, doctor can not be carried out other operation or check the image of inspection early stage, reduce
Procedure efficiency and success rate.
Utility model content
The technical problem that the utility model solves is to provide a kind of augmented reality wireless electronic endoscope surgery systems, adopted
By the use of augmented reality device as the supplement of system displaying device, enable medical personnel to by the micro display on augmented reality device
Device watches the image of endoscope collection and other images, while does not influence medical worker directly by eye observation target.For
Above-mentioned purpose is realized, the utility model employs following technical scheme：
A kind of augmented reality wireless electronic endoscope surgery systems, the surgery systems include：
Endoscope, it has shooting, the optical system of illumination, and bending section is located to the strip insertion of fore-end
Portion；
Bracket assembly and light source main frame, imaging main frame and display device on bracket assembly；Wherein,
The light source main frame has light source and light source interface, and the optical system of the endoscope is connected by optical fiber；
The imaging main frame has graphics processing unit, and the memory cell and the first channel radio of connection graphics processing unit
Believe unit, described image processing unit is used for the image for receiving and handling the endoscope collection, and is transferred to the display dress
Put or be stored in memory cell；
The display device is used to show the image gathered by the endoscope crossed through described image processing unit processes；
Also include,
Augmented reality device, the augmented reality device have support, and the second channel radio on the support
Believe unit, microprocessing unit and micro display unit, wherein, before the micro display unit is located at human eye when support is worn over head part
Side；
The graphics processing unit of the imaging main frame is additionally operable to handle image and sent out by the first wireless communication unit
Send, second wireless communication unit is used for the picture signal for receiving the transmitting of the first wireless communication unit, the microprocessing unit
For controlling and driving the micro display unit to show the picture signal that the second wireless communication unit receives.
Further, the micro display unit is installed on augmented reality device by adjustable support, the adjustable support
For adjusting the distance between micro display unit and human eye.
Further, the display device includes the first display and second display, first display be located at into
As on main frame, second display is special medical display；First display is additionally operable to operating personnel in its display screen
Upper mark area-of-interest, described image processing unit are additionally operable to obtain the area-of-interest, and the increasing is sent to after processing
Strong real device, and the area-of-interest is shown by the micro display unit.
Preferably, first display has touching display screen curtain, and the touching display screen curtain is used for operating personnel
Area-of-interest is marked on screen by touch control manner.
Further, voice receiving unit is additionally provided with the augmented reality device, the voice receiving unit connects institute
Microprocessing unit is stated, for receiving phonetic order；
The memory cell of the imaging main frame is additionally operable to store the pathological image of external equipment collection；
After the voice receiving unit receives phonetic order, the second wireless communication unit is passed through by the microprocessing unit
Described image processing unit is sent to, and it is corresponding by being transferred after described image processing unit identification phonetic order from memory cell
The micro display unit that is sent on augmented reality device of pathological image shown.
Further, surgery systems of the present utility model also include bone conduction earphone, and the bone conduction earphone passes through the 3rd
Communication unit and the imaging main frame wireless connection, the prompting for receiving imaging main frame instruct and send suggestion voice.
Further, the endoscope also has position sensing unit, the position sensing unit connection imaging master
The graphics processing unit of machine；The position sensing unit is used to detect the anglec of rotation that endoscope takes the photograph image, works as position sensing
When unit detects that endoscope takes the photograph crooked image generation or handstand, the image that described image processing unit gathers to endoscope enters
Row is rotated to correct accordingly, and the image for showing the display device remains upright.
Preferably, the position sensing unit is the nine axle gyroscopes in endoscope.
Further, surgery systems of the present utility model also include external power supply, and the external power supply includes chargeable electricity
Pond and hanging part, the hanging part are used to power supply being placed in human body, the rechargeable battery link enhancement real device
Power interface.
Preferably, the endoscope is laparoscope, thoracoscope, arthroscope, asoscope, cystoscope, proctoscope, duodenum
One or more in mirror, mediastinoscope, cardioscope.
The beneficial effects of the utility model：
Augmented reality wireless electronic endoscope surgery systems of the present utility model, on the basis of conventional endoscope surgery systems
On add augmented reality device, the augmented reality eyes can be worn on medical worker head, and micro- by what is be provided thereon
Display unit carries out image and shown, enables medical personnel to the image watched endoscope by micro display unit and gathered, carries out hand
Art operates；Or ignore micro display unit, directly in the normal fashion by eye observation target, so as to by the eyes of medical worker
Freed from the display device of existing endoscope surgery system, avoid medical worker caused by staring at screen for a long time
Physical fatigue even damages, and also causes operation technique more efficiently.
Further, medical worker can mark endoscope to adopt by the display device in surgery systems of the present utility model
Area-of-interest in the image of collection, and it is existing to being sent to enhancing after the area-of-interest further processing by graphics processing unit
The micro display unit that actual load is put is shown, makes observation of the operator to image clearer, improves the operation degree of accuracy.So as to
Pain, operation wound and the surgery cost of patient is greatly reduced, shortens rehabilitation duration, while also mitigates the fatigue of doctor
Intensity.
Further, in surgical procedure, medical worker may need to check the pathological regions image that miscellaneous equipment obtains, than
Such as angiographic image, computed tomography image, Magnetic resonance imaging image or sonographic images.But progress in
During sight glass operation technique, the trick of medical worker is required for operating corresponding equipment, can not transfer image and be watched.Now,
Phonetic order can be sent by the voice receiving unit in surgery systems of the present utility model, main frame is imaged from pre-depositing
The image of needs is transferred in associated picture in memory cell, and is shown on the micro display unit of augmented reality device and is seen
Examine, so as to substantially increase convenient degree and procedure efficiency, make the system that Minimally Invasive Surgery precision and level are brought up into new height.
Brief description of the drawings
Fig. 1 is that the part composition of augmented reality wireless electronic endoscope surgery systems of the present utility model and annexation are shown
It is intended to.
Fig. 2 is endoscope, bracket assembly, light source main frame and is imaged the installation of main frame, connection diagram.
Fig. 3 is a kind of structural representation of embodiment of augmented reality device in the utility model.
Fig. 4 is the structural representation of augmented reality device another kind embodiment in the utility model.
Embodiment
For a further understanding of the utility model, the utility model preferred embodiment is retouched with reference to embodiment
State, but it is to be understood that these descriptions are simply further explanation feature and advantage of the present utility model, rather than to this practicality
The limitation of new claim.
As depicted in figs. 1 and 2, augmented reality wireless electronic endoscope surgery systems of the present utility model, it is preferably implemented
Example includes：
Endoscope 1, described endoscope can be laparoscope, thoracoscope, arthroscope, asoscope, cystoscope, proctoscope, ten
Any one in two duodenum 12 mirrors, mediastinoscope, cardioscope, it has shooting, optical system of illumination, and before bending section is located at
The strip insertion section 11 of part is held, for inserting body cavities collection image or being operated by apparatus.
And it is integrated on bracket assembly 2：
Light source main frame 3, it has light source and light source interface, the optical system of endoscope is connected by optical fiber, for interior
The optical system of sight glass provides illumination or light source for surgery.
Main frame 4 is imaged, it at least has graphics processing unit, memory cell and the first wireless communication unit, wherein storing
Unit and the first wireless communication unit connection graphics processing unit.Wherein, graphics processing unit is used to receiving and handling endoscope
The image of collection, display device is sent to afterwards and shows or is stored into memory cell.
Specifically, above-mentioned graphics processing unit is made up of DSP+FPGA+ARM, using DSP as host CPU, FPGA is as master
CPU coprocessor carries out video pre-filtering, and ARM is as aid in treatment control unit.
Wherein, FPGA completes interface processing, the access and pretreatment of video data；DSP completes the input of video data, regarded
The compression of frequency evidence, the control of external memory and FPGA interactive communication and the output of compressed data.In addition, in image processing process,
Serial digital video signal（LVDS）Serioparallel exchange is realized by special serioparallel exchange chip, then will be isolated by isolating chip
Signal afterwards gives FPGA.The vision signal that CML interfaces input is converted into Y lattice by the video data format parsing module in FPGA
Formula video data；VPIF interface branch of the VPIF interface modules by the data conversion that video data format parsing module exports into DSP
The form held, video data is transferred to DSP by VPIF interfaces.DSP realizes carries out encoding and decoding processing to video data, finally
Video data stream is realized that HD video is shown by HDMI.Meanwhile by video data stream by wireless WIFI transmit to
Augmented reality device realizes that augmented reality is shown.
Further, above-mentioned graphics processing unit, by transplanting of the linux operating systems in ARM embedded systems,
Realize the man-machine interaction of wosap tv system.Communication between ARM and DSP is specially：Directly it is by what DSP was connected to ARM
Communication between the two is realized on system.For ARM equipment, DSP can be regarded as the memory being connected in its system, and ARM leads to
Cross memory reference instruction and access DSP.The framework combined using ARM with DSP, the abundant resources of DSP are made to be used to realize at image
Reason, give full play to the advantage of its image processing field.Such as after freeze frame, when system needs to store freeze frame, DSP
The view data freezed is sent to ARM system, realizes and stores in ARM system.
Display device, it has display screen, for show through graphics processing unit treat by endoscope collection
Image.
Preferably, display device includes the first display and second display.Wherein, the first display is integrated in imaging master
On machine, the display is touch type liquid crystal display, and operating personnel can be by way of touch-control on the screen of the display
Mark area-of-interest.Wherein, described area-of-interest is the key position of patient body lesion or the crucial portion of operation
Position.The area-of-interest of selection is sent to the augmented reality device, by micro display after being imaged the further processing of main frame
Unit is shown, is closely watched for doctor, so as to improve the precision of operation.
Specifically, in preferred embodiment of the present utility model, the software based on Embedded Visual C++ to touch-screen
Interface is designed.In the reconstruction and processing software interface of whole video image, the left side is divided entirely compared with big window for the real-time of video
Resolution preview, image-region interested on touch-screen is marked by the touch control manner of touch, passes through the touch on the right
Icon button carries out arresting operation.Meanwhile can be selected to be stored with BMP or jpeg format in button is set, and
Preview will be formed in eight width images being recently captured on the right wicket, image capture process will not produce to the real-time display of video
Raw any interference.
Second display is endoscopic system dedicated display 5.The display has very high resolution ratio, and excellent
Brightness and contrast, naturally classification and accurate color rendition, the image gathered as primary display screen display endoscope, just
Yu doctor's viewing, identification.
In order to which the eyes of medical worker are freed from display device, and procedure efficiency is improved, it is of the present utility model
Surgery systems are also further provided with augmented reality device.
The preferred embodiment of augmented reality device in the utility model is illustrated in figure 3, it has support 61, and is located at
The second wireless communication unit, microprocessing unit and micro display unit 62 on support；Wherein, the second wireless communication unit, Wei Chu
Reason unit is integrated in the original paper box 63 on support.
Or above-mentioned augmented reality device can also make type as shown in Figure 4.It has support 71 and display part
72, the display part can integrate the second wireless communication unit, microprocessing unit and micro display unit.
Specifically, in above-described embodiment, the first radio communication list that the second wireless communication unit is used for and be imaged on main frame
Member is communicated, receiving/transmission data message or command information.Preferably, first, second described wireless communication unit can be with
It is WiFi communication module, or bluetooth communication；It is of course also possible to be other wireless communication modules, specific limit is not done herein
System.
Microprocessing unit connects the second wireless communication unit and micro display unit, its be used to receiving image host machine pass through it is wireless
The picture signal that communication unit is sent, the picture signal for further driving the display of micro display unit to receive after processing.
Specifically, microprocessing unit selects eight core arm processors, the KLT of CUDA architecture technologies is utilized when it handles image
Algorithm is tracked with SIFT composite characters point, and rationally utilizes the quick tracking and matching technology of image characteristic point, significant increase
The availability of image procossing.In view of concurrency of the feature point tracking matching algorithm on two levels of pixel and characteristic point, profit
Algorithm is accelerated with concurrent operation technology, consumed when will improve efficiency of algorithm, and reducing algorithm.Utilize composite character point
Tracking strategy, by strengthening algorithm mechanism with depth map, maintained while arithmetic accuracy is ensured in robustness and real-time
Active balance between property.
Meanwhile algorithm is strengthened using depth map, utilize the reliability estimating result of original depth-map and color, the side of coloured image
Edge and segmentation result are that clue optimizes solution to depth map, are effectively reduced depth map noise and data defect area is entered
Row is repaired.
Micro display unit is used for display image.Particularly, in the utility model, its micro display unit of described augmented reality device
For the micro-display on support, and when support is worn over the head of people, the micro display is placed exactly in front of human eye.This
When, the eyes of medical worker can be selected flexibly, can both be focused on the screen of micro-display, can also ignore micro display
Device, external object is observed in the normal fashion.
Shown when it is implemented, the micro display unit carries out image using the LCOS screens of 1366x768 resolution ratio, by can
Support is adjusted to be installed on the support of augmented reality device.When augmented reality device is worn on human body head, human eye and the LCOS
The distance of screen can be just met for seeing the display image on screen by regulation, and with the outside large-screen display equipment of viewing
Experience.
In order to further enhance the function of above-mentioned augmented reality device, procedure efficiency, operation system of the present utility model are improved
In system, operating personnel mark area-of-interest on the display screen of the first display, obtain and handle through graphics processing unit
After the area-of-interest, augmented reality device is sent to, and described sense is shown by the micro display unit on augmented reality device
Interest region, in order to which medical worker watches the image of details or key area, improve the degree of accuracy and the efficiency of operation.
Still further aspect, as further preferred embodiment, surgery systems of the present utility model are also in augmented reality
Voice receiving unit, voice receiving unit connection microprocessing unit, for receiving phonetic order are provided with device.Meanwhile
The pathological image that external equipment collection has been pre-stored in the memory cell of main frame is imaged, as angiographic image, computerized tomography are swept
Tracing picture, Magnetic resonance imaging image or sonographic images etc..When medical worker need to check in surgical procedure it is above-mentioned
During image, phonetic order can be sent, after voice receiving unit receives the phonetic order, is sent to by microprocessing unit at image
Unit is managed, after phonetic order is identified by graphics processing unit, corresponding pathological image is transferred from memory cell and is sent
Shown to augmented reality device, and by micro display unit, in order to which medical worker checks.Now, medical worker can be
The pathological image of external equipment collection is checked on micro display unit, and the image of endoscope collection is watched by display device, is entered
Row contrast, so as to improve the operation degree of accuracy and procedure efficiency.
Above-mentioned voice receiving unit can be the mini microphone being integrated on support, receive voice signal.Imaging master
The graphics processing unit of machine is further integrated with speech processing module, to carry out phonetic order identification., can in actual use
To send instruction by several phonetic orders pre-set, to improve the recognition accuracy of phonetic order.
As further preferred embodiment, surgery systems of the present utility model also include bone conduction earphone, and the bone passes
By third communication unit and imaging main frame wireless connection, the prompting for receiving imaging main frame instructs and sends prompting guide lug machine
Voice.Bone conduction earphone is used, it is possible to prevente effectively from the interference of external noise, becomes apparent from the instruction that recipient hears.
As further preferred embodiment, in the utility model, endoscope also has position sensing unit, the position
Sensing unit is the nine axle gyroscopes in endoscope, and it connects into the graphics processing unit as main frame.In use, work as position
When sensing unit detects that crooked or handstand occurs for the image that endoscope is taken the photograph, graphics processing unit gathers according to nine axle gyroscopes
Data the image that endoscope gathers is rotated accordingly, the image for showing display device remains upright, so as to
Image is watched in medical worker, and then improves the degree of accuracy of operation.
Further, surgery systems of the present utility model also include external power supply, and the external power supply includes rechargeable battery
And hanging part, hanging part are used to power supply being placed in human body, the power interface of rechargeable battery link enhancement real device.Adopt
With external power supply, internal battery not enough power supply or the connection troublesome deficiency of power line can be overcome, be particularly suitable for use in operating time
Longer occasion.
The explanation of above example is only intended to help and understands method and its core concept of the present utility model.It should refer to
Go out, for those skilled in the art, can also be to this on the premise of the utility model principle is not departed from
Utility model carries out some improvement and modification, and these are improved and modification also falls into the protection domain of the utility model claims
It is interior.
Claims (10)
1. a kind of augmented reality wireless electronic endoscope surgery systems, it is characterised in that the surgery systems include：
Endoscope, it has shooting, the optical system of illumination, and bending section is located to the strip insertion section of fore-end；
Bracket assembly and light source main frame, imaging main frame and display device on bracket assembly；Wherein,
The light source main frame has light source and light source interface, and the optical system of the endoscope is connected by optical fiber；
The imaging main frame has graphics processing unit and connects the memory cell and the first radio communication list of graphics processing unit
Member, described image processing unit are used for the image for receiving and handling endoscope collection, and be transferred to the display device or
It is stored in memory cell；
The display device is used to show the image gathered by the endoscope crossed through described image processing unit processes；Also wrap
Include,
Augmented reality device, the augmented reality device have support, and the second radio communication list on the support
Member, microprocessing unit and micro display unit, wherein, the support is used to augmented reality device being fixed on human body head, described
Micro display unit is when support is fixed on human body head in front of human eye；
The graphics processing unit of the imaging main frame is additionally operable to handle image and is transmitted by the first wireless communication unit, institute
State the second wireless communication unit be used for receive the transmitting of the first wireless communication unit picture signal, the microprocessing unit is for controlling
Make and drive the micro display unit to show the picture signal that the second wireless communication unit receives.
2. augmented reality wireless electronic endoscope surgery systems as claimed in claim 1, it is characterised in that the micro display list
Member is installed on augmented reality device by adjustable support, and the adjustable support is used to adjust between micro display unit and human eye
Distance.
3. augmented reality wireless electronic endoscope surgery systems as claimed in claim 2, it is characterised in that the display device
Including the first display and second display, for first display on imaging main frame, second display is special medical science
Display；First display is additionally operable to operating personnel and area-of-interest, described image processing is marked on its display screen
Unit is additionally operable to obtain the area-of-interest, and the augmented reality device is sent to after processing, and by the micro display unit
Show the area-of-interest.
4. augmented reality wireless electronic endoscope surgery systems as claimed in claim 3, it is characterised in that first display
Utensil has touching display screen curtain, and the touching display screen curtain is used for operating personnel and marks sense emerging on screen by touch control manner
Interesting region.
5. augmented reality wireless electronic endoscope surgery systems as claimed in claim 3, it is characterised in that the augmented reality
Voice receiving unit is additionally provided with device, the voice receiving unit connects the microprocessing unit, for receiving phonetic order；
The memory cell of the imaging main frame is additionally operable to store the pathological image of external equipment collection；
After the voice receiving unit receives phonetic order, sent by the microprocessing unit by the second wireless communication unit
To described image processing unit, and corresponding disease is transferred from memory cell after identifying phonetic order by described image processing unit
The micro display unit that reason image is sent on augmented reality device is shown.
6. augmented reality wireless electronic endoscope surgery systems as claimed in claim 5, it is characterised in that also including osteoacusis
Earphone, the bone conduction earphone is by third communication unit and the imaging main frame wireless connection, for receiving imaging main frame
Remind and instruct and send suggestion voice.
7. augmented reality wireless electronic endoscope surgery systems as claimed in claim 2, it is characterised in that the endoscope is also
With position sensing unit, the graphics processing unit of the position sensing unit connection imaging main frame；The position sensing
Unit be used for detect the anglec of rotation that endoscope takes the photograph image, when position sensing unit detect endoscope take the photograph image generation it is askew
When tiltedly or standing upside down, the image that described image processing unit gathers to endoscope carries out corresponding rotation to correct, and makes the display
The image that device is shown remains upright.
8. augmented reality wireless electronic endoscope surgery systems as claimed in claim 7, it is characterised in that the position sensing
Unit is the nine axle gyroscopes in endoscope.
9. augmented reality wireless electronic endoscope surgery systems as claimed in claim 2, it is characterised in that also including external electricity
Source, the external power supply include rechargeable battery and hanging part, and the hanging part is used to power supply being placed in human body, it is described can
The power interface of rechargeable battery link enhancement real device.
10. the augmented reality wireless electronic endoscope surgery systems as described in claim any one of 1-9, it is characterised in that institute
It is in laparoscope, thoracoscope, arthroscope, asoscope, cystoscope, proctoscope, ERCP, mediastinoscope, cardioscope to state endoscope
One or more.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720071697.0U CN206880656U (en) | 2017-01-20 | 2017-01-20 | Augmented reality wireless electronic endoscope surgery systems |
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| CN201720071697.0U CN206880656U (en) | 2017-01-20 | 2017-01-20 | Augmented reality wireless electronic endoscope surgery systems |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106805934A (en) * | 2017-01-20 | 2017-06-09 | 杭州无创光电有限公司 | Augmented reality wireless electronic endoscope surgery systems |
| CN110101451A (en) * | 2019-05-08 | 2019-08-09 | 解涛 | A kind of VR simulation traction device for neurosurgery |
-
2017
- 2017-01-20 CN CN201720071697.0U patent/CN206880656U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106805934A (en) * | 2017-01-20 | 2017-06-09 | 杭州无创光电有限公司 | Augmented reality wireless electronic endoscope surgery systems |
| CN110101451A (en) * | 2019-05-08 | 2019-08-09 | 解涛 | A kind of VR simulation traction device for neurosurgery |
| CN110101451B (en) * | 2019-05-08 | 2020-04-14 | 解涛 | VR simulation traction device for neurosurgery |
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Granted publication date: 20180116 Effective date of abandoning: 20190507 |