CN209750986U

CN209750986U - Medical endoscope of virtual reality panorama

Info

Publication number: CN209750986U
Application number: CN201820922298.5U
Authority: CN
Inventors: 郑超; 韩环立
Original assignee: Childrens Hospital of Chongqing Medical University
Current assignee: Childrens Hospital of Chongqing Medical University
Priority date: 2018-06-14
Filing date: 2018-06-14
Publication date: 2019-12-10
Anticipated expiration: 2028-06-14

Abstract

The utility model provides a medical endoscope of virtual reality panorama, this endoscope include one be polyhedral camera lens and one with the camera lens handle of being connected of one side of camera lens, all be provided with a first miniature image sensor on other faces of camera lens. And the other surfaces of the lens are also provided with second miniature image sensors. The utility model discloses a panoramic camera shoots simultaneously the condition of operating in the wild all directions, and the field of vision is bigger, is convenient for observe, diagnose and operate.

Description

Medical endoscope of virtual reality panorama

Technical Field

The utility model relates to the field of medical equipment, concretely relates to medical endoscope of virtual reality panorama.

Background

The electronic endoscope is a medical electronic optical instrument which can be inserted into the body cavity and internal organ cavity of human body to make direct observation, diagnosis and treatment, and integrates the high-precision techniques of light collection, machine and electricity, etc. into one body, so that it can be extensively used in the clinical multi-professional fields, such as electronic gastroscope, enteroscope, fibre bronchoscope, laparoscope and arthroscope, etc.. The method adopts an electronic imaging element-charge-coupled device (CCD) with extremely small size to image an object in a cavity to be observed through a tiny objective optical system, converts the object into an electric signal, transmits the received signal to an image processing system through an image guide fiber bundle to restore the signal into an image, and finally outputs the processed image on a monitor for observation, diagnosis and operation of a doctor.

The existing electronic endoscope is used for imaging by a single camera. In order to obtain a clear and undistorted image, a wide-angle camera with too large curvature cannot be used for imaging, so that only a very small part of the field of view can be presented due to the limitation of the lens. If an operator wants to observe other visual fields, the operator needs to rotate the endoscope in the body cavity and change the direction, so that the requirement on the practical experience of the operator is extremely high, and the injury risk and the pain of the patient are increased. The lens can be replaced optionally, for example, the laparoscope has lenses with different bevel angles of 0 degree, 30 degrees, 45 degrees, 70 degrees and the like, but the lens angle is single, a plurality of angles and a wider range of visual fields cannot be obtained at the same time, the operation and anesthesia time is increased by frequently replacing the lens, and the bevel lens with the degree is operated, so that the visual field and the actual operation direction of an operator generate corresponding angle deviation, and the operation is not intuitive.

Disclosure of Invention

In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a virtual reality panoramic medical endoscope and endoscope system, which are used to solve the problem of small field of view of the existing electronic endoscope.

In order to achieve the above objects and other related objects, the present invention provides a medical endoscope with panoramic virtual reality, which comprises a lens and a lens handle, wherein the lens handle is connected to one side of the lens, and the other sides of the lens are provided with a first micro image sensor.

Preferably, the polyhedron is a regular polyhedron.

Preferably, the regular polyhedron is a regular dodecahedron.

Preferably, a second micro image sensor is further disposed on the other surface of the lens.

Preferably, the first micro image sensor is disposed at the center of each face of the regular polyhedron.

Preferably, all the first micro image sensors have the same field of view and the field angle of each first micro image sensor is larger than the included angle between the axes of two adjacent first micro image sensors.

Preferably, the optical axis of the first miniature image sensor on each surface of the regular polyhedron coincides with a connecting line from the surface where the first miniature image sensor is located to the center of the regular polyhedron.

Preferably, a midpoint of a connecting line of centers of the first and second micro image sensors coincides with a center of a plane on which the first and second micro image sensors are located.

preferably, the optical axes of all the first and second micro image sensors intersect at the center of the regular polyhedron.

As described above, the utility model discloses a medical endoscope of virtual reality panorama and endoscope system has following beneficial effect:

1. The visual field is large. The conventional endoscope is limited by the angle of view of the lens, and only a small part of the field of view in the operation field can be obtained. And the virtual reality panorama medical endoscope shoots the conditions in all directions in the operation field simultaneously through the panoramic camera, so that the visual field is larger, and the observation, diagnosis and operation are convenient.

2. The movement of the endoscope body is reduced, the damage to surrounding tissues is reduced, the operation flow is simplified, and the operation time is reduced. The traditional endoscope is limited by the angle of view of the lens, the visual field is limited, the directions of the endoscope body and the lens are required to be continuously adjusted in order to obtain the visual fields in other directions, the operation not only increases the risk of the injury of the endoscope body to tissues around the operation field, but also prolongs the operation and anesthesia time and increases the pain of patients. The virtual reality panoramic medical endoscope can obtain panoramic images in an operation field, and images in all directions in the operation field can be observed by slightly rotating the head and the neck of an operator.

3. The operation is simple. The traditional endoscope is limited by the angle of view of the lens, and the lens with a certain viewing direction angle is often introduced, so that the lens body and the viewing field have corresponding angle deviation, and the lens body still needs to be continuously moved to obtain more viewing fields, so that the requirement on the practical experience of an operator is higher, and the difficulty is higher. The virtual reality panoramic medical endoscope can obtain panoramic images, is more visual, three-dimensional and wider, has stronger direction sense and simple operation, and even a beginner can easily see the condition in the operation field. The operator can also reset through an auxiliary cursor in the virtual reality glasses display, and the visual field direction is continuously adjusted instead of moving the glasses body. The operation is more reasonable and more convenient.

4. The visual field has more three-dimensional sense. The traditional endoscope only can display two-dimensional video signals by shooting transmission images through a single camera, and is very deficient in sense that the size, texture, distance and other properties of tissues in an operation field are lack of visual perception. And the medical endoscope of virtual reality panorama adopts a plurality of binocular cameras, collects the signal simultaneously, transmits the processing respectively, and like the condition in the operator's eyes direct observation operation field, through the formation of image of virtual reality glasses display, obtains three-dimensional panoramic video image, the operator can have more audio-visual assurance to the condition in the operation field.

5. The forward value of video data is large. The collected panoramic video data can be stored in a computer, and not only can be used for clinical retrospective research, but also can be used for teaching. The video data can be restored to the split screen video mode again, and the student obtains operation experience personally on the scene through wearing virtual reality glasses.

Drawings

FIG. 1 is a schematic view of the working principle of a virtual reality panoramic medical endoscope;

Fig. 2 is a schematic structural diagram of a virtual reality panoramic medical endoscope lens a in the embodiment;

fig. 3 is a schematic configuration diagram of a virtual reality panoramic medical endoscope lens b in this embodiment.

Detailed Description

The following description is provided for illustrative purposes, and other advantages and features of the present invention will become apparent to those skilled in the art from the following detailed description.

please refer to fig. 1-3. It should be understood that the structure, ratio, size and the like shown in the drawings attached to the present specification are only used for matching with the content disclosed in the specification, so as to be known and read by those skilled in the art, and are not used for limiting the limit conditions that the present invention can be implemented, so that the present invention has no technical essential meaning, and any structure modification, ratio relationship change or size adjustment should still fall within the scope that the technical content disclosed in the present invention can cover without affecting the function that the present invention can produce and the purpose that the present invention can achieve. Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for convenience of description, and are not intended to limit the scope of the present invention, and changes or adjustments of the relative relationship thereof may be made without substantial technical changes, and the present invention is also regarded as the scope of the present invention.

As shown in fig. 2, the present embodiment provides a virtual reality panoramic medical endoscope, which includes a lens 15 having a polyhedral shape and a lens handle 16 connected to one side of the lens, wherein the lens 15 and the lens handle 16 form a lens a. Each of the remaining faces except the face connected to the lens handle 16 is provided with one first micro image sensor 17. The first micro image sensor is composed of toughened glass on the surface, a charge-coupled device and a conducting line in the first micro image sensor, and the field angle of the first micro image sensor is 70 degrees. The lens handle 16 is internally converged with the conducting line of each first miniature image sensor and the LED cold light source.

In the present embodiment, the polyhedron is a regular polyhedron, and further, the regular polyhedron is a regular dodecahedron. The angle between adjacent faces of the regular dodecahedron is about 116.56 deg..

In this embodiment, the first micro image sensor is disposed at the center of each face of the regular polyhedron. All the first micro image sensors have the same field of view, and the field angle of each first micro image sensor is larger than the included angle between two adjacent first micro image sensors. The optical axis of the first miniature image sensor on each surface of the regular polyhedron is superposed with a connecting line from the surface where the first miniature image sensor is located to the center of the regular polyhedron.

In the embodiment, the image capturing included angle between two adjacent first micro image sensors 17 is about 63.44 °, which is smaller than the field angle of the first micro image sensor, so that no dead angle is left when image capturing is performed, and panoramic shooting can be realized.

As shown in fig. 1 and 2, the working principle of the virtual reality panoramic medical endoscope lens a in the present embodiment is as follows: during operation, the endoscope is sent into the operation field 1 through the endoscope body 3, after the light source is turned on, the operation field 1 is illuminated through the lens end 2, the condition in the operation field is observed, the optical signals reflected back from all directions in the operation field 1 are converted into electric signals through the first miniature image sensors 17 on all surfaces of the lens 15 of the regular dodecahedron, the electric signals are input into the computer 5 through the input line 4, the electric signals are restored into optical signals again through the photoelectric signal synchronous converter 6, and the panoramic video signal is obtained through circuit processing such as synchronous circuit superposition, pulse interference elimination, direct current level restoration and control, linear amplification, output power amplification, binarization processing and the like. On the one hand, the video signal is introduced into module A by photoelectric signal synchronous converter 6, panorama image divides screen processing module 7 promptly, carry out the branch screen processing and other optimizations of image, turn into the branch screen signal that is fit for virtual reality glasses and watches, lead to the virtual reality glasses display 11 that the art person wore through output line 12 in, the art person can obtain the panorama image in the operation field 1, as being personally on the scene generally, can obtain the field of vision of each direction in the operation field 1 through the direction of slight adjustment head and neck. On the other hand, the video signal is returned to the computer 5 through the return line 13, and the processing of the module C9, i.e. the split-screen video superimposing and converting module, superimposes and restores the split-screen video signal to the ordinary two-dimensional video signal, and the common two-dimensional video signal is displayed on the display 10 through the output line 14, so that the assistant can directly view the two-dimensional video of the current view field of the operator through the display 10. The display can be further connected with hardware equipment such as storage, printing and the like to record observation and operation conditions.

As shown in fig. 3, the present embodiment provides a virtual reality panoramic medical endoscope, which includes a lens 15 having a polyhedron and a lens handle 16 connected to one side of the lens, wherein the lens 15 and the lens handle 16 form a lens b end. Each of the remaining faces, except for the face connected to the lens handle 16, is provided with one first and second image micro-sensors 17 and 17. The first micro image sensor and the second micro image sensor are both composed of toughened glass on the surface, a charge-coupled device and a conducting line in the first micro image sensor, and the field angle of the first micro image sensor and the second micro image sensor is 70 degrees. The lens handle 16 is internally converged with the conduction lines of the first and second micro image sensors and the LED cold light source.

In the present embodiment, the polyhedron is a regular polyhedron, and further, the regular polyhedron is a regular dodecahedron.

In this embodiment, a midpoint of a connecting line between centers of the first and second micro image sensors coincides with a center of a plane on which the first and second micro image sensors are located. The optical axes of all the first and second micro image sensors intersect at the center of the regular polyhedron.

The image signals acquired by the first and second micro image sensors 17 and 18 on each side are finally transferred to the virtual reality glasses display 11 through a subsequent series of processes. Therefore, the operator can obtain a three-dimensional panoramic image with a spatial stereoscopic sense through the virtual reality glasses display 11.

As shown in fig. 1 and 3, the operation principle of the virtual reality panoramic medical endoscope lens b in the present embodiment is as follows: during operation, the endoscope sends into operation field 1 through mirror body 3, the light source opens the back, throw light on operation field 1 through lens end 2, observe the condition wherein, first miniature image sensor 17 and second miniature image sensor 18 on the each face of regular dodecahedron camera lens 15 convert the optical signal that the all directions reflected back in the operation field 1 into the signal of telecommunication, input computer 5 through input line 4, restore the signal of telecommunication into light signal again through photoelectric signal synchronous converter 6, through the circuit processing with the same before, obtain two sets of panorama video signal of left and right eyes separately. On the one hand, the video signal is introduced into module B, binocular three-dimensional imaging processing module 8 promptly with photoelectric signal synchronous converter 6, carries out the optimization processing of image, turns into the three-dimensional video signal of split screen that is fit for virtual reality glasses and watches, leads to the virtual reality glasses display 11 that the art person wore through output line 12 in, the art person can obtain the three-dimensional panoramic image in the operation field 1, and the image is more lifelike, have more the sense of space. The visual field in each direction in the operation field 1 can be obtained by slightly adjusting the direction of the head and neck. On the other hand, the video signal is returned to the computer 5 through the return line 13, the split-screen video signal is overlapped and restored to be a common two-dimensional video signal through the processing of the module C, namely, the split-screen video overlapping and converting module 9, the common two-dimensional video signal is displayed in the display 10 through the output line 14, and the assistant can directly watch the two-dimensional video of the current visual field of the operator through the display 10.

In the present embodiment, a large number of related products are currently available for glasses displays for virtual reality eyes, and the scope of protection of the patent application is not limited herein, but only for the purpose of illustration. The glasses can be used for meeting the use requirements of most operators by adjusting the interpupillary distance, the eye diopter and the like. The video signal of the split screen can form a complete and clear video image in front of eyes of a wearer, an auxiliary cursor is arranged at a fixed position in the middle of a visual field, and the wearer can suspend the auxiliary cursor on a virtual interface button to achieve the purpose of operation, for example, an operator rotates the head to the right 60 degrees and lifts the head to 30 degrees to find a focus, and intends to operate the focus for a long time, the operator can suspend the auxiliary cursor on a reset key of the visual field virtual interface, and when the head of the patient rotates to the middle position, the operator can see that the focus just found is in the middle of the visual field.

In this embodiment, the medical endoscope ccd converts the object to be observed in the cavity into an electrical signal by imaging through a tiny objective optical system, and then sends the received signal to an image processing system through an image guide fiber bundle, and the received signal is processed and restored into an image through a series of circuits and transmitted to a display. Such techniques are well established and the associated instruments and techniques are not considered to fall within the scope of the present application.

It should be further noted that the technologies of the related functions and implementation methods of the photoelectric signal synchronous converter, the panoramic image split-screen processing module 7, the binocular three-dimensional imaging processing module 8, and the split-screen video superimposing and converting module 9 are already mature, and are not regarded as the scope of protection of the present application.

The above embodiments are merely illustrative of the principles and effects of the present invention, and are not to be construed as limiting the invention. Modifications and variations can be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. A virtual reality panoramic medical endoscope is characterized by comprising a polyhedral lens and a lens handle connected with one surface of the lens, wherein the other surfaces of the lens are provided with a first miniature image sensor; the field angle of each first miniature image sensor is larger than the included angle between two adjacent first miniature image sensors, and the conduction lines and the LED cold light sources of the first miniature image sensors are gathered in the lens handle.

2. The virtual reality panoramic medical endoscope of claim 1, wherein the polyhedron is a regular polyhedron.

3. The virtual reality panoramic medical endoscope of claim 2, wherein the regular polyhedron is a regular dodecahedron.

4. The virtual reality panoramic medical endoscope of claim 3, wherein a second micro image sensor is further disposed on the other surface of the lens.

5. The virtual reality panoramic medical endoscope of claim 3, wherein the first miniature image sensor is arranged at the center of each face of the regular polyhedron.

6. The virtual reality panoramic medical endoscope of claim 3, wherein all the first micro image sensors have the same field of view and the field angle of each first micro image sensor is larger than the included angle between the axes of two adjacent first micro image sensors.

7. The virtual reality panoramic medical endoscope of claim 6, wherein the optical axis of the first micro image sensor on each face of the regular polyhedron coincides with the line connecting the face where the first micro image sensor is located to the center of the regular polyhedron.

8. The virtual reality panoramic medical endoscope according to claim 4, wherein the midpoint of the connecting line of the centers of the first and second miniature image sensors coincides with the center of the plane of the first and second miniature image sensors.

9. The virtual reality panoramic medical endoscope of claim 8, wherein the optical axes of all the first and second miniature image sensors intersect at the center of a regular polyhedron.