CN209826663U - Multi-angle imaging system of thoraco-laparoscope - Google Patents

Abstract

The utility model relates to a medical field, in particular to multi-angle image system of pleuroperitoneal cavity mirror, its characterized in that: the system comprises an image acquisition module, an image processing module, an image display module and a power supply module; the image acquisition module comprises a fixed lens component and a movable local image acquisition component; the fixed lens component comprises a fixed seat and a camera device; the mobile local image acquisition assembly comprises a supporting rod, a rotary camera device, a controller and a remote control piece; the image processor is arranged in the image processing module, and the image display module comprises an integral image display module and a local image display module; the utility model discloses can show the inside operation environment image of pleuroperitoneal cavity more comprehensively, not only make medical staff have a multi-angle and macroscopic understanding to the pleuroperitoneal cavity environment, observe the field of vision dead angle that current chamber mirror technique exists, make things convenient for the doctor to carry out the operation to sick position moreover, improve the accuracy and the success rate of operation.

Description

Multi-angle imaging system of thoraco-laparoscope

Technical Field

The utility model relates to the field of medical treatment, in particular to multi-angle image system of pleuroperitoneal cavity mirror.

Background

Endoscopic surgery, as a newly developed minimally invasive technique, refers to making an incision at the affected part, inserting the endoscope lens and various special surgical instruments into the abdominal cavity of a patient by holding the endoscope lens with the hand through the incision or using external instruments, transmitting images of various organs in the abdominal cavity, which are shot by the endoscope lens inserted into the abdominal cavity, to a television screen, and finishing the surgery by a surgeon operating the various surgical instruments outside the body by observing the images. This operation mode requires continuous holding by hand or holding the endoscope lens by an external instrument, which is inconvenient.

In addition, the endoscope adopted in the existing thoracoabdominal cavity operation cannot preview images in the thoracoabdominal cavity, and the operation area of a focus can be searched only by manually adjusting the shooting angle and the position of the endoscope lens in the operation process; moreover, the only visual angle of the endoscopic surgery is the forward visual angle of the main scalpel, the assistant is positioned at the opposite side of the main scalpel to perform instrument visual angle operation, but the assistant and the main scalpel share one endoscopic visual angle, the instrument visual angle is guaranteed to be convenient for the forward operation of the main scalpel, reverse mirror image operation is often needed, the default degree between the doctor and the assistant is tested, misoperation is easy to occur, and the precision and the progress of surgical matching are affected.

In conclusion, if the doctor cannot know the intracavity surgery environment from multiple angles, the misjudgment of the operation in the surgery is very easy to happen, the surgery cannot be accurately and quickly carried out, the complexity and difficulty of the surgery can be increased, and the pain of the patient is increased.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome above shortcoming, a many angle image system of pleuroperitoneal cavity mirror is provided, it is through fixed camera lens subassembly and portable local image acquisition subassembly cooperation collection pleuroperitoneal cavity mirror internal image, can show the inside operation environment image of pleuroperitoneal cavity more comprehensively, not only make medical staff have a multi-angle and macroscopic understanding to the pleuroperitoneal cavity internal environment, observe the field of vision dead angle that current cavity mirror technique exists, make things convenient for the doctor to carry out the operation to sick position moreover, improve the accuracy and the success rate of operation.

The utility model discloses a following technical scheme realizes:

the utility model provides a many angle image system of pleuroperitoneal cavity mirror which characterized in that: comprises that

The image acquisition module is used for shooting image data in the thoracic cavity and the abdominal cavity and sending an image data signal outwards;

the image processing module is in signal connection with the image acquisition module and is used for receiving and processing the image data signal transmitted by the image acquisition module;

the image display module is connected with the output end of the image processing module and used for receiving the processed image data and displaying the processed image data on the end face of the screen;

the power supply module is used for providing electric energy required by the operation of each module;

the image acquisition module comprises more than one group of fixed lens components which are fixedly connected to the inner side of the chest-abdominal cavity wall and used for shooting images inside the chest-abdominal cavity, and a movable local image acquisition component which can move in the chest-abdominal cavity wall and used for tracking and shooting local focus images;

the fixed lens component comprises a fixed seat movably connected to the inner side of the chest and abdomen cavity wall and a camera device arranged on the fixed seat and in signal connection with the input end of the image processing module;

the mobile local image acquisition assembly comprises a supporting rod, a rotary camera device movably connected to one end of the supporting rod through a universal joint, a controller electrically connected with the rotary camera device and used for controlling the rotation angle of the rotary camera device, and a remote control piece used for issuing an operation instruction to the controller;

the image processing module is internally provided with an image processor for receiving and processing the image data signal transmitted by the image acquisition module, and the output end of the image processor is connected with the input end of the image display module;

the image display module comprises an integral image display module and a local image display module;

the integral image display module is used for displaying the images of the inside of the thoracic cavity and the abdominal cavity shot by the fixed lens assembly;

the local image display module is used for displaying the local image shot by the movable local image acquisition assembly.

The working principle and the process are as follows:

before an operation, an incision is firstly formed in a chest cavity or an abdominal cavity, then a pipeline-shaped working channel is inserted into the incision, muscle relaxant is injected into the incision to enable muscles in the cavity to be relaxed, then CO2 gas is introduced into the cavity to enable the interior of the cavity to be expanded to form pneumothorax, a clamping and fixing lens assembly extends into the chest and abdominal cavity through the pipeline-shaped working channel and is connected to the inner wall of the chest and abdominal cavity wall through a fixing seat, and a movable local image acquisition assembly extends into the chest and abdominal cavity through the pipeline-shaped working channel after the fixing lens assembly is connected;

then, starting a power supply module to start the system to operate, shooting an image in the cavity by the camera device and sending the image data to the image processing module, shooting a local focus image to be shot by the movable local image acquisition component and sending the image data to the image processing module, and respectively transmitting the image to the integral image display module and the local image display module in the image display module to display the image after processing and integrating the received image data by an image processor in the image processing module; the doctor performs an operation according to the intracavity image displayed in the image display module and the local image of the ward, and firstly withdraws the movable local image acquisition component from the pipeline-shaped working channel after the operation is completed, and then takes down the fixed lens component from the cavity wall to withdraw from the pipeline-shaped working channel.

For better implementation of the scheme, the following optimization scheme is also provided:

further, for explaining the connection mode between the image acquisition module and the image processing module: the image acquisition module is connected with the image processing module through a wired signal or a wireless signal.

Further, in order to optimize the wired connection mode between the image acquisition module and the image processing module: when the image acquisition module is connected with the image processing module through a wired signal, the output end of the image pickup device in the fixed lens component is connected with the input end of the image processing module through a data line; the output end of the rotary camera device in the movable local image acquisition assembly is connected with the input end of the image processing module through a data line.

Further, in order to optimize the wireless connection mode between the image acquisition module and the image processing module: when the image acquisition module is in wireless signal connection with the image processing module, the fixed lens assembly further comprises a first wireless transmitter for transmitting image data shot by the camera device; the mobile local image acquisition assembly also comprises a second wireless transmitter for transmitting image data shot by the rotary camera device; the image processing module is also internally provided with a wireless receiver for receiving the image data signals transmitted by the wireless transmitter, and the output end of the wireless receiver is connected with the input end of the image processor; the power supply module further comprises a first battery assembly arranged in the fixed lens assembly and used for providing the working electric energy required by the camera device, and a second battery assembly arranged on the supporting rod and used for providing the working electric energy required by the movable local image acquisition assembly.

Further, in order to optimize the form of the support bar: the supporting rod can be a straight rod, a curved rod or a telescopic rod.

Further, to explain the connection manner of the remote control and the support rod: the remote control part is connected with the supporting rod in a separating way or in an integrated way.

Further, in order to optimize the separated connection mode of the remote control and the support rod: when the remote control part is connected with the supporting rod in a separated mode, the remote control part is provided with a signal transmitter, the supporting rod is provided with a signal receiver used for receiving signals of the remote control part, and the signal receiver is electrically connected with the controller.

Further, in order to optimize the integral type connected mode of remote control and bracing piece: when the remote control piece is connected with the supporting rod in an integrated manner, the remote control piece is fixedly arranged at one end of the supporting rod, which is far away from the rotary camera device, and the remote control piece is electrically connected with the controller.

Further, in order to optimize the connection mode of the fixed lens component and the cavity wall: the fixed seat comprises a first clamping piece, a second clamping piece, a hinged shaft and a torsion spring; the middle parts of the first clamping piece and the second clamping piece are hinged through a hinge shaft, and the heads of the first clamping piece and the second clamping piece can puncture the inside or outside of the chest and abdomen wall after being folded; the torsion spring is sleeved on the hinge shaft and acts between the first clamping piece and the second clamping piece, under the action of the torsion spring and when the first clamping piece and the second clamping piece are not subjected to other external forces, the head parts of the first clamping piece and the second clamping piece are in an open state, and the tail parts of the first clamping piece and the second clamping piece are in a closed state; and one axial end of the hinge shaft is fixed on the side wall of the camera device.

Further, in order to completely synthesize the panoramic image inside the cavity: the number of the fixed lens components is more than 2 groups, the fixed lens components are distributed at different parts of the inner side of the chest and abdomen wall, and an image synthesis module used for synthesizing images shot by the fixed lens components in the chest and abdomen cavity into a panoramic image in the cavity is further arranged in the image processing module.

Compare prior art, the beneficial effects of the utility model are that:

1. the utility model provides a multi-angle image system of a thoraco-laparoscope, which can comprehensively display the operation environment image in the pleuroperitoneal cavity by matching a fixed lens component and a movable local image acquisition component to acquire the image in the pleuroperitoneal cavity, not only enables medical staff to have a multi-angle and macroscopic understanding of the environment in the pleuroperitoneal cavity to observe the visual field dead angle existing in the prior art of the endoscope, but also facilitates the operation of a doctor on the diseased part and improves the accuracy and the success rate of the operation;

2. the utility model provides a multi-angle image system of a thoraco-laparoscope, wherein an image acquisition module is connected with an image processing module by a wired signal, thereby ensuring the stability of the transmission of image data in a cavity and ensuring that the observation of medical staff on the environment in the cavity is not interrupted suddenly, thereby influencing the operation process;

3. the utility model provides a multi-angle image system of a thoraco-laparoscope, wherein an image acquisition module is connected with an image processing module by wireless signals, and no pipeline is left outside a cavity after the image acquisition module enters the cavity from a pipeline-shaped working channel, thereby not only increasing the operation space and the moving space of medical staff, but also reducing the problems of wound infection and the like caused by incomplete pipeline disinfection;

4. the utility model provides a multi-angle image system of a thoraco-laparoscope, which is characterized in that an image synthesis module for synthesizing images in the thoracic cavity and the abdominal cavity is arranged in an image processing module, and the images of all angles in the cavity are synthesized in an intra-cavity panoramic image map without displaying the images in the cavity by multiple screens, so that medical staff can know the environment in the abdominal cavity more intuitively;

5. the utility model provides a multi-angle image system of a thoraco-laparoscope, which is characterized in that for an assistant, the instrument adjustment is forward visual field and forward operation, thereby greatly improving the precision and progress of the operation coordination and increasing the safety of the operation;

6. the utility model provides a multi-angle image system of chest peritoneoscope, the intracavity environment of multi-angle shows, except that main sword doctor and assistant, the operation is also can be watched to the operation visitor from the multi-angle forward, accords with vision custom at ordinary times, has also improved operation sight and travelling comfort.

Drawings

The invention will be further described with reference to the following examples with reference to the accompanying drawings:

FIG. 1 is a system internal module connection diagram of a multi-angle imaging system of a laparoscope according to an embodiment;

FIG. 2 is a diagram illustrating a multi-angle imaging system of a laparoscope according to an embodiment;

FIG. 3 is a schematic side view of a fixed lens assembly according to an embodiment;

FIG. 4 is a schematic partial cross-sectional view of a front structure of a fixed lens assembly according to an embodiment;

FIG. 5 is a schematic diagram of a mobile local image capture assembly according to one embodiment;

FIG. 6 is a schematic view of the use of the first embodiment of the fixed lens assembly to penetrate the chest and abdominal wall;

FIG. 7 is a schematic diagram of a panoramic image of the inside of the thoracic and abdominal cavities displayed by the whole image display module according to an embodiment of the present invention;

FIG. 8 is a schematic view of a first embodiment of a fixed lens assembly in use with the chest and abdomen walls in a suction cup type connection;

FIG. 9 is a schematic view of a first embodiment of a fixed lens assembly in use connected to the chest and abdomen wall by a bolt assembly;

FIG. 10 is a schematic view of a first embodiment of a magnetic attraction module connecting a fixed lens module to the chest and abdomen wall;

FIG. 11 is a connection diagram of the system internal modules of the multi-angle imaging system of the laparoscope according to the second embodiment;

FIG. 12 is a diagram illustrating a state of use of the multi-angle imaging system of the laparoscope according to the second embodiment;

fig. 13 is a schematic side view of a fixed lens assembly according to a second embodiment;

fig. 14 is a schematic structural diagram of a mobile local image capturing module according to a second embodiment;

description of reference numerals: 1-image acquisition module, 11-fixed lens component, 111-fixed seat, 1111-clamping piece I, 1112-clamping piece II, 1113-articulated shaft, 1114-torsional spring, 112-camera device, 113-first wireless transmitter, 12-movable local image acquisition component, 121-supporting rod, 1211-signal receiver, 122-rotary camera device, 123-controller, 124-remote control, 1241-signal transmitter, 125-second wireless transmitter, 2-image processing module, 21-image processor, 22-wireless receiver, 23-image synthesis module, 24-storage module, 3-image display module, 31-whole image display module, 32-local image display module, 4-power supply module, 41-the first battery assembly, 42-the second battery assembly.

Detailed Description

The invention is described in detail below with reference to the drawings and specific examples:

example 1:

as shown in fig. 1-10, a multi-angle imaging system for a pleuroperitoneal endoscope is characterized in that: comprises that

The image acquisition module 1 is used for shooting image data in the thoracic cavity and the abdominal cavity and sending an image data signal outwards;

the image processing module 2 is in signal connection with the image acquisition module 1 and is used for receiving and processing the image data signals transmitted by the image acquisition module 1;

the image display module 3 is connected with the output end of the image processing module 2 and used for receiving the processed image data and displaying the processed image data on the end face of the screen;

the power supply module 4 is used for providing electric energy required by the operation of each module;

the image acquisition module 1 comprises more than one group of fixed lens components 11 which are fixedly connected to the inner side of the chest-abdominal cavity wall and used for shooting images inside the chest-abdominal cavity, and a movable local image acquisition component 12 which can move in the chest-abdominal cavity wall and used for tracking and shooting local focus images;

the fixed lens assembly 11 comprises a fixed seat 111 movably connected to the inner side of the chest and abdomen wall and a camera device 112 arranged on the fixed seat 111 and connected with the input end signal of the image processing module 2; the fixed lens assembly 11 enters the cavity through a pipeline-shaped working channel arranged on the surface of the lesion body and is connected with the chest and abdomen wall;

the mobile local image acquisition assembly 12 comprises a support rod 121, a rotary camera device 122 movably connected to one end of the support rod 121 through a universal joint, a controller 123 electrically connected with the rotary camera device 122 and used for controlling the rotation angle of the rotary camera device 122, and a remote control piece 124 used for issuing an operation instruction to the controller 123;

the movable local image acquisition component 12 sends the rotary camera device 122 into the body through a pipeline-shaped working channel arranged on the surface of the lesion;

the medical staff sends the movable local image acquisition component 12 into the cavity of the patient through the pipeline-shaped working channel, after the distance and the position of the supporting rod 121 are adjusted, the remote control 124 is controlled to control the rotary camera device 122 to rotate right above the focus and shoot the local image of the ward area, then the image data is transmitted to the image processing module 2, and the image processor 21 processes the image data and then sends the image data to the local image display module 32 in the image display module 3 and displays the image data in the local image display module;

the image processing module 2 is internally provided with an image processor 21 for receiving and processing the image data signal transmitted by the image acquisition module 1, and the output end of the image processor 21 is connected with the input end of the image display module 3;

the image display module 3 comprises an overall image display module 31 and a local image display module 32;

the whole image display module 31 is configured to display an image of the inside of the thoracic cavity and the abdominal cavity captured by the fixed lens assembly 11;

the local image display module 32 is configured to display a local image captured by the mobile local image capturing component 12.

The image acquisition module 1 shoots the images in the thoracic cavity and the abdominal cavity and transmits the images to the image processing module 2, and the image processing module 2 processes the acquired image data and transmits the processed image data to the image display module 3 for display.

The image acquisition module 1 and the image processing module 2 are connected by wired signals.

When the image acquisition module 1 is connected with the image processing module 2 by a wired signal, the output end of the image pickup device 112 in the fixed lens component 11 is connected with the input end of the image processing module 2 by a data line; the output end of the rotary camera device 122 in the mobile local image acquisition component 12 is connected with the input end of the image processing module 2 through a data line.

The support rod 121 may be a straight rod, a curved rod or a telescopic rod.

The remote control 124 is connected with the support rod 121 in a detachable manner.

When the remote control 124 is detachably connected to the supporting rod 121, a signal transmitter 1241 is disposed on the remote control 124, a signal receiver 1211 for receiving a signal of the remote control 124 is disposed on the supporting rod 121, and the signal receiver 1211 is electrically connected to the controller 123.

The fixing seat 111 comprises a first clamping piece 1111, a second clamping piece 1112, a hinge shaft 1113 and a torsion spring 1114; the middle parts of the first clamping piece 1111 and the second clamping piece 1112 are hinged through a hinge shaft 1113, and the heads of the first clamping piece 1111 and the second clamping piece 1112 can puncture the inside of the chest and abdomen cavity wall or puncture the chest and abdomen cavity wall outwards after being folded; the torsion spring 1114 is sleeved on the hinge shaft 1113 and acts between the first clamping piece 1111 and the second clamping piece 1112, under the action of the torsion spring 1114 and when the first clamping piece 1111 and the second clamping piece 1112 do not receive other external force, the head parts of the first clamping piece 1111 and the second clamping piece 1112 are in an open state, and the tail parts of the first clamping piece 1111 and the second clamping piece 1112 are in a closed state; one axial end of the hinge shaft 1113 is fixed to the side wall of the image pickup device 112.

Before an operation, the fixed lens assembly 11 is clamped by the forceps and extends into the chest and abdomen wall through the pipeline-shaped working channel, the forceps clamp the heads of the first clamping piece 1111 and the second clamping piece 1112 to enable the heads of the two clamping pieces to be folded, the heads of the two clamping pieces are driven to puncture the chest and abdomen wall and penetrate out of the chest and abdomen wall, after the forceps are released, the two clamping pieces automatically reset under the action of the torsion spring 1114, and the heads of the two clamping pieces are opened and clamped on the chest and abdomen wall.

The heads of the first clamping piece 1111 and the second clamping piece 1112 are folded and then externally pricked into the chest and abdomen wall, as shown in fig. 6, the heads of the clamping pieces can prick out of the chest and abdomen wall and then are spread and clamped on the chest and abdomen wall; alternatively, as shown in fig. 2, the head of the clip may be stretched and lodged within the thoracoabdominal wall without passing through the thoracoabdominal wall.

The fixing manner of the fixing seat 111 may be, in addition to the above piercing type, fixing by a suction cup device, a bolt assembly, or a magnetic adsorption assembly;

adopt the sucking disc device to fix fixing base 111 on chest abdomen cavity wall inboard as shown in fig. 8, the sucking disc device includes sucking disc and the air exhaust device who is connected with the sucking disc, the sucking disc is including being used for adsorbing the suction cup body on chest abdomen cavity wall inboard and connecting the sucking disc handle between suction cup body and camera device 112 back, air exhaust device includes exhaust duct and gasbag, and exhaust duct's both ends communicate with suction cup body inner chamber and gasbag inner chamber respectively.

As shown in fig. 9, the fixing base 111 is fixed on the inner side of the chest/abdominal cavity wall by a bolt assembly, and the bolt fixing device includes a positioning component for pressing the outer portion of the chest/abdominal cavity wall and a penetrating rod connected with the positioning component, for penetrating through the chest/abdominal cavity wall and connecting to the back of the camera device 112. The penetrating rod is a screw rod, the positioning component is a nut which can be matched with the screw rod, the screw rod penetrates through the chest and abdomen cavity wall from outside to inside, and the bottom of the screw rod is fixedly connected with the back of the camera device 112, or the back of the camera device 112 is provided with a connecting groove which is used for being connected with the bottom of the screw rod, and the bottom of the screw rod is movably connected with the connecting groove through threads or is clamped in the connecting groove; the nut is in threaded connection with the outer peripheral wall of the screw rod exposed out of the chest and abdomen wall.

Fixing the fixing base 111 on the inner side of the chest and abdomen wall by using the magnetic adsorption component as shown in fig. 10, the magnetic adsorption device comprises a first fixing device connected to the back of the camera device 112 and a second fixing device which can be in magnetic adsorption fit with the first fixing device, and the second fixing device is matched with the first fixing device to fix the camera device 112 on the inner side of the chest and abdomen wall. The second fixing device is an electromagnet or a permanent magnet, and the first fixing device is a metal plate which can be adsorbed by the electromagnet or the permanent magnet.

As shown in fig. 7, the number of the fixed lens assemblies 11 is more than 2, and the fixed lens assemblies are distributed at different positions on the inner side of the thoracoabdominal wall, and an image synthesis module 23 for synthesizing images shot by each set of the fixed lens assemblies 11 in the thoracoabdominal cavity into a panoramic image inside the cavity is further arranged in the image processing module 2. The number of the fixed lens assemblies 11 is preferably 9, and the fixed lens assemblies are distributed at different parts on the inner side of the chest and abdomen wall

The image processing module 2 is further provided with a storage module 24 for storing image data.

Example 2:

as shown in fig. 11-14, the multi-angle imaging system of the pleuroperitoneal mirror in this embodiment is different from that in embodiment 1 in that:

the image acquisition module 1 is connected with the image processing module 2 through wireless signals.

When the image acquisition module 1 is connected with the image processing module 2 by wireless signals,

the fixed lens assembly 11 further includes a first wireless transmitter 113 for transmitting image data captured by the image capturing device 112; the mobile local image capturing assembly 12 further comprises a second wireless transmitter 125 for transmitting image data captured by the rotary camera 122;

the image processing module 2 is also internally provided with a wireless receiver 22 for receiving image data signals transmitted by the wireless transmitter, and the output end of the wireless receiver 22 is connected with the input end of the image processor 21;

the power supply module 4 further includes a first battery assembly 41 disposed in the fixed lens assembly 11 for providing working power required by the camera device 112, and a second battery assembly 42 disposed on the supporting rod 121 for providing working power required by the mobile local image capturing assembly 12.

The remote control 124 is integrally connected with the support rod 121.

When the remote control 124 is integrally connected to the supporting rod 121, the remote control 124 is fixedly disposed at an end of the supporting rod 121 away from the rotating camera device, and the remote control 124 is electrically connected to the controller 123.

In the embodiment, the image acquisition module 1 is in wireless signal connection with the image processing module 2, and no pipeline is left outside the cavity after the image acquisition module 1 enters the cavity from the pipeline-shaped working channel, so that the operation space and the moving space of medical personnel are increased, and the problems of wound infection and the like caused by incomplete pipeline disinfection are solved;

the remote control 124 and the support rod 121 are also connected in an integrated manner, so that the medical staff can conveniently use the remote control, the remote control is easy to store, and the trouble that the remote control cannot be found after the remote control 124 is placed in a busy state is solved.

The above-mentioned specific implementation is only to explain in detail the technical solution of the present invention, the present invention is not limited to the above-mentioned embodiments, and any improvement or replacement according to the principle of the present invention should be within the protection scope of the present invention.

Claims (10)

1. The utility model provides a many angle image system of pleuroperitoneal cavity mirror which characterized in that: comprises that

The image acquisition module (1) is used for shooting image data in the thoracic cavity and the abdominal cavity and sending an image data signal outwards;

the image processing module (2) is in signal connection with the image acquisition module (1) and is used for receiving and processing the image data signals transmitted by the image acquisition module (1);

the image display module (3) is connected with the output end of the image processing module (2) and is used for receiving the processed image data and displaying the processed image data on the end face of the screen;

the power supply module (4) is used for providing electric energy required by the operation of each module;

the image acquisition module (1) comprises more than one group of fixed lens components (11) which are fixedly connected to the inner side of the chest-abdominal cavity wall and used for shooting images inside the chest-abdominal cavity, and a movable local image acquisition component (12) which can move in the chest-abdominal cavity wall and used for tracking and shooting local focus images;

the fixed lens assembly (11) comprises a fixed seat (111) movably connected to the inner side of the chest and abdomen cavity wall and a camera device (112) arranged on the fixed seat (111) and in signal connection with the input end of the image processing module (2);

the mobile local image acquisition assembly (12) comprises a supporting rod (121), a rotary camera device (122) movably connected to one end of the supporting rod (121) through a universal joint, a controller (123) electrically connected with the rotary camera device (122) and used for controlling the rotation angle of the rotary camera device (122), and a remote control (124) used for issuing an operation instruction to the controller (123);

an image processor (21) for receiving and processing the image data signal transmitted by the image acquisition module (1) is arranged in the image processing module (2), and the output end of the image processor (21) is connected with the input end of the image display module (3);

the image display module (3) comprises an integral image display module (31) and a local image display module (32);

the integral image display module (31) is used for displaying the images of the inside of the thoracic cavity and the abdominal cavity shot by the fixed lens assembly (11);

the local image display module (32) is used for displaying the local image shot by the movable local image acquisition component (12).

2. The multi-angle imaging system of thoraco-laparoscope as claimed in claim 1, wherein: the image acquisition module (1) and the image processing module (2) are in wired signal connection or wireless signal connection.

3. The multi-angle imaging system for the pleuroperitoneal endoscope of claim 2, wherein: when the image acquisition module (1) is in wired signal connection with the image processing module (2), the output end of the image pickup device (112) in the fixed lens component (11) is connected with the input end of the image processing module (2) through a data line; the output end of the rotary camera device (122) in the movable local image acquisition component (12) is connected with the input end of the image processing module (2) through a data line.

4. The multi-angle imaging system for the pleuroperitoneal endoscope of claim 2, wherein: when the image acquisition module (1) is in wireless signal connection with the image processing module (2),

the fixed lens assembly (11) further comprises a first wireless transmitter (113) for transmitting image data shot by the camera device (112); the mobile local image acquisition assembly (12) further comprises a second wireless transmitter (125) for transmitting image data shot by the rotary camera device (122);

the image processing module (2) is also internally provided with a wireless receiver (22) for receiving image data signals transmitted by the wireless transmitter, and the output end of the wireless receiver (22) is connected with the input end of the image processor (21);

the power supply module (4) further comprises a first battery assembly (41) arranged in the fixed lens assembly (11) and used for providing working electric power required by the camera device (112), and a second battery assembly (42) arranged on the supporting rod (121) and used for providing working electric power required by the movable local image acquisition assembly (12).

5. The multi-angle imaging system of thoraco-laparoscope as claimed in claim 1, wherein: the supporting rod (121) can be a straight rod, a curved rod or a telescopic rod.

6. The multi-angle imaging system of thoraco-laparoscope as claimed in any one of claims 1-5, wherein: the remote control (124) is connected with the supporting rod (121) in a separating way or in an integrated way.

7. The multi-angle imaging system of thoraco-laparoscope as recited in claim 6, further comprising: when the remote control (124) is connected with the support rod (121) in a separated manner, the remote control (124) is provided with a signal emitter (1241), the support rod (121) is provided with a signal receiver (1211) for receiving signals of the remote control (124), and the signal receiver (1211) is electrically connected with the controller (123).

8. The multi-angle imaging system of thoraco-laparoscope as recited in claim 6, further comprising: when the remote control piece (124) is connected with the supporting rod (121) in an integrated manner, the remote control piece (124) is fixedly arranged at one end of the supporting rod (121) far away from the rotary camera device, and the remote control piece (124) is electrically connected with the controller (123).

9. The multi-angle imaging system of thoraco-laparoscope as claimed in claim 1, wherein: the fixed seat (111) comprises a first clamping piece (1111), a second clamping piece (1112), a hinge shaft (1113) and a torsion spring (1114); the middle parts of the first clamping piece (1111) and the second clamping piece (1112) are hinged through a hinge shaft (1113), and the heads of the first clamping piece (1111) and the second clamping piece (1112) can puncture the inside of the chest and abdomen cavity wall or puncture the chest and abdomen cavity wall outwards after being folded; the torsion spring (1114) is sleeved on the hinge shaft (1113) and acts between the first clamping piece (1111) and the second clamping piece (1112), and under the action of the torsion spring (1114) and when the first clamping piece (1111) and the second clamping piece (1112) are not subjected to other external forces, the heads of the first clamping piece (1111) and the second clamping piece (1112) are in an open state, and the tail of the first clamping piece (1111) and the second clamping piece (1112) are in a closed state; one axial end of the hinge shaft (1113) is fixed on the side wall of the camera device (112).

10. The multi-angle imaging system of thoraco-laparoscope as claimed in claim 1, wherein: the number of the fixed lens assemblies (11) is more than 2, the fixed lens assemblies are distributed at different parts on the inner side of the chest and abdomen wall, and an image synthesis module (23) for synthesizing images shot by the fixed lens assemblies (11) in the chest and abdomen cavity into a panoramic image in the cavity is further arranged in the image processing module (2).