CN210742609U - Multi-view three-dimensional endoscopic imaging system based on single lens - Google Patents
Multi-view three-dimensional endoscopic imaging system based on single lens Download PDFInfo
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- CN210742609U CN210742609U CN201921135791.3U CN201921135791U CN210742609U CN 210742609 U CN210742609 U CN 210742609U CN 201921135791 U CN201921135791 U CN 201921135791U CN 210742609 U CN210742609 U CN 210742609U
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Abstract
The utility model discloses a multi-lens three-dimensional endoscopic imaging system, which comprises a plurality of objectives arranged on the side surface of the front end of an endoscope image acquisition component, wherein the objectives are longitudinally arranged along the side surface of the image acquisition component, and each objective deflects a certain angle to aim at the same target point; an LED light source and structured light are arranged between the objective lenses on the image acquisition component; the objective lens comprises a diaphragm, a lens, an optical filter, a protective flat mirror and an image sensor along the light incidence direction, the incidence surface of the lens is a diffraction surface taking a curved surface as a substrate, and the emergent surface of the lens is an aspheric surface. The endoscopic imaging system disclosed by the utility model has larger spatial arrangement, can acquire more three-dimensional information, adopts a plurality of objective lens combinations, and can effectively carry out high-precision three-dimensional size measurement; by adopting the design mode of the imaging system of the single lens, the size of the lens is effectively reduced, and high-definition imaging quality is realized.
Description
Technical Field
The utility model relates to an peep imaging system in, in particular to peep imaging system in many meshes three-dimensional based on single lens.
Background
The endoscope system has been developed for a hundred years, and has wide application fields, such as various minimally invasive operations in medical diagnosis and treatment, nondestructive testing of precision instruments in the industrial field, and hole inspection of engines in the aviation field. For endoscopes in the medical diagnosis and treatment field, only one operation window opened in a minimally invasive operation is easy to cause the inserted endoscope and other surgical instruments to be 'framed', so that the visual angle is limited, and a doctor cannot accurately sense organs in a cavity in a three-dimensional manner. In the field of aviation industry, with the continuous improvement of the manufacturing level, the complexity of the produced products is higher and higher, and the requirement on high-quality and high-precision three-dimensional size measurement technology is higher and higher. Therefore, in both industrial and medical fields, there is an urgent need for a three-dimensional endoscope system that can achieve accurate three-dimensional size measurement.
At present, binocular optical systems are mostly adopted to realize stereoscopic vision of endoscopes: imaging technology based on dual objective and dual sensors: two sets of objective lenses are adopted to respectively image on respective sensors, and the binocular stereoscopic vision of human eyes is similar. The imaging technology based on the double-objective single sensor comprises the following steps: it is difficult to calibrate two sets of optical paths to obtain a suitable image footprint because a single sensor receives images of two optical channels with different fields of view.
Because the endoscope adopting the double light paths is generally arranged at the foremost end of the image acquisition part of the endoscope, the size is limited, and the distance between the two groups of objective lenses is relatively short, so that the range and the precision of three-dimensional size measurement can be greatly limited. The greater the distance between the two sets of objective lenses, the greater the range over which accurate three-dimensional measurements can be made.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides an imaging system is peeped in to many meshes three-dimensional based on single lens to reach and have great space and arrange, can gather abundant three-dimensional information's purpose.
In order to achieve the above purpose, the technical scheme of the utility model is as follows:
a multi-lens-based multi-eye three-dimensional endoscopic imaging system comprises a plurality of objective lenses arranged on the side surface of the front end of an endoscope image acquisition component, wherein the plurality of objective lenses are longitudinally arranged along the side surface of the image acquisition component, and each objective lens deflects a certain angle to aim at the same target point; an LED light source and structured light are arranged between the objective lenses on the image acquisition component; the objective lens comprises a diaphragm, a lens, an optical filter, a protective flat mirror and an image sensor along the light incidence direction, the incidence surface of the lens is a diffraction surface taking a curved surface as a substrate, and the emergent surface of the lens is an aspheric surface.
In the above scheme, at least 4 objective lenses are provided.
In the above scheme, the objective lenses are distributed on a section of arc with the same target point as the center, or on a section of straight line with the same vertical height from the same target point.
In a further technical scheme, the radius or the straight line of the arc is 80mm from the vertical height of the same target point.
In the above scheme, the surface type parameter of the diffraction surface of the lens is expressed by formula (1):
where k is conic coefficient of conic surface, r is radius of curvature, c is conic constant α1、α2、α3… are coefficients of various orders.
In the above scheme, the aspheric surface parameters of the lens are expressed by formula (2):
where k is conic coefficient of conic surface, r is radius of curvature, c is conic constant α1、α2、α3… are coefficients of various orders.
In the above configuration, the diffraction surface phase of the lens is expressed by the following formula (3):
where N is the number of polynomial coefficients, ρ is the normalized aperture radius coordinate, AiAre coefficients of each order.
In the above scheme, a flushing gas outlet is formed between the objective lenses on the image acquisition component.
In the above scheme, the LED light sources are provided in multiple groups, and the structured light is provided in one group.
Through the technical scheme, the utility model provides a pair of peep imaging system in many meshes three-dimension based on single lens has following beneficial effect:
the utility model discloses melt many meshes three-dimensional collection method in the computer vision in the endoscope technique, arrange a plurality of objective in the side of image acquisition part, have great space size, obtain high-quality three-dimensional size measurement function, effectively avoid the vision dark space of complex environment, improve visual angle range. The adopted objective optical system fuses the diffraction surface type with the aspheric surface, is beneficial to the correction of various aberrations, and simplifies the structure. The utility model discloses a three-dimensional endoscope system can combine the magnetic conductance device in vitro, adsorbs the image acquisition part and carries out three-dimensional image acquisition to the intracavity tissue in human abdominal cavity inner wall, and the occupation of liberation wound strengthens doctor's three-dimensional perception and operation precision, can reform current minimally invasive surgery's endoscope using-way, will obtain good application effect in abdominal cavity minimally invasive surgery. In the aviation industry detection, the dark area with wrong visual angle due to the shielding of a complex mechanical structure can be avoided, and the three-dimensional size measurement precision is improved. The design mode of the single lens is adopted, so that the size of the lens is effectively reduced, and the installation and adjustment are convenient. The plastic material has little difficulty in processing aspheric surfaces and binary surfaces and can be finished by one-time compression molding.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.
Fig. 1 is a schematic structural view of a monocular-based multi-view three-dimensional endoscopic imaging system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of an arrangement of objective lenses according to an embodiment of the present invention;
fig. 3 is a schematic view of an arrangement of objective lenses according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a single objective lens disclosed in an embodiment of the present invention;
fig. 5 is an image space MTF curve according to an embodiment of the present invention;
fig. 6 is an image square lattice diagram of the embodiment of the present invention.
In the figure, 1, an image acquisition component; 2. an objective lens; 3. the same target point; 4. an LED light source; 5. a structured light; 6. a purge gas outlet; 7. a diaphragm; 8. a lens; 81. an incident surface; 82. an exit surface; 9. an optical filter; 10. protecting the flat mirror; 11. an image sensor; 12. human tissue.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The utility model provides a multi-lens based multi-view three-dimensional endoscopic imaging system, as shown in figure 1, the system comprises a plurality of objective lenses 2 arranged on the side surface of the front end of an endoscope image acquisition component 1, the objective lenses 2 are longitudinally arranged along the side surface of the image acquisition component 1, and each objective lens 2 deflects a certain angle and aims at the same target point 3; a plurality of groups of LED light sources 4 and a group of structured light 5 are arranged between the objective lenses 2 on the image acquisition component 1; the number of the LED light sources 4 is 6 in total, so that uniform illumination is obtained, and the shadow eliminating effect is achieved. The LED light source 4 may be a low power consumption, high brightness light source. Moreover, the LED light sources 4 are filled with black epoxy glue, so that the light emitted by the LED light sources 4 cannot generate stray light interference. And a flushing gas outlet 6 is formed between the objective lenses 2 on the image acquisition component 1 and is used for flushing impurities generated in the operation process to avoid blocking the lens.
The field angle of the present invention is 90 degrees, the F/# is about 5.1, the diagonal dimension of the objective lens group shown in FIG. 1 is 2mm, and the unit pixel dimension is 3 μm × 3 μm. The wave band range is as follows: λ is 0.486 μm to 0.656 μm.
The structured light 5 is arranged, the structured light 5 is used for three-dimensional information acquisition and reconstruction, the structured light 5 is turned on when the LED light source 4 is turned off, the highlight effect is relieved, and the reliability of three-dimensional surface reconstruction is improved.
The embodiment of the present invention provides an example of the objective lens 2 with 4.
As shown in fig. 2, the objective lenses 2 of the first embodiment are arranged, and the objective lenses 2 are distributed on a segment of circular arc with the same target point 3 as the center, and the radius of the circular arc is 80 mm. The objective lens 2 can be positioned in an arc-shaped arrangement on the image acquisition part 1 by means of another medium when mounted.
In the second embodiment of the objective lens arrangement shown in fig. 3, the objective lenses 2 are arranged on a straight line with the same vertical height from the same target point 3, and the vertical height is 80 mm.
The utility model discloses when using, stretch into internally through the human wound by the image acquisition part, adsorb it on human inner wall through the magnetic conductance device in vitro, gather the image at 12 different visual angles of human tissue by the objective of side, the image of gathering passes to the computer through the signal transmission optic fibre in the image acquisition part, carries out three-dimensional reconstruction and three-dimensional size measurement by three-dimensional image processor.
As shown in fig. 4, the objective lens 2 includes a stop 7, a lens 8, a filter 9, a protection flat mirror 10, and an image sensor (CCD)11 along the light incident direction. The lens material is PMMA material. The incident surface 81 of the lens 8 is a diffraction surface having a curved surface as a base, and the exit surface 82 of the lens 8 is an aspherical surface. The chromatic aberration can be effectively corrected by adopting the diffraction surface, and based on the curved surface substrate, other aberrations such as spherical aberration, coma aberration and the like can be further corrected.
The following provides the structural parameter data of the objective lens 2 of the present invention. In the following table 1, OBJ denotes an object plane, S denotes an aperture stop, INF denotes infinity, Binary denotes a diffraction plane, Even Asphere denotes an aspherical surface, IMG denotes an image plane, r denotes a radius of curvature of each layer, d denotes a pitch between layers, Nd denotes a refractive index of a medium, and Vd denotes an abbe number of the medium.
TABLE 1 structural parameters of the objective lens
| No | r | d | Nd | Vd |
| OBJ | INF | 80 | ||
| S | INF | 0.175 | ||
| Binary | -1.59 | 0.626 | 1.4917 | 52.317 |
| Even Asphere | -0.519 | 0.920 | ||
| 4 | INF | 0.2 | 1.5164 | 64.133 |
| 5 | INF | 0.45 | 1.52 | 62 |
| IMG | INF |
The utility model discloses a face type parameter of the diffraction face of lens represents like formula (1):
where k is conic coefficient of conic surface, r is radius of curvature, c is conic constant α1、α2、α3… are coefficients of various orders.
The surface shape parameters of the aspherical surface of the lens are expressed by the following formula (2):
where k is conic coefficient of conic surface, r is radius of curvature, c is conic constant α1、α2、α3… are coefficients of various orders.
Table 2 lists the surface type parameters of the diffractive surface and the aspherical surface of the objective lens in the multi-purpose three-dimensional endoscope system according to the embodiment.
TABLE 2 surface type parameters of diffractive and aspherical surfaces of the objective lens
| No | k | r4 | r6 | r8 |
| Binary | 0 | -6.245 | 75.064 | -982.384 |
| Even Asphere | 0 | 0.228 | -0.340 | 1.979 |
The phase of the diffraction surface type of the lens is expressed as formula (3):
in the formula, N is the number of polynomial coefficients, and is 3 in this example. ρ is the normalized aperture radius coordinate, AiAre coefficients of each order.
Table 3 lists the diffraction surface type phase parameters of the objective lens in the multi-purpose three-dimensional endoscope system according to the embodiment.
TABLE 3 diffraction surface type phase parameters of objective lens
| No | p2 | p4 | p6 |
| Binary | -969.688 | -3.196×104 | 3.803×105 |
FIG. 5 shows MTF curves of objective lenses in the multi-view three-dimensional endoscope system of the embodiment, which are all more than 0.1 at 170lp/mm, and completely meet the requirements of image sensors, and have good imaging quality.
Fig. 6 shows a spot bitmap of an objective lens in the multi-view three-dimensional endoscope system according to the embodiment, the radius of a diffuse spot in a full field of view is about 3.9 micrometers, and the aberration correction effect is good.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A multi-eye three-dimensional endoscopic imaging system based on a single lens is characterized by comprising a plurality of objective lenses arranged on the side surface of the front end of an endoscope image acquisition component, wherein the plurality of objective lenses are longitudinally arranged along the side surface of the image acquisition component, and each objective lens deflects a certain angle to aim at the same target point; an LED light source and structured light are arranged between the objective lenses on the image acquisition component; the objective lens comprises a diaphragm, a lens, an optical filter, a protective flat mirror and an image sensor along the light incidence direction, the incidence surface of the lens is a diffraction surface taking a curved surface as a substrate, and the emergent surface of the lens is an aspheric surface.
2. The monocular based, multi-purpose, three-dimensional endoscopic imaging system of claim 1, wherein at least 4 objectives are provided.
3. The monocular based multi-view three-dimensional endoscopic imaging system of claim 1, wherein the objective lens is distributed on an arc centered on the same target point or on a straight line at the same vertical height from the same target point.
4. The monocular based, multi-purpose, three-dimensional endoscopic imaging system of claim 3, wherein the radius of the circular arc or the straight line is 80mm from the vertical height of the same target point.
5. The monocular based, multi-purpose, three-dimensional endoscopic imaging system according to claim 1, wherein the surface type parameter of the diffractive surface of the lens is expressed by formula (1):
where k is conic coefficient of conic surface, r is radius of curvature, c is conic constant α1、α2、α3… are coefficients of various orders.
6. The monocular based, multi-purpose, three-dimensional endoscopic imaging system of claim 1, wherein the aspheric surface of the lens has a surface shape parameter expressed by equation (2):
where k is conic coefficient of conic surface, r is radius of curvature, c is conic constant α1、α2、α3… are coefficients of various orders.
7. The monocular based, multi-purpose, three-dimensional endoscopic imaging system of claim 1, wherein the diffractive surface phase of the lens is expressed by equation (3):
where N is the number of polynomial coefficients, ρ is the normalized aperture radius coordinate, AiAre coefficients of each order.
8. The monocular based, multi-purpose, three-dimensional endoscopic imaging system of claim 1, wherein said image capturing element has a purge gas outlet disposed between said objectives.
9. The monocular based, multi-purpose, three-dimensional endoscopic imaging system of claim 1, wherein the LED light sources are arranged in sets and the structured light is arranged in one set.
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| CN201921135791.3U CN210742609U (en) | 2019-07-19 | 2019-07-19 | Multi-view three-dimensional endoscopic imaging system based on single lens |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426837A (en) * | 2019-07-19 | 2019-11-08 | 青岛智能产业技术研究院 | More mesh three-dimensional endoscopic imaging systems based on simple lens |
| CN113520594A (en) * | 2021-05-31 | 2021-10-22 | 浙江大学 | Assembling method of double-light-path 3D imaging module |
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2019
- 2019-07-19 CN CN201921135791.3U patent/CN210742609U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110426837A (en) * | 2019-07-19 | 2019-11-08 | 青岛智能产业技术研究院 | More mesh three-dimensional endoscopic imaging systems based on simple lens |
| CN110426837B (en) * | 2019-07-19 | 2024-08-02 | 青岛智能产业技术研究院 | Multi-eye three-dimensional endoscopic imaging system based on single lens |
| CN113520594A (en) * | 2021-05-31 | 2021-10-22 | 浙江大学 | Assembling method of double-light-path 3D imaging module |
| CN113520594B (en) * | 2021-05-31 | 2023-08-08 | 浙江大学 | Assembling method of double-light-path 3D imaging module |
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