CN215838936U

CN215838936U - Panoramic view medical imaging device and system based on multiple cameras

Info

Publication number: CN215838936U
Application number: CN202122044421.2U
Authority: CN
Inventors: 高连胜; 许英杰; 冯再麟
Original assignee: Hangzhou Huajiang Medical Robot Co ltd
Current assignee: Hangzhou Huajiang Medical Robot Co ltd
Priority date: 2021-08-27
Filing date: 2021-08-27
Publication date: 2022-02-18
Anticipated expiration: 2031-08-27

Abstract

The utility model discloses a panoramic view medical imaging device and a panoramic view medical imaging system based on multiple cameras, wherein the device comprises: a capstan base with a capstan built therein; a plurality of image acquisition subassemblies, including first support, the second support, camera erection support and third support, the one end and the capstan seat of first support are connected, the other end is articulated through the one end of first pivot with the second support, the one end of third support is articulated through the other end of second pivot with the second support, wear to establish torsion spring in first pivot and the second pivot, the other end and the camera erection support of third support can be dismantled and be connected, be equipped with first camera on the camera erection support, the rope is connected with camera erection support. The system comprises a device and a computer, and generates and displays the panoramic image. The system has the advantages that a plurality of angularly adjustable cameras are adopted to collect focus point images, real three-dimensional panoramic images are obtained through computer processing, the visual field is large, focus levels are clear and visual, doctors can obtain better visual field environment and operation experience, and the operation accuracy is high.

Description

Panoramic view medical imaging device and system based on multiple cameras

Technical Field

The utility model belongs to the technical field of medical instruments, and particularly relates to a panoramic view medical imaging device and system based on multiple cameras.

Background

The optical imaging is mainly represented by a medical laparoscope in medical application, plays an important role in the diagnosis and treatment processes of various medical diseases, can diagnose and identify focus points, and can assist in minimally invasive treatment. With the increasing perfection of laparoscopic technology and the increasing level of doctor's operation, it is widely used in surgical operations.

The traditional endoscope image system can only realize local image display near a focus point and cannot provide panoramic images, so that a doctor needs to continuously adjust an endoscope if needing to observe states of other parts of the focus point in a cavity, time and labor are wasted, potential safety hazards exist, the traditional endoscope image system presents two-dimensional images, errors exist in the relation between the two-dimensional images seen by the doctor and actual three-dimensional images of the focus point, rapid and accurate judgment is difficult to achieve in an operation, and errors are easily caused by uncoordinated hands and eyes.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems and provides a multi-camera-based panoramic view medical imaging device and system, wherein a plurality of miniature cameras are adopted for image acquisition, focus areas with different sizes are acquired through camera adjustment, frequent adjustment is not needed, human discomfort is reduced, simplicity and high efficiency are realized, and potential safety hazards are effectively avoided; the computer is used for processing images to reproduce real three-dimensional panoramic images in a human body, the visual field is large, the focus level is clear and visual, a doctor can obtain better visual field environment and operation experience, and the accuracy of surgical operations is greatly improved.

In order to achieve the purpose, the technical scheme adopted by the utility model is as follows:

the utility model provides a panoramic view medical imaging device based on multiple cameras, which comprises:

the winch seat is internally provided with at least one winch, and at least one rope is wound on the winch;

the camera mounting support is provided with a first camera, the rope is attached to each support and is connected with the camera mounting support;

under the initial condition, the rope rolling makes each support be parallel to each other under the effect that corresponds torsion spring, and the object plane side of each first camera is inside, under the operating condition, when third support and camera erection support are connected perpendicularly, the capstan winch drives and corresponds the rope rolling or loosen to realize that camera erection support drives first camera and rotates and carry out the field of vision and adjust, when third support and camera erection support dismantle, be connected with camera erection support through outside wire rope, outside wire rope pulls first camera motion and carries out the field of vision and adjust.

Preferably, the multi-camera-based panoramic view medical imaging device further comprises at least one annular fixing seat, a plurality of avoiding holes are uniformly distributed in the fixing seat in the circumferential direction, and each first support sequentially penetrates through the avoiding holes of the fixing seats correspondingly and is fixedly connected with the fixing seat.

Preferably, the multi-camera-based panoramic view medical imaging device further comprises a motor, wherein the motor is fixedly connected with the winch base and drives each winch to synchronously reel or unwind.

Preferably, the image acquisition assembly and the winches are four, and each winch is wound with a rope.

Preferably, the multi-camera based panoramic view medical imaging apparatus further comprises a second camera mounted on the second support and disposed close to the first support.

A multi-camera based panoramic view medical imaging system comprises the multi-camera based panoramic view medical imaging apparatus according to any one of the above aspects, and further comprises a computer for receiving images acquired by each camera to generate a panoramic image and displaying the panoramic image.

Compared with the prior art, the utility model has the beneficial effects that:

1) the method has the advantages that a plurality of miniature cameras are adopted for image acquisition, the angle of the cameras is adjusted through a rope to ensure the largest visual field area or the cameras are pulled by a steel wire rope to flexibly acquire different focus images so as to adapt to the image acquisition of focus areas with different sizes, frequent adjustment is not needed, human discomfort is reduced, simplicity and high efficiency are realized, and potential safety hazards are effectively avoided;

2) the computer is used for processing images to reproduce real three-dimensional panoramic images in a human body, the visual field is large, the focus levels are clear and visual, and doctors can diagnose and treat diseases through the pathological change images displayed on the screen, so that better visual field environment and operation experience can be obtained, and the accuracy of surgical operations is greatly improved.

Drawings

FIG. 1 is a schematic view of a medical imaging apparatus in a working state when the apparatus is connected according to the present invention;

FIG. 2 is a schematic view of a medical imaging apparatus according to the present invention;

FIG. 3 is a schematic view of a partial structure of an image capturing assembly according to the present invention;

FIG. 4 is a schematic view of a camera arrangement according to the present invention;

FIG. 5 is a schematic view of a camera recycling structure according to the present invention;

FIG. 6 is a schematic view of a state of use of the medical imaging apparatus in a disassembled state;

fig. 7 is a flow chart of the multi-camera based panoramic view medical image system of the present invention.

Description of reference numerals: 1. a medical imaging device; 2. a sleeve; 11. a motor; 12. a capstan base; 13. an image acquisition component; 14. a fixed seat; 131. a first bracket; 132. a second bracket; 133. a camera mounting support; 134. a third support; 135. a first rotating shaft; 136. a second rotating shaft; 137. a rope; 138. a first torsion spring; 139. a second torsion spring.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

Example 1:

as shown in fig. 1 to 6, a multi-camera based panoramic view medical imaging apparatus includes:

a winch base 12 having at least one winch built therein, the winch having at least one rope 137 wound thereon;

the plurality of annularly and uniformly distributed image acquisition assemblies 13 correspond to the ropes 137 one by one and comprise a first support 131, a second support 132, a camera mounting support 133 and a third support 134, one end of the first support 131 is connected with the capstan base 12, the other end of the first support 131 is hinged with one end of the second support 132 through a first rotating shaft 135, a first torsion spring 138 penetrates through the first rotating shaft 135, one end of the third support 134 is hinged with the other end of the second support 132 through a second rotating shaft 136, a second torsion spring 139 penetrates through the second rotating shaft 136, the other end of the third support 134 is detachably connected with the camera mounting support 133, a first camera is mounted on the camera mounting support 133, and the ropes 137 are attached to the supports and are connected with the camera mounting support 133;

under the initial state, the rope 137 is rolled up to enable the supports to be parallel to each other under the action of the corresponding torsion springs, the object plane side of each first camera faces inwards, under the working state, when the third support 134 is vertically connected with the camera mounting support 133, the winch drives the corresponding rope 137 to be rolled up or loosened, so that the camera mounting support 133 drives the first camera to rotate to adjust the visual field, when the third support 134 is detached from the camera mounting support 133, the third support is connected with the camera mounting support 133 through an external steel wire rope, and the external steel wire rope pulls the first camera to move to adjust the visual field.

Wherein, as shown in fig. 2 and 3, the device includes a plurality of image acquisition components 13, specific quantity can be designed according to actual demand, each image acquisition component 13 includes folding bracket, camera erection support 133 and first camera, folding bracket is articulated in proper order by first support 131, second support 132 and third support 134 and constitutes, articulated department still is connected with torsion spring, torsion spring's torsion angle is 90 in this embodiment, specific value can be adjusted according to actual demand, first camera is fixed on camera erection support 133, camera erection support 133 can dismantle with third support 134 and be connected and extend to the end. At least one winch is arranged in the winch base 12, at least one rope 137 is wound on the winch, for example, when the number of the image acquisition assemblies 13 is four, one winch is arranged in the winch base 12, four ropes 137 are wound on the winch, or four winches are arranged in the winch base 12, and one rope 137 is wound on each winch, or the winch can be arranged randomly according to actual requirements. Each cable 137 is connected to the camera mounting bracket 133, and preferably the cable 137 is attached to the inner wall of each bracket (for easy understanding, the cable 137 is shown in perspective), and in the initial state, the brackets are parallel to each other under the action of the corresponding torsion springs, such as coplanar, and the object plane side of each first camera faces inwards, i.e. towards the direction of the winch.

In the working state, when the third bracket 134 is vertically connected with the camera mounting support 133, the camera mounting support is particularly suitable for the condition that the focal point area is concentrated and the shape is regular. The medical imaging device 1 can be moved up and down inside the cannula 2, the cannula 2 being cylindrical and having a diameter generally not exceeding 25 mm. During operation, firstly, the cannula 2 is sent to a designated intracavity position, then the foldable support of the medical imaging device 1 passes through the cannula 2, after the second support 132 and the third support 134 completely extend out of the cannula 2, the winch drives the corresponding rope 137 to be preliminarily loosened, so that each support is reset under the action of the torsion spring and is unfolded in the cavity, namely, the first support 131 and the third support 134 are mutually vertical to the second support 132, the camera is unfolded until the object plane side faces outwards (namely, the camera is turned over 180 degrees and deviates from the direction of the winch), when the corresponding winch further rotates, if the support is rolled up, the rope 137 pulls the camera mounting support 133 to rotate clockwise (refer to figure 3), so as to drive the first camera to carry out visual field adjustment, and the image superposition size is adjusted by carrying out visual field superposition on the acquisition areas of each camera, thereby ensuring that the maximum visual field range is possessed under the condition of the same number of cameras, and enabling the images to be concentrated and convenient to process, better visual field environment and operation experience are obtained, the operation precision is improved, and the visual field is adjusted through the matching of the rope 137 and the torsion spring. When the first camera is recovered, the winch completely winds the rope 137, the foldable support is reset to the initial state under the action of the torsion spring, all support joints are folded, as shown in fig. 5, the medical imaging device 1 is taken out of the sleeve 2, and then the sleeve 2 is taken out to suture the wound.

In the working state, when the third bracket 134 is detached from the camera mounting base 133, the device is particularly suitable for the conditions of scattered focal point areas and irregular shapes. During operation, firstly, a puncture hole with the diameter smaller than 1mm is drilled at the position where the first camera needs to be positioned, then an external steel wire rope with certain rigidity (such as an enameled rope and an NITI alloy rope) penetrates into the corresponding puncture hole and then is connected with the camera mounting support 133, and the first camera is pulled to the position in the cavity through the external steel wire rope. Repeating the above acts, multiple cameras may be placed at the designated intraluminal locations as shown in fig. 6 (only two image acquisition assemblies 13 are shown). When the first camera is retracted, the winch winds the rope 137, the first camera is retracted into the cannula 2, the medical imaging apparatus 1 is then taken out of the cannula 2, and the cannula 2 is then taken out to suture the wound.

Adopt a plurality of miniature cameras to carry out image acquisition to the angle through rope regulation camera guarantees the biggest field of vision region or pulls the nimble different focus images of gathering of camera through wire rope, with the image acquisition who adapts to different size focus regions, need not frequent adjustment, reduces human discomfort, and is simple high-efficient, and effectively avoids the potential safety hazard.

In an embodiment, the multi-camera based panoramic view medical imaging device further includes at least one annular fixing seat 14, a plurality of avoiding holes are uniformly distributed on the fixing seat 14 in a circumferential direction, and each first bracket 131 sequentially penetrates through the avoiding hole of each fixing seat 14 correspondingly and is fixedly connected with the fixing seat 14. In order to increase the structural stability, each first bracket 131 is fixed by the fixing seat 14, the fixing seats 14 can be arranged coaxially in parallel in any number, and the middle annular hole position can be used for penetrating surgical instruments for auxiliary treatment and the like.

In an embodiment, the multi-camera based panoramic view medical imaging apparatus further comprises a motor 11, wherein the motor 11 is fixedly connected with the winch base 12 and drives each winch to synchronously reel or unwind.

As shown in fig. 1 and 2, in the present embodiment, a motor 11 is used to drive each winch to wind or unwind synchronously, for example, a rack and pinion transmission mechanism is used to drive each winch to rotate, and the motor 11 controls the tightness of the rope 137 to adjust the angle of the first camera. It should be noted that each winch can also rotate independently, for example, driven by different motors, so that the visual field can be adjusted more flexibly.

In one embodiment, the image capturing assembly 13 and the winches are four in number, and each winch has a cable 137 wound thereon. The adjustment is facilitated and a better view is obtained, it is noted that the specific number of the image capturing assembly 13, the winch and the cable 137 can also be adjusted according to actual requirements.

In an embodiment, the multi-camera based panoramic view medical imaging apparatus further comprises a second camera mounted on the second support 132 and disposed adjacent to the first support 131.

As shown in fig. 4, the left image in fig. (a) is a manner of uniformly distributing a plurality of cameras, such as including a camera 1, a camera 2, a camera 3 and a camera 4, each camera is a first camera, a Trocar hole is used as a surgical instrument channel, in order to make the uniformly distributed cameras completely cover the view of the middle area, the view range can be adjusted by adjusting the angle of the cameras so as to cover the central area of the image, and the right image in fig. (a) is a corresponding acquisition area after each camera is initially unfolded. The left image in fig. (b) is a mode of uniformly distributing a plurality of cameras and a center camera, for example, the mode includes a camera 1, a camera 2, a camera 3, a camera 4 and a camera 5, the

cameras

1, 2, 3 and 5 are all first cameras, the camera 4, namely, the center camera, is a second camera, the Trocar hole is used as a surgical instrument channel, the second camera is installed on the second bracket 132 and is arranged close to the first bracket 131, namely, the second camera is arranged close to the center area in the image, the adjustment visual field of the first camera can be further expanded to obtain the maximum visual field while the visual field of the center area is covered, and the right image in fig. (b) is a corresponding acquisition area after each camera is initially unfolded.

Example 2:

as shown in fig. 7, a multi-camera based panoramic view medical imaging system includes a multi-camera based panoramic view medical imaging apparatus, and further includes a computer, which receives images captured by the cameras to generate a panoramic image and display the panoramic image.

Wherein, the multi-camera based panoramic view medical imaging device is any one of the devices in embodiment 1, for example, the device is provided with a first camera and a second camera, the number N of the first cameras is 4, the panoramic image is obtained by sequentially performing image preprocessing, image registration and image fusion processing on images acquired by the cameras, the specific image processing steps refer to patent publication No. CN110599398A "an online image splicing and fusion method based on wavelet technology" or CN106236006B "3D optical molecular imaging laparoscopic imaging system", the computer displays the panoramic image in the cavity in real time, thereby providing better visual field environment and operation experience for doctors, the specific visual field size presented by the panoramic image can be adjusted according to the actual situation, if the adjustment angle of the first camera is different through the rope 137, the obtained image visual fields are different, and finally, the panoramic visual field in the cavity can be displayed in real time through the computer.

The computer is used for processing images to reproduce real three-dimensional panoramic images in a human body, the visual field is large, the focus levels are clear and visual, and doctors can diagnose and treat diseases through the pathological change images displayed on the screen, so that better visual field environment and operation experience can be obtained, and the accuracy of surgical operations is greatly improved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express the more specific and detailed embodiments described in the present application, but not should be interpreted as limiting the scope of the claims of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. The utility model provides a panorama field of vision medical imaging device based on polyphaser which characterized in that: the multi-camera based panoramic view medical imaging device comprises:

a winch base (12) with at least one winch arranged therein, wherein at least one rope (137) is wound on the winch;

a plurality of annularly and uniformly distributed image acquisition assemblies (13) which correspond to the ropes (137) one by one and comprise a first bracket (131), a second bracket (132), a camera mounting support (133) and a third bracket (134), one end of the first bracket (131) is connected with the winch seat (12), the other end of the first bracket is hinged with one end of the second bracket (132) through a first rotating shaft (135), a first torsion spring (138) penetrates through the first rotating shaft (135), one end of the third bracket (134) is hinged with the other end of the second bracket (132) through a second rotating shaft (136), a second torsion spring (139) penetrates through the second rotating shaft (136), the other end of the third bracket (134) is detachably connected with the camera mounting support (133), a first camera is mounted on the camera mounting support (133), and the rope (137) is attached to each support and connected with the camera mounting support (133);

in an initial state, the rope (137) is wound to enable the brackets to be parallel to each other under the action of the corresponding torsion spring, the object plane side of each first camera faces inwards, in a working state, when the third bracket (134) is vertically connected with the camera mounting support (133), the winch drives the corresponding rope (137) to be wound or loosened, so that the camera mounting support (133) drives the first camera to rotate to adjust the visual field, when the third bracket (134) is detached from the camera mounting support (133), the third bracket is connected with the camera mounting support (133) through an external steel wire rope, and the external steel wire rope pulls the first camera to move to adjust the visual field.

2. The multi-camera based panoramic view medical imaging apparatus of claim 1, wherein: the multi-camera-based panoramic view medical imaging device further comprises at least one annular fixing seat (14), a plurality of avoiding holes are uniformly distributed in the fixing seat (14) in the circumferential direction, and the first supports (131) sequentially penetrate through the avoiding holes of the fixing seat (14) correspondingly and are fixedly connected with the fixing seat (14).

3. The multi-camera based panoramic view medical imaging apparatus of claim 1, wherein: the multi-camera-based panoramic view medical imaging device further comprises a motor (11), wherein the motor (11) is fixedly connected with the winch base (12) and drives the winches to synchronously wind or release.

4. The multi-camera based panoramic view medical imaging apparatus of claim 1, wherein: the number of the image acquisition assemblies (13) is four, and a rope (137) is wound on each winch.

5. The multi-camera based panoramic view medical imaging apparatus of claim 1, wherein: the multi-camera based panoramic view medical imaging apparatus further comprises a second camera mounted on the second support (132) and disposed adjacent to the first support (131).

6. A panoramic view medical image system based on multiple cameras is characterized in that: the multi-camera based panoramic view medical imaging system comprises the multi-camera based panoramic view medical imaging device according to any one of claims 1 to 5, and further comprises a computer for receiving images acquired by the cameras to generate a panoramic image and displaying the panoramic image.