CN217138011U - Stereoscopic endoscopic projection apparatus and imaging display system - Google Patents
Stereoscopic endoscopic projection apparatus and imaging display system Download PDFInfo
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- CN217138011U CN217138011U CN202221048640.6U CN202221048640U CN217138011U CN 217138011 U CN217138011 U CN 217138011U CN 202221048640 U CN202221048640 U CN 202221048640U CN 217138011 U CN217138011 U CN 217138011U
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Abstract
The present application relates to a stereoscopic endoscopic projection apparatus and an imaging display system, wherein the apparatus comprises: the system comprises a projection light source, a super-surface device and a regulation and control unit; the surface of the super-surface device is provided with a micro-nano unit for phase modulation of incident light; the regulation and control unit is electrically connected with the super-surface device; the regulating and controlling unit is used for electrically regulating and controlling the modulation phase of the micro-nano unit of the super-surface device based on the hologram of the detected object; emergent light of the projection light source is incident to the super-surface device, and forms a stereoscopic image of the detected object in the space medium after being modulated by the super-surface device. Through super surface device's small structure in this application, solved among the prior art 3D endoscope and had the restriction in using, and then influenced the problem of operation, realized surpassing surface device through regulation and control and modulate light to carry out the effect of stereographic projection formation of image.
Description
Technical Field
The utility model relates to an endoscope imaging technology field especially relates to a projection arrangement and formation of image display system of three-dimensional endoscope.
Background
In clinical operation, an endoscope is a common medical instrument, which can be inserted into a patient body for observation to assist a doctor in diagnosis and treatment and perform an operation. At present, compared with a two-dimensional image acquired by a traditional endoscope, a emerging 3D endoscope can further provide depth information of a working face, and convenience is provided for clinical application of doctors.
At present, 3D imaging of an endoscope is mainly realized by mounting a large-sized 3D display or wearing 3D glasses by a doctor, but the 3D display can increase the volume and the weight of a system, and meanwhile, images can be observed only by moving to the front of the display, and the operation performed by wearing the 3D glasses also has certain influence on the operation, so that the current 3D imaging method has limitation in use, and further influences the operation.
SUMMERY OF THE UTILITY MODEL
The present embodiment provides a projection device and an imaging display system of a stereoscopic endoscope, so as to solve the problem that the related art has limitations in use, thereby affecting the operation.
In a first aspect, the present embodiment provides a stereoscopic endoscopic projection apparatus, comprising: the system comprises a projection light source, a super-surface device and a regulation and control unit; wherein the content of the first and second substances,
the surface of the super-surface device is provided with a micro-nano unit for phase modulation of incident light;
the regulation and control unit is electrically connected with the super-surface device; the regulation and control unit is used for electrically regulating and controlling the modulation phase of the micro-nano unit of the super-surface device based on the hologram of the detected object;
emergent light of the projection light source is incident to the super-surface device, and forms a stereoscopic image of the detected object in a space medium after being modulated by light through the super-surface device.
In some of these embodiments, the hologram of the object to be examined is a phase hologram.
In some embodiments, the regulation and control unit realizes independent addressing and independent regulation and control on the micro-nano unit on the surface of the super-surface device.
In some of these embodiments, the projection light source is a coherent light source or a partially coherent light source.
In a second aspect, the present embodiment provides a stereoscopic endoscopic imaging display system, including: an information acquisition module, a signal processing module and the stereoscopic endoscopic projection device according to the first aspect; wherein the content of the first and second substances,
the information acquisition module is used for acquiring the information of the surface of the detected object;
the signal processing module generates a hologram of the detected object according to the acquisition signal of the acquisition module and transmits the hologram to the stereoscopic endoscope projection device;
the information acquisition module is electrically connected with the signal processing module; the signal processing module is electrically connected with the stereoscopic endoscope projection device.
In some of these embodiments, the signal processing module comprises: a 3D modeling submodule and a hologram generation submodule;
the 3D modeling submodule is connected with the hologram generating submodule and used for generating a 3D model of the detected object according to the acquisition signal of the information acquisition module;
and the hologram generation submodule is used for calculating to obtain the corresponding hologram of the detected object according to the 3D model.
In some of these embodiments, the signal processing module is integral with the stereoscopic endoscopic projection device.
In some of these embodiments, the signal processing module is provided separately from the stereoscopic endoscopic projection device.
In some of these embodiments, the information acquisition module is a dual-light-path image acquisition module.
In some embodiments, the dual-light path image capturing module captures two-dimensional images of the inspected object from different viewing angles through a binocular camera, and transmits the images to the signal processing module.
In some embodiments, the 3D modeling sub-module is connected to the dual optical path image acquisition module, and is configured to fuse and process two-dimensional images of the detected object from different viewing angles, and analyze the two-dimensional images to obtain depth information of the two-dimensional images;
and establishing a three-dimensional point cloud picture according to the depth information, and establishing a 3D model of the detected object.
In some of these embodiments, the information acquisition module is a structured light emission and camera receiving system.
In some embodiments, the structured light emitting and camera receiving system is connected to the signal processing module, and is configured to project structured light onto the surface of the object to be inspected through a structured light emitting assembly for modulation, and collect the modulated structured light through a camera receiving assembly.
In some embodiments, the 3D modeling sub-module, connected to the structured light emitting and camera receiving system, is configured to calculate three-dimensional surface information of the inspected object according to the modulated structured light;
and establishing a 3D model of the detected object according to the three-dimensional surface information.
In some of these embodiments, the information acquisition module is a TOF transmit receive system.
In some embodiments, the TOF transmitting and receiving system is connected to the signal processing module, and is configured to project incident light onto the surface of the object to be detected through the TOF transmitting and receiving assembly, and then receive reflected light reflected from the surface of the object to be detected.
In some embodiments, the 3D modeling sub-module is connected to the TOF transmit receive system, and is configured to calculate three-dimensional surface information of the detected object according to reflected light received by the TOF transmit receive system;
and establishing a 3D model of the detected object according to the three-dimensional surface information.
The utility model provides a pair of stereoscopic projection device and formation of image display system, wherein the device includes: the system comprises a projection light source, a super-surface device and a regulation and control unit; the surface of the super-surface device is provided with a micro-nano unit for phase modulation of incident light; the regulation and control unit is electrically connected with the super-surface device; the regulation and control unit is used for electrically regulating and controlling the modulation phase of the micro-nano unit of the super-surface device based on the hologram of the detected object; emergent light of the projection light source is incident to the super-surface device, forms a three-dimensional image of the detected object in a space medium after being modulated by the super-surface device, and can realize three-dimensional imaging of the endoscope through modulation of the super-surface device, thereby solving the limitation in use in the prior art and realizing the effect of not influencing surgical operation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application.
FIG. 1 is a schematic view of a stereoscopic endoscopic projection apparatus in one embodiment;
FIG. 2 is a schematic illustration of a projection in a stereoscopic endoscopic projection apparatus in one embodiment;
FIG. 3 is a schematic diagram of a stereoscopic endoscopic imaging display system in one embodiment;
FIG. 4 is a schematic view of a stereoscopic endoscopic imaging display system in another embodiment;
fig. 5 is a block diagram of a stereoscopic endoscopic imaging display system in a preferred embodiment.
In the figure: 10. a stereoscopic endoscopic projection device; 11. a projection light source; 12. a super-surface device; 13. a regulatory unit; 20. an information acquisition module; 30. a signal processing module; 31. a 3D modeling submodule; 32. the hologram generates sub-modules.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work all belong to the protection scope of the present invention.
It will be understood that when an element is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "secured to" another element, it can be directly secured 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 invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
An endoscope is a medical instrument commonly used in clinical operations, and can be inserted into a patient body to observe the internal condition of a wound or tissue so as to assist a doctor in diagnosis and treatment and perform operations. The conventional endoscope can only acquire a two-dimensional image of an object to be examined, and thus cannot comprehensively observe the object to be examined. Currently, endoscope technology is gradually developing toward realizing 3D display, and can further provide depth information of a work surface of an object to be examined, thereby providing convenience for clinical application of doctors.
The advent of 3D endoscopes provides convenience for physician clinical applications. From the prior art, there are two main types of display schemes for 3D endoscopes, one is to use a 3D display for display, such as the 3D endoscope disclosed in the application document with publication number CN109770825A, and to transmit the images collected by the probe to the 3D display for display. The scheme solves the effect of 3D display to a certain extent, but the endoscope system can realize better three-dimensional stereo display only by carrying a large-scale 3D display, thereby not only increasing the volume and the weight of the system, but also observing the image only by moving to the front of a display screen, and further having great limitation in practical application. In another scheme, a doctor needs to wear 3D glasses to observe an image inside a wound, but the use of the 3D glasses has a great influence on the doctor's operation, and the doctor who does not wear glasses frequently or wears glasses already has a great influence on the operation.
The surface of the super-surface device is periodically, quasi-periodically or randomly distributed with sub-wavelength metal and dielectric antennas, and can modulate the amplitude, phase and polarization of electromagnetic waves. The metasurface provides a new way for realizing the modulation of the optical field by the interaction of incident light and the nano antenna. Meanwhile, compared with the traditional optical modulation device, the super surface has the advantages of being ultra-thin, low in loss, planar, easy to manufacture and the like, and provides greater advantages for realizing miniaturization of an optical system. The following embodiments are provided in particular in the present application of a super surface device for 3D visualization of an endoscope.
In the present embodiment, there is provided a stereoscopic endoscopic projection apparatus, fig. 1 is a schematic view of the stereoscopic endoscopic projection apparatus of the present embodiment, and as shown in fig. 1, the stereoscopic endoscopic projection apparatus 10 includes: a projection light source 11, a super-surface device 12 and a regulation unit 13; wherein the content of the first and second substances,
a micro-nano unit for performing phase modulation on incident light is arranged on the surface of the super-surface device 12;
the regulation unit 13 is electrically connected with the super-surface device 12; the regulating unit 13 electrically regulates and controls the modulation phase of the micro-nano unit of the super-surface device 12 based on the hologram of the detected object.
Specifically, the regulation unit 13 is electrically connected with the super-surface device 12, so as to electrically regulate the micro-nano units on the surface of the super-surface device 12, the electrical regulation can be realized through voltage or current, and the current or voltage correspondingly realizes the phase and amplitude regulation of incident light on the light modulation performance of each micro-nano unit. The hologram comprises phase information corresponding to each position on the graph, each micro-nano unit on the surface of the super-surface device 12 corresponds to the phase information in the hologram one by one, and the regulating and controlling unit 13 corresponds to each micro-nano unit on the super-surface device 12 based on the phase information of each position on the graph.
The emergent light of the projection light source 11 is incident to the super surface device 12, and forms a stereoscopic image of the detected object in the space medium after being modulated by the super surface device 12.
Specifically, the projection light source 11 emits light to the regulated super-surface device 12, and forms a three-dimensional image of the detected object in the space medium after the light modulation of the micro-nano unit of the super-surface device 12.
Specifically, fig. 2 is a schematic diagram of projection in the stereoscopic endoscope projection apparatus in this embodiment, and as shown in fig. 2, the projection light source emits incident light onto the super-surface device, and after passing through the super-surface device, a three-dimensional stereoscopic image can be formed in a spatial medium, so that a naked-eye 3D effect is finally achieved. The space medium comprises gas (such as ionized air), ground glass, a holographic projection film and the like, and the medium capable of realizing three-dimensional image presentation can be realized.
Furthermore, in practical application, the position of the projection light source can be adjusted according to the required angle direction, the stereoscopic image is projected to the target position, and the convenience in use is improved.
In the prior art, 3D imaging of an endoscope is usually realized by mounting a large 3D display or wearing 3D glasses by a doctor, but the 3D display increases the volume and weight of the system, and meanwhile, images can be observed only before the 3D display is moved to the display, and the operation performed by wearing the 3D glasses also has a certain influence on the operation, so that the current 3D imaging method has limitations in use, and further influences the operation. The stereoscopic endoscope projection device provided by the embodiment provides effective supplement on the basis of the prior art, through the structure, the super-surface device is used for endoscope 3D imaging, the micro-nano unit of the super-surface device is correspondingly regulated and controlled by the regulation and control unit based on the phase information in the object hologram to be detected, and then the projection light source emits light to the super-surface device to form a stereoscopic image of the object to be detected.
In some embodiments, the hologram of the detected object is a phase hologram.
Specifically, the phase hologram comprises phase information corresponding to each position on the graph, and each micro-nano unit on the surface of the super-surface device corresponds to the phase information in the hologram one by one, so that the regulating and controlling unit can electrically regulate and control each micro-nano unit on the super-surface device based on the phase information of each position on the graph, and accordingly, a corresponding super-surface device is provided for realizing modulation of incident light, and 3D imaging is realized.
In some embodiments, the regulation and control unit realizes independent addressing and independent regulation and control on the micro-nano unit on the surface of the super-surface device.
Specifically, each micro-nano unit on the surface of the super-surface device can be independently addressed and modulated, and each micro-nano unit is electrically regulated, including but not limited to the following modes:
(1) the voltage-controlled variable capacitance diode is integrated into the array subunit of the super-surface device, and continuous phase compensation can be realized by changing the voltage value of the voltage-controlled variable capacitance diode in each array subunit of the super-surface device.
(2) The super-surface device is a liquid crystal super-surface, and the phase of the super-surface micro-nano unit is modulated through liquid crystal.
(3) Each micro-nano unit of the super-surface device is correspondingly provided with a phase change material, and the modulation is realized by changing the refractive index of the phase change material through electric control.
The micro-nano units on the surface of the super-surface device can be independently addressed and controlled by the control unit in the embodiment, and a more flexible and practical electric control method is provided for the micro-nano units of the super-surface device, so that the super-surface device can be more accurately controlled based on the hologram of the detected object.
In some embodiments, the projection light source is a coherent light source or a partially coherent light source.
Specifically, the coherent light source may be a laser, and the partially coherent light source may be an LED light source, an ultra wideband LED light Source (SLED), and the like, and the switch and the angle of the emergent light may be independently controlled to project the 3D image to the target position.
By providing the light source necessary for the stereoscopic endoscope projection device in the embodiment, the light is emitted to the super-surface device according to actual requirements, and finally, a stereoscopic image can be formed.
In the present embodiment, a stereoscopic endoscopic imaging display system is provided, and fig. 3 is a schematic diagram of the stereoscopic endoscopic imaging display system of the present embodiment, as shown in fig. 3, the stereoscopic endoscopic imaging display system includes: the stereoscopic endoscope projection device 10, the information acquisition module 20, and the signal processing module 30 in the above embodiments;
and the information acquisition module 20 is used for acquiring information of the surface of the detected object.
Specifically, the information acquisition module 20 includes various image acquisition components or signal receiving components, and acquires the acquired signals of the object to be detected through various components, where the acquired signals are specifically two-dimensional images or three-dimensional surface information of the object to be detected.
A signal processing module 30 for generating a hologram of the object to be detected according to the acquisition signal of the information acquisition module 20 and transmitting the hologram to the stereoscopic endoscopic projection apparatus 10;
the information acquisition module 20 is electrically connected with the signal processing module 30; the signal processing module 30 is electrically connected to the stereoscopic endoscopic projection apparatus 10.
Specifically, the signal processing module 30 and the stereoscopic endoscopic projection apparatus 10 may be separately provided, and the signal processing module 30 is electrically connected to the stereoscopic endoscopic projection apparatus 10, and performs corresponding processing and calculation according to the detected object collecting signal collected by the information collecting module 20, and generates and transmits a hologram having phase information corresponding to each position in the hologram to the stereoscopic endoscopic projection apparatus 10.
Further, fig. 4 is a schematic diagram of another stereoscopic endoscopic imaging display system, as shown in fig. 4, the stereoscopic endoscopic imaging display system includes: the stereoscopic endoscopic projection apparatus 10, the information acquisition module 20, and the signal processing module 30 in the above embodiments. Wherein, the signal processing module 30 is integrated with the stereoscopic endoscopic projection apparatus 10, and the information acquisition module 20 is electrically connected with the signal processing module 30.
Specifically, the signal processing module 30 may be a tablet computer or other handheld electronic devices, and the stereoscopic endoscopic projection device 10 is further integrated therein, so that the acquired signal acquired by the information acquisition module 20 can be acquired in the tablet computer, and then stereoscopic imaging is realized through the signal processing module 30 and the stereoscopic endoscopic projection device 10 therein, thereby further improving convenience in use.
The stereoscopic endoscope imaging display system provided by the embodiment can realize signal acquisition of the detected object, further analyze and process the acquired signal to generate a hologram of the detected object, and finally electrically regulate and control the super-surface device through the stereoscopic endoscope projection device based on the hologram, thereby realizing stereoscopic imaging of the detected object. The volume and the weight of the stereoscopic endoscope can be greatly reduced due to the micro structure of the super-surface device, a doctor does not need to wear 3D glasses or move to the front of a display to observe images through projection imaging, and further, the signal processing module and the stereoscopic endoscope projection device can be integrally designed in use, so that the problem that operation is influenced due to the limitation on use in the prior art is solved.
In some embodiments, the signal processing module includes: a 3D modeling submodule and a hologram generation submodule;
and the 3D modeling submodule is connected with the hologram generating submodule and is used for generating a 3D model of the detected object according to the acquisition signal of the information acquisition module.
Specifically, the 3D modeling sub-module performs corresponding calculation processing according to the acquired signal of the object to be detected acquired by the information acquisition module to form a 3D point cloud image of the object to be detected, and further establishes a 3D model of the object to be detected, and transmits the 3D model to the hologram generation sub-module. Wherein the acquisition signal comprises a two-dimensional image or three-dimensional surface information of the object to be detected.
And the hologram generation submodule is used for obtaining the corresponding hologram of the detected object according to the 3D model calculation.
Specifically, the hologram generation submodule receives the 3D model transmitted by the 3D modeling submodule, performs diffracted light field calculation on each point of the 3D model, and performs holographic encoding on the diffracted light field of each point to generate a hologram of the detected object.
In some embodiments, the hologram generation sub-module may be implemented by the following methods, including but not limited to:
(1) and calculating the light field complex amplitude of each object point of the 3D model on the holographic surface by adopting an object point scattering method, superposing to obtain the total complex amplitude distribution on the holographic surface, and encoding the complex amplitude to obtain the phase hologram.
(2) And superposing the light field complex amplitudes of the surfaces with different depths of the 3D model on the holographic surface by adopting a chromatography method to obtain the total complex amplitude distribution at the holographic surface, and further encoding the complex amplitudes to obtain the phase hologram.
Through the 3D modeling submodule and the hologram generating submodule included in the signal processing module in the embodiment, the corresponding 3D model can be obtained through processing the acquired signal of the detected object, and the hologram of the detected object is generated according to the 3D model, so that the hologram of the detected object is provided for the stereoscopic endoscope projection device, and the super-surface device is regulated and controlled.
In some embodiments, the signal processing module is integrated with the stereoscopic endoscopic projection apparatus, or the signal processing module is separated from the stereoscopic endoscopic projection apparatus.
Specifically, schematic diagrams of the integrated arrangement and the discrete arrangement are shown in fig. 4 and 3, respectively, in the above embodiments. In the integrated setting, the signal processing module can be a tablet personal computer or other handheld electronic equipment, wherein a stereoscopic endoscope projection device is further integrated, the acquisition signal acquired by the information acquisition module can be acquired in the tablet personal computer, and the convenience in use is further improved. In the discrete setting, the signal processing module and the stereoscopic endoscope projection device can be respectively arranged in different structures or components, so that the structural flexibility of the whole stereoscopic endoscope imaging display system can be improved.
In some embodiments, the information acquisition module is one or more of a dual-optical-path image acquisition module, a structured light emission and camera receiving system, and a TOF emission and receiving system.
Specifically, the information acquisition module can be a dual-light-path image acquisition system, and can also be a three-dimensional image sensor signal acquisition system such as structured light and TOF, wherein the principle of the dual-light-path image acquisition system for realizing 3D reconstruction is to reconstruct a three-dimensional model of an object through acquired two-dimensional images; the structured light and TOF three-dimensional sensor can directly detect and acquire the three-dimensional surface information of the detected object.
Further, it is also conceivable to combine the above two or three kinds of acquisition modules and acquisition systems, for example, to combine the dual-optical-path image acquisition system and the structured light emission and camera shooting receiving system, or to combine the dual-optical-path image acquisition system and the TOF transmitting and receiving system, or to combine the structured light emission and camera shooting receiving system and the TOF transmitting and receiving system, to realize information acquisition on the surface of the object to be inspected.
Through the implementation system of the information acquisition module provided in the embodiment, the information acquisition of the detected object can be realized through the acquisition system or the combination of the acquisition systems provided above.
In some embodiments, the dual-optical-path image collecting module is configured to collect two-dimensional images of the object to be detected from different viewing angles by using a binocular camera, and transmit the images to the signal processing module.
Specifically, when the information acquisition module is a dual-light-path image acquisition module, the dual-light-path image acquisition module is connected with the signal processing module, and the dual-light-path image acquisition module realizes image acquisition of the detected object at different viewing angles through a binocular camera (two-path optical image capturing device), and respectively images and transmits the images to the two image sensors to obtain two-dimensional images with parallax, and then transmits the two-dimensional images to the 3D modeling sub-module.
Correspondingly, the 3D modeling sub-module is connected with the dual-light-path image acquisition module and is used for fusing and processing two-dimensional images of the detected object at different visual angles and analyzing the two-dimensional images to obtain depth information of the two-dimensional images; and establishing a three-dimensional point cloud picture according to the depth information, and establishing a 3D model of the detected object.
Specifically, the 3D modeling sub-module is connected to the dual optical path image acquisition module, receives the two-dimensional images transmitted by the dual optical path image acquisition module, performs fusion processing, and can obtain distance information of each point on the image by using a triangulation distance measurement method, thereby generating a 3D point cloud image and constructing a 3D model of the detected object.
According to the embodiment, when the double-light-path image acquisition module is selected as the information acquisition module, two-dimensional images of the detected object under different viewing angles are acquired correspondingly, and then the two-dimensional images are fused through the 3D modeling sub-module, so that a corresponding 3D model is finally obtained.
In some embodiments, the above-mentioned structure light emitting and camera receiving system is connected to the signal processing module, and is configured to project the structure light to the surface of the object to be detected through the structure light emitting assembly for modulation, and collect the modulated structure light through the camera receiving assembly.
Specifically, when the information acquisition module is a structured light emitting and camera shooting receiving system, the structured light emitting and camera shooting receiving system is connected with the signal processing module, structured light is projected to the surface of a detected object through the structured light emitting assembly, and then the modulated structured light is acquired through the camera shooting system receiving assembly after being modulated by the height of the detected object.
Correspondingly, the 3D modeling submodule is connected with the structured light emitting and camera shooting receiving system and used for calculating the three-dimensional surface information of the detected object according to the modulated structured light; and establishing a 3D model of the detected object according to the three-dimensional surface information.
Specifically, the 3D modeling submodule is connected with the structured light emitting and camera shooting receiving system, receives modulated structured light transmitted by the structured light emitting and camera shooting receiving system, obtains three-dimensional surface data of the detected object after analysis and calculation, and completes establishment of a 3D model of the detected object.
According to the embodiment, when the structured light emitting and camera receiving system is selected as the information acquisition module, the three-dimensional surface information of the detected object is correspondingly obtained according to the structured light modulated by the surface of the detected object, and finally the corresponding 3D model is obtained.
In some embodiments, the TOF transmitting and receiving system is connected to the signal processing module, and is configured to project incident light onto a surface of the object to be detected through the TOF transmitting and receiving assembly, and to receive reflected light reflected from the surface of the object to be detected.
Specifically, when the information acquisition module is a TOF transmitting and receiving system, the TOF transmitting and receiving system is connected with the signal processing module, incident light is projected onto the surface of the object to be detected through the TOF transmitting and receiving assembly, and reflected light reflected by the surface of the object to be detected is received by the TOF transmitting and receiving system, so that the acquisition of the information on the surface of the object to be detected is completed.
Correspondingly, the 3D modeling submodule is connected with the TOF transmitting and receiving system and used for calculating the three-dimensional surface information of the detected object according to the reflected light received by the TOF transmitting and receiving system; and establishing a 3D model of the detected object according to the three-dimensional surface information.
Specifically, the 3D modeling sub-module is connected to the TOF transmitting and receiving system, receives the emitted light signal transmitted by the TOF transmitting and receiving system, and obtains three-dimensional surface data of the object to be detected after analysis and calculation, thereby establishing a 3D model of the object to be detected.
In the embodiment, when the TOF transmitting and receiving system is selected as the information acquisition module, the three-dimensional surface information of the detected object is correspondingly obtained according to the reflected light reflected by the surface of the detected object, and finally the corresponding 3D model is obtained.
The present embodiment is described and illustrated below by means of preferred embodiments.
Fig. 5 is a block diagram showing the configuration of a stereoscopic endoscopic imaging display system according to the preferred embodiment, and as shown in fig. 5, the stereoscopic endoscopic imaging display system includes: the stereoscopic endoscope projection device 10, the information acquisition module 20 and the signal processing module 30; the signal processing module 30 is connected to the information collecting module 20 and the stereoscopic endoscopic projection apparatus 10, respectively. The information acquisition module 20 may be one or a combination of two optical path image acquisition modules, a structured light emitting and image capturing receiving system, and a TOF transmitting and receiving system.
The signal processing module 30 includes a 3D modeling sub-module 31 and a hologram generating sub-module 32, and the 3D modeling sub-module 31 and the hologram generating sub-module 32 are connected.
It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiment and optional implementation manners, and details are not described in this embodiment again.
It will be understood by those skilled in the art that the structure shown in the above embodiments is only an illustration, and does not limit the structure of the above terminal. For example, the stereoscopic endoscopic projection device and stereoscopic endoscopic imaging display system may also include more or fewer components than shown in the figures, or have a different configuration than shown in the figures.
It should be understood by those skilled in the art that various features of the above embodiments can be combined arbitrarily, and for the sake of brevity, all possible combinations of the features in the above embodiments are not described, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the features.
It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to be limiting. All other embodiments, which can be derived by a person skilled in the art from the examples provided herein without any inventive step, shall fall within the scope of protection of the present application.
It is obvious that the drawings are only examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application can be applied to other similar cases according to the drawings without creative efforts. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
The term "embodiment" is used herein to mean that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly or implicitly understood by one of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the patent protection. 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 application shall be subject to the appended claims.
Claims (17)
1. A stereoscopic endoscopic projection apparatus, comprising: the system comprises a projection light source, a super-surface device and a regulation and control unit; wherein the content of the first and second substances,
the surface of the super-surface device is provided with a micro-nano unit for phase modulation of incident light;
the regulation and control unit is electrically connected with the super-surface device; the regulation and control unit is used for electrically regulating and controlling the modulation phase of the micro-nano unit of the super-surface device based on the hologram of the detected object;
emergent light of the projection light source is incident to the super-surface device, and forms a stereoscopic image of the detected object in a space medium after being modulated by light through the super-surface device.
2. The stereoscopic endoscopic projection apparatus according to claim 1, wherein said hologram of the object to be examined is a phase hologram.
3. The stereoscopic endoscopic projection apparatus according to claim 1, wherein the control unit implements independent addressing and independent control on the micro-nano unit on the surface of the super-surface device.
4. The stereoscopic endoscopic projection apparatus of claim 1 wherein the projection light source is a coherent light source or a partially coherent light source.
5. A stereoscopic endoscopic imaging display system, comprising: an information acquisition module, a signal processing module, and the stereoscopic endoscopic projection apparatus of any of claims 1-4; wherein the content of the first and second substances,
the information acquisition module is used for acquiring the information of the surface of the detected object;
the signal processing module generates a hologram of the detected object according to the acquisition signal of the information acquisition module and transmits the hologram to the stereoscopic endoscope projection device;
the information acquisition module is electrically connected with the signal processing module; the signal processing module is electrically connected with the stereoscopic endoscope projection device.
6. The stereoscopic endoscopic imaging display system according to claim 5, wherein the signal processing module comprises: a 3D modeling submodule and a hologram generation submodule;
the 3D modeling submodule is connected with the hologram generating submodule and used for generating a 3D model of the detected object according to the acquisition signal of the information acquisition module;
and the hologram generation submodule is used for calculating to obtain the corresponding hologram of the detected object according to the 3D model.
7. The stereoscopic endoscopic imaging display system of claim 5, wherein the signal processing module is integral with the stereoscopic endoscopic projection device.
8. The stereoscopic endoscopic imaging display system of claim 5, wherein the signal processing module is provided separately from the stereoscopic endoscopic projection device.
9. The stereoscopic endoscopic imaging display system of claim 6 wherein the information acquisition module is a dual optical path image acquisition module.
10. The stereoscopic endoscopic imaging display system according to claim 9, wherein the dual optical path image capturing module captures two-dimensional images of the inspected object from different viewing angles through a binocular camera and transmits the images to the signal processing module.
11. The stereoscopic endoscope imaging display system of claim 9, wherein the 3D modeling sub-module is connected to the dual optical path image acquisition module, and configured to fuse and process two-dimensional images of the detected object from different viewing angles, and analyze the two-dimensional images to obtain depth information of the two-dimensional images;
and establishing a three-dimensional point cloud picture according to the depth information, and establishing a 3D model of the detected object.
12. The stereoscopic endoscopic imaging display system of claim 6, wherein the information acquisition module is a structured light emitting and camera receiving system.
13. The stereoscopic endoscopic imaging display system according to claim 12, wherein the structured light emitting and camera receiving system is connected to the signal processing module, and is configured to project structured light to the surface of the object to be inspected through a structured light emitting assembly for modulation, and collect the modulated structured light through a camera receiving assembly.
14. The stereoscopic endoscopic imaging display system according to claim 12, wherein the 3D modeling sub-module, connected to the structured light emitting and camera receiving system, is configured to calculate three-dimensional surface information of the inspected object based on the modulated structured light;
and establishing a 3D model of the detected object according to the three-dimensional surface information.
15. The stereoscopic endoscopic imaging display system of claim 6, wherein the information acquisition module is a TOF transmit receive system.
16. The stereoscopic endoscopic imaging display system according to claim 15, wherein the TOF transmitting and receiving system is connected to the signal processing module and is configured to project incident light onto the surface of the object to be inspected through a TOF transmitting and receiving assembly and receive reflected light reflected from the surface of the object to be inspected.
17. The stereoscopic endoscopic imaging display system according to claim 15, wherein the 3D modeling sub-module is connected to the TOF transmit receive system for calculating three-dimensional surface information of the inspected object according to the reflected light received by the TOF transmit receive system;
and establishing a 3D model of the detected object according to the three-dimensional surface information.
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