KR20140105662A - Endoscope testing jig and method using the same - Google Patents

Abstract

The present invention relates to an endoscope testing jig and an endoscope testing method using the same. The endoscope testing jig includes a base; a hole formed in the base for moving an endoscope in and out; and mark parts formed in the hole in the photographing direction of the endoscope.

Description

[0001] ENDOSCOPE TESTING JIG AND METHOD USING THE SAME [0002]

The present invention relates to an endoscopic examination jig and an endoscopic examination method using the same.

The present invention is derived from a research conducted as part of the robot industry technology development project of the Ministry of Knowledge Economy.

[Task Control Number: 10035145, Title: Technique Development of Multilateral Surgical Robot System for Minimally Invasive Laparoscopic Surgery]

Endoscopes are widely used for medical purposes. An endoscope is a device designed to inspect and inspect the body, or to observe or insert a machine inside the body for organs such as the bronchi, esophagus, stomach, heart, and large intestine that can not be directly seen by the naked eye.

The endoscope can have more than one channel and it is necessary to evaluate the performance of the endoscope, such as the performance of the short channel or the similarity of the left and right channels. The performance indicators of two-channel stereo endoscopes include field of view (FOV), convergence point, and geometrical distortion.

In the case of a binocular endoscope, variations in alignment or performance of left and right channels may occur due to problems in the optical system, manufacturing defects, or impacts in use, or errors may occur, thereby degrading the quality of the photographed image.

An aspect of the present invention is to provide an endoscope testing jig capable of measuring the performance of an endoscope.

Another aspect of the present invention is to provide a method for inspecting an endoscope using such an endoscopic examination jig.

According to an aspect of the present invention, A hole formed in the base for allowing the endoscope to enter and exit; And a plurality of marks formed in the hole in the photographing direction of the endoscope.

Here, each mark of the mark portion may be formed in a letter shape.

Here, the interval of each mark in the mark portion can be gradually increased in the photographing direction of the endoscope.

According to another aspect of the present invention, there is provided a semiconductor device comprising: (a) a base; A hole formed in the base for allowing the endoscope to enter and exit; And a plurality of mark portions formed in the hole in a photographing direction of the endoscope, the endoscope inspection jig comprising: (b) inserting the endoscope into the hole; (c) acquiring images of the plurality of mark portions with the endoscope; And (d) displaying an image taken by the endoscope.

Here, the endoscope may include a first channel and a second channel for three-dimensional imaging.

(E) determining an alignment or distortion of the first channel and the second channel through the image by the first channel and the image by the second channel by the computing device .

According to another aspect of the present invention, there is provided an endoscope, comprising: a base having a hole in an inserting direction of the endoscope so that the endoscope can enter and exit; A plurality of marks disposed in the base in the photographing direction of the endoscope; And a support for supporting the mark so that the mark is positioned inside the base.

Here, the plurality of marks may be arranged linearly in the photographing direction of the endoscope.

Here, the interval between the marks may gradually increase in the photographing direction of the endoscope.

Here, the marks may be formed in different colors.

According to another aspect of the present invention, there is provided an endoscope including: (a) a base having a hole in an inserting direction of the endoscope so that the endoscope can enter and exit; A plurality of marks disposed in the base in the photographing direction of the endoscope; And a support for supporting the mark so that the mark is positioned inside the base, wherein the endoscope comprises: an endoscopic examination jig including a first channel and a second channel for performing three-dimensional imaging; (b) inserting the endoscope into the hole; (c) acquiring an image of the plurality of marks by the first channel and the second channel; (d) displaying an image taken by the first channel and the second channel.

(E) measuring a first angle of the mark indicated by the first channel and a second angle of the second array of marks indicated by the second channel by the computing device .

(F) correcting the image through a first arrangement of the marks indicated by the first channel and a second arrangement of the marks indicated by the second channel by the computing device can do.

Here, (g) comparing the interval between the marks indicated by the first channel and the interval between the marks indicated by the second channel by the arithmetic unit.

(H) correcting the image through the comparison value of the interval between the marks indicated by the first channel and the interval between the marks indicated by the second channel by the computing device.

According to the endoscopic examination jig and the endoscopic examination method using the same according to an aspect of the present invention, the performance of the endoscope can be easily measured.

1 is a perspective view schematically showing an endoscopic examination jig according to an embodiment of the present invention.
2 is a schematic cross-sectional view taken along II-II in Fig.
3 is a perspective view schematically showing a state in which the endoscope is inserted into the endoscopic examination jig of Fig.
FIG. 4A is a view schematically showing a first image by the endoscope of FIG. 3; FIG.
FIG. 4B is a view schematically showing a second image by the endoscope of FIG. 3. FIG.
5 is a perspective view schematically showing an endoscopic examination jig according to another embodiment of the present invention.
6 is a schematic cross-sectional view taken along the line VI-VI in Fig.
7 is a perspective view schematically showing a state in which the endoscope is inserted into the endoscopic examination jig of Fig.
8A is a view schematically showing a third image by the first channel of FIG.
FIG. 8B is a view schematically showing a fourth image by the second channel of FIG. 7. FIG.
8C is a view schematically showing an image in which the third image and the fourth image are combined.
FIG. 9A is a view schematically showing a fifth image by the first channel of FIG. 7. FIG.
FIG. 9B is a view schematically showing a sixth image by the second channel of FIG. 7. FIG.
9C is a view schematically showing an image in which a fifth image and a sixth image are combined.
FIG. 10A is a view schematically showing a seventh image by the first channel of FIG. 7. FIG.
FIG. 10B is a view schematically showing an eighth image by the second channel of FIG. 7. FIG.
10C is a view schematically showing an image in which a seventh image and an eighth image are combined.

Hereinafter, an endoscopic examination jig according to an embodiment of the present invention and an endoscopic examination method using the same will be described with reference to the drawings.

FIG. 1 is a perspective view schematically showing an endoscopic examination jig 1 according to an embodiment of the present invention, and FIG. 2 is a schematic sectional view taken along II-II of FIG.

1 and 2, an endoscopic examination jig 1 according to an embodiment of the present invention may include a base 110, a hole 120, and a plurality of mark portions 130.

The base 110 may be formed in various shapes such as prisms or cylinders.

The hole 120 may be formed as an empty space in the base 110 so that the endoscope 140 (see FIG. The hole 120 may be formed to enter from the one end surface of the base 110 to the inside of the base 110. Also, the holes 120 may be formed in various shapes such as prisms or cylinders.

The mark 130 may be formed in the hole 120 in the photographing direction D1 of the endoscope 140 (see FIG. 3). It is also preferable that a plurality of mark portions 130 are formed.

The mark 130 may include a first mark 131, a second mark 133, a third mark 135, and a fourth mark 137. Each of the marks 131, 133, 135, and 137 may be formed in various shapes such as a letter shape, a picture shape, or a lattice shape.

The intervals of the marks 131, 133, 135, and 137 in the mark unit 130 may have equal or constant functional relationships. The interval between the marks 131, 133, 135, and 137 in the mark unit 130 can be gradually increased in the photographing direction D1 of the endoscope 140 (see FIG. 3). The interval G1 between the first mark 131 and the second mark 133 and the interval G2 between the second mark 133 and the third mark 135 and the interval G2 between the third mark 135 and the fourth mark 135, And the interval G3 between the marks 137 may be gradually increased. In this way, the distance between the marks 131, 133, 135, and 137 in the mark 130 increases gradually in the photographing direction D1 of the endoscope 140 (see FIG. 3), so that the endoscope 140 The intervals of the marks 131, 133, 135, and 137 in the photographed image may be the same. Accordingly, the examination of the geometrical distortion according to the image by the endoscope 140 (see FIG. 3) can be further facilitated.

3 is a perspective view schematically showing a state in which the endoscope 140 is inserted into the endoscope testing jig 1 of FIG.

Referring to FIG. 3, the endoscope 140 may enter and exit the endoscopic examination jig 1 through a hole 120 formed in the base 110.

The image photographed by the endoscope 140 may be output through the display unit 160 via the computing device 150. [

The endoscope 140 may include a first channel 141, a second channel 143, a lamp 145, a first sensor 142 and a second sensor 144. The endoscope 140 may include a first channel 141 and a second channel 143 to capture a three-dimensional image.

The first channel 141 and the second channel 143 may include a lens (not shown) and a light transmitting part (not shown) at the end of the endoscope 140. The light transmitting portion may be formed of a glass optical system (relay optic) or an optical fiber.

The lamp 145 may emit light to illuminate a portion of the endoscope 140 to be photographed.

The first sensor 142 is connected to the first channel 141 to convert the light input from the first channel 141 into an electrical signal. Similarly, the second sensor 144 is connected to the second channel 143 to convert the light input from the second channel 143 into an electrical signal. The first sensor 142 and the second sensor 144 may be disposed at the rear end of the endoscope 140 or at the front end of the endoscope 140 inserted into the human body.

The computing device 150 may convert the electrical signals of the first sensor 142 and the second sensor 144 into video signals and output the video signals. In addition, the computing device 150 may synthesize an image based on the first channel 141 and an image based on the second channel 143. The computing device 150 can also determine the alignment or distortion of the first channel 141 and the second channel 143 through the image of the first channel 141 and the image of the second channel 143 . The computing device 150 may include one or more microprocessors.

The display unit 160 may be connected to the arithmetic unit 150 to output a video signal of the arithmetic unit 150 as an image.

FIG. 4A is a view schematically showing a first image IM1 by the endoscope 140 of FIG. 3. FIG. 4B is a view schematically showing a second image IM2 by the endoscope 140 of FIG. to be.

Referring to FIG. 4A, the first image IM1 is an image when there is no abnormality in the channels 141 and 143, and a plurality of mark portions 130 in the hole 120 are displayed in the first image IM1 do. Each of the mark portions 130 is normally displayed without problems such as distraction or fogging.

Also, the interval between each of the marks 131, 133, 135, and 137 displayed in the first image IM1 may be the same. That is, the interval G11 between the first mark 131 and the second mark 133 displayed on the first image IM1, the interval G22 between the second mark 133 and the third mark 135, The gap G33 between the third mark 135 and the fourth mark 137 may be the same. As the distance between the marks 131, 133, 135 and 137 in the mark 130 formed in the hole 120 increases gradually in the photographing direction D1 of the endoscope 140, The spacing between the marked marks 131, 133, 135, and 137 may be the same. That is, the interval G1 between the first mark 131 and the second mark 133 in the hole 120, the interval G2 between the second mark 133 and the third mark 135, The interval between the first mark 131 and the second mark 133 displayed on the first image IM1 becomes smaller as the interval gradually increases in the order of the interval G3 between the first mark 131 and the fourth mark 137 The gap G22 between the second mark 133 and the third mark 135 and the gap G33 between the third mark 135 and the fourth mark 137 may be the same. Accordingly, the examination of the geometric distortion and the like according to the image by the endoscope 140 can be further facilitated.

Referring to FIG. 4B, the second image IM2 is an image when the channels 141 and 143 are abnormal, and a plurality of mark portions 130 in the hole 120 are displayed in the second image IM2 do.

It is possible to find that there is an abnormality in the channels 141 and 143 as distortion, distortion, or fogging occurs in a part of the area 139 of the mark part 130. 133, 135, and 137 are set so that the distances between the marks 131, 133, 135, and 137 are the same when the channels 141 and 143 are normal, It can be found that the channels 141 and 143 are abnormal. As a result, it is possible to determine whether the channels 141 and 143 are abnormal, such as alignment or distortion, through the images IM1 and IM2 displayed by the endoscope 140. This determination may be made by image processing of the computing device 150, such as a computer, and may also be done by a person.

Through the above-described method, it is possible to check whether or not the respective channels 141 and 143 are abnormal. The performance of both channels 141 and 143 can be evaluated while comparing the image of the first channel 141 and the image of the second channel 143 while grasping the similarities and the like of the two channels 141 and 143.

FIG. 5 is a perspective view schematically showing an endoscopic examination jig 2 according to another embodiment of the present invention, and FIG. 6 is a schematic cross-sectional view taken along VI-VI of FIG.

5 and 6, an endoscopic examination jig 2 according to another embodiment of the present invention may include a base 210, a plurality of marks 230, and a support portion 290.

The base 210 and the hole 220 may be formed in the same manner as the base 110 and the hole 120 of the endoscopic examination jig 1 according to an embodiment of the present invention.

The first mark 231, the second mark 233, the third mark 235 and the fourth mark 237 are formed in the imaging direction D2 of the endoscope 240 (see FIG. 7) . It is preferable that a plurality of marks 231, 233, 235 and 237 are formed and the plurality of marks 230 can be arranged linearly in the photographing direction D2 of the endoscope 240 (see Fig. 7).

Each of the marks 231, 233, 235, and 237 may be formed in various shapes such as a letter shape, a picture shape, or a lattice shape. Each of the marks 231, 233, 235, and 237 may be formed in a different shape, or may be formed in a different color. As a result, the marks 231, 233, 235, and 237 can be easily distinguished from each other.

The intervals between the marks 231, 233, 235, and 237 may have equal or constant function relationships. The interval between the marks 231, 233, 235, and 237 may gradually increase in the photographing direction D2 of the endoscope 240 (see FIG. 7). That is, the interval L1 between the first mark 231 and the second mark 233, the interval L2 between the second mark 233 and the third mark 235, And the interval L3 between the four marks 237 in this order. The intervals between the respective marks 231, 233, 235 and 237 are gradually increased in the photographing direction D2 of the endoscope 240 (see FIG. 7) The marks 231, 233, 235, and 237 can have the same interval. Accordingly, the inspection of the alignment state or the like according to the image by the endoscope 240 (see FIG. 7) can be further facilitated.

The support portion 290 may be formed inside the base 210 and may support the plurality of marks 230 such that the plurality of marks 230 are positioned on the base 210. The support 290 may be preferably positioned within the base 210. The support portion 290 can be separated by the number of the plurality of marks 230 to support the respective marks 231, 233, 235, and 237. 5 and 6, the support portions 290 are shown spaced apart from each other. However, the thickness of each support portion 290 may be different, or the support portions 290 may be overlapped with each other. It is also possible to support the respective marks 231, 233, 235 and 237 in such a manner that the supporting portions 290 are integrally formed and the respective marks 231, 233, 235 and 237 are located therein, The support portion 290 is preferably formed of a transparent material. The structure in which the support portion 290 supports the plurality of marks 230 is not limited thereto and various structures are possible in which the plurality of marks 230 are positioned inside the base 210. [

7 is a perspective view schematically showing a state in which the endoscope 240 is inserted into the endoscope testing jig 2 of FIG.

Referring to FIG. 7, the endoscope 240 may enter and exit the endoscopic examination jig 2 through a hole 220 formed in the base 210. The image photographed by the endoscope 240 can be outputted through the display unit 260 via the computing device 250. [ The endoscope 240 may include a first channel 241, a second channel 243, a lamp 245, a first sensor 242 and a second sensor 244. The endoscope 240 may include a first channel 241 and a second channel 243 to capture a three-dimensional image. Since the description of each configuration is the same as that of FIG. 3, a duplicate description thereof will be omitted.

FIG. 8A is a view schematically showing a third image CH1 by the first channel 241 of FIG. 7, and FIG. 8B is a schematic view of a fourth image CH2 by the second channel 243 of FIG. And FIG. 8C is a view schematically showing an image (CH1 + CH2) in which a third image CH1 and a fourth image CH2 are combined.

8A and 8B, the third image CH1 and the fourth image CH2 are images when the alignment state of the left and right channels 241 and 243 is normal and a plurality of marks 231, 233, 235, and 237 are displayed in the third image CH1 and the fourth image CH2.

Referring to FIG. 8A, the intervals between the marks 231, 233, 235, and 237 displayed in the third image CH1 may be the same. That is, the interval L11 between the first mark 231 and the second mark 233 displayed on the third image CH1, the interval L21 between the second mark 233 and the third mark 235, The interval L31 between the third mark 235 and the fourth mark 237 may be the same. As the distance between the marks 231, 233, 235 and 237 in the base 210 gradually increases in the photographing direction D2 of the endoscope 240, the respective marks 231 , 233, 235, 237 can be seen to be the same. That is, the interval L1 between the first mark 231 and the second mark 233 in the base 210, the interval L2 between the second mark 233 and the third mark 235, The interval between the first mark 231 and the second mark 233 displayed on the third image CH1 becomes smaller as the interval becomes larger in the order of the interval L3 between the mark 235 and the fourth mark 237. [ The interval L21 between the second mark 233 and the third mark 235 and the interval L31 between the third mark 235 and the fourth mark 237 may be the same. Accordingly, the determination of the alignment state of the left and right channels 241 and 243 according to the image by the endoscope 240 can be further facilitated.

8B, when there is no problem in the alignment state of the left and right channels 241 and 243, each of the marks 231, 233, 235, and 237 displayed in the fourth image CH2 is displayed on the third image CH1 Is displayed symmetrically to each mark 231, 233, 235, 237 displayed.

8C, when there is no problem in the alignment state of the left and right channels 241 and 243, the respective marks 231, 233, 235 and 237 and the fourth image CH2 are displayed on the third image CH1, The marks 231, 233, 235 and 237 shown in Fig. The interval L11 between the first mark 231 and the second mark 233 in the third image CH1 and the interval L21 between the second mark 233 and the third mark 235, The interval L31 between the third mark 235 and the fourth mark 237 is a distance L12 between the first mark 231 and the second mark 233 in the fourth image CH2, The interval L22 between the mark 233 and the third mark 235 and the interval L32 between the third mark 235 and the fourth mark 237. [ Accordingly, the interval L11 between the first mark 231 and the second mark 233 in the third image CH1, the interval L21 between the second mark 233 and the third mark 235, The intervals L11, L21, L31, L12, L22, and L32 are the same when the interval L31 between the third mark 235 and the fourth mark 237 is set to be the same.

FIG. 9A is a view schematically showing a fifth image CH1 by the first channel 241 of FIG. 7, and FIG. 9B is a schematic view of a sixth image CH2 by the second channel 243 of FIG. And FIG. 9C is a view schematically showing an image (CH1 + CH2) in which a fifth image CH1 and a sixth image CH2 are combined.

9A and 9B, the fifth image CH1 and the sixth image CH2 are formed when the sixth image CH2 is inclined due to the optical axis shift of the left and right channels 241 and 243, 233, 235, and 237 are displayed in the fifth image CH1 and the sixth image CH2. The plurality of marks 231, 233, 235 and 237 in the fifth image CH1 constitute the first arrangement 231, 233, 235 and 237 and the plurality of marks 231, 233, 235, and 237 form the second arrangements 231, 233, 235, and 237, respectively.

9C, the first arrangements 231, 233, 235, and 237 displayed on the third image CH1 and the second arrangements 231, 233, 235, and 237 displayed on the fourth image CH2 are aligned It can be seen that it is not formed on the upper surface and is twisted by a certain angle (10). Therefore, it can be determined that the optical axes of the left and right channels 241 and 243 are distorted. This determination can be made by image processing of the computing device 250 and can also be done by a person.

Also, the angle 10 can be measured by the computing device 250 through the image (CH1 + CH2) in which the fifth image CH1 and the sixth image CH2 are combined. In addition, the computing device 250 can output a normal video signal through correction such as rotation of the sixth image CH2 based on the value of the angle 10.

Fig. 10A is a view schematically showing a seventh image CH1 by the first channel 241 in Fig. 7, and Fig. 10B is a diagram schematically showing an eighth image CH2 by the second channel 243 in Fig. And FIG. 10C is a view schematically showing an image (CH1 + CH2) in which a seventh image CH1 and an eighth image CH2 are combined.

10A and 10B, the seventh image CH1 and the eighth image CH2 are images when the optical axes of the left and right channels 241 and 243 are angled or inclined differently from a predetermined angle, A plurality of marks 231, 233, 235 and 237 in the base 210 are displayed in the seventh image CH1 and the eighth image CH2. The plurality of marks 231, 233, 235 and 237 in the seventh image CH1 constitute the first arrangements 231, 233, 235 and 237 and the plurality of marks 231, 233, 235, and 237 form the second arrangements 231, 233, 235, and 237, respectively.

Referring to FIG. 10C, the first arrangements 231, 233, 235, and 237 displayed on the third image CH1 and the second arrangements 231, 233, 235, and 237 displayed on the fourth image CH2 are aligned 233, 235, and 237 in the first arrangements 231, 233, 235, and 237 are spaced apart from each other in the second arrangements 231, 233, 235, and 237 The marks 231, 233, 235, and 237 of FIG. Therefore, in this case, it can be determined that the optical axis of the left and right channels 241 and 243 is widened or widened at a different angle from a predetermined angle. This determination can be made by image processing of the computing device 250 and can also be done by a person.

233, 235, and 237 in the first arrangement 231, 233, 235, and 237 through the seventh image CH1 and the eighth image CH2 by the computing device 250, 233, 235, and 237 in the second arrays 231, 233, 235, and 237 can be calculated. 233, 235, and 237 in the first arrays 231, 233, 235, and 237 and the distances between the marks 231, 233, 235, and 237 in the second arrays 231, (231, 233, 235, 237), or the like. In addition, the computing device 250 can correct the eighth image CH2 based on the calculated comparison value, for example, so as to output a normal image signal.

233, 235 and 237 of the image by the second channel 243 and the marks 231, 233, 235 and 237 of the image by the first channel 241, And if there is a deviation, corrects the output image. 233, 235, and 237 of the image by the first channel 241 and the respective marks 231, 233, 235, and 237 of the image by the second channel 243 are corrected by the correction, It is determined whether the intervals of the two arrays are the same, and if not, the correction of the output image is performed. The alignment state of the first channel 241 and the second channel 243 can be confirmed through the series of processes and the correction can be performed accordingly.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are not restrictive of the invention, It will be understood that various modifications and equivalent embodiments may be possible. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

1, 2: Endoscopic examination jig
110, 210: base 120, 220: hole
130: mark portion 230: plural marks
290: support portion 140, 240: endoscope
141, 241: first channel 143, 243: second channel
142, 242: first sensor 144, 244: second sensor
150, 250: computing device 160, 260:

Claims (15)

Base;
A hole formed in the base for allowing the endoscope to enter and exit; And
And a plurality of mark portions formed in the hole in the photographing direction of the endoscope. The method according to claim 1,
Wherein each mark of the mark portion is formed in a character shape. The method according to claim 1,
Wherein an interval between each mark in the mark portion gradually increases in a photographing direction of the endoscope. (a) a base; A hole formed in the base for allowing the endoscope to enter and exit; And a plurality of mark portions formed in the hole in a photographing direction of the endoscope, the endoscope inspection jig comprising:
(b) inserting the endoscope into the hole;
(c) acquiring images of the plurality of mark portions with the endoscope; And
(d) displaying an image taken by the endoscope. 5. The method of claim 4,
Wherein the endoscope comprises a first channel and a second channel for three-dimensional imaging. 6. The method of claim 5,
(e) determining an alignment or distortion of the first channel and the second channel through the image by the first channel and the image by the second channel by the computing device. A base having a hole in an inserting direction of the endoscope so that the endoscope can enter and exit;
A plurality of marks disposed in the base in the photographing direction of the endoscope; And
And a support for supporting the mark so that the mark is positioned inside the base. 8. The method of claim 7,
And the plurality of marks are arranged in a straight line in the photographing direction of the endoscope. 8. The method of claim 7,
Wherein an interval between the marks is gradually increased in a photographing direction of the endoscope. 8. The method of claim 7,
The marks are formed in different colors. (a) a base having a hole in an inserting direction of the endoscope so that the endoscope can enter and exit; A plurality of marks disposed in the base in the photographing direction of the endoscope; And a support for supporting the mark so that the mark is positioned inside the base, wherein the endoscope comprises: an endoscopic examination jig including a first channel and a second channel for performing three-dimensional imaging;
(b) inserting the endoscope into the hole;
(c) acquiring an image of the plurality of marks by the first channel and the second channel;
(d) displaying an image photographed by the first channel and the second channel. 12. The method of claim 11,
(e) measuring by the computing device a first array of the marks indicated by the first channel and a tilted angle of the second array of marks indicated by the second channel. 13. The method of claim 12,
(f) correcting the image through a first arrangement of the marks indicated by the first channel and a second angle alignment of the second arrangement indicated by the second channel by the computing device, method of inspection. 12. The method of claim 11,
(g) comparing an interval between the marks indicated by the first channel and an interval between the marks indicated by the second channel by the computing device. 15. The method of claim 14,
(h) correcting the image through the comparison value of the interval between marks marked by the first channel and the interval between marks indicated by the second channel by the computing device.

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