KR20170026025A - A spherical stereoscopic endoscope capable of omnidirectional video - Google Patents

A spherical stereoscopic endoscope capable of omnidirectional video Download PDF

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Publication number
KR20170026025A
KR20170026025A KR1020150123277A KR20150123277A KR20170026025A KR 20170026025 A KR20170026025 A KR 20170026025A KR 1020150123277 A KR1020150123277 A KR 1020150123277A KR 20150123277 A KR20150123277 A KR 20150123277A KR 20170026025 A KR20170026025 A KR 20170026025A
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KR
South Korea
Prior art keywords
endoscope
image
conduit
spherical
present
Prior art date
Application number
KR1020150123277A
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Korean (ko)
Inventor
황성관
Original Assignee
황성관
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Application filed by 황성관 filed Critical 황성관
Priority to KR1020150123277A priority Critical patent/KR20170026025A/en
Publication of KR20170026025A publication Critical patent/KR20170026025A/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00174—Optical arrangements characterised by the viewing angles
    • A61B1/00183—Optical arrangements characterised by the viewing angles for variable viewing angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances

Abstract

The present invention relates to an endoscope capable of acquiring an image of a diagnostic region photographed in all directions by arranging a plurality of imaging units in a spherical shape. The present invention provides an endoscope including: a conduit; and a head part having a plurality of imaging units spaced apart from each other by a predetermined distance at one end of the conduit and positioned in a spherical shape, wherein a spherical image is obtained by combining a plurality of images taken by the imaging units. As described above, according to the spherical endoscope capable of photographing in all directions of the present invention, the spherical image of the diagnostic region photographed in all directions is effectively acquired, and reliability of diagnoses, operations and the like using the endoscope is remarkably improved through joint treatment and the like performed by a plurality of users by using the endoscope.

Description

A spherical stereoscopic endoscope capable of omnidirectional video

TECHNICAL FIELD The present invention relates to an endoscope, and more particularly, to an endoscope capable of acquiring an image in which a diagnostic region is imaged in all directions by arranging a plurality of imaging units in a spherical shape.

The medical endoscope is a device developed for directly observing the inside of a human body. By photographing and inserting the inserted portion inside the human body, diagnosis of organ or the like inside the human body can be conveniently performed. In recent years, My surgery has been done a lot.

However, such an endoscope uses only an imaging unit such as a camera provided at the end of a tube-shaped conduit for inserting into the human body to acquire only a frontal image in the progress direction, and therefore there are many restrictions on the imaging range, that is, the field of view.

In order to secure a wider field of view of the endoscope, a reflector 3 is provided in front of the imaging unit 2 located at the distal end of the conduit 1 as shown in Fig. 1, Was developed.

However, as shown in FIG. 1, not only a spherical image p exhibiting complete omnidirection is obtained, but there is a blind direction that is not photographed according to the angle and illumination of the reflector 3 (the shaded portion of FIG. 1 (a) and the black portion of FIG. 1 (b)).

As an endoscope which solves the problem to some extent, U.S. Patent No. 8,360,964 discloses an endoscope in which a plurality of imaging units are arranged in a panoramic or hemispherical shape at the distal end of a catheter to widen the field of view of the imaging site have.

However, this also has a problem that a full field of view can not be secured, and this is considered to be a problem also due to the structure of the conduit portion connected to the imaging portion.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a catheter for a catheter and a catheter for a catheter, It is an object of the present invention to provide an endoscope capable of improving the reliability of diagnosis and surgery using an endoscope.

According to an aspect of the present invention, And a head portion having a plurality of imaging portions spaced apart from each other at one end of the conduit portion and positioned to have a spherical shape having the same diameter as the conduit portion, Of the endoscope.

It is preferable that the conduit portion is provided with a tapered portion which is located at the distal end thereof and whose diameter decreases toward the head portion.

It is preferable that the tapered portion secures the field of view of the imaging unit located near one end of the conduit portion among the plurality of imaging units.

It is preferable that a part of the plurality of image pickup units is located inside the space formed by the end diameter of the conduit part, and a part of the one end rotor of the conduit part is transparent.

Preferably, the plurality of imaging units are positioned so that a part of each field of view to be imaged overlaps, and a plurality of images photographed in the overlapped field of view are combined to obtain a spherical image.

And a mechanism member passing through the head portion and the inside of the conduit portion and movably positioned inside the head portion and the conduit portion.

And a plurality of light sources positioned within a predetermined distance between the plurality of imaging units.

And an output unit outputting the obtained spherical image.

It is preferable that a plurality of output units are provided, and a plurality of output units output different parts of the spherical images according to a plurality of image manipulation signals.

The output unit is a head mount display (HMD) that can be worn on the user's face,

The HMD may further include a motion detection sensor for sensing a motion of the user's face in which the HMD is worn, wherein the motion detection sensor detects part of the spherical image according to an image manipulation signal, It is preferable that the output is outputted.

Wherein each of the plurality of HMDs includes a plurality of HMDs, and the movement detecting sensor senses motions of a plurality of user's face parts worn by the plurality of HMDs, According to the signal, a different part of the spherical image is preferably moved and output to each of the HMDs.

As described above, according to the present invention, it is possible to effectively acquire an image of a spherical form in which an omnidirectional image of a diagnosis site is photographed, The reliability of surgery and the like can be dramatically improved.

Fig. 1 shows an example of a conventional endoscope for securing a visual field.
2 is an overall perspective view of an endoscope according to an embodiment of the present invention.
3 is a longitudinal sectional view along the length direction of the endoscope according to the embodiment of the present invention.
4 is an overall perspective view of an endoscope according to another embodiment of the present invention.
5 is a longitudinal sectional view of an endoscope according to another embodiment of the present invention, taken along the longitudinal direction.
6 is an overall perspective view of an endoscope according to another embodiment of the present invention.
7 is a longitudinal sectional view along the length direction of an endoscope according to another embodiment of the present invention.
Fig. 8 schematically shows an endoscope according to an embodiment of the present invention.
Fig. 9 schematically shows an image-based narrowing system obtained by an endoscope according to an embodiment of the present invention.

These and other objects, features and other advantages of the present invention will become more apparent by describing in detail preferred embodiments of the present invention with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, the definitions of these terms should be described based on the contents throughout this specification.

In addition, the described embodiments are provided for illustrative purposes and do not limit the technical scope of the present invention.

The components constituting the spherical endoscope capable of taking a panoramic image according to the present invention can be used integrally or individually. In addition, some components may be omitted depending on the usage pattern.

Hereinafter, a spherical endoscope capable of taking a panoramic image according to an embodiment of the present invention (hereinafter simply referred to as an 'endoscope' for convenience of explanation) will be described in detail with reference to FIGS. 2 to 7 attached hereto.

2, an endoscope according to an embodiment of the present invention may include a duct part 100 and a head part 200. As shown in FIG.

The conduit part 100 may be inserted into the diagnostic part and may be flexible depending on the part to be inserted or the diagnosis type, or may have a tube shape of a predetermined diameter having rigidity.

The head unit 200 may be positioned at one end of the conduit unit 100 to be inserted into a diagnostic region and may include a plurality of image sensing units 210 and a light source 220.

A plurality of imaging units 210 and 210 'are disposed at one end of the conduit unit 100 and spaced apart from each other by a predetermined distance to form a spherical shape according to the shape of the head unit 200. The imaging unit 210 , 210 'to capture the image of the inserted diagnostic portion.

The configuration of the imaging units 210 and 210 'is not limited as a means for capturing an image, but may be a video imaging apparatus such as a camera. The imaging units 210 and 210' That is, a certain field of view.

The light source 220 is located in the head and includes a plurality of imaging units 210 and 210 in a predetermined interval between the imaging units 210 and 210 ' Thereby ensuring the visual field of the imaging units 210 and 210 'and effective shooting.

3, the positions of the image pickup units 210 and 210 'may be positioned such that the fields of view are partially overlapped with each other by a predetermined range of the field of view. Of course, it is most preferable to arrange the imaging units 210 and 210 'such that the visual fields of the imaging units 210 and 210' do not overlap with each other, It may be assumed that the movement of the imaging units 210 and 210 'or the zoom-in or zoom-out of the imaging units 210 and 210' depending on the use of the endoscope, The area of the image sensing units 210 and 210 'may be slightly shifted or narrowed. In this case, since the image sensing units 210 and 210' Out of sight So to be corrected after taking a picture so that the image is a duplicate of a portion, it is possible to obtain a more reliably obtain a clear image of the contour.

In order to secure the field of view of the plurality of image sensing units 210, the conduit unit 100 is disposed in the vicinity of the distal end of the conduit unit 100 so as not to obscure the field of view of the image sensing unit 210 ' Is preferably located outside the visual field of the imaging unit 210 '(see FIG. 3).

That is, the conduit section 100 preferably has a smaller diameter than the diameter of the head section 200.

As a result, the field of view of all the imaging units 210 provided in the head unit 200 is surely secured, so that a spherical image P can be acquired.

As described above, since the diameter of the conduit section 100 and the head section 200 having the imaging sections 210 are substantially the same, the imaging section 210 is disposed at one end of the conduit section 100 A part 210 'of each imaging unit is located inside the space formed by the diameter of the distal end of the conduit unit 100, so that the field of view of these imaging units 210' is not ensured , It becomes difficult to acquire a complete spherical image. Therefore, in this embodiment, a transparent material or the like is used to extend from the distal end of the conduit 100 to a predetermined length so that the visual field of the imaging unit 210 'disposed in the space defined by the distal end diameter of the conduit 100 Next, referring to Figs. 4 to 5, an endoscope according to another embodiment of the present invention will be described. Fig.

Hereinafter, for the sake of convenience of understanding and explanation of the present invention, the differences from the above embodiment will be mainly described, and the same reference numerals will be used for the same components in the accompanying drawings, and description thereof will be omitted.

4 to 5, the endoscope according to another embodiment of the present invention has a diameter substantially equal to the diameter of the head portion 200, unlike the embodiment described above. The diameter of the conduit section 100 is set to be smaller than the diameter of the head section 200. In such a structure, the diameter of the conduit section 100 is set to be smaller than the diameter of the head section 200, However, due to the difference in diameter between the catheter 100 and the head 200, it is difficult to move the endoscope while the endoscope is passing through the space in the body. .

However, since the diameter of the conduit section 100 'and the head section 200 having the imaging sections 210 are substantially the same, the imaging section 210 can not be disposed at one end of the conduit section 100' A part 210 'of each imaging unit is located inside the space formed by the diameter of the end of the conduit unit 100. Therefore, the field of view of such imaging units 210' is not ensured, It becomes difficult to acquire an image.

In this embodiment, in order to secure a visual field near the distal end of the conduit 100 ', the conduit 100' has a tapered portion 110 formed in such a shape that the distal end thereof is gradually reduced toward the head portion 200 The diameter of the distal end portion of the conduit section 100 is smaller than the diameter of the distal end of the conduit section 100. In this case, The diameter of the conduit section 100 is the same as that of the head section 200 from the section passing through the tapered section 110 so that the entire conduit section 100 is inserted into the head section 200 There is no concern about the problem of insertion.

Next, an endoscope according to another embodiment of the present invention will be described with reference to Figs. 6 to 7. Fig.

6 to 7, the endoscope according to the present embodiment is configured such that the diameter of the conduit portion 100 " is substantially the same as the diameter of the head portion 200, but the diameter of the conduit portion 100 " And the same diameter is maintained from the side of the head portion 200 of the conduit portion 100 ".

Accordingly, in the same manner as in the present embodiment, a portion 210 'of each imaging unit is located inside the space defined by the diameter of the distal end of the conduit unit 100, and thus, the imaging unit 210 'Are not ensured, and it becomes difficult to acquire a complete spherical image.

Accordingly, in this embodiment, by making the material of the conduit portion 100 " transparent, it is possible to reduce the size of the area of the imaging portion 210 'located near the distal end of the conduit portion 100 ", that is, And a full spherical image can be taken through the thus secured field of view (refer to FIG. 7).

Preferably, the conduit portion 100 " has a slightly larger diameter than the head portion 200 so that its distal end receives a portion of the head portion 200, and such a conduit portion 100 " And a lid 230 that is positioned to surround one side of the lid 230. It is needless to say that the lid 230 is also made of a transparent material.

2 to 7, the endoscope according to each of the above embodiments of the present invention includes a head portion 200 and an instrument member 120 (see FIG. 2) positioned to penetrate the inside of the conduit portion 100, 100'100 " ).

The endoscope is used not only for diagnosis of a specific part of the body but also for surgery. An instrument necessary for the endoscope is positioned at the end of the instrument member 120 at the side of the head part 200, And the catheter unit 100, 100 '100'. The mechanism positioned at the end of the instrument member 120 at the side of the head unit 200 is not limited, but may be a mechanism necessary for surgery or diagnosis, Forceps, scissors, and the like.

As described above, a plurality of images photographed through the plurality of image sensing units 210 and 210 'are applied to the image acquiring unit 300 connected thereto, and as shown in FIGS. 3, 5, 7 and 8 , The image acquiring unit 300 acquires a spherical image P by combining a plurality of applied images (Panorama stitching).

The spherical image P thus obtained is output through the output unit 400 connected to the image acquisition unit 300.

The configuration of the output unit 400 is not limited, but preferably includes a display device or the like capable of outputting all of the spherical images, so that the user can view the spherical shape outputted by the operator, A plurality of output units 400 are provided and a different part of the spherical image P is selected in accordance with a plurality of image operation signals input to an operation input unit (not shown) Can be output.

More preferably, the configuration of the output unit 400 may be an HMD (Head Mount Display) configured to be worn on the user's face.

In the HMD, a motion detection sensor (not shown) is provided to detect a motion of a user's face portion wearing the HMD, and a video manipulation signal is accordingly input. According to the video manipulation signal, . That is, an image corresponding to the field of view of the point of sight of the user is output, thereby improving the convenience of the user's image manipulation.

As shown in FIG. 9, a plurality of HMDs are provided, and a plurality of users wear the HMDs. Accordingly, through the different image manipulation signals input from the respective HMDs, (P1, P2), respectively.

With such a configuration, an effective cooperative system of the tidal guidance and tidal guidance as a user can be constructed during diagnosis or operation using the endoscope, thereby improving the convenience of diagnosis, operation, and accuracy and reliability.

Also, the image pickup unit can be constituted by an endoscope capable of 360 degrees omnidirectional stereoscopic vision, each of which has a pair of left and right field-of-view images of one imaging unit.

Although the preferred embodiments of the present invention have been described, the present invention is not limited to the specific embodiments described above. It will be apparent to those skilled in the art that numerous modifications and variations can be made in the present invention without departing from the spirit or scope of the appended claims. And equivalents should also be considered to be within the scope of the present invention.

100, 100, 100 "
110:
120:
200:
210:
220: Light source
300:
400: Output section
P: Sphere image

Claims (5)

The conduit sections 100, 100 ', 100 ";
And a head unit 200 having a plurality of imaging units 210 and 210 'spaced apart from each other at a predetermined distance from each other at the one end of the conduits 100, 100', and 100 ' ,
A plurality of images picked up by the plurality of image pickup units 210 and 210 'are combined to acquire omnidirectional images,
An endoscope capable of shooting in all directions. The method according to claim 1,
The conduit section (100)
The head portion 200 having a diameter smaller than the diameter of the head portion 200,
An endoscope capable of shooting in all directions. The method according to claim 1,
The plurality of image sensing units 210,
A plurality of images captured in the overlapping view are combined to acquire an omnidirectional image,
An endoscope capable of shooting in all directions. The method according to claim 1,
Further comprising a plurality of light sources (220) positioned within a predetermined distance between the plurality of imaging units (210)
An endoscope capable of shooting in all directions. The method according to claim 1,
And an output unit 400 for outputting the obtained omnidirectional image,
An endoscope in which an orientation direction image of each wearer of the HMD is displayed in a head mount display (HMD) with head tracking function.
KR1020150123277A 2015-08-31 2015-08-31 A spherical stereoscopic endoscope capable of omnidirectional video KR20170026025A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117281456A (en) * 2023-11-24 2023-12-26 深圳市图优医疗影像有限公司 Switchable front end assembly and endoscope

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117281456A (en) * 2023-11-24 2023-12-26 深圳市图优医疗影像有限公司 Switchable front end assembly and endoscope
CN117281456B (en) * 2023-11-24 2024-02-23 深圳市图优医疗影像有限公司 Switchable front end assembly and endoscope

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