WO2019075922A1 - Single-lens horizontal-scroll stereoscopic endoscope system - Google Patents

Abstract

A single-lens horizontal-scroll stereoscopic endoscope system, comprising a single-lens stereoscopic spectroscope sub-system (S1), a single-lens image shooting sub-system (S2) and a 3D image display sub-system (S3); the single-lens stereoscopic spectroscope sub-system (S1) comprises a right-angled prism having a left 30-degree angle and a right-angled prism having a right 30-degree angle which are symmetrically arranged; the single-lens image shooting sub-system (S2) is an endoscope, a lens of which has a focal length longer than 30 mm; and the 3D image display sub-system (S3) comprises a 3D image display connected with the endoscope in a wired or wireless manner. The single-lens horizontal-scroll stereoscopic endoscope system has a small volume and good synchronism, satisfies the stereoscopic display mainstream, can also improve the utilization rate of pixels of an original image, and can be used for smaller minimally invasive surgery, which is unachievable by all currently existing dual-lens stereoscopic endoscopes.

Description

Single lens banner stereo endoscope system Technical field

The invention belongs to the field of medical instruments, and more particularly to a single lens banner stereo endoscope system.

Background technique

In recent years, endoscopes have been widely used in fields such as medical minimally invasive surgery. The endoscopes used mainly include single lens endoscopes and dual lens stereo endoscopes. One of the tricky problems with single-lens endoscopy in minimally invasive surgery is that the doctor can only get two-dimensional information in the patient's body. Loss of three-dimensional information, causing difficulties in surgical operations, easy to cause accidental injury to the surgery, bringing greater surgical pain to the patient and even leaving behind sequelae.

The dual-lens stereo endoscope is an endoscope system for observing the inside of the human body with a stereoscopic image. It has two symmetrical cameras on the left and right sides, and obtains left and right images with parallax, which are displayed on the stereoscopic display after being processed, and the doctor uses stereo glasses or naked eyes. Stereoscopic observation is possible. In this way, the doctor can more accurately determine the positional relationship between the tissue of the surgical site and the surgical instrument and the surgical site, thereby ensuring the precise operation of the surgery, reducing the surgical trauma and reducing the labor intensity of the doctor.

However, this two-lens stereo endoscope currently has four disadvantages. First, because it uses a dual camera, it is larger than a single camera endoscope and is only suitable for surgery on large organs such as the esophagus, stomach, and intestines or other larger wounds. Second, the center position of the stereoscopic left and right images is required to be consistent. However, due to the repeated use of the device, the structural components of the left and right cameras are deteriorated, and the center position shift is likely to occur, thereby affecting the stereoscopic viewing effect. In particular, a stereoscopic endoscope that can adjust the angle of the optical axis of the dual camera is more common. Third, the dual camera must be synchronized to achieve real-time display of stereo images. This has certain difficulties in technical implementation, and the corresponding components further increase the overall volume. Fourth, the dual camera lens distance is too large. Due to the limited size of the diameter of the camera itself, the optical axis distance of the dual camera cannot be too small (generally not lower than 5MM ). It is known from stereoscopic shooting that the optimal stereoscopic shooting distance or surgical viewing and operating distance should be a long distance in front of the camera ( 250MM about). This is almost impossible in human organs. The usual practice is to increase the angle of the optical axis of the dual camera, but this leads to a strong stereoscopic effect, which is difficult for the human eye to adapt and looks very dizzy. This is the biggest drawback of the current dual lens stereo endoscope. Because of this, this dual-lens stereoscopic endoscope is difficult to use for minimally invasive surgery on small organs in the human body.

technical problem

Type the technical problem description paragraph here.

Technical solution

In view of the deficiencies of the prior art, the present invention aims to provide a single-lens banner stereo endoscope system, which solves all the shortcomings of the above-mentioned dual-lens stereo endoscope, and is suitable for minimally invasive surgery of various human and small organs. .

To achieve the above object, the present invention provides the following technical solutions:

A single-lens banner stereoscopic endoscope system, comprising: a single-lens stereoscopic spectroscopic mirror system, a single-lens image capturing subsystem, and a 3D image display subsystem; the single-lens stereoscopic spectroscopic mirror system includes left triangular prisms assembled together Right prism, the prism is composed of two 30-degree angled right-angled triangle faces and three rectangular faces, the three rectangles are respectively a right-angled inclined face, a 60-degree angle of a long right-angled face and a 30-degree angle. a right-angled surface; wherein the long right-angled surface of the left prism is plated with a semi-transparent film; the long right-angled faces of the left and right prisms are symmetrically fitted, and the center points of the two long-right surfaces are coincident; The right angle surface rotates α degrees around the center point, 0<α<10°, and an air gap of 50-90 nm is maintained in the middle, and finally fixed; the single lens image capturing subsystem is an endoscope or other lens having a lens focal length longer than 30 mm. A device for photographic camera function; the 3D image display subsystem includes various 3D image displays connected to the endoscope by wire or wirelessly.

The image captured by the single-lens image capturing subsystem used in the present invention is not a standard left and right image format, so it is necessary to perform corresponding conversion processing on the image to perform normal stereoscopic display on the stereoscopic display.

As an optimized technical solution, the 3D image display is one of a polarized display, a virtual reality VR box, a multi-view or human eye tracking naked-eye 3D display, a mobile phone, and a tablet; the 3D image display is wired Or one of the WIFI, NFC, and infrared wireless connection methods is connected with the single-lens image capturing subsystem, receives the stereoscopic image signal and performs real-time processing, and finally displays the stereoscopic image in real time.

As an optimized technical solution, the inclined surface of the left prism and the long right angle surface of the right prism are coated with an anti-reflection film; the outer surface of the inclined surface of the right prism is covered with a light shield but not adhered;

The right-angled triangular surface of the left prism and the right-angled triangular surface of the right-sided prism on the same side of the split mirror are respectively smoothed and frosted, and the four triangular faces are covered with a black shade to be covered but not adhered; The apex angle of the 30 degree apex of the prism and the apex angle of the 30 degree apex of the right prism are also smoothed, sanded and shaded backwards, and the flattening depth reaches the intersection of the rib and the rib; the surrounding faces of the left and right prisms are surrounded. The outer side can be finely sealed, or a colorless transparent cover can be added to the outer side of the entire beam splitter.

As an optimized technical solution, the image processing process of the 3D image display to the single lens image capturing subsystem includes 6 steps:

1) an up-and-down approximate symmetrical stereoscopic image captured by a single-lens image capturing subsystem;

2) Vertically flipping the lower half or the upper half of the stereoscopic image;

3) Horizontally shifting the lower half or the upper half of the stereoscopic image so that the upper and lower images are aligned;

4), remove the excess portion of the image in the upper half or the lower half;

5) Place the lower half or the upper half of the image side by side on the right or left side of the upper half;

6), the entire portion of the shadow below the entire image is cut off, that is, a standard parallel format stereo image is obtained; if necessary, the stereo image can be further appropriately processed to correct image distortion.

Beneficial effect

Due to the adoption of the above technical solutions, the advantages of the present invention are compared with the prior art:

1) The invention is small in size, and its length generally does not exceed the diameter of a single camera, the width does not exceed 2/3 of the diameter of the single camera, and the height does not exceed 1/2 of the diameter of the single camera.

2) The present invention is a completely fixed whole, so the center position of the left and right images is also fixed, and no offset occurs.

3) The present invention is a single-lens shooting, which performs stereo processing on the same image, so the synchronization is good.

4) The mirror distance of the present invention can be processed to a small size as needed, so that a closer viewing operation and operation can be achieved, and an image with an optimum stereoscopic effect can be taken. In addition, the processed image is displayed on the banner, which not only conforms to the mainstream of the stereoscopic display, but also improves the utilization of the original image pixels, and can be used for smaller minimally invasive surgery, which is currently difficult for all dual-lens stereoscopic endoscopes. And.

The invention will be further described with reference to the drawings and embodiments.

DRAWINGS

1 is a schematic structural view of three subsystems of the present invention;

2 is a schematic structural view of a combination of a left triple prism and a right triple prism in the present invention;

3 is a schematic diagram of the combination of the left left prism and the right triple prism after optimization according to the present invention;

4 is a schematic structural view of a combination of a beam splitter and an endoscope lens according to an embodiment of the present invention;

FIG. 5 is a schematic structural view of FIG. 4 after adjusting an angle in an endoscope; FIG.

Figure 6 is a comparison of stereo images that have not been processed by this patented product and processed by the patented product.

BEST MODE FOR CARRYING OUT THE INVENTION

The description of the preferred embodiment of the invention is entered here.

Embodiments of the invention

Example

As shown in Figure 1-5, the single-lens banner stereoscopic endoscope system includes a single-lens stereoscopic spectroscopic mirror system, a single-lens image capturing subsystem, and a 3D image display subsystem. The single-lens stereoscopic spectroscopic mirror system includes two equal-sized left and right prisms assembled together. The prism consists of two 30 degree angular right triangle faces and three rectangular faces. The three rectangles are the bevel of the right angle, the long right angle of the 60 degree angle, and the short right angle of the 30 degree angle. The long right angle surface of the left prism is plated with a semi-transparent semi-permeable membrane.

As shown in FIG. 2, the long right-angled faces of the left and right prisms are symmetrically fitted, and the center points of the two long-right faces are coincident. Then the two long right angles are rotated by a degree around the center point, 0 < α < 10 °, with an air gap of 50-90 nm in between, and finally the left and right prisms are fixed. The long right-angled surface of the left triple prism is a rectangular surface composed of the rib 11, the rib 12, the rib 13 and the rib 14. The long right-angled face of the right triple prism is a rectangular face composed of the rib 21, the rib 22, the rib 23 and the rib 24. After the left and right two rectangular faces are rotated by a degree around the center point, the edge 11 of the left right angle prism and the edge 21 of the right right angle prism intersect at a midpoint of each other at an angle of α degrees, and the rib 12 and the right right angle of the left right angle prism are The ribs 22 of the triangular prism intersect at a midpoint of each other with an angle of α degrees, and the ribs 13 of the left right-angled triangular prism intersect the ribs 23 of the right right-angled triangular prism at a midpoint of each other with an angle of α degrees. The ribs 14 of the left right-angled prism intersect the ribs 24 of the right right-angled prism at a midpoint of each other with an angle of α degrees.

Several key points of the imaging principle of the stereoscopic mirror system: (1) semi-transverse semi-permeable membrane, which plays a role of half-splitting; (2) small angle deflection of the left and right prisms along the center point of the long-right plane, making the original completely symmetrical The two imaging fields produce a misalignment of the alpha angle, and it is this misalignment that produces a slight parallax, resulting in a three-dimensional sense. At the same time, the direction of the misalignment is exactly the lateral direction of the left and right image fields, making the banner display of the final image possible. (3) The light is totally reflected in the slopes of the left and right prisms. Because it is total reflection, there is almost no light loss, which greatly improves light utilization. (4) The size of the stereoscopic effect can be achieved by adjusting the rotation angle α. The larger the angle α of the deflection of the left and right prisms, the stronger the stereoscopic effect of the final image for the same shooting distance.

In order to improve the imaging effect and increase the practicality, the stereoscopic spectroscopic mirror system also needs to be processed as follows: (1) the inclined surface of the left prism and the long right angle surface of the right prism are coated with an anti-reflection film to improve the light transmittance; (2) The outer side of the slope of the right prism is covered with a pure black shade cloth or other shades (but not adhered) to prevent other light from entering the inside of the stereoscopic beam splitter; (3) the right-angled triangular face of the left prism after the fit And the right-angled triangular faces of the right-sided right prism are separately smoothed and matte, so that the stray light reflected inside the stereoscopic spectroscope is converted into diffused light on the four triangular faces to reduce interference with the imaging light. Increase the imaging effect. In addition, the four triangular faces are covered with a pure black shade cloth or other shades (but not adhered) to prevent excess light from entering the inside of the stereoscopic beam splitter. (4) The ribs 12 of the left triangular prism and the ribs 22 of the right triangular prism are also subjected to smoothing, sanding and shading treatment, and the flattening depth reaches the intersection of the rib 12 and the rib 22 . (5) The outer sides of the left and right prism faces can be sealed tightly, or a colorless transparent cover can be added to the entire beam splitter to prevent dust from entering the bonding surface and affecting the imaging effect. The processed spectroscopic mirror system is shown in Figure 3.

The single lens image capturing subsystem is an endoscope 4 having a lens focal length longer than 30 mm. Endoscope is one of the choices. In practical applications, the single-lens image capture subsystem can be either a medical endoscope or an industrial endoscope; that is, it can be various cameras or various cameras or cameras. . The resulting image can be either a static photo or a dynamic video. The single-lens image capture subsystem can directly view the original image through the screen, and also has the function of recording and storing the original image.

When the spectroscopic mirror system is fixedly connected with the single-lens image capturing subsystem, the long right angle surface in the middle of the beam splitter is perpendicular to the plane where the photographing lens is located, and the optical center of the lens is located on the plane of the long right angle plane, as shown in FIG. 4 . Shown.

In addition, in order to obtain a suitable shooting direction, the beam splitter and the camera can be rotated by a certain angle in the endoscope or other device after being fixed, as shown in FIG.

The 3D image display subsystem includes a 3D image display connected to the endoscope by wire or wirelessly. The 3D image display is one of a polarized display, a virtual reality VR box, a multi-view or human eye tracking naked-eye 3D display, a mobile phone, and a tablet computer. The 3D image display is connected to the endoscope by one of wired or WIFI, NFC, and infrared wireless connection methods, receives a stereoscopic image signal therefrom and performs real-time processing, and finally displays the stereoscopic image in real time.

The working principle is that the light emitted by the object enters from the inclined surface of the left prism 3 and reaches the long right angle surface coated with the semi-transparent film. Half of the light is reflected by the semi-transparent film to reach the slope of the left prism, and then Through the total reflection of the slope, it is emitted from the short right angle of the left prism 1 to the lower side. The other half of the light passes through the semi-transparent film to the inclined surface of the right prism 2, and then is totally reflected by the inclined surface, and is emitted downward from the short right angle of the right prism, and finally passes through the lens 3 of the camera 4 under the stereoscopic beam splitter. A symmetrical stereoscopic image that is bilaterally symmetrical but slightly offset from top to bottom is formed.

Next, the lower half of the image is vertically flipped, and the lower half or the upper half of the image is horizontally displaced so that the upper and lower images are substantially aligned; the upper half or the lower half of the image is removed; the image is The lower half or the upper half are placed side by side on the right or left side of the upper half; the excess portion of the shadow below the entire image is cut off to obtain a stereoscopic image in a standard parallel format. If necessary, the image can be further rendered appropriately to correct image distortion. Figure 6 is a comparison of stereo images that have not been processed by this patented product and processed by this patented product.

The invention is small in size, and its length generally does not exceed the diameter of a single camera, the width does not exceed 2/3 of the diameter of the single camera, and the height does not exceed 1/2 of the diameter of the single camera.

The present invention is a completely fixed unit, so that the center position of the left and right images is also fixed without offset. The invention is a single-lens shooting, which performs stereo processing on the same image, so the synchronization is good. The mirror distance of the present invention can be processed to a small size as needed, so that a closer viewing operation and operation can be achieved, and an image with an optimum stereoscopic effect can be taken. In addition, the processed image is displayed on the banner, which not only conforms to the mainstream of the stereoscopic display, but also improves the utilization of the original image pixels, and can be used for smaller minimally invasive surgery, which is currently difficult for all dual-lens stereoscopic endoscopes. And. The image captured by the present invention is not a standard left and right image format, so it is necessary to perform corresponding conversion processing on the image to perform normal stereoscopic display on the stereoscopic display.

The scope of the present invention is not limited to the above embodiments, and all the technical solutions under the inventive concept belong to the protection scope of the present invention. It should be noted that those skilled in the art should be considered as the scope of protection of the present invention without departing from the principles of the invention.

Industrial applicability

Type the industrial usability description paragraph here.

Sequence table free content

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Claims (4)

1. A single-lens banner stereoscopic endoscope system, comprising: a single-lens stereoscopic spectroscopic mirror system, a single-lens image capturing subsystem, and a 3D image display subsystem;

   The single-lens stereoscopic spectroscopic mirror system comprises a left triangular prism and a right triangular prism assembled together. The prism is composed of two 30-degree angled right-angled triangular faces and three rectangular faces, and the three rectangular shapes are respectively right-angled inclined faces, 60 a long right-angled surface opposite to a right angle and a short right-angled surface opposite to a 30-degree angle; wherein the long right-angled surface of the left triangular prism is plated with a semi-transparent semi-transparent film; the long right-angled faces of the left triangular prism and the right triangular prism are symmetrically fitted, And the center points of the two long right-angled faces are coincident; then the two long-right-angled faces are rotated by α degrees around the center point, 0<α<10°, and an air gap of 50-90 nm is maintained in the middle, and finally fixed;

   The single lens image capturing subsystem is an endoscope having a lens focal length longer than 30 mm or other device having a photographic camera function;

   The 3D image display subsystem includes various 3D image displays that are connected to the endoscope by wire or wirelessly.
2. The single lens banner stereoscopic endoscope system according to claim 1, wherein:

   The inclined surface of the left prism and the long right angle surface of the right prism are plated with an anti-reflection film; the outer side of the inclined surface of the right prism is covered with a light shield but not adhered;

   The right-angled triangular surface of the left triangular prism and the right-angled triangular surface of the right-sided prism on the same side are respectively smoothed and frosted, and then the four triangular faces are covered with a shade to cover but not adhered; the edge of the left triple prism And the 30-degree apex angle of the right prism is also smoothed, sanded and shaded backwards, and the flattening depth reaches the intersection of the rib and the rib;

   The outer surface of the left and right prisms can be closely sealed around the outer surface of the left and right prisms, or a colorless transparent cover can be added to the outer sides of the left and right prisms.
3. The single-lens banner stereoscopic endoscope system according to claim 1, wherein the image processing process of the single-lens image capturing subsystem of the 3D image display comprises six steps:

   1) The upper and lower symmetrical stereo images obtained by the single lens image capturing subsystem;

   2) Vertically flipping the lower half or the upper half of the stereoscopic image;

   3) Horizontally shifting the lower half or the upper half of the stereoscopic image so that the upper and lower images are aligned;

   4), remove the excess portion of the image in the upper half or the lower half;

   5) Place the lower half or the upper half of the image side by side on the right or left side of the upper half;

   6), the entire portion of the shadow below the entire image is cut off, that is, a standard parallel format stereo image is obtained; if necessary, the stereo image can be further appropriately processed to correct image distortion.
4. The single-lens banner stereoscopic endoscope system according to claim 1, wherein the 3D image display is a polarized display, a virtual reality VR box, a multi-view or human eye tracking naked-eye 3D display, a mobile phone, a tablet computer. One of the three-dimensional image display is connected to the single-lens image capturing subsystem by one of wired or WIFI, NFC, infrared, and receives a stereoscopic image signal and performs real-time processing, and finally displays the stereo in real time. image.