CN101518438A - Binocular endoscope operation visual system - Google Patents
Binocular endoscope operation visual system Download PDFInfo
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- CN101518438A CN101518438A CN200910068276A CN200910068276A CN101518438A CN 101518438 A CN101518438 A CN 101518438A CN 200910068276 A CN200910068276 A CN 200910068276A CN 200910068276 A CN200910068276 A CN 200910068276A CN 101518438 A CN101518438 A CN 101518438A
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Abstract
A binocular endoscope operation visual system mainly comprises a binocular endoscope, an image server and an endoscope stereo display unit. Two ways of clear abdominal cavity image video signals are obtained by the binocular endoscope, two ways of video streams enter a memory of an image processing server or a video memory by a two-way image capture card, and a left-way image and a right-way image which are processed are respectively displayed in a left displayer and a right displayer. By a flat mirror, the contents of the left displayer and the right displayer respectively enter the left eye and the right eye of an observer, thereby the stereo effect is realized. The binocular endoscope operation visual system is suitable for the circumstance of a medical surgical endoscope operation, can completely satisfy the stereoscopic vision requirement of a laparoscope operation of a minimally invasive operation robot, realizes the binocular stereoscopic vision real-time display in the laparoscope operation, has reliable performance, simple structure and high commercialization level, and adapts the germfree circumstances of the operation.
Description
[technical field]:
The invention belongs to endoscope stereoscopic vision field, particularly medical robot is at the stereo visual system in abdominal cavity Wicresoft field, and its principle is the stereo visual system by the synthetic virtual reality of displacement parallax method double light path real time imaging.
[background technology]:
At present, the medical robot Study on Technology has become one of forward position research focus of international robot field, and wherein the research of medical surgery robot is the most outstanding.In recent years, medical work personnel and science engineers and technicians closely cooperate, and have researched and developed the medical surgical surgical robot system of many types, and some well has been applied to clinical practice.DaVinci surgical operation robot system as the exploitation of American I ntuitive Surgical company.And before da Vinci system came out, Computer Motion company was in 1996, and the AESOP series robot according to being developed develops powerful visual system, had released the ZEUS robot system.This system allows the surgeon at first break through the boundary of traditional Minimally Invasive Surgery, Minimally Invasive Surgery precision and level are brought up to new height, greatly reduce patient's misery, operation wound and surgery cost, shortened rehabilitation duration, also alleviated doctor's fatigue strength simultaneously.
Three-dimensional display system under the laparoscopic surgery environment requires to possess: requirements such as the real-time stereo display of two-way endoscope video flowing, easily sterilization, reliability, high image quality.And traditional endoscope all is a monocular, and the doctor undergos surgery by observing single channel 2D image.The 2D image can not be given doctor's third dimension intuitively, and intensity becomes big in doctor's operation process thereby make, and the operation precision is not high.Because the 2D image lacks stereoscopic vision and causes extra work burden and the impaired problem of work efficiency to the doctor, it is particularly important that the research and development of laparoscopic surgery stereo visual system just seem in order to solve.The stereoscopic display apparatus that number of different types are arranged in the market, wherein comparative maturity is double-colored glasses, shutter glasses, three-dimensional display, passive type projection and helmet-type stereoscopic display device.These technology have had sophisticated product at present, but existing every kind of solution all can not satisfy the requirement that laparoscopic surgery stereoscopic vision shows.
[summary of the invention]:
The present invention seeks to provides a kind of spatial binocular endoscope operation visual system in order to satisfy doctor in the laparoscopic procedures for the demand that 3D stereoscopic vision shows.
Clinical operation discovers, the surgical scene of doctor by observing 3D than observe the 2D image undergo surgery have higher success rate, degree of accuracy height, operation efficient height because the 3D vision can provide depth information to the doctor.
Binocular endoscope operation visual system provided by the invention mainly is made of binocular endoscope, image server and endoscope's stereoscopic display unit; Wherein,
Binocular endoscope: described binocular endoscope comprises twin camera and double light path, and being respectively has the parallax video flowing and for video camera provides the two-way illumination, guarantee brightness of image for obtaining two-way, and makes that the image irradiation that obtains is even.Its concrete structure comprises, the binocular endoscope pipe shaft, be provided with the separate image acquisition units of two-way in the pipe shaft, this image acquisition units comprises object lens, and the tilting mirror that sets gradually behind the object lens, turn to prism and eyepiece, then by tiny lens imaging on CCD, export picture signal in the image server PC through camera control unit by the S terminal again; Also be provided with the optical fiber that optical assembly is communicated with external light source that advances in the binocular endoscope pipe shaft by being provided with on the pipe shaft.
Image server: use general PC, its mainboard is installed the dual image capture card, and image pick-up card possesses the S terminal and links to each other with camera control unit, is used for gathering in real time the real time video signals of binocular endoscope output; The PC video card will support double screen to show simultaneously; Image server is used to finish the real-time collection to the binocular endoscope video flowing, selects output image to internal memory, in internal memory, endoscopic images is handled, basic processing comprise image translation, cut out, denoising, white balance, photometry region are chosen etc.In order to solve camera review distortion problem, in image server, carry out camera calibration in addition, use the camera intrinsic parameter that calibrates that image is carried out radial distortion and proofread and correct, thereby obtain the high-quality stereoeffect.Corrected two-way real time imaging is sent to the display screen of the left and right sides display of stereoscopic display unit respectively.
Endoscope's stereoscopic display unit: provide the dual screen interface by image server, for endoscope's stereoscopic display unit provides two-way parallax scene video stream signal; Endoscope's stereoscopic display unit mainly comprises three parts: the stereo display control station; Plane mirror; Display;
Stereo display control station both sides respectively are movably installed with a display, two display screens are oppositely arranged, display can rotate around installation shaft, the gripper shoe middle part is equipped with two plane mirrors, angle between two plane mirrors is freely adjusted 45 ° of-135 ° of scopes so that stereo display control station forward observation to two plane mirrors in picture registration.
Described plane mirror is a single face aluminizer plane mirror.Because the common planar mirror generally is will be through the glass refraction, catoptric imaging can be easy to generate ghost phenomena so again, influences stereoscopic visual effect.
Two plane mirror one sides are installed on the vertical shaft at control station middle part jointly, each fixes with an end of a long draw opposite side of two plane mirrors respectively, each hinged short rod of the other end of long draw, respectively have a regulating tank on the short rod, two short rods with bolt by the regulating tank hinged securement together.
Described display is a liquid crystal display.
The stereoscopic display unit operation principle, as shown in Figure 6:
The left and right sides two-way of binocular endoscope has the real-time video scene signal of parallax respectively by 16,17 input left and right sides display screens 18,19, adjust the position of left and right plane mirror 20,21, the picture 22 of left and right sides two-way anaglyph in plane mirror overlapped, because observer's right and left eyes 23,24 can only be seen road image wherein respectively, so human eye just can obtain stereoeffect by the two-way anaglyph that coincides together in the direct observation plane mirror.
Advantage of the present invention and good effect:
The present invention is the two-way image with parallax that utilizes the binocular endoscope of independent research to provide, enter custom-designed stereoscopic display unit by image server, under the optical system effect of stereoscopic display unit, the doctor observes the image that two-way has parallax respectively by right and left eyes, thereby obtains good stereoscopic visual effect.The present invention is specially for the stereoscopic vision the laparoscopic surgery environment under shows that demand designs, and is applicable to the environment that carries out the stereo scene demonstration by the real-time parallax scene of two-way, can satisfy doctor's demand to 3D stereoscopic vision in laparoscopic surgery fully.
The present invention has realized laparoscopic surgery stereoscopic vision Presentation Function; The gnotobasis that has adapted to operation; Have three-dimensional scenic and show real-time, reliability, the good characteristics of stereoeffect.Simple in structure, reliable, volume is moderate, commercialization level height.The present invention has satisfied the basic demand of surgical environments, is that the doctor operates the basis that medical robot carries out abdominal operation by this stereo visual system, for efficiently finishing smoothly of operation provides essential condition, has good application prospects.
[description of drawings]:
Fig. 1 is the binocular endoscope operation visual system structural representation
Fig. 2 is the binocular endoscope operation visual system flow chart;
Fig. 3 is the binocular endoscope cut-away view;
Fig. 4 is the systems soft ware flow chart;
Fig. 5 is a camera calibration target scaling board;
Fig. 6 is the stereoscopic display unit operation principle;
Fig. 7 is stereoscopic display unit construction machine figure;
Fig. 8 is an endoscopic surgery stereoscopic display unit outside drawing;
Among the figure, 1 binocular endoscope, 2 image servers; 3 stereoscopic vision display units, 4 surgical objects, 5 screening glass; 6 object lens, 7 optical fiber, 8 tilting mirrors; 9 advance optical assembly, and 10 turn to prism, 11 smooth hurdles; 12 eyepieces, 13 screening glass, 14 tiny lens; 15 target surfaces, 16; 17 are respectively left and right sides binocular endoscope video input, 18; 19 left and right sides display screens; 20; 21 left and right plane mirrors, the picture of 22 horizontal parallax images in plane mirror, 23; 24 are respectively observer's right and left eyes; 25 control stations, 26 display brackets, 27 screws; 28 liquid crystal displays; 29 long draws, 30 short rods, 31 square head bolts; 32 acorn nuts; 33 vertical shafts, 34 adjust groove, 35 observation windows.
[specific embodiment]:
Embodiment 1:
As shown in Figure 1, binocular endoscope operation visual system of the present invention mainly is made of binocular endoscope, image server and endoscope's stereoscopic display unit three parts, wherein,
First: binocular endoscope,
Comprise binocular endoscope as shown in Figure 3, comprise the binocular endoscope main body, two-way cold light source and video camera, two-way cold light source are for video camera provides the two-way illumination, guarantee brightness of image, and make that the image irradiation that obtains is even.Binocular endoscope among the present invention uses the illumination of two-way xenon cold light source, and camera control unit possesses the photometry district to be selected and the white balance function, and provides S terminal video output interface to be connected with image server.
Described binocular endoscope concrete structure comprises, the binocular endoscope pipe shaft, be provided with the separate image acquisition units of two-way in the pipe shaft, this image acquisition units comprises object lens 6, and the tilting mirror 8 that sets gradually behind the object lens, turn to prism 10, light hurdle 11 and eyepiece 12, outside object lens and eyepiece, be respectively equipped with screening glass 5, screening glass 13, by tiny lens 14 and target surface 15 imaging on CCD, flow through the real-time image/video of camera control unit again through the optical signal behind the eyepiece; Also be provided with the optical fiber 7 that optical assembly 9 is communicated with external light source that advances in the binocular endoscope pipe shaft by being provided with on the pipe shaft.
Binocular endoscope provides the xenon cold light source by optical fiber 7, terminal distribution doublet and two light source mouth.The two-way image enters endoscope's pipe shaft through left and right sides object lens, arrive endoscope's rear port and eyepiece through the tilting mirror optic path, by tiny lens imaging on 1/3 inch CCD, picture signal is connected into camera control unit by holding wire, can focus and the adjustment of CCD position to endoscope in the rear end.
Endoscope's performance in the embodiment of the invention:
● two-way object lens, the illumination of two-way optical fiber xenon cold light source;
● focal length 20mm-25mm;
● parallax 5mm;
● 1/3 inch of CCD size;
● leading portion diameter 10mm, pipe shaft length 319mm;
● 30 ° at work visual angle;
● the depth of field 20mm---120mm of endoscope;
Second portion: image server (this does not give unnecessary details to belong to prior art)
Image server can use general PC, but mainboard must be supported the dual image capture card, and image pick-up card possesses the S terminal and links to each other with camera control unit, gathers the binocular endoscope real time video signals in real time.Video card will support double screen to show, it is fast that video card dma access speed is wanted.
Third part: endoscope's stereoscopic display unit, extremely shown in Figure 8 as Fig. 6,
Image server provides the dual screen interface, for endoscope's stereoscopic display unit provides two-way parallax scene video flowing.Endoscope's stereoscopic display unit mainly comprises three parts: (1) stereo display control station; (2) the direct plane of reflection mirror of single face aluminum film; (3) liquid crystal display (15 inches).
Described plane mirror is a single face aluminizer plane mirror.Because the common planar mirror generally is will be through the glass refraction, catoptric imaging can make image quality decrease so again, thereby influences stereoscopic visual effect.
Two plane mirror one sides are installed on the vertical shaft 33 at control station middle part jointly, each fixes with an end of a long draw 29 opposite side of two plane mirrors respectively, this long draw can be adjusted in the 4cm scope along the adjustment groove on the plane mirror, the other end of long draw is by acorn nut 32 each hinged short rod 30, respectively have a regulating tank on the short rod, two short rods with square head bolt 31 by the regulating tank hinged securement together.By regulating the angle between long draw 29 and the short rod 30, and the connection length between two short rods 30, can guarantee that two angles between plane mirror freely adjust 45 ° of-135 ° of scopes.
Stereoscopic display unit shows the two-way real-time scene of parallax respectively by left and right sides LCDs, plane mirror by special placement, make the imaging of image in plane mirror of left and right sides display screen coincide together, human eye obtains stereoeffect by the two-way anaglyph that coincides together in the direct observation plane mirror.
Embodiment 2: laparoscopic surgery stereo visual system analog operation process:
Below by once complete stereoscopic vision forming process the present invention is described:
The first step: hardware system is prepared
Use transformed ordinary camera spider to fix binocular endoscope, make endoscope approximately become 30 ° of angles with the plane of observation, the end-to-end distance of binocular endoscope is placed binocular endoscope like this from object 4cm, is the position of binocular endoscope in the abdominal cavity in the simulation laparoscopic surgery environment; Optical assembly 9 places of advancing of binocular endoscope are connected the xenon cold light source.Terminal image signal line connects camera control unit (figure part omitted).Two camera control units are connected with the S terminal of image server by connecting line respectively, connect the liquid crystal display of stereoscopic display unit on image server, have so just set up video flowing passage (referring to Fig. 2 workflow).
Second step: start-up system, adjust picture quality
With peritoneoscope stereo visual system hardware connect finish after, opening power makes system's operation.Open collection of image server operation image and handling procedure, observe the output window image.Put a blank sheet of paper in endoscope tip, carry out white balance adjusting by camera server; Then blank sheet of paper is removed, the photometry district selector button on the camera server is adjusted in the position of object observing thing in image, regulates suitable field range; Then carry out light-source brightness and regulate, then picture system is carried out the three-dimensional coupling of image.
The 3rd step: adjust stereoscopic display unit
The stereoscopic display unit machine drawing as shown in Figure 7, the parallel symmetry in the display screen left and right sides of dual liquid crystal display 28 is placed (adjusting when be arrangeding in parallel is the simplest, also can be not parallel), between screen apart from 50cm.Watch stereoscopic visual effect by observation window shown in Figure 8 35, if the two-way image imaging does not overlap, then by adjust angle between the length pull bar 29,30 and two hinged brachiums of short rod adjust the plane mirror angle, with and with the observation window distance, this distance is regulated by the intermediary adjustment groove 34 of control station, obtains good stereoscopic visual effect.
To sum up, the present invention is exactly a human eye three-dimensional imaging principle, provides good stereoscopic visual effect by custom-designed binocular endoscope and stereoscopic display unit to the observer.This system is except that can be used for laparoscopic surgery, and two width of cloth images that its stereoscopic display unit can have any type parallax carry out stereo display, has good application prospects and expands space.
Claims (4)
1, a kind of binocular endoscope operation visual system is characterized in that this system mainly is made of binocular endoscope, image server and endoscope's stereoscopic display unit; Wherein,
Binocular endoscope: comprise the binocular endoscope pipe shaft, be provided with the separate image acquisition units of two-way in the pipe shaft, this image acquisition units comprises object lens, and the tilting mirror that sets gradually behind the object lens, turn to prism and eyepiece, by tiny lens imaging on CCD, export picture signal in the image server PC through camera control unit S terminal again; Also be provided with the optical fiber that optical assembly is communicated with external light source that advances in the binocular endoscope pipe shaft by being provided with on the pipe shaft;
Image server: use general PC, its mainboard is installed the dual image capture card, and image pick-up card possesses the S terminal and links to each other with camera control unit, is used for gathering in real time the real time video signals of binocular endoscope output; The PC video card will support double screen to show simultaneously;
Endoscope's stereoscopic display unit: provide the dual screen interface by image server, for endoscope's stereoscopic display unit provides two-way parallax scene video stream signal; Endoscope's stereoscopic display unit mainly comprises three parts: the stereo display control station; Plane mirror; Display;
The gripper shoe both sides of stereo display control station respectively are movably installed with a display, the display screen of two display is oppositely arranged, display can rotate around installation shaft, the gripper shoe middle part is equipped with two plane mirrors, angle between two plane mirrors is freely adjusted 45 ° of-135 ° of scopes so that stereo display control station forward observation to two plane mirrors in picture registration.
2, binocular endoscope operation visual system according to claim 1 is characterized in that described plane mirror is a single face aluminizer plane mirror.
3, binocular endoscope operation visual system according to claim 1 and 2, it is characterized in that two plane mirror one sides are installed on the vertical shaft at gripper shoe middle part jointly, each fixes with an end of a long draw opposite side of two plane mirrors respectively, each hinged short rod of the other end of long draw, respectively have a regulating tank on the short rod, two short rods with bolt by the regulating tank hinged securement together.
4, binocular endoscope operation visual system according to claim 1 and 2 is characterized in that described display is a liquid crystal display.
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