[go: up one dir, main page]
More Web Proxy on the site http://driver.im/

WO2019075922A1 - 单镜头横幅立体内窥镜系统 - Google Patents

单镜头横幅立体内窥镜系统 Download PDF

Info

Publication number
WO2019075922A1
WO2019075922A1 PCT/CN2017/119459 CN2017119459W WO2019075922A1 WO 2019075922 A1 WO2019075922 A1 WO 2019075922A1 CN 2017119459 W CN2017119459 W CN 2017119459W WO 2019075922 A1 WO2019075922 A1 WO 2019075922A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
lens
stereoscopic
prism
angled
Prior art date
Application number
PCT/CN2017/119459
Other languages
English (en)
French (fr)
Inventor
苏敏
苏胜强
Original Assignee
苏敏
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 苏敏 filed Critical 苏敏
Publication of WO2019075922A1 publication Critical patent/WO2019075922A1/zh

Links

Classifications

    • 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
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • 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
    • 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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/10—Beam splitting or combining systems
    • G02B27/106—Beam splitting or combining systems for splitting or combining a plurality of identical beams or images, e.g. image replication
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B5/00—Optical elements other than lenses
    • G02B5/04—Prisms

Definitions

  • the invention belongs to the field of medical instruments, and more particularly to a single lens banner stereo endoscope system.
  • 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.
  • this two-lens stereo endoscope currently has four disadvantages.
  • 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.
  • 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.
  • 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.
  • 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. .
  • 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.
  • 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.
  • 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.
  • 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.
  • the image processing process of the 3D image display to the single lens image capturing subsystem includes 6 steps:
  • 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.
  • 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 whole, so the center position of the left and right images is also fixed, and no offset occurs.
  • the present 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.
  • 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.
  • FIG. 1 is a schematic structural view of three subsystems of the present invention.
  • FIG. 2 is a schematic structural view of a combination of a left triple prism and a right triple prism in the present invention
  • FIG. 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
  • FIG. 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
  • Figure 6 is a comparison of stereo images that have not been processed by this patented product and processed by the patented product.
  • 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.
  • 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 ⁇ ⁇ ⁇ 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.
  • 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 ⁇ degrees
  • 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 ⁇ degrees
  • 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 ⁇ 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 ⁇ degrees.
  • the size of the stereoscopic effect can be achieved by adjusting the rotation angle ⁇ .
  • the stereoscopic spectroscopic mirror system 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Biophysics (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

一种单镜头横幅立体内窥镜系统，包括单镜头立体分光镜子系统(S1)、单镜头影像拍摄子系统(S2)和3D影像显示子系统(S3)；单镜头立体分光镜子系统(S1)包括对称安装的左30度角直角三棱镜和右30度角直角三棱镜；单镜头影像拍摄子系统(S2)为镜头焦距长于30mm的内窥镜；3D影像显示子系统(S3)包括与内窥镜通过有线或者无线的方式连接的3D影像显示器。单镜头横幅立体内窥镜系统体积小巧，同步性好，符合立体显示主流，又可提高原始影像像素的利用率，可以用于更小的微创手术，这是目前所有双镜头立体内窥镜难以期及的。

Description

单镜头横幅立体内窥镜系统 技术领域
本发明属于医疗器械领域，更具体地说，涉及一种单镜头横幅立体内窥镜系统。
 背景技术
近年来，内窥镜在医疗微创手术等领域中被广泛使用。所使用的内窥镜主要有单镜头内窥镜和双镜头立体内窥镜两种。单镜头内窥镜在微创手术中存在一个棘手的问题，就是医生只能得到病人体内的二维信息。失去了三维信息，给手术操作带来困难，容易造成手术的误伤，给病人带来更大的手术痛苦甚至留下后遗症。
双镜头立体内窥镜则是以立体影像观察人体内部的内镜系统，它具有左右两个对称的摄像头，获取具有视差的左右影像，通过处理后显示于立体显示器，医生使用立体眼镜或者裸眼即可进行立体观察。这样医生就能够更加准确地确定手术部位的组织之间，以及手术器械与手术部位之间的位置关系，从而保证了手术的精确进行，降低手术创伤，减轻医生的劳动强度。
但这种双镜头立体内窥镜目前存在四个方面的缺点。一是因为采用了双摄像头，所以体积比单摄像头内窥镜更大，只适用于食道、胃部、肠道等大型器官或者其它更大的创口的手术。二是立体左右影像的中心位置要求保持一致，但由于器械的重复使用而造成左右摄像头的结构部件恶化，容易产生中心位置偏移，进而影响立体观看效果。特别是可调节双摄像头光轴夹角的立体内窥镜，这种情况更为普遍。三是双摄像头必须同步拍摄，才能实现立体影像的实时显示。这在技术实现上有一定难度，同时相应的部件进一步增加了整体体积。四是双摄像头镜距太大。由于拍摄头本身直径尺寸有一定限制，导致双摄像头光轴距离不可能太小（一般不低于 5MM ）。由立体拍摄常识知道，此时最佳立体感的拍摄距离或者手术观看和操作距离，应该是在摄像头前方较远的距离（ 250MM 左右）。而这在人体器官内几乎是不可能的，通常的做法是加大双摄像头的光轴夹角，但这样又导致立体感过强，人眼难以适应，看起来很胀眼。这是目前双镜头立体内窥镜的最大缺点。正因为如此，这种双镜头立体内窥镜很难用于人体小器官的微创手术。
技术问题
在此处键入技术问题描述段落。
 技术解决方案
针对现有技术存在的不足，本发明的目的在于提供了一种单镜头横幅立体内窥镜系统，解决了上述双镜头立体内窥镜的所有缺点，适用于人体各类大小器官的微创手术。
为实现上述目的，本发明提供了如下技术方案：
单镜头横幅立体内窥镜系统，其特征在于：包括单镜头立体分光镜子系统、单镜头影像拍摄子系统和3D影像显示子系统；所述单镜头立体分光镜子系统包括拼装在一起的左三棱镜和右三棱镜，该棱镜由两个30度角的直角三角形面和三个矩形面构成，三个矩形分别是直角所对的斜面、60度角所对的长直角面和30度角所对的短直角面；其中左三棱镜的长直角面镀有半反半透膜；所述左三棱镜和右三棱镜的长直角面进行对称贴合，并使得两个长直角面的中心点重合；然后两个长直角面围绕中心点旋转α度，0＜α＜10°，中间保持有50-90nm的空气隙，最后进行固定；所述单镜头影像拍摄子系统为镜头焦距长于30mm的内窥镜或其它具有摄影摄像功能的装置；所述3D影像显示子系统包括与内窥镜通过有线或者无线的方式连接的各种3D影像显示器。
本发明所采用的单镜头影像拍摄子系统所拍摄的影像并不是标准的左右影像格式，所以需要对影像进行相应的转换处理，才能在立体显示器上进行正常的立体显示。
作为一种优化的技术方案，所述3D影像显示器为偏光式显示器、虚拟现实VR盒子、多视点或人眼跟踪的裸眼3D显示器、手机、平板电脑中的其中一个；所述3D影像显示器通过有线或WIFI、NFC、红外中的其中一种无线连接方式与单镜头影像拍摄子系统连接，从中接收立体影像信号并进行实时处理，并最终实时显示立体影像。
作为一种优化的技术方案，所述左三棱镜的斜面和右三棱镜的长直角面表面镀增透膜；所述右三棱镜的斜面外侧用遮光物进行贴合覆盖但不可粘连；
贴合后分光镜的左三棱镜的直角三角形面和同侧的右三棱镜的直角三角形面，分别进行磨平和磨砂处理，再用黑色遮光物对这四个三角形面进行贴合覆盖但不可粘连；左三棱镜的30度顶角所在棱和右三棱镜的30度顶角所在棱同样向后进行磨平、磨砂和遮光处理，磨平深度到达棱和棱的交点；左三棱镜和右三棱镜的贴合面四周外侧可进行细微的密封处理，或者在整个分光镜的外侧面加一无色透明外罩。
作为一种优化的技术方案，所述3D影像显示器对单镜头影像拍摄子系统所得影像处理过程包括6个步骤：
1）、单镜头影像拍摄子系统拍摄得到的上下近似对称式立体影像；
2）、对立体影像的下半部分或者上半部分进行垂直翻转；
3）、对立体影像的下半部分或者上半部分进行水平位移，使得上下影像对齐；
4）、切除上半部分或者下半部分中影像的多余部分；
5）、把影像的下半部分或者上半部分并排相接放置在上半部分的右侧或者左侧；
6）、切除整个影像下面的阴影多余部分，即得到标准的平行格式的立体影像；如有必要，可进一步对该立体影像进行适当渲染处理，以校正影像变形。
 有益效果
由于采用了上述技术方案，与现有技术相比，本发明的有益效果是：
1）、本发明体积小巧，其长度一般不超过单摄像头直径，宽度不超过单摄像头直径的2/3、高度不超过单摄像头直径的1/2。
2）、本发明是一个完全固定的整体，所以左右影像的中心位置也是固定的，不会发生偏移。
3）、本发明为单镜头拍摄，是对同一影像进行立体处理，所以同步性好。
4）、本发明的镜距可以根据需要加工到很小，从而可以实现更近距离的手术观看和操作，并可拍摄最佳立体感的影像。另外，经过处理后的影像是横幅显示的，既符合立体显示主流，又可提高原始影像像素的利用率，可以用于更小的微创手术，这是目前所有双镜头立体内窥镜难以期及的。
参照附图和实施例对本发明做进一步说明。
 附图说明
图1为本发明三个子系统的结构关系示意图；
图2为本发明中左三棱镜和右三棱镜组合结构示意图；
图3为本发明优化后的左三棱镜和右三棱镜组合示意图；
图4为本发明一种实施例中分光镜与内窥镜镜头组合的结构示意图；
图5为图4在内窥镜中调整角度后的结构示意图；
图6为没有经过本专利产品处理和经过本专利产品处理的立体影像的对比图。
 本发明的最佳实施方式
在此处键入本发明的最佳实施方式描述段落。
 本发明的实施方式
实施例
如图1-5所示，单镜头横幅立体内窥镜系统，包括单镜头立体分光镜子系统、单镜头影像拍摄子系统和3D影像显示子系统。所述单镜头立体分光镜子系统包括拼装在一起的大小相等的左右两块三棱镜。该棱镜由两个30度角的直角三角形面和三个矩形面构成。三个矩形分别是直角所对的斜面、60度角所对的长直角面和30度角所对的短直角面。其中左三棱镜的长直角面镀有半反半透膜。
如图2所示，所述左三棱镜和右三棱镜的长直角面进行对称贴合，并使得两个长直角面的中心点重合。然后两个长直角面围绕中心点旋转α度，0＜α＜10°，中间保持有50-90nm的空气隙，最后把左三棱镜和右三棱镜进行固定。其中左三棱镜的长直角面是由棱11、棱12、棱13和棱14组成的矩形面。右三棱镜的长直角面是由棱21、棱22、棱23和棱24组成的矩形面。左右两个贴合的矩形面围绕中心点旋转α度之后，左直角三棱镜的棱11与右直角三棱镜的棱21相交于彼此中点且夹角为α度，左直角三棱镜的棱12与右直角三棱镜的棱22相交于彼此中点且夹角为α度，左直角三棱镜的棱13与右直角三棱镜的棱23相交于彼此中点且夹角为α度。左直角三棱镜的棱14与右直角三棱镜的棱24相交于彼此中点且夹角为α度。
立体分光镜子系统成像原理的几个关键点：（1）半反半透膜，起到对半分光作用；（2）左右两个三棱镜沿长直角面中心点的小角度偏转，使得原本完全对称的两个成像像场产生α角度的错位，正是这一错位才产生微小的视差，从而产生立体感。同时错位的方向正好是左右像场的横向方向，使得最终的影像的横幅显示成为可能。（3）光线在左右两个三棱镜的斜面内分别发生全反射。因为是全反射，所以几乎不存在光损，从而大大提高了光线利用率。（4）立体感的大小可通过调整旋转角度α来实现。左右两个三棱镜偏转的角度α越大，对同一拍摄距离的拍摄对像而言，最终影像的立体感就越强。
为了提高成像效果，增加实用性，立体分光镜子系统还需要做如下加工处理：（1）左三棱镜的斜面和右三棱镜的长直角面表面镀增透膜，以提高光线的通透率；（2）右三棱镜的斜面外侧用纯黑色遮光布或其它遮光物进行贴合覆盖（但不可粘连），防止其它光线从该斜面进入立体分光镜内部；（3）贴合后的左三棱镜的直角三角形面和同侧的右三棱镜的直角三角形面，分别进行磨平和磨砂处理，目的是使立体分光镜内部反射的杂光在这四个三角形面上被转化为漫射光，以减少对成像光线的干扰，增加成像效果。另外再用纯黑色遮光布或其它遮光物对这四个三角形面进行贴合覆盖（但不可粘连），防止多余光线进入立体分光镜内部。（4）左三棱镜的棱12和右三棱镜的棱22同样向后进行磨平、磨砂和遮光处理，磨平深度到达棱12和棱22的交点即可。（5）左右两个三棱镜的贴合面四周外侧可进行细微的密封处理，或者在整个分光镜外加一无色透明外罩，以防止灰尘进入贴合面，影响成像效果。处理后的分光镜子系统如图3所示。
所述单镜头影像拍摄子系统为镜头焦距长于30mm的内窥镜4。内窥镜是其中一种选择，在实际应用中，单镜头影像拍摄子系统即可以是医疗内窥镜，也可以是工业内窥镜；即可以是各种摄像头，也可是各种相机或摄像机。形成的影像即可以是静态的照片，也可以动态的视频。单镜头影像拍摄子系统可以通过屏幕直接观看原始影像，也具有存记录和贮原始影像的功能。
所述分光镜子系统与单镜头影像拍摄子系统进行固定连接时，须保证分光镜中间的长直角面垂直于拍摄镜头所在的平面，并且镜头的光心位于长直角面所在平面上，如图4所示。
另外，为了得到合适的拍摄方向，所述分光镜和摄像头固定后可在内窥镜或其它装置内旋转一定的角度，如图5所示。
所述3D影像显示子系统包括与内窥镜通过有线或者无线的方式连接的3D影像显示器。所述3D影像显示器为偏光式显示器、虚拟现实VR盒子、多视点或人眼跟踪的裸眼3D显示器、手机、平板电脑中的其中一个。所述3D影像显示器通过有线或WIFI、NFC、红外中的其中一种无线连接方式与内窥镜连接，从中接收立体影像信号并进行实时处理，并最终实时显示立体影像。
工作原理是：物体发出的光线从左三棱镜1的斜面进入，到达镀有半反半透膜的长直角面后，其中一半光线经半反半透膜的反射，到达左三棱镜的斜面上，再经该斜面的全反射，从左三棱镜1的短直角面向下射出。另一半光线则经透过半反半透膜，到达右三棱镜2的斜面上，再经该斜面的全反射，从右三棱镜的短直角面向下射出，最终在立体分光镜下方通过摄像头4的镜头3形成左右对称但上下稍有错位的对称式立体影像。
接下来对该影像的下半部分进行垂直翻转，对该影像的下半部分或者上半部分进行水平位移，使得上下影像基本对齐；切除上半部分或者下半部分影像的多余部分；把影像的下半部分或者上半部分并排相接放置在上半部分的右侧或者左侧；切除整个影像下面的阴影多余部分，即得到标准的平行格式的立体影像。如有必要，可进一步对该影像进行适当渲染处理，以校正影像变形。图6是没有经过本专利产品处理和经过本专利产品处理的立体影像的对比图。
本发明体积小巧，其长度一般不超过单摄像头直径，宽度不超过单摄像头直径的2/3、高度不超过单摄像头直径的1/2。
本发明是一个完全固定的整体，所以左右影像的中心位置也是固定的，不会发生偏移。本发明为单镜头拍摄，是对同一影像进行立体处理，所以同步性好。本发明的镜距可以根据需要加工到很小，从而可以实现更近距离的手术观看和操作，并可拍摄最佳立体感的影像。另外，经过处理后的影像是横幅显示的，既符合立体显示主流，又可提高原始影像像素的利用率，可以用于更小的微创手术，这是目前所有双镜头立体内窥镜难以期及的。本发明所拍摄的影像并不是标准的左右影像格式，所以需要对影像进行相应的转换处理，才能在立体显示器上进行正常的立体显示。
本发明的保护范围并不仅局限于上述实施例，凡属于本发明思路下的技术方案均属于本发明的保护范围。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理前提下的若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。
 工业实用性
在此处键入工业实用性描述段落。
 序列表自由内容
在此处键入序列表自由内容描述段落。

Claims (4)

  1. 单镜头横幅立体内窥镜系统，其特征在于：包括单镜头立体分光镜子系统、单镜头影像拍摄子系统和3D影像显示子系统；
    所述单镜头立体分光镜子系统包括拼装在一起的左三棱镜和右三棱镜，该棱镜由两个30度角的直角三角形面和三个矩形面构成，三个矩形分别是直角所对的斜面、60度角所对的长直角面和30度角所对的短直角面；其中左三棱镜的长直角面镀有半反半透膜；所述左三棱镜和右三棱镜的长直角面进行对称贴合，并使得两个长直角面的中心点重合；然后两个长直角面围绕中心点旋转α度，0＜α＜10°，中间保持有50-90nm的空气隙，最后进行固定；
    所述单镜头影像拍摄子系统为镜头焦距长于30mm的内窥镜或其它具有摄影摄像功能的装置；
    所述3D影像显示子系统包括与内窥镜通过有线或者无线的方式连接的各种3D影像显示器。
  2. 根据权利要求1所述的单镜头横幅立体内窥镜系统，其特征在于：
    所述左三棱镜的斜面和右三棱镜的长直角面表面镀增透膜；所述右三棱镜的斜面外侧用遮光物进行贴合覆盖但不可粘连；
    贴合后的左三棱镜的直角三角形面和同侧的右三棱镜的直角三角形面，分别进行磨平和磨砂处理，再用遮光物对这四个三角形面进行贴合覆盖但不可粘连；左三棱镜的棱和右三棱镜的30度顶角棱同样向后进行磨平、磨砂和遮光处理，磨平深度到达棱和棱的交点；
    左三棱镜和右三棱镜的贴合面四周外侧可进行细微的密封处理，或者在左三棱镜和右三棱镜的外侧面加一无色透明外罩。
  3. 根据权利要求1所述的单镜头横幅立体内窥镜系统，其特征在于：所述3D影像显示器对单镜头影像拍摄子系统所得影像处理过程包括6个步骤：
    1）、单镜头影像拍摄子系统拍摄得到的上下对称式立体影像；
    2）、对立体影像的下半部分或者上半部分进行垂直翻转；
    3）、对立体影像的下半部分或者上半部分进行水平位移，使得上下影像对齐；
    4）、切除上半部分或者下半部分中影像的多余部分；
    5）、把影像的下半部分或者上半部分并排相接放置在上半部分的右侧或者左侧；
    6）、切除整个影像下面的阴影多余部分，即得到标准的平行格式的立体影像；如有必要，可进一步对该立体影像进行适当渲染处理，以校正影像变形。
  4. 根据权利要求1所述的单镜头横幅立体内窥镜系统，其特征在于：所述3D影像显示器为偏光式显示器、虚拟现实VR盒子、多视点或人眼跟踪的裸眼3D显示器、手机、平板电脑中的其中一个；所述3D影像显示器通过有线或WIFI、NFC、红外中的其中一种无线连接方式与单镜头影像拍摄子系统连接，从中接收立体影像信号并进行实时处理，并最终实时显示立体影像。
PCT/CN2017/119459 2017-10-20 2017-12-28 单镜头横幅立体内窥镜系统 WO2019075922A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201710985535.2 2017-10-20
CN201710985535.2A CN107669234B (zh) 2017-10-20 2017-10-20 单镜头横幅立体内窥镜系统

Publications (1)

Publication Number Publication Date
WO2019075922A1 true WO2019075922A1 (zh) 2019-04-25

Family

ID=61141070

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2017/119459 WO2019075922A1 (zh) 2017-10-20 2017-12-28 单镜头横幅立体内窥镜系统

Country Status (2)

Country Link
CN (1) CN107669234B (zh)
WO (1) WO2019075922A1 (zh)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108553073A (zh) * 2018-05-25 2018-09-21 张家港康得新光电材料有限公司 内窥镜手术裸眼3d图像显示系统与显示方法
CN110840385A (zh) * 2019-12-19 2020-02-28 中国科学院长春光学精密机械与物理研究所 基于单探测器的双目3d内窥镜三维图像处理方法及成像系统
CN114788677A (zh) * 2021-01-25 2022-07-26 上海亿长实业有限公司 一种单目3d立体内窥镜系统和方法

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2532808Y (zh) * 2002-03-14 2003-01-29 王晶 数字内窥镜裂隙立体目镜接口
US6674462B1 (en) * 1999-03-19 2004-01-06 Matsushita Electric Industrial Co., Ltd. Videoscope and its display unit
CN201641949U (zh) * 2009-03-26 2010-11-24 庞维克 单镜头立体内窥镜系统
CN202277323U (zh) * 2011-10-27 2012-06-20 西交利物浦大学 带环形透镜的无线胶囊内窥镜
CN102973238A (zh) * 2012-12-16 2013-03-20 天津大学 一种用于内窥镜装置的立体镜头
CN103006170A (zh) * 2012-12-16 2013-04-03 天津大学 一种医用内窥镜三维成像装置
CN103399410A (zh) * 2013-08-08 2013-11-20 彭波 单镜头立体分光镜成像装置

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2240154Y (zh) * 1995-04-13 1996-11-13 韩晓刚 高清晰、全反射立体成像镜
DE19830710B4 (de) * 1997-08-01 2010-10-28 Carl Zeiss Endoskop
JP4472166B2 (ja) * 2000-12-22 2010-06-02 オリンパス株式会社 ３次元撮像装量
KR20030010443A (ko) * 2001-07-23 2003-02-05 홍광표 굴절 프리즘을 이용한 영상 확대용 광학 렌즈 및 이를이용한 광각 영상용안경
KR100485442B1 (ko) * 2002-05-29 2005-04-27 한국전자통신연구원 일안식 입체 카메라 및 이를 이용한 입체 영상 시스템
CN1206845C (zh) * 2003-07-17 2005-06-15 中国科学院上海技术物理研究所 宽视场像面分割红外/可见光线列探测器组件
US20120277527A1 (en) * 2011-04-30 2012-11-01 Sandeep Sood Stereoscopic Imaging from a Conventional Endoscope with single lens camera
CN203519928U (zh) * 2013-08-08 2014-04-02 彭波 单镜头立体分光镜成像装置
CN204515326U (zh) * 2015-02-13 2015-07-29 苏胜强 单机横屏立体配镜
CN209474563U (zh) * 2017-10-20 2019-10-11 苏敏 单镜头横幅立体内窥镜系统

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6674462B1 (en) * 1999-03-19 2004-01-06 Matsushita Electric Industrial Co., Ltd. Videoscope and its display unit
CN2532808Y (zh) * 2002-03-14 2003-01-29 王晶 数字内窥镜裂隙立体目镜接口
CN201641949U (zh) * 2009-03-26 2010-11-24 庞维克 单镜头立体内窥镜系统
CN202277323U (zh) * 2011-10-27 2012-06-20 西交利物浦大学 带环形透镜的无线胶囊内窥镜
CN102973238A (zh) * 2012-12-16 2013-03-20 天津大学 一种用于内窥镜装置的立体镜头
CN103006170A (zh) * 2012-12-16 2013-04-03 天津大学 一种医用内窥镜三维成像装置
CN103399410A (zh) * 2013-08-08 2013-11-20 彭波 单镜头立体分光镜成像装置

Also Published As

Publication number Publication date
CN107669234A (zh) 2018-02-09
CN107669234B (zh) 2024-06-18

Similar Documents

Publication Publication Date Title
CN109259717B (zh) 一种立体内窥镜及内窥镜测量方法
US20160295194A1 (en) Stereoscopic vision system generatng stereoscopic images with a monoscopic endoscope and an external adapter lens and method using the same to generate stereoscopic images
WO2019041614A1 (zh) 沉浸式虚拟现实头戴显示装置和沉浸式虚拟现实显示方法
CN106773080B (zh) 立体显示装置及显示方法
CN204636276U (zh) 一种穿戴型腔镜虚拟显示系统
US20200268236A1 (en) Endoscope system
WO2019075922A1 (zh) 单镜头横幅立体内窥镜系统
CN107037584B (zh) 一种智能眼镜透视方法及系统
CN106338819A (zh) 一种数码取景全视场ar多媒体望远镜
CN109068035B (zh) 一种智能微相机阵列内窥成像系统
CN105812774B (zh) 基于插管镜的立体显示系统及方法
CN207908788U (zh) 一种立体内窥镜光学系统
CN204377059U (zh) 基于软镜的立体显示系统
CN105812772B (zh) 医疗图像立体显示系统及方法
CN209474563U (zh) 单镜头横幅立体内窥镜系统
JP3257641B2 (ja) 立体視内視鏡装置
CN204377057U (zh) 基于插管镜的立体显示系统
CN204539353U (zh) 医疗图像立体显示系统
CN204377058U (zh) 基于硬镜的立体显示系统
CN103767667A (zh) 硬质多通道3d胆囊镜系统
CN105812776A (zh) 基于软镜的立体显示系统及方法
CN209750986U (zh) 一种虚拟现实全景医用内窥镜
JPH08240778A (ja) 立体内視鏡
CN109199585B (zh) 一种微创手术的裸眼3d显示系统、显示装置和显示方法
Hutarew et al. Comparison of an auto-stereoscopic display and polarized stereoscopic projection for macroscopic pathology

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 17928846

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

32PN Ep: public notification in the ep bulletin as address of the adressee cannot be established

Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 08/10/2020)

122 Ep: pct application non-entry in european phase

Ref document number: 17928846

Country of ref document: EP

Kind code of ref document: A1