CN111419156B - Binocular stereo microscope endoscope system - Google Patents
Binocular stereo microscope endoscope systemDownload PDFInfo
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- CN111419156B CN111419156BCN202010266157.4ACN202010266157ACN111419156BCN 111419156 BCN111419156 BCN 111419156BCN 202010266157 ACN202010266157 ACN 202010266157ACN 111419156 BCN111419156 BCN 111419156B
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及医疗器械技术领域，尤其涉及双目立体显微内镜系统。The invention relates to the technical field of medical instruments, in particular to a binocular stereomicroendoscope system.
背景技术Background technique
脑深部病变手术，视野狭小，结构重要，需要在显微镜放大下精细操作，有些病变被脑组织、血管、神经或骨结构阻挡，目前的手术显微镜是直线视野，无法看到被阻挡部位病变，有时需要术者根据经验小心往外牵拉，盲目掏拽可能引起血管损伤导致大出血或神经损伤，造成肿瘤残留或病变处理不完全。为了实现在直视状态下对手术过程精细操作，在脑部等精细化手术中通常采用内窥镜作为重要的手术设备。Surgery for deep brain lesions has a narrow field of view and important structures, which require fine manipulation under microscope magnification. Some lesions are blocked by brain tissue, blood vessels, nerves or bone structures. The current operating microscope has a straight-line field of view and cannot see the lesions in the blocked parts. The operator needs to carefully pull out according to experience. Blindly pulling out may cause blood vessel damage and lead to massive bleeding or nerve damage, resulting in residual tumor or incomplete treatment of lesions. In order to achieve fine operation of the surgical process under direct vision, endoscopes are usually used as important surgical equipment in fine surgery such as the brain.
内窥镜是集中了光学、人体工程学、精密机械、现代电子、数学、软件等各项技术的一体化监测仪器，由窥镜系统、图像显示系统和照明系统三大部分组成。内窥镜在医疗上应用越来越广泛，并在内窥镜中采用神经外科手术常用的神经内镜，其镜头可分为两大类：一类是硬质内镜(简称硬镜)，另一类是可弯曲内镜(简称软镜)。The endoscope is an integrated monitoring instrument that integrates various technologies such as optics, ergonomics, precision machinery, modern electronics, mathematics, and software. It is composed of three parts: the endoscope system, the image display system and the lighting system. Endoscopes are more and more widely used in medical treatment, and neuroendoscopes commonly used in neurosurgery are used in endoscopes. The lenses can be divided into two categories: one is rigid endoscopes (referred to as rigid mirrors), The other type is flexible endoscopes (soft mirrors for short).
但是现有的神经内镜也有明显的缺点，其限制了在神经外科手术中的应用范围。现有的硬镜镜头由于内镜广角镜头和镜头角度区别，可伸入鼻腔经蝶窦到鞍区进行手术以及伸入脑室进行手术，并在内镜下能看到显微镜直线视野看不到的结构，但是并不能适应其它部位开颅手术不规则的术区。而现有的可弯曲软镜也只能用于中脑导水管等特定部位手术。且硬镜和软镜都是单物镜单眼平面视觉，无立体视觉感，需要术者反复训练适应。而在需要精确操作时由于术者无立体视觉感，有误判深浅而造成误伤的风险，另外，硬镜常需要术者或助手用手持镜身，操作过程极其不方便并且还增加了操作的不准确性和危险性。However, the existing neuroendoscopes also have obvious disadvantages, which limit the scope of application in neurosurgery. Due to the difference between the endoscopic wide-angle lens and the angle of the lens, the existing rigid mirror lens can be inserted into the nasal cavity through the sphenoid sinus to the saddle area for surgery and into the ventricle for surgery, and can see structures that cannot be seen in the straight-line view of the microscope under the endoscope , but it cannot adapt to the irregular operation area of craniotomy in other parts. And the existing flexible flexible mirror can only be used for operations on specific parts such as the midbrain aqueduct. In addition, both the hard mirror and the soft mirror are single-objective monocular plane vision, without stereoscopic vision, and require repeated training and adaptation by the operator. When accurate operation is required, the operator has no sense of stereo vision, so there is a risk of accidental injury due to misjudgment of the depth. In addition, the operator or assistant often needs to hold the mirror body with the hard mirror, which is extremely inconvenient and increases the operating labor. Inaccuracies and Dangers.
发明内容Contents of the invention
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明提出一种双目立体显微内镜系统，能适应不同手术区域不规则形状的要求，并且使术者具有立体视觉感，使操作更加方便、精细和准确。The present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, the present invention proposes a binocular stereomicroendoscope system, which can adapt to the requirements of irregular shapes of different surgical regions, and enables the operator to have a sense of stereo vision, making the operation more convenient, precise and accurate.
根据本发明实施例的双目立体显微内镜系统，包括：The binocular stereomicroendoscope system according to an embodiment of the present invention includes:
图像处理组件；image processing components;
双目镜组件，包括并列设置且瞳距可调的一对目镜，一对所述目镜均与所述图像处理组件电连接；The binocular assembly includes a pair of eyepieces arranged side by side and with adjustable interpupillary distance, and a pair of eyepieces are electrically connected to the image processing assembly;
至少一个可更换的立体内镜组件，所述立体内镜组件包括镜头部件和可弯曲的镜身部件，所述镜头部件具有特定的镜头倾角，所述镜头部件与所述图像处理组件电连接，所述镜头部件的前端朝向目标观察点，所述镜身部件连接在所述镜头部件的后端。At least one replaceable stereoscopic endoscope assembly, the stereoscopic endoscope assembly includes a lens part and a bendable mirror body part, the lens part has a specific lens tilt angle, the lens part is electrically connected to the image processing assembly, The front end of the lens part faces the target observation point, and the mirror body part is connected to the rear end of the lens part.
在部分实施例中，还包括能与手术床连接的支架组件，所述双目镜组件和所述立体内镜组件分别可活动的连接在所述支架组件上。In some embodiments, a bracket assembly capable of being connected to an operating bed is also included, and the binocular lens assembly and the stereoscopic endoscope assembly are respectively movably connected to the bracket assembly.
在部分实施例中，所述支架组件包括：In some embodiments, the bracket assembly includes:
主杆，包括位于所述手术床侧面的第一段以及位于所述手术床上方的第二段，所述第一段与所述第二段连接，所述立体内镜组件通过内镜固定座连接在所述第二段上，所述内镜固定座能在所述第二段上移动；The main rod includes a first section located on the side of the operating bed and a second section located above the operating bed, the first section is connected to the second section, and the stereoscopic endoscope assembly passes through the endoscope fixing seat connected to the second segment, the endoscope holder can move on the second segment;
第一底座，能连接在所述手术床的一侧，所述第一底座包括第一转接座，所述第一段插在所述第一转接座中，并且所述第一转接座能拧紧固定在所述第一段上；The first base can be connected to one side of the operating bed, the first base includes a first adapter seat, the first section is inserted into the first adapter seat, and the first adapter The seat can be screwed and fixed on the first segment;
支杆，一端通过第二转接座连接在所述第二段上，所述第二转接座能沿所述第二段的轴向移动以及围绕所述主杆旋转，并能通过自转改变所述支杆与所述主杆的夹角；A support rod, one end of which is connected to the second section through a second adapter seat, the second adapter seat can move along the axial direction of the second section and rotate around the main rod, and can be changed by rotation The included angle between the strut and the main rod;
第二底座，通过旋转调节元件可旋转的连接在所述支杆的另一端，所述第二底座上固定有所述双目镜组件。The second base is rotatably connected to the other end of the pole through a rotating adjustment element, and the binocular assembly is fixed on the second base.
在部分实施例中，所述双目镜组件还包括瞳距调节元件和滑槽，所述滑槽设在所述第二底座上背向所述支杆的端面上，一对所述目镜分别可滑动的嵌设在所述滑槽内；所述瞳距调节元件连接在所述滑槽的一侧，用于驱动一对所述目镜分别沿所述滑槽滑动地聚集或分离。In some embodiments, the binocular assembly further includes an interpupillary distance adjustment element and a sliding groove, the sliding groove is arranged on the end surface of the second base facing away from the support rod, and a pair of the eyepieces are respectively It is slidably embedded in the chute; the interpupillary distance adjusting element is connected to one side of the chute, and is used to drive a pair of eyepieces to slide together or separate along the chute.
在部分实施例中，所述立体内镜组件还包括镜尾部件，所述镜尾部件连接在所述镜身部件上远离所述镜头部件的一端，所述镜尾部件的两侧分别设有防滑脱耳；所述内镜固定座通过柔性调节轴与内镜固定件连接，所述内镜固定件包括一对内镜支架钳脚、以及第三紧固件，所述第三紧固件穿过一对所述内镜支架钳脚的一端，以驱动一对所述内镜支架钳脚的另一端能相对的夹持在所述镜尾部件的两侧，一对所述内镜支架钳脚上穿有所述第三紧固件的端部与所述柔性调节轴连接。In some embodiments, the stereoscopic endoscope assembly further includes a mirror tail part, the mirror tail part is connected to the end of the mirror body part away from the lens part, and the two sides of the mirror tail part are respectively provided with Anti-slip ears; the endoscope fixing seat is connected with the endoscope fixing part through a flexible adjustment shaft, and the endoscope fixing part includes a pair of endoscope bracket clamp feet and a third fastener, and the third fastener Through one end of a pair of endoscope bracket pincers, the other end of the pair of endoscope bracket pincers can be oppositely clamped on both sides of the mirror tail part, and a pair of endoscope brackets The end of the pliers leg pierced with the third fastener is connected to the flexible adjustment shaft.
在部分实施例中，所述内镜固定座包括固定座本体、第一紧固件和第二紧固件，所述第一紧固件和所述第二紧固件分别设在所述固定座本体上；所述第一紧固件与连接在所述固定座本体一端的所述柔性调节轴连接，用于驱动所述柔性调节轴在锁固状态和可活动状态之间切换；所述固定座本体内设有供所述主杆的第二段穿过的夹持腔，所述第二紧固件能穿过固定座本体并顶紧在所述第二段上，以使所述固定座本体能固定在所述第二段上。In some embodiments, the endoscope fixing base includes a fixing base body, a first fastener and a second fastener, and the first fastener and the second fastener are respectively arranged on the fixing on the seat body; the first fastener is connected to the flexible adjustment shaft connected to one end of the fixed seat body, and is used to drive the flexible adjustment shaft to switch between a locked state and a movable state; the A clamping cavity for the second section of the main rod to pass is provided in the fixed seat body, and the second fastener can pass through the fixed seat body and be tightened on the second section, so that the The fixing base body can be fixed on the second section.
在部分实施例中，所述第一底座包括第一转接座、第一活动部和第一调节件，所述第一活动部与所述手术床相连接，所述第一转接座的径向上设有通孔，所述主杆的第一段可活动的插在所述通孔内；所述第一转接座和第一活动部之间通过端面连接，并且彼此能相对转动，所述端面上设有齿槽；所述第一调节件依次穿过所述第一转接座和第一活动部，在所述第一调节件处于拧紧状态下，所述第一段压紧固定在所述第一转接座内，并且所述第一调节件将所述第一活动部顶紧固定在所述手术床的一侧。In some embodiments, the first base includes a first adapter seat, a first movable part and a first adjustment part, the first movable part is connected with the operating bed, and the first adapter seat There is a through hole in the radial direction, and the first section of the main rod can be inserted into the through hole movably; the first adapter seat and the first movable part are connected by an end surface, and can rotate relative to each other, There are tooth grooves on the end surface; the first adjustment part passes through the first adapter seat and the first movable part in turn, and when the first adjustment part is in a tightened state, the first segment is pressed It is fixed in the first adapter seat, and the first adjusting member fastens and fixes the first movable part on one side of the operating bed.
在部分实施例中，所述第二转接座通过第二活动部与所述支杆连接，所述第二转接座和所述第二活动部沿各自的径向分别设有通孔，所述主杆的第二段和所述支杆分别对应的插在所述第二转接座和所述第二活动部的通孔内；所述第二转接座和所述第二活动部之间通过端面连接，并且彼此能相对转动，所述端面上设有齿槽；所述第二转接座上远离所述第二活动部的端面上连接有第二调节件，所述第二调节件依次穿过所述第二转接座和第二活动部，在所述第二调节件处于拧紧状态下，所述第二段和所述支杆分别能压紧固定在所述第二转接座和所述第二活动部内。In some embodiments, the second adapter seat is connected to the pole through the second movable part, and the second adapter seat and the second movable part are respectively provided with through holes along their respective radial directions, The second section of the main rod and the support rod are respectively inserted into the through holes of the second adapter seat and the second movable part; the second adapter seat and the second movable part The parts are connected by end faces and can rotate relative to each other. The end faces are provided with tooth grooves; the end face of the second adapter seat away from the second movable part is connected with a second adjustment member. The two adjustment parts pass through the second adapter seat and the second movable part in turn, and when the second adjustment part is in a tightened state, the second section and the support rod can be respectively compressed and fixed on the first Inside the second adapter seat and the second movable part.
在部分实施例中，所述镜头部件包括照明镜头和两个物镜视频镜头，所述照明镜头的两侧分别设有一所述物镜视频镜头，两个所述物镜视频镜头的焦点轴聚焦于焦点，所述焦点位于所述镜头部件的前方，两个所述物镜视频镜头上分别连接有电荷耦合元件；In some embodiments, the lens component includes an illumination lens and two objective video lenses, one objective video lens is respectively arranged on both sides of the illumination lens, and the focal axes of the two objective video lenses focus on the focal point, The focal point is located in front of the lens part, and the two objective lens video lenses are respectively connected with a charge-coupled element;
所述立体内镜组件还包括光电缆，所述光电缆包括光纤和视频输入电缆，所述照明镜头通过所述光纤与所述图像处理组件电连接，两个所述物镜视频镜头分别或共同通过所述视频输入电缆与所述图像处理组件电连接，所述光纤和所述视频输入电缆并列的嵌设在所述镜身部件的内腔中。The stereoscopic endoscope assembly also includes an optical cable, the optical cable includes an optical fiber and a video input cable, the illumination lens is electrically connected to the image processing assembly through the optical fiber, and the two objective lens video lenses pass through separately or together The video input cable is electrically connected to the image processing assembly, and the optical fiber and the video input cable are parallel and embedded in the inner cavity of the mirror body part.
在部分实施例中，所述图像处理组件包括冷光源、图像处理主机和显示器，所述照明镜头通过所述光纤与所述冷光源电连接，两个所述物镜视频镜头分别或共同通过所述视频输入电缆与所述图像处理主机电连接，所述图像处理主机还通过目镜视频输出电缆与所述双目镜组件电连接，所述显示器与所述图像处理主机电连接。In some embodiments, the image processing component includes a cold light source, an image processing host and a display, the illumination lens is electrically connected to the cold light source through the optical fiber, and the two objective lens video lenses pass through the A video input cable is electrically connected to the image processing host, and the image processing host is also electrically connected to the binocular assembly through an eyepiece video output cable, and the display is electrically connected to the image processing host.
本发明实施例中的上述一个或多个技术方案，至少具有如下技术效果之一：The above one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:
本发明所述的双目立体显微内镜系统中包括有至少一个可更换的立体内镜组件，立体内镜组件包括镜头部件和可弯曲的镜身部件，镜头部件具有特定的镜头倾角，通过更换不同倾角镜头的立体内镜组件，从而可以在术中获得更大的视线折射，扩大视野范围；通过弯曲镜身部件以带动镜头部件的前端能朝向目标观察点，从而使得立体内镜组件在伸入病灶位置时通过适度弯曲镜身部件并与当前镜头倾角的镜头部件配合而准确获取各个位置目标观察点的视频数据，从而根据需要实时改变视线方向，扩大视野范围，以达到对直线视野盲区的可视化，并且可弯曲的镜身部件能够很好的适应不同手术区域不规则形状的要求，还可以大大减少影响手术的各器械进出病灶位置的操作，有效降低手术风险性；The binocular stereomicroendoscope system of the present invention includes at least one replaceable stereoscopic endoscope assembly, the stereoscopic endoscope assembly includes a lens part and a bendable mirror body part, the lens part has a specific lens inclination angle, through Replacement of stereoscopic endoscope components with lenses with different inclination angles, so that greater line of sight refraction can be obtained during the operation, and the field of view can be expanded; by bending the mirror body parts, the front end of the lens parts can be driven towards the target observation point, so that the stereoscopic endoscope components can When reaching into the lesion position, the video data of the target observation points at each position can be accurately obtained by properly bending the mirror body part and cooperating with the lens part of the current lens inclination angle, so as to change the line of sight direction in real time and expand the field of view according to the need, so as to achieve the blind spot of the straight line of sight The visualization, and the bendable mirror body parts can well adapt to the irregular shape requirements of different surgical areas, and can also greatly reduce the operation of various instruments that affect the operation in and out of the lesion, effectively reducing the risk of surgery;
进一步的，本发明所述的双目立体显微内镜系统中，镜头部件通过镜身部件与图像处理组件电连接，以便于将立体内镜组件采集到的病灶位置的目标观察点的视频数据传输至图像采集部件中；Further, in the binocular stereomicroendoscope system of the present invention, the lens part is electrically connected to the image processing component through the mirror body part, so that the video data of the target observation point of the lesion position collected by the stereoscopic endoscope component Transfer to the image acquisition component;
更进一步的，本发明所述的双目立体显微内镜系统中，双目镜组件能使术者借助双目镜结构产生立体视觉感，使操作更加方便、精细和准确；一对目镜均与图像处理组件电连接，从而能够接收自图像处理组件处理后的立体视频图像；Furthermore, in the binocular stereomicroendoscope system of the present invention, the binocular assembly can enable the operator to generate a stereoscopic vision by means of the binocular structure, making the operation more convenient, fine and accurate; a pair of eyepieces being electrically connected to the image processing component, so as to be able to receive the stereoscopic video image processed by the image processing component;
更进一步的，本发明所述的双目立体显微内镜系统中，双目镜组件包括并列设置且瞳距可调的一对目镜，由于目镜的瞳距可调，从而使该对目镜的瞳距能适应性的调节为与术者双眼瞳距相符，从而使双目镜组件更好与术者姿势一致，方便术者手术操作，并且有利于术者在手术中自双目镜组件观测到更精准的立体视频，提高手术过程的精准性，减少手术误判和误伤。Furthermore, in the binocular stereoscopic endoscopic system of the present invention, the binocular assembly includes a pair of eyepieces arranged side by side with an adjustable interpupillary distance. Since the interpupillary distance of the eyepieces is adjustable, the pair of eyepieces The interpupillary distance can be adaptively adjusted to match the interpupillary distance of the operator's eyes, so that the binocular assembly is better consistent with the operator's posture, which is convenient for the operator to operate, and is conducive to the operator's observation from the binocular assembly during the operation To more accurate three-dimensional video, improve the accuracy of the surgical process, reduce surgical misjudgment and accidental injury.
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.
图1是本发明实施例提供的双目立体显微内镜系统结构及使用状态示意图；Fig. 1 is a schematic diagram of the structure and usage state of the binocular stereomicroendoscope system provided by the embodiment of the present invention;
图2是本发明实施例提供的双目镜组件的结构示意图；Fig. 2 is a schematic structural view of a binocular assembly provided by an embodiment of the present invention;
图3是本发明实施例提供的立体内镜组件的主视图；Fig. 3 is a front view of a stereoscopic endoscope assembly provided by an embodiment of the present invention;
图4是图3中示出的A处的放大剖视图；Fig. 4 is the enlarged cross-sectional view of A place shown in Fig. 3;
图5-1至图5-3分别是图3中A处的三种镜头倾角的三维示意图；Figure 5-1 to Figure 5-3 are three-dimensional schematic diagrams of three lens inclination angles at A in Figure 3;
图6是本发明实施例提供的立体内镜组件的侧视图；Fig. 6 is a side view of a stereoscopic endoscope assembly provided by an embodiment of the present invention;
图7是本发明实施例提供的镜身部件的使用状态示意图；Fig. 7 is a schematic diagram of the use state of the mirror body parts provided by the embodiment of the present invention;
图8是本发明实施例提供的内镜支撑组件的结构示意图；Fig. 8 is a schematic structural diagram of an endoscope support assembly provided by an embodiment of the present invention;
图9是本发明实施例提供的双目立体视觉原理图；Fig. 9 is a schematic diagram of the binocular stereo vision provided by the embodiment of the present invention;
图10是本发明实施例提供的双目立体显微内镜系统使用原理图。Fig. 10 is a schematic diagram of the use of the binocular stereomicroendoscope system provided by the embodiment of the present invention.
附图标记：Reference signs:
1：立体内镜组件；2：双目镜组件；3：第一底座；31：第一转接座；32：第一活动部；4：主杆；41：第一段；42：第二段；51：第二转接座；52：第二活动部；6：支杆；7：第二底座；8：滑槽；9：瞳距调节元件；10：旋转调节元件；11：第一调节件；12：第二调节件；13：目镜视频输出电缆；14：光纤；15：视频输入电缆；16：冷光源；17：图像处理主机；18：显示器；19：内镜固定件；20：内镜固定座；21：柔性调节轴；22：第一紧固件；23：第二紧固件；24：防滑脱耳；25：内镜支架钳脚；26：第三紧固件；27：目标观察点；P：焦点；Q：镜头倾角；1: stereoscopic endoscope assembly; 2: binocular assembly; 3: first base; 31: first adapter seat; 32: first movable part; 4: main rod; 41: first section; 42: second Section; 51: second adapter seat; 52: second movable part; 6: pole; 7: second base; 8: chute; 9: interpupillary distance adjustment element; 10: rotation adjustment element; 11: first Adjusting part; 12: second adjusting part; 13: eyepiece video output cable; 14: optical fiber; 15: video input cable; 16: cold light source; 17: image processing host; 18: display; 19: endoscope fixing part; 20 : endoscope fixing seat; 21: flexible adjustment shaft; 22: first fastener; 23: second fastener; 24: anti-slip ear; 25: endoscope bracket clamp feet; 26: third fastener; 27: target observation point; P: focus; Q: lens tilt;
100：镜头部件；200：镜身部件；300：镜尾部件；400：术者的双眼；110：照明镜头；120：物镜视频镜头；130：电荷耦合元件；310：光电缆；100: lens part; 200: mirror body part; 300: mirror tail part; 400: surgeon's eyes; 110: lighting lens; 120: objective video lens; 130: charge coupled device; 310: optical cable;
400：双眼；600：大脑成像。400: binocular; 600: brain imaging.
具体实施方式Detailed ways
下面结合附图和实施例对本发明的实施方式作进一步详细描述。以下实施例用于说明本发明，但不能用来限制本发明的范围。Embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but should not be used to limit the scope of the present invention.
在本发明实施例的描述中，需要说明的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明实施例的限制。此外，术语“第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right" , "vertical", "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing this The embodiments and simplified descriptions of the invention do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.
在本发明实施例的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本发明实施例中的具体含义。In the description of the embodiments of the present invention, it should be noted that unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrated connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present invention in specific situations.
在本发明实施例中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。In the embodiments of the present invention, unless otherwise specified and limited, the first feature may be in direct contact with the first feature or the first feature and the second feature may pass through the middle of the second feature. Media indirect contact. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明实施例的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or feature is included in at least one embodiment or example of the embodiments of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.
如图1至图10所示，本发明实施例提供了一种双目立体显微内镜系统(本发明实施例中简称为系统)。该系统包括图像处理组件、双目镜组件2以及至少一个可更换的立体内镜组件1。其中，图像处理组件用于将从立体内镜组件1接收到的视频图像数据进行数据处理，并将处理后的视频数据发送给双目镜组件2，从而使得术者(即操作者)在将立体内镜组件1伸入到诸如颅内任意具有不规则通道的手术区域如神经、血管、骨嵴之间时，能够对该手术区域内直线视线受阻挡的病灶位置进行观测，与此同时，借由视频数据的传输和处理，术者可以通过双目镜组件2直接观测到立体视频图像，从而具有立体视觉感，使该系统的操作更加方便、精细和准确，进而使得脑部等细微神经病变手术从原本无法直视的病变区域变为立体可视状态下进行手术，大大提高病变处理的精细程度和手术安全性。As shown in FIG. 1 to FIG. 10 , an embodiment of the present invention provides a binocular stereoscopic endoscopic microscope system (abbreviated as a system in the embodiment of the present invention). The system includes an image processing component, a
可理解的是，本发明实施例中以立体内镜组件1的观测位置为目标观察点27。It can be understood that, in the embodiment of the present invention, the observation position of the stereoscopic endoscope assembly 1 is taken as the
如图1所示，本发明实施例所述的系统中，立体内镜组件1包括镜头部件100和可弯曲的镜身部件200，镜头部件100具有特定的镜头倾角Q。优选的，如图5-1至图5-3所示，可以预先制备多个具有不同镜头倾角Q的立体内镜组件1，并通过更换不同镜头倾角的立体内镜组件1，可以在术中获得更大的视线折射，扩大视野范围。可理解的是，本实施例以扁管状镜身部件200的宽度方向上的对称轴为基准轴，立体内镜组件1的焦点与该基准轴之间的夹角即为立体内镜组件1的镜头倾角Q。As shown in FIG. 1 , in the system according to the embodiment of the present invention, a stereoscopic endoscope assembly 1 includes a
本实施例中，镜头部件100的前端朝向目标观察点27，目标观察点27是指病灶位置中待观察的位置，在对目标观察点27进行观察时将镜头部件100的焦点P与目标观察点27重合即可。镜身部件200连接在镜头部件100的前端，以使立体物内组件1伸入病灶位置时可以根据需要弯曲镜身部件200，从而利用镜身部件200的弯曲状态配合当前立体内镜组件1上镜头部件100的镜头倾角Q，使立体内镜组件1能够对病灶位置进行更全面的观察，有效扩大视野范围，并且能够利用镜身部件200的多角度的弯曲而使得立体内镜组件1适应不同手术区域不规则形状的要求。In this embodiment, the front end of the
本实施例中，镜头部件100与图像处理组件电连接，以便于将立体物内组件1采集到的病灶位置的目标观察点27的视频数据传输至图像采集部件中。In this embodiment, the
本实施例中，双目镜组件2包括并列设置且瞳距可调的一对目镜，以使术者借助双目镜结构产生立体视觉感，使操作更加方便、精细和准确；一对目镜均与图像处理组件电连接，从而能够接收自图像处理组件处理后的立体视频图像。In the present embodiment, the
可理解的是，镜身部件200的前端是指镜身部件200伸入手术区域的一端，同理的，镜身部件200的后端是指镜身部件200上远离手术区域的一端。It can be understood that the front end of the
可理解的是，本实施例所述的双目镜组件2利用双目立体视觉原理使术者的双眼400能够通过一对目镜直接观测到立体视频。具体原理如图9和图10所示，该双目立体显微内镜系统利用立体内镜组件1的镜身部件200的可塑变形，配合具有左右双视路的镜头部件100，将双路视频同步传输到图像处理组件中，然后通过图像处理组件对双路视频数据进行处理后，将形成的立体视频传输到双目镜组件2中，从而使术者的双眼400通过双目镜组件2直接观测到视频图像，并在通过大脑成像600产生立体视觉感。It can be understood that the
在一个实施例中，该系统还包括能与手术床连接的支架组件。支架组件的结构如图1和图2所示。双目镜组件2和立体内镜组件1分别可活动的连接在支架组件上。优选双目镜组件2可活动的连接在支架组件的顶部，双目镜组件2的设置高度和倾斜度可根据人体工程学设置，以便于术者借助双目镜组件2观察目标观察点27的视频图像时，术者的姿势更为舒适。立体内镜组件1能固定在支架组件上低于双目镜组件2的位置，以便于术者在通过双目镜组件2观测时，便于调整安放立体内镜组件1的位置。In one embodiment, the system further includes a stand assembly connectable to the operating table. The structure of the bracket assembly is shown in Figure 1 and Figure 2. The
在一个实施例中，如图2和图8所示，支架组件包括主杆4、第一底座3、支杆6和第二底座7。主杆4包括位于手术床侧面的第一段41以及位于手术床上方的第二段42，且第一段41与第二段42连接。可选的，第二段42相对于第一段41倾斜设置。立体内镜组件1通过内镜固定座20连接在第二段42上，内镜固定座20能在第二段42上移动，以调整立体内镜组件1的高度和水平位置。第一底座3能连接在手术床的一侧，从而为支架组件提供固定支撑点。第一底座3包括第一转接座31，第一段41插在第一转接座31中，并且第一转接座31能拧紧固定在第一段41上，利用第一转接座31和第一段41的相对位置调整主杆4的整体高度，特别是第二段42的高度；并且，第一段41能够在第一转接座31内旋转，以便调节第二段42上连接的立体内镜组件1和双目镜组件2的水平位置。支杆6的一端通过第二转接座51连接在第二段42上，第二转接座51能沿第二段42的轴向移动以及围绕主杆4旋转，并能通过自转改变支杆6与主杆4的夹角，从而实现主杆4与支杆6之间的三自由度调节。第二底座7通过旋转调节元件10可旋转的连接在支杆6的另一端，第二底座7上固定有双目镜组件2，利用对第二底座7的旋转角度的调整来调节双目镜组件2上两个目镜的水平度。In one embodiment, as shown in FIGS. 2 and 8 , the bracket assembly includes a
在一个实施例中，第一底座3包括第一转接座31、第一活动部32和第一调节件11。第一活动部32与手术床相连接。第一转接座31的径向上设有通孔，主杆4的第一段41可活动的插在通孔内，从而可以调整主杆4的高度。第一转接座31和第一活动部32之间通过端面连接，并且彼此能相对转动，以便于调解主杆4与手术床之间的角度，以实现主杆4的多自由度调节。第一转接座31和第一活动部32之间的端面上设有齿槽，在第一转接座31和第一活动部32之间相对紧固时，齿槽可以增加摩擦，从而将第一转接座31和第一活动部32之间更可靠的固定，防止第一转接座31和第一活动部32之间发生转动滑脱。第一调节件11依次穿过第一转接座31和第一活动部32，在第一调节件11处于拧紧状态下，第一段41压紧固定在第一转接座31内，并且第一调节件11将第一活动部32顶紧固定在手术床的一侧，从而将主杆4、第一底座3和手术床三者之间的位置可靠固定。In one embodiment, the first base 3 includes a
在一个实施例中，第二转接座51通过第二活动部52与支杆6连接。具体为：第二转接座51和第二活动部52沿各自的径向分别设有通孔，主杆4的第二段42和支杆6分别对应的插在第二转接座51和第二活动部52的通孔内，以便于调节主杆4和支杆6之间的相对位置和高度。第二转接座51和第二活动部52之间通过端面连接，并且彼此能相对转动，以便于调解主杆4与支杆6之间的夹角，以实现支杆6的多自由度调节。第二转接座51和第二活动部52之间的端面上设有齿槽，齿槽可以增加摩擦，从而将第二转接座51和第二活动部52之间更可靠的固定，防止第二转接座51和第二活动部52之间发生转动滑脱。第二转接座51上远离第二活动部52的端面上连接有第二调节件12，第二调节件12依次穿过第二转接座51和第二活动部52，在第二调节件12处于拧紧状态下，第二段42和支杆6分别能压紧固定在第二转接座51和第二活动部52内，从而将主杆4与支杆6之间的位置、高度和夹角都可靠固定。In one embodiment, the
可理解的是，第一调节件11和第二调节件12可选用带有旋转把手的调节螺杆。It can be understood that, the
在一个实施例中，如图2所示，双目镜组件2包括上述的一对目镜以及瞳距调节元件9和滑槽8。一对目镜结构相同，且分别通过目镜视频输出电缆13与图像处理组件电连接。滑槽8设在上述的第二底座7上背向支杆6的端面上，一对目镜分别可滑动的嵌设在滑槽8内；瞳距调节元件9连接在滑槽8的一侧，瞳距调节元件9用于驱动一对目镜分别沿滑槽8滑动地聚集或分离，从而调整这一对目镜的瞳距。In one embodiment, as shown in FIG. 2 , the
可理解的是，瞳距是指上述的一对目镜的镜筒轴线之间的距离。旋转调节元件10和瞳距调节元件9优选为调节螺杆或调节螺丝。It can be understood that the interpupillary distance refers to the distance between the axes of the lens barrels of the aforementioned pair of eyepieces. The
在一个实施例中，如图1、图3、图4和图6所示，立体内镜组件1的镜头部件100包括两个物镜视频镜头120。进一步的，镜头部件100还包括照明镜头110。In one embodiment, as shown in FIGS. 1 , 3 , 4 and 6 , the
在一个具体实施例中，照明镜头110的两侧分别设有一物镜视频镜头120，两个物镜视频镜头120的焦点轴都聚焦在焦点P。应当明确的是，两个物镜视频镜头120分别固定在镜头部件100的本体部分上，由于不同立体内镜组件1的镜头部件100的本体部分可以相对于镜身部件200的宽度方向上的对称轴有不同角度的倾斜角度，从而使得不同立体内镜组件1的镜头部件100的镜头倾角Q各不相同，但所有的立体内镜组件1的镜头部件100的两个物镜视频镜头120都是固定在当前镜头部件100的本体部分上的，故而不论当前使用的立体内镜组件1的镜头部件100的镜头倾角Q为多少角度，两个物镜视频镜头120的焦点P都始终位于镜头部件100的前方，并且两个物镜视频镜头120的焦点轴的夹角始终保持不变，即如图5-1至图5-3所示。In a specific embodiment, an
可理解的是，为了获取最佳的拍摄光源，优选照明镜头110的焦点轴与两个物镜视频镜头120的焦点轴都聚焦在焦点P。It can be understood that, in order to obtain the best shooting light source, it is preferable that the focal axis of the
需要说明的是，两个物镜视频镜头120可以安装在镜头部件100的本体部分上的任意位置。例如图5-1所示，照明镜头110和两个物镜视频镜头120同时固定在镜头部件100的本体部分的底部，以使焦点P落在基准轴上，即当前的立体内镜组件1的镜头倾角Q为0°。又例如图5-3所示，照明镜头110和两个物镜视频镜头120同时固定在镜头部件100的本体部分的侧面，此时两个物镜视频镜头120的焦点轴的夹角不发生改变，但焦点P与基准轴之间形成了90°的夹角，即当前的立体内镜组件1的镜头倾角Q为90°。再例如图5-2所示，照明镜头110和两个物镜视频镜头120同时固定在镜头部件100的本体部分的底部，并且镜头部件100的本体部分相对于基准轴弯折，此时两个物镜视频镜头120的焦点轴的夹角不发生改变，但焦点P与基准轴之间形成了大于0°并小于90°的夹角，即当前的立体内镜组件1的镜头倾角Q大于0°并小于90°。本实施例所述镜头倾角Q的取值范围优选为0°≤Q≤90°，并且进一步优选预先制备镜头倾角Q为0°、30°、45°、70°以及90°的立体镜头组件1以便更换使用。It should be noted that the two
在一个实施例中，立体内镜组件1镜身部件200能在纵向上弯曲塑形，从而变成合适的曲度置于术区适宜部位，如图7所示。In one embodiment, the
可理解的是，本发明实施例所述的立体内镜组件1中，立体内镜组件1的轴向是指沿镜头部件100、镜身部件200和光电缆310的全长方向，立体内镜组件1的横向是指镜身部件200的金属波纹扁管的长径方向，而立体内镜组件1的纵向是指镜身部件200的金属波纹扁管的短径方向。It can be understood that, in the stereoscopic endoscope assembly 1 described in the embodiment of the present invention, the axial direction of the stereoscopic endoscope assembly 1 refers to the direction along the entire length of the
如图4所示，两个物镜视频镜头120上分别连接有电荷耦合元件130，以利用电荷耦合元件130(简称CCD元件)通过两个物镜视频镜头120分别获取两路视频数据。As shown in FIG. 4 , charge-coupled
在一个实施例中，如图3、图6和图8所示，立体内镜组件1还包括镜尾部件300。镜尾部件300连接在镜身部件200上远离镜头部件100的一端，以便为内镜固定件19提供夹持固定的区域。内镜固定件19包括一对内镜支架钳脚25、以及第三紧固件26，第三紧固件26穿过一对内镜支架钳脚25的一端，以驱动一对内镜支架钳脚25的另一端能相对的夹持在镜尾部件300的两侧，一对内镜支架钳脚25上穿有第三紧固件26的端部与柔性调节轴21连接。镜尾部件300的两侧分别设有防滑脱耳24，防滑脱耳24能防止立体内镜组件1从内镜固定件19的钳脚中滑脱。内镜固定座20通过柔性调节轴21与内镜固定件19连接。In one embodiment, as shown in FIG. 3 , FIG. 6 and FIG. 8 , the stereoscopic endoscope assembly 1 further includes a
本实施例所述的内镜固定件19通过两个L形的内镜支架钳脚25钳夹在立体内镜组件1的镜尾部件300上。具体为：镜身部件200优选为波纹扁管，在纵向上能在一定程度上弯曲塑形，而在横向上不可弯曲；两个L形的内镜支架钳脚25的一端分开钳夹在镜尾部件300的较宽的两个表面上，以使内镜固定件19能够为镜身部件200提供可靠的固定支撑。两个L形的内镜支架钳脚25的另一端彼此连接在柔性调节轴21的一端上，并且这两个L形的内镜支架钳脚25与柔性调节轴21连接的一端通过第三紧固件26锁紧以提高内镜支架钳脚25对镜尾部件300的夹持力。一侧防滑脱耳24穿入内镜支架钳脚25的小孔内通过第三紧固件26使内镜固定件19锁紧固定于镜尾部件300上。The
在一个实施例中，内镜固定座20包括固定座本体、第一紧固件22和第二紧固件23。如图8所示，第一紧固件22和第二紧固件23分别设在固定座本体上。其中，第一紧固件22与连接在固定座本体一端的柔性调节轴21连接，用于驱动柔性调节轴21在锁固状态(即固定不可变状态)和可活动状态(即松弛状态)之间切换。柔性调节轴21在松驰状态时可自由弯曲，而在拧紧第一紧固件22时，柔性调节轴21即处于固定不可变状态。通过第一紧固件22控制柔性调节轴21的状态变化，从而能够根据需要而改变内镜固定件19的位置，并且将内镜固定件19固定停留在任一位置上。固定座本体内设有供主杆4的第二段42穿过的夹持腔，第二紧固件23能穿过固定座本体并顶紧在第二段42上，以使固定座本体能固定在第二段42上，从而便于改变内镜固定座20在主杆4上的位置和高度。In one embodiment, the
可理解的是，第一紧固件22、第二紧固件23和第三紧固件25优选为紧固螺钉，当然也可以采用其它紧固件，在此不做具体限定。It can be understood that the
在一个实施例中，如图3和图4所示，立体内镜组件1还包括光电缆310。光电缆310包括光纤14和视频输入电缆15。照明镜头110通过光纤14与图像处理组件电连接，两个物镜视频镜头120分别或共同通过视频输入电缆15与图像处理组件电连接，光纤14和视频输入电缆15并列的嵌设在镜身部件200的内腔中。In one embodiment, as shown in FIGS. 3 and 4 , the stereoscopic endoscope assembly 1 further includes an
在一个实施例中，图像处理组件包括冷光源16、图像处理主机17和显示器18。冷光源16和图像处理主机17分别与立体内镜组件1电连接，图像处理主机17还与双目镜组件2电连接，显示器18与图像处理主机17电连接。In one embodiment, the image processing component includes a cold
在一个具体实施例中，如图1所示，照明镜头110通过光纤14与冷光源16电连接，两个物镜视频镜头120分别通过两条视频输入电缆15与图像处理主机17电连接，图像处理主机17还通过目镜视频输出电缆13与双目镜组件2电连接。可理解的是，可以两个物镜视频镜头120共同连在同一条视频输入电缆15上，以实现电缆合并，优化线路。In a specific embodiment, as shown in Figure 1, the
可理解的是，图1中示例出了一种图像处理主机17的实体结构示意图。如图2所示，该图像处理主机17可以包括：处理器(processor、通信接口(Communications Interface、存储器(memory和通信总线，其中，处理器、通信接口、存储器通过通信总线完成相互间的通信。处理器可以调用存储器中的逻辑指令，以实现图像处理工作，即如本实施例所述的将双路视频数据处理为立体图像和/或立体视频影像。Understandably, FIG. 1 shows a schematic diagram of the physical structure of an
在一个具体实施例中，镜头部件100的两个物镜视频镜头120的外部包裹有金属外层，且在两个物镜视频镜头120之间夹装有至少一个照明镜头110。所有的照明镜头110在横向和纵向均与两个物镜视频镜头120的焦点P的方向一致，而两个物镜视频镜头120聚焦的焦点P即为目标观察点27。如图4所示，镜身部件200的外壁设置为金属波纹扁管，在金属波纹扁管的横截面的左右两侧为两条视频输入电缆15，两条视频输入电缆15的中间为与冷光源16连接的光纤14，镜身部件200的波纹结构在纵向上可在一定程度上的弯曲塑形，如图7所示，以适应不同形状规格的手术区。镜尾部件300为与光电缆310衔接的硬质金属结构，并在镜尾部件300的两侧装配有防滑脱耳24，用于插入内镜固定件19钳脚25侧孔内。光电缆310的外表面被柔软外包裹层包裹，以便在术中自由放置而不影响镜头固定。光电缆310的尾部实现光缆与电缆分离，即分别通过接口端衔接光纤14与冷光源16的连接、以及两条视频输入电缆15分别与图像处理主机17的视频处理单元左右输入口的电连接。双路视频数据的输入信号经图像处理主机17后分别输出到双目镜组件2中，以使术者通过双目镜组件2的立体视觉状态下感受到立体视觉感，从而进行精细手术操作。In a specific embodiment, the exterior of the two
在操作该系统进行手术前，调节主杆4在手术床的前后位置和高低位置，调整转接座5在主杆4上的左右位置，以及调节支杆6的长短位置和上下角度，从而使双目镜组件2处于一个适合术者观测的高度。调节完毕后拧紧第一调节件11和第二调节件12，使整个支架组件处于固定状态。通过旋转瞳距调节元件9使一对目镜沿滑槽8相对移动，从而使一对目镜的瞳距与术者相符。通过调节旋转调节元件10使第二底座7旋转，从而使双目镜组件2能更好的与术者的操作姿势一致。Before operating the system for surgery, adjust the front and rear position and height position of the
在操作该系统进行手术过程中，将选定好的具有特定的倾角Q的立体内镜组件1按上述连接关系安装在系统中，并将冷光源16通过光纤14传输到照明镜头110上，通过改变镜身部件200的弯曲度可以改变立体内镜组件1的观测角度，扩大立体内镜组件1在手术区域中的视野范围，从而可以获取到显微镜直线光线无法照到的盲区的视频数据，如图7以及图5-1至图5-3所示。During the operation of the system, the selected stereoscopic endoscope assembly 1 with a specific inclination angle Q is installed in the system according to the above-mentioned connection relationship, and the cold
双侧视频物镜镜头分别通过CCD元件采集图像，并经由两条视频输入电缆15向图像处理主机17中输入双路视频数据。图像处理主机17将处理后的立体视频经两条目镜视频输出电缆13传送到一对目镜中，以使得术者能通过双目镜组件2获得具有立体视觉感的立体视频，从而在立体视觉状态下进行手术操作。与此同时，图像处理主机17还能将立体视频信号另输出到显示器18中，从而使助手或参观者通过佩戴偏振光眼镜共享立体视频影像。The double-sided video objective lenses respectively collect images through the CCD element, and input two-way video data to the
以上实施方式仅用于说明本发明，而非对本发明的限制。尽管参照实施例对本发明进行了详细说明，本领域的普通技术人员应当理解，对本发明的技术方案进行各种组合、修改或者等同替换，都不脱离本发明技术方案的精神和范围，均应涵盖在本发明的权利要求范围中。The above embodiments are only used to illustrate the present invention, but not to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not depart from the spirit and scope of the technical solutions of the present invention, and all should cover Within the scope of the claims of the present invention.
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