Disclosure of Invention
Aiming at the problems that an existing endoscope display system in the prior art cannot adapt to the field requirement of complex endoscope operation, particularly in a double-main-cutter mode, the operation efficiency is reduced due to error in cooperation of an armrest and a main cutter and complex treatment after a lens is polluted, the invention provides a 3D endoscope display system with intelligent field configuration.
The invention provides the following technical scheme: A3D endoscope display system with intelligent visual field configuration comprises an endoscope, a plurality of head-mounted display devices, a positioning system and a data processing system; the endoscope comprises a hollow endoscope sheath, one end of the endoscope sheath is a detection end, at least 3 image acquisition units are arranged in the detection end, a base is arranged at the other end of the endoscope sheath, and the base is connected with a hollow grip; a first gyroscope is arranged in the grip; the head-mounted display device comprises a display, a bracket and a fixing belt, wherein two sides of the display are respectively connected with two ends of the bracket, and the fixing belt is connected between the top of the display and the middle of the bracket; the bracket is also provided with a hollow connecting piece, and a second gyroscope is arranged in the connecting piece; the positioning system comprises at least 3 signal receivers arranged in non-collinear positions in an operating room, a first signal transmitter arranged on a handle of the endoscope and a second signal transmitter arranged on the top of a fixing band of the head-mounted display device; the signal receiver is in signal connection with a wireless transmitting module; the data processing system comprises a wireless receiving module, an image module, a positioning module and a view field distribution module, wherein the wireless receiving module is in signal connection with the wireless transmitting module, the positioning module is in signal connection with the wireless receiving module, the image module is in signal connection with the cavity mirror, and the view field distribution module is respectively in signal connection with the image module, the positioning module, the display, the first gyroscope and the second gyroscope.
Preferably, the fields of view of two adjacent image acquisition units intersect, and the sum of the fields of view that can be covered by a plurality of image acquisition units is at least one hemispherical area away from the sheath with the detection end as the center of the sphere.
As a specific implementation manner, the detection end is in a regular triangular pyramid shape, and three outward side surfaces of the detection end are provided with image acquisition units.
As a specific implementation manner, the image acquisition unit comprises an optical lens, the optical lens is arranged inside the side face of the detection end, a plurality of light guide optical fibers are uniformly arranged around the optical lens, and the tail end of the optical lens is connected with a photosensitive element.
Preferably, one end of the lens sheath, which is close to the base, is also connected with a triangular connector seat, the connector seat is provided with a mounting groove, the bottom of the mounting groove is provided with a data connector and a plurality of light guide connectors, the light guide connectors are connected with the light guide optical fibers, and the data connector is in signal connection with the photosensitive element; bayonets are arranged on the three side walls of the connector base.
Preferably, the base comprises an interface seat, the interface seat is fixedly connected to the grip, a limiting clamping groove is formed in one surface of the interface seat facing the joint seat, a data interface and a plurality of light guide interfaces are arranged at the bottom of the limiting clamping groove, the positions of the data interface and the light guide interfaces correspond to the positions of the data connector and the light guide connector respectively, and the data interface is in signal connection with the image module; the limiting clamping groove is in clearance fit with the joint seat.
Preferably, three sets of rotary bayonet devices are uniformly arranged on one surface of the interface seat facing the connector seat, each rotary bayonet device comprises a semicircular gear, each semicircular gear is hinged to the interface seat through a rotating shaft, a connecting rod is hinged to one end of each semicircular gear, a clip is hinged to one connecting rod, and the clip is in clearance fit with the corresponding bayonet; guide plates are arranged on two sides of the clip; the outer side of the interface seat is in clearance fit with a rotary outer ring, a rack is further arranged at the position, corresponding to the semicircular gear, of the rotary outer ring, and the rack is meshed with the semicircular gear; the rotary bayonet device further comprises an extension spring, and two ends of the extension spring are respectively connected to the rotary outer ring and the protrusions of the interface seat; the bottom of the inner wall of the rotary outer ring is provided with a convex ring, one surface of the handle, which is connected with the interface seat, is provided with a concave ring, and the concave ring is in clearance fit with the convex ring.
Preferably, the rotary bayonet device is further provided with a cover plate, the cover plate is in clearance fit with the rotary outer ring, the cover plate is provided with a limiting through groove, and the limiting through groove is in clearance fit with the joint seat.
Preferably, the handle is further provided with a light source input end, the light source input end is connected with the light guide interface, and the light source input end is further connected with a cold light source generator.
The beneficial effects of the invention are as follows:
1. The invention adopts a plurality of image acquisition units with different view field angles and intersecting each other, can simultaneously acquire the view fields of a plurality of operation surfaces near the detection end, and forms a complete fisheye-type hemispherical image after being spliced and processed by the image module. Only the endoscope is required to be fixed at a proper angle, the operation difficulty is low, the problem of matching between the handle and the main knife is solved, and the operation efficiency is further improved.
2. According to the invention, the corresponding region can be grabbed on the fish-eye type hemisphere image through the view distribution module according to the facing direction of the main knife according to the relative position information of the endoscope and the main knife wearing the head-mounted display device, which is obtained by the positioning system. Each main knife can obtain the operation visual field of the operation surface facing each other, and can perform operation simultaneously, thereby shortening the operation time and being suitable for the operation modes of double main knives and even multiple main knives.
3. In order to enlarge the surgical field range of the display and increase the flexibility of the field of view, the invention uses the first gyroscope and the second gyroscope as the field of view distribution modules to collect the gesture information of the head of the main knife and the cavity mirror, the field of view distribution modules are fixed by taking the gesture direction of the cavity mirror as a reference, and the field of view is grasped according to the real-time direction faced by the head of the main knife, so as to form a panoramic visual effect. The main knife can automatically obtain the surgical field outside the current display range only by moving the head towards, thereby facilitating the surgical operation and being more suitable for the complicated and changeable field requirements of the modern endoscopic minimally invasive surgery.
4. In order to reduce the adverse effect of the pollution of the image acquisition unit in the operation on the operation, the endoscope sheath and the base of the endoscope adopt a detachable structure, and are easy to detach and install. When the sheath is replaced, the sheath can be pulled out only by pulling the rotary outer ring and driving the clip to leave the bayonet on the side wall of the connector base through the semicircular gear; after the rotary outer ring is loosened, the stretching spring automatically returns the clamp to the original position and keeps the clamping state. When the surface of the image acquisition unit is polluted in the operation, the spare parts can be quickly detached and replaced, and compared with the whole endoscope, the device is more rapid and convenient to replace or clean and disinfect.
Detailed Description
Embodiments of the present invention will be described in more detail below with reference to the drawings and reference numerals, so that those skilled in the art can practice the present invention after studying the specification. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides a 3D endoscope display system with intelligent visual field configuration, which is shown in fig. 1,2 and 8, and comprises an endoscope 1, a plurality of head-mounted display devices 2, a positioning system and a data processing system; the endoscope 1 comprises a hollow endoscope sheath 11, wherein one end of the endoscope sheath 11 is a detection end 12, at least 3 image acquisition units 13 are arranged in the detection end 12, a base 14 is arranged at the other end of the endoscope sheath 11, and the base 14 is connected with a hollow grip 15; a first gyroscope is arranged inside the grip 15; the head-mounted display device 2 comprises a display 21, a support 22 and a fixing belt 23, wherein two sides of the display 21 are respectively connected with two ends of the support 22, and the fixing belt 23 is connected between the top of the display 21 and the middle of the support 22; the bracket 22 is also provided with a hollow connecting piece 24, and a second gyroscope is arranged inside the connecting piece 24; the positioning system comprises at least 3 signal receivers arranged in non-collinear positions in an operating room, a first signal transmitter 3 arranged on a grip 15 of the endoscope 1 and a second signal transmitter 4 arranged on the top of a fixed belt 23 of the head-mounted display device 2; the signal receiver is in signal connection with a wireless transmitting module; the data processing system comprises a wireless receiving module, an image module, a positioning module and a view field distribution module, wherein the wireless receiving module is in signal connection with the wireless transmitting module, the positioning module is in signal connection with the wireless receiving module, the image module is in signal connection with the cavity mirror 1, and the view field distribution module is respectively in signal connection with the image module, the positioning module, the display 21, the first gyroscope and the second gyroscope.
As shown in fig. 1 and 6, the endoscope is a device which can extend into a patient to collect images of a surgical operation surface, and at least 3 image collecting units are adopted. The image acquisition units are responsible for acquiring image information of an operation surface and transmitting the image information to the image module, and the large-view-field, large-aperture and ultra-short-focal-length high-definition camera with a CCD or CMOS photosensitive element can be selected, the diameter of the camera is generally 4-5 mm, the focal length of the camera is about 1mm, and the view field angle of the camera is larger than 120 degrees.
The sheath can be made of hard materials such as stainless steel, aluminum alloy, PEI and the like to make a round or smooth-edged polyhedron, so that the grip and the detection end are always in the same straight axial direction. The detection end is in a regular polyhedral conical shape or a spherical shape, so that a plurality of image acquisition units can be uniformly distributed, and a visual field blind area is prevented from being generated; the outer side surface of the detection end is encapsulated with a layer of transparent toughened glass, so that the detection end has a protective effect and does not cause barriers to imaging light.
The tail end of the mirror sheath is connected to the base, the base is connected to the hollow handle, and the base and the handle can be made of stainless steel. The handle is internally provided with a first gyroscope, the gyroscope can select a two-axis IDG-300 chip, and can be connected with the data processing system in a signal manner through a wired cable to transmit the attitude information of the cavity mirror to the vision distribution module to serve as a data basis of vision distribution.
The positioning system includes a signal receiver and first and second signal transmitters disposed on the laparoscopic grip and on the head mounted display device. The signal receiver can select SH-0038 type infrared sensors, can be arranged at different positions around an operating room, and is preferably arranged at non-collinear positions such as a ceiling and the like without shielding and obstruction so as not to influence signal transmission; the first signal emitter and the second signal emitter can select TSAL6200 infrared emitting tubes; the wireless transmitting module can select an F05A type chip. The plurality of signal receivers can respectively acquire the angle, distance and other position information of the first signal transmitter and the second signal transmitter, the information is transmitted to the wireless receiving module through the wireless transmitting module, and then transmitted to the positioning module, and the positioning module can simulate the relative azimuth of the main knife and the cavity mirror according to the information.
As shown in fig. 2, the head-mounted display device is the display terminal of the invention, and the main knife can wear the device on the head, so that not only is an independent operation surface view provided for each main knife, but also the problems of large occupied space of the display, screen shielding when staff moves and the like in the traditional mode are avoided. The display can be a 5.5-inch high-definition display, the bracket and the connecting piece can be made of PEI, the fixing belt can be nylon belts, the second gyroscope can be a two-axis IDG-300 chip, and the second signal transmitter can be a TSAL6200 infrared transmitting tube. In order to enable the display to display a larger range of operation vision, the second gyroscope can be matched with the first gyroscope to respectively provide posture information such as the orientation of the head of the main cutter and the endoscope in a three-dimensional space.
The carrier of the data processing system can select a computer, a notebook computer, a server and other computing equipment capable of processing image information, position information and attitude information, and the image module, the positioning module and the visual field distribution module run in a program form. In order to ensure the transmission quality, the visual field distribution module is in signal connection with the positioning module, the image module, the display and the first gyroscope and the second gyroscope in a cable mode, and the image module is in signal connection with the image acquisition unit in a cable mode. The wireless receiving module can select 3310A superheterodyne wireless receiving board, can receive the data of the wireless transmitting module, and transmits the data to the positioning module in a wired mode. The signal connection diagram of each module is shown in fig. 8, wherein the solid line refers to wired signal connection, and the broken line refers to wireless signal connection.
When the invention works, the head-mounted display equipment is worn on the plurality of main cutter heads and faces to the respective operation surfaces, the cavity mirror stretches into a patient, the plurality of image acquisition units acquire image information of the operation surfaces and send the image information to the image module, and the image module splices the image information into a fisheye-type hemispherical image according to the existing multi-lens image splicing and fusion technology. Meanwhile, the positioning module simulates the directions of a plurality of main cutters relative to the cavity lens according to the existing multi-point positioning technology, the visual field distribution module determines the positions of the cavity lens as the sphere centers of the fisheye hemispherical images, the relative directions of the main cutters and the cavity lens can grasp the image information of the operation surfaces facing each main cutter, spherical images are corrected to be planar images of normal visual angles of human eyes according to the existing image distortion correction technology, and the planar images are respectively transmitted to the displays of the head-mounted display equipment, so that the main cutters at different operation positions can obtain the respective visual fields of the operation surfaces. The manner in which the view allocation module captures images and communicates them to the different displays is also known in the art.
In order to expand the surgical field range that the display can provide, the first gyroscope and the second gyroscope provide the gesture information of the main knife and the cavity mirror, the field of view distribution module can respectively establish three-dimensional coordinate axes by taking the gyroscopes of the main knife head and the cavity mirror as original points according to the gesture judging principle of the existing gyroscopes, and overlap the main knife head and the cavity mirror by taking the three-dimensional coordinate axes of the cavity mirror as reference, and capture image information according to the real-time direction faced by the main knife head, so as to form a panoramic visual effect. Similarly, the captured image information is also corrected to a planar image of normal viewing angle of human eyes according to the existing image distortion correction technology and then transmitted to a display. The main knife can automatically obtain the surgical field outside the current display range only by moving the head towards, thereby being more convenient for surgical operation.
Preferably, the fields of view of two adjacent image acquisition units 13 intersect, and the sum of the fields of view that can be covered by a plurality of image acquisition units 13 is at least one hemispherical area facing away from the sheath 11 with the probe end 12 as the center of the sphere.
The fields of view between adjacent image acquisition units are intersected, so that the direction pointed by the detection end and the images of the operation surface around the direction can be acquired, the sum of the fields of view of all the image acquisition units can at least cover a hemispherical area which takes the detection end as a sphere center and is away from the mirror sheath, as shown in fig. 9, the field of view range indicated in the figure is not the actual operation surface field, and the field of view is only used as an illustration.
As a specific embodiment, the detecting end 12 is in a regular triangular pyramid shape, and three outward sides of the detecting end 12 are provided with image acquisition units 13.
In one embodiment of the present invention, as shown in fig. 6 and 7, in order to form a hemispherical dead-angle-free surgical field, the detection end is in a regular triangular pyramid shape, and each side is provided with image acquisition units, and the three image acquisition units are uniformly distributed around the axis of the regular triangular pyramid.
As a specific embodiment, the image capturing unit 13 includes an optical lens 131, the optical lens 131 is disposed inside the side surface of the detection end 12, a plurality of light guide fibers 132 are uniformly disposed around the optical lens 131, and a photosensitive element is connected to the end of the optical lens 131.
As shown in FIG. 7, the optical lens can select a high-definition camera with a large field of view, a large aperture and an ultra-short focal length, the diameter of the camera is generally 4-5 mm, the focal length of the camera is about 1mm, and the angle of the field of view is larger than 120 degrees. The periphery of the optical lens is uniformly provided with a plurality of light guide fibers, and the light guide fibers can select fibers with the diameter of 1mm to play a role in illumination and provide a light source for the optical lens. The photosensitive element can be a TCD2950D type CCD or an IMX318 type CMOS, and can convert optical signals into electric signals and then digital signals, so that the obtained image has higher definition.
Preferably, one end of the sheath 11 near the base 14 is further connected with a triangular prism-shaped connector 16, the connector 16 is provided with a mounting groove, the bottom of the mounting groove is provided with a data connector and a plurality of light guide connectors, the light guide connectors are connected with the light guide optical fibers 132, and the data connector is in signal connection with the photosensitive element; bayonets are arranged on three side walls of the connector base 16.
As shown in fig. 3, in order to facilitate rapid disassembly and replacement of the probe end and sheath of the endoscope, the endoscope is provided with a triangular prism-shaped joint seat, and the sides of the triangular prism are rounded. The connector base is provided with a light guide connector and a data connector, so that the connection and disconnection of a light guide circuit and an image data circuit are facilitated. The connector base can be made of stainless steel or aluminum alloy, the light guide connector can be an FC type connector, and the data connector can be a 3.5mm plug-in connector. The side walls of the connector base are provided with bayonets for fixing.
Preferably, the base 14 includes an interface seat 142, the interface seat 142 is fixedly connected to the grip 15, a limiting slot is disposed on a surface of the interface seat 142 facing the joint seat 16, a data interface 1421 and a plurality of light guide interfaces 1422 are disposed at the bottom of the limiting slot, positions of the data interface 1421 and the light guide interfaces 1422 correspond to positions of the data connector and the light guide connector respectively, and the data interface 1421 is in signal connection with the image module; the limit clamping groove is in clearance fit with the joint seat 16.
As shown in fig. 3, the base is provided with an interface seat, a limit groove is arranged on the interface seat, a plug-in connection structure is formed with the interface seat, and a light guide interface and a data interface corresponding to the light guide connector and the data connector are arranged on the interface seat. The interface seat can be connected to the handle in a bolt connection mode. The interface seat can be made of stainless steel or aluminum alloy, the light guide interface can be an FC type interface, and the data interface can be a 3.5mm plug-in type interface.
Preferably, three sets of rotary bayonet devices 143 are uniformly arranged on the surface, facing the connector seat 16, of the connector seat 142, the rotary bayonet devices 143 comprise semicircular gears 1431, the semicircular gears 1431 are hinged on the connector seat 142 through rotating shafts, one end of each semicircular gear 1431 is hinged with a connecting rod 1432, each connecting rod 1432 is hinged with a clamp 1433, and the clamps 1433 are in clearance fit with the bayonets; guide plates 1434 are arranged on two sides of the clamp 1433; the outer side of the interface seat 142 is in clearance fit with a rotary outer ring 141, a rack 1411 is further arranged at a position corresponding to the semicircular gear 1431 on the rotary outer ring 141, and the rack 1411 is meshed with the semicircular gear 1431; the rotary bayonet device 143 further comprises a tension spring 1435, and two ends of the tension spring 1435 are respectively connected to the rotary outer ring 141 and the protrusion 1436 of the interface seat 142; the bottom of the inner wall of the rotary outer ring 141 is provided with a convex ring 1412, a concave ring 151 is provided on a surface of the handle 15 connected with the interface seat 142, and the concave ring 151 and the convex ring 1412 are in clearance fit.
As shown in fig. 3, 4 and 5, in order to form a more stable connection structure, three sets of rotary fastening devices are further arranged on one surface of the interface seat facing the joint seat, and the three sets of rotary fastening devices respectively correspond to bayonets on three sides of the joint seat. Under the condition that no external force is applied, the stretching spring tightens and fixes the relative positions of the rotary outer ring and the interface seat, the clamp stretches into the bayonet to lock the interface seat in the interface seat, the light guide connector is anastomosed with the light guide interface, and the data connector is anastomosed with the data interface to form a closed circuit. When the rotary outer ring is required to be disassembled, the rack drives the semicircular gear to rotate, the clamp is pulled out of the bayonet, the connector seat can be pulled out of the connector seat, the rotary outer ring is loosened, and the tension spring drives the rotary outer ring and the clamp to reset.
And an anti-slip strip can be arranged on the outer side of the rotary outer ring. The guide plate plays a limiting role on the clip to prevent the clip from deviating leftwards and rightwards. As shown in fig. 5, the handle is provided with a concave ring, and a sliding rail is formed with the interface seat to engage with the convex ring, so that the rotary outer ring is fixed and can rotate around the interface seat. The rotary outer ring, the protrusions, the racks, the semicircular gears, the connecting rods, the clips and the guide plates can be made of aluminum alloy or PEI, and the tension springs can be made of 65Mn spring carbon steel.
Preferably, a cover plate 144 is further disposed on the rotary bayonet device 143, the cover plate 144 is in clearance fit with the rotary outer ring 141, and a limit through slot is disposed on the cover plate 144, and the limit through slot is in clearance fit with the joint seat 16.
As shown in fig. 3 and 5, the protrusions and the clips should have the same height, and the cover plate may be bolted to the protrusions, and simultaneously play a role in protecting and limiting the clips. The cover plate can be made of stainless steel and aluminum alloy.
Preferably, the grip 15 is further provided with a light source input end, the light source input end is connected with the light guide interface 1422, and the light source input end is further connected with a cold light source generator.
The light source of the light guide fiber can come from an external cold light source generator, and the cold light source generator can select an M402112 type LED cold light source.
The foregoing is a description of one embodiment of the invention, which is specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.