CN206880656U - Augmented reality wireless electronic endoscope surgery systems - Google Patents
Augmented reality wireless electronic endoscope surgery systems Download PDFInfo
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Abstract
It the utility model is related to medical instruments field, and in particular to a kind of augmented reality wireless electronic endoscope surgery systems, the surgery systems include：Endoscope, bracket assembly and light source main frame, imaging main frame and display device on bracket assembly；And augmented reality device, the augmented reality device have support, and the second wireless communication unit, microprocessing unit and micro display unit on the support, wherein, the micro display unit is when support is worn over human body head in front of human eye.Augmented reality wireless electronic endoscope surgery systems of the present utility model, using supplement of the augmented reality device as system displaying device, enable medical personnel to watch the image of endoscope collection and other images by the micro-display on augmented reality device, while do not influence medical worker directly by eye observation target.Minimally Invasive Surgery precision and level are brought up to new height by the system.
Description
Technical Field
The utility model belongs to the field of medical equipment, concretely relates to augmented reality wireless electron endoscope operation system.
Background
At present, the research of medical robot technology has become one of the leading research hotspots in the international robot field, and medical staff and scientific engineering technicians are closely matched to research and develop some medical surgical operation systems, but at present, no high-level mature system is applied to clinical practice.
The existing electronic endoscope operation system mainly comprises various forms of endoscopes, a light source host, an image processing host and a display device, wherein the endoscope acquires images through a camera unit after entering a human body cavity, and the images are displayed on the display device after being processed by the image processing host and are used for reference of a doctor during an operation. However, when a doctor operates an operation, the doctor often needs a long time, and staring at the screen of the display device for a long time increases fatigue of a relevant part of a body, so that the progress of the operation is easily influenced. Meanwhile, the doctor cannot perform other operations or check images inspected in the early stage by staring at the screen all the time during the operation, so that the operation efficiency and the success rate are reduced.
SUMMERY OF THE UTILITY MODEL
The technical problem solved by the utility model is to provide an augmented reality wireless electron endoscope operation system, adopt the augmented reality device as system display device's replenishment, make medical staff can be through the micro-display on the augmented reality device watch the image and other images that the endoscope gathered, do not influence medical staff directly simultaneously and observe the target through eyes. In order to achieve the above purpose, the utility model adopts the following technical scheme:
an augmented reality wireless electronic endoscopic surgical system, the surgical system comprising:
an endoscope having an optical system for imaging and illumination, and an elongated insertion portion having a bending portion provided at a distal end portion;
the device comprises a bracket assembly, a light source host, an imaging host and a display device, wherein the light source host, the imaging host and the display device are arranged on the bracket assembly; wherein,
the light source host is provided with a light source and a light source interface and is connected with an optical system of the endoscope through an optical fiber;
the imaging host is provided with an image processing unit, a storage unit and a first wireless communication unit, wherein the storage unit is connected with the image processing unit, and the image processing unit is used for receiving and processing the image acquired by the endoscope and transmitting the image to the display device or storing the image in the storage unit;
the display device is used for displaying the image which is processed by the image processing unit and is acquired by the endoscope; also comprises the following steps of (1) preparing,
the augmented reality device is provided with a support, and a second wireless communication unit, a micro-processing unit and a micro-display unit which are arranged on the support, wherein the micro-display unit is positioned in front of human eyes when the support is worn on the head of a human;
the image processing unit of the imaging host is also used for processing images and sending the images through the first wireless communication unit, the second wireless communication unit is used for receiving image signals sent by the first wireless communication unit, and the micro-processing unit is used for controlling and driving the micro-display unit to display the image signals received by the second wireless communication unit.
Furthermore, the micro display unit is installed on the augmented reality device through an adjustable support, and the adjustable support is used for adjusting the distance between the micro display unit and the human eyes.
Furthermore, the display device comprises a first display and a second display, the first display is arranged on the imaging host, and the second display is a special medical display; the first display is also used for marking an interested area on a display screen of an operator, the image processing unit is also used for acquiring the interested area, processing the interested area, sending the processed interested area to the augmented reality device, and displaying the interested area by the micro display unit.
Preferably, the first display has a touch display screen, and the touch display screen is used for marking the region of interest on the screen by an operator in a touch manner.
Furthermore, a voice receiving unit is also arranged on the augmented reality device, and the voice receiving unit is connected with the micro-processing unit and used for receiving a voice instruction;
the storage unit of the imaging host is also used for storing pathological images acquired by external equipment;
after the voice receiving unit receives the voice command, the micro-processing unit sends the voice command to the image processing unit through the second wireless communication unit, and after the image processing unit recognizes the voice command, the image processing unit calls the corresponding pathological image from the storage unit and sends the pathological image to the micro-display unit on the augmented reality device for display.
Further, the utility model discloses an operation system still includes bone conduction earphone, bone conduction earphone pass through the third communication unit with imaging host computer wireless connection for accept imaging host computer's warning instruction and send out suggestion pronunciation.
Furthermore, the endoscope is also provided with a position sensing unit, and the position sensing unit is connected with an image processing unit of the imaging host; the position sensing unit is used for detecting the rotation angle of an image shot by the endoscope, and when the position sensing unit detects that the image shot by the endoscope is inclined or tilted, the image processing unit correspondingly rotates and corrects the image collected by the endoscope, so that the image displayed by the display device is always kept upright.
Preferably, the position sensing unit is a nine-axis gyroscope disposed in the endoscope.
Further, the utility model discloses an operation system still includes external power supply, external power supply includes rechargeable battery and hangs the portion of putting, it is used for hanging the power and arranges the human body in to hang the portion of putting, rechargeable battery connects augmented reality device's power source.
Preferably, the endoscope is one or more of a laparoscope, a thoracoscope, an arthroscope, a rhinoscope, a cystoscope, a proctoscope, a duodenoscope, a mediastinoscope, and a cardioscope.
The utility model has the advantages that:
the utility model discloses an augmented reality wireless electronic endoscope operation system, increased augmented reality device on the basis of traditional endoscope operation system, this augmented reality eyes can wear medical staff's head to carry out image display through locating the little display element on it, make medical staff can watch the image that the endoscope gathered through little display element, carry out the operation; or the micro display unit is ignored, the target is directly observed through eyes in a normal mode, so that the eyes of the medical staff are released from the display device of the existing endoscopic surgery system, physical fatigue and even damage caused by long-time staring at the screen of the medical staff are avoided, and the surgery operation is more efficient.
Further, medical staff can pass through the utility model discloses a region of interest in the image that display device mark endoscope in the operation system gathered to send the little display element on the augmented reality device to show after further handling this region of interest by image processing unit, make the operator clearer the observation of image, improve the operation degree of accuracy. Thereby greatly reducing the pain, the operation wound and the operation cost of the patient, shortening the recovery time and simultaneously lightening the fatigue strength of the doctor.
Further, during the operation, the medical staff may need to check the pathological region image acquired by other devices, such as an angiographic image, a computed tomography image, a magnetic resonance imaging image or an ultrasonography image. However, when performing an endoscopic operation, the hands and feet of the medical staff all need to operate the corresponding devices, and the images cannot be retrieved for viewing. At this moment, can pass through the utility model discloses a pronunciation receiving element among the operation system sends voice command, transfers the image that needs from the relevant image of stocking in advance in the memory cell of formation of image host computer to show and observe on the little display element of augmented reality device, thereby improved convenient degree and operation efficiency greatly, make this system improve minimal access surgery precision and level to new height.
Drawings
Fig. 1 is a schematic diagram of the components and connection relationship of the augmented reality wireless electronic endoscopic surgery system of the present invention.
Fig. 2 is a schematic view of the installation and connection of the endoscope, the bracket assembly, the light source host and the imaging host.
Fig. 3 is a schematic structural diagram of an embodiment of the augmented reality apparatus of the present invention.
Fig. 4 is a schematic structural diagram of another embodiment of the augmented reality device of the present invention.
Detailed Description
For further understanding of the present invention, preferred embodiments of the present invention will be described below with reference to examples, but it should be understood that these descriptions are only for the purpose of further illustrating the features and advantages of the present invention, and are not intended to limit the claims of the present invention.
As shown in fig. 1 and 2, the preferred embodiment of the augmented reality wireless electronic endoscopic surgery system of the present invention comprises:
the endoscope 1, which can be any one of laparoscope, thoracoscope, arthroscope, rhinoscope, cystoscope, rectoscope, duodenoscope, mediastinoscope and cardioscope, has an optical system for image pickup and illumination, and an elongated insertion part 11 with a bending part arranged at the front end part, and is used for inserting into a human body cavity to acquire images or performing surgical operation through instruments.
And integrated on the support assembly 2:
and a light source main unit 3 having a light source and a light source interface, connected to the optical system of the endoscope through an optical fiber, and configured to provide an illumination or operation light source to the optical system of the endoscope.
And an imaging host 4 having at least an image processing unit, a storage unit, and a first wireless communication unit, wherein the storage unit and the first wireless communication unit are connected to the image processing unit. The image processing unit is used for receiving and processing images collected by the endoscope, and then sending the images to the display device for display or storing the images in the storage unit.
Specifically, the image processing unit is composed of a DSP + an FPGA + an ARM, the DSP is used as a main CPU, the FPGA is used as a coprocessor of the main CPU to perform video preprocessing, and the ARM is used as an auxiliary processing control unit.
The FPGA completes interface processing, video data access and preprocessing; the DSP completes the input of video data, the compression of the video data, the control of external memory, the interactive communication with the FPGA and the output of compressed data. In addition, in the image processing process, serial-to-parallel conversion of serial digital video signals (LVDS) is realized through a special serial-to-parallel conversion chip, and then the signals after isolation are sent to the FPGA through an isolation chip. A video data format analysis module in the FPGA converts a video signal input by the CML interface into Y-format video data; the VPIF interface module converts the data output by the video data format analysis module into a format supported by a VPIF interface of the DSP, and transmits the video data to the DSP through the VPIF interface. And the DSP realizes coding and decoding processing on the video data, and finally realizes high-definition video display on the video data stream through an HDMI interface. Meanwhile, the video data stream is transmitted to the augmented reality device through wireless WIFI to achieve augmented reality display.
Furthermore, the image processing unit realizes the human-computer interaction of the endoscope camera system by transplanting a linux operating system on an ARM embedded system. The communication between the ARM and the DSP is specifically as follows: and directly connecting the DSP to the ARM system to realize communication between the DSP and the ARM system. For an ARM device, the DSP may be viewed as a memory connected to its system, and the ARM accesses the DSP via memory access instructions. The ARM and DSP combined framework is adopted, so that abundant resources of the DSP are used for realizing image processing, and the advantages of the image processing field are fully exerted. For example, after the image is frozen and the system needs to store the frozen image, the DSP sends the frozen image data to the ARM system, and the storage is implemented in the ARM system.
And a display device having a display screen for displaying the image captured by the endoscope processed by the image processing unit.
Preferably, the display device includes a first display and a second display. The first display is integrated on the imaging host, the display is a touch liquid crystal display, and an operator can mark an area of interest on a screen of the display in a touch mode. Wherein, the region of interest is a key part of a pathological change or a key part of an operation of a patient body. The selected region of interest is further processed by the imaging host and then sent to the augmented reality device, and the region of interest is displayed by the micro display unit for a doctor to watch in a short distance, so that the accuracy of the operation is improved.
Specifically, in the preferred embodiment of the present invention, the software interface of the touch screen is designed based on Embedded Visual C + +. In the whole software interface for reconstructing and processing the video image, the left large window is used for real-time full-resolution preview of the video, an interested image area on the touch screen is marked in a touch mode, and capture operation is carried out through the right touch icon key. Meanwhile, storage in a BMP or JPEG format can be selected in the setting keys, and eight recently captured images form preview in a right small window, so that no interference is generated on real-time display of the video in the image capturing process.
The second display is an endoscope system dedicated display 5. The display has high resolution, excellent brightness and contrast, natural grading and accurate color restoration, is used as a main display screen to display images acquired by the endoscope, and is convenient for doctors to watch and identify.
In order to release the eyes of the medical staff from the display device and improve the operation efficiency, the operation system of the utility model is further provided with an augmented reality device.
Fig. 3 shows a preferred embodiment of the augmented reality device of the present invention, which has a support 61, and a second wireless communication unit, a microprocessor unit and a micro-display unit 62 disposed on the support; wherein, the second wireless communication unit and the micro-processing unit are integrated in the original box 63 on the bracket.
Alternatively, the augmented reality device may be of the type shown in fig. 4. It has a stand 71 and a display 72 that may integrate a second wireless communication unit, a micro-processing unit and a micro-display unit.
Specifically, in the above embodiments, the second wireless communication unit is configured to communicate with the first wireless communication unit on the imaging host, and receive/transmit data information or instruction information. Preferably, the first and second wireless communication units may be WiFi communication modules, or bluetooth communication modules; of course, other wireless communication modules are also possible, and are not limited in particular here.
The micro-processing unit is connected with the second wireless communication unit and the micro-display unit and is used for receiving the image signals sent by the image host through the wireless communication unit and further processing the image signals and then driving the micro-display unit to display the received image signals.
Specifically, the micro-processing unit selects an eight-core ARM processor, when the micro-processing unit processes the image, a tracking algorithm is performed by using KLT and SIFT mixed feature points of a CUDA architecture technology, and an image feature point fast tracking matching technology is reasonably used, so that the usability of image processing is greatly improved. The parallelism of the feature point tracking matching algorithm on two levels of pixels and feature points is considered, the parallel operation technology is utilized to accelerate the algorithm, the algorithm efficiency is improved, and the algorithm time consumption is reduced. By utilizing a tracking strategy of mixed characteristic points and a depth map enhanced algorithm mechanism, the accuracy of the algorithm is ensured, and meanwhile, the effective balance between robustness and real-time performance is maintained.
Meanwhile, a depth map enhancement algorithm is adopted, the depth map is optimized and solved by taking a confidence coefficient estimation result of the original depth map and the color, edge and segmentation result of the color image as clues, the noise of the depth map is effectively reduced, and the data defect area is repaired.
The micro display unit is used for displaying images. Particularly, the utility model discloses in, augmented reality device its little display element be for locating the micro-display on the support to when the support was worn at people's head, this little demonstration just in time was located people's eye the place ahead. At this time, the eyes of the medical staff can flexibly select, and the medical staff can focus on the screen of the micro display and can also ignore the micro display to observe the external target in a normal mode.
In specific implementation, the micro-display unit displays images by adopting an LCOS screen with a resolution of 1366x768, and is arranged on a bracket of the augmented reality device through an adjustable bracket. When the augmented reality device is worn on the head of a human body, the distance between the human eyes and the LCOS screen can be adjusted to just meet the requirement of clearly seeing the display image on the screen, and the experience of watching an external large-screen display device is achieved.
In order to further strengthen the function of above-mentioned augmented reality device, improve operation efficiency, the utility model discloses an among the operation system, operating personnel mark the region of interest on the display screen of first display, after this region of interest is acquireed and handled through the image processing unit, send the augmented reality device to show by the little display element on the augmented reality device the region of interest to medical staff watches the image of detail or key region, improve the degree of accuracy and the efficiency of operation.
On the other hand, as a further preferred embodiment, the surgical system of the present invention further comprises a voice receiving unit on the augmented reality device, wherein the voice receiving unit is connected to the micro-processing unit for receiving the voice command. Meanwhile, the storage unit of the imaging host prestores pathological images acquired by external equipment, such as angiographic images, computed tomography images, magnetic resonance imaging images or ultrasonic examination images. When medical staff need to check the images in the operation process, a voice instruction can be sent out, the voice receiving unit receives the voice instruction and then sends the voice instruction to the image processing unit through the micro-processing unit, the image processing unit identifies the voice instruction and then calls the corresponding pathological images from the storage unit to be sent to the augmented reality device, and the images are displayed by the micro-display unit so that the medical staff can check the images conveniently. At this time, medical staff can view pathological images collected by external equipment on the micro display unit, and view images collected by the endoscope through the display device for comparison, so that the operation accuracy and the operation efficiency are improved.
The voice receiving unit can be a miniature microphone integrated on the bracket and used for receiving voice signals. The image processing unit of the imaging host further integrates a voice processing module so as to perform voice instruction recognition. In practical use, the voice command recognition method can give out instructions through a plurality of preset voice commands so as to improve the recognition accuracy of the voice commands.
As a further preferred embodiment, the surgical system of the present invention further comprises a bone conduction earphone, which is wirelessly connected to the imaging host through the third communication unit for receiving the prompting command from the imaging host and sending a prompting voice. By adopting the bone conduction earphone, the interference of external noise can be effectively avoided, and the indication heard by a receiver is clearer.
As a further preferred embodiment, the endoscope of the present invention further comprises a position sensing unit, which is a nine-axis gyroscope disposed in the endoscope and connected to the image processing unit of the imaging host. When the endoscope is used, when the position sensing unit detects that an image shot by the endoscope is inclined or falls, the image processing unit correspondingly rotates the image collected by the endoscope according to data collected by the nine-axis gyroscope, so that the image displayed by the display device is always kept upright, medical staff can conveniently watch the image, and the operation accuracy is further improved.
Further, the utility model discloses an operation system still includes external power supply, and this external power supply includes rechargeable battery and hangs the portion of putting, hangs the portion of putting and is used for hanging the power and arranges the human body in, and rechargeable battery connects augmented reality device's power source. The external power supply is adopted, so that the defect that the electric quantity of a built-in battery is insufficient or the power line is connected difficultly can be overcome, and the surgical operation instrument is particularly suitable for occasions with long operation time.
The above description of the embodiments is only intended to help understand the method of the present invention and its core ideas. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.
Claims (10)
1. An augmented reality wireless electronic endoscopic surgical system, the surgical system comprising:
an endoscope having an optical system for imaging and illumination, and an elongated insertion portion having a bending portion provided at a distal end portion;
the device comprises a bracket assembly, a light source host, an imaging host and a display device, wherein the light source host, the imaging host and the display device are arranged on the bracket assembly; wherein,
the light source host is provided with a light source and a light source interface and is connected with an optical system of the endoscope through an optical fiber;
the imaging host is provided with an image processing unit, a storage unit connected with the image processing unit and a first wireless communication unit, wherein the image processing unit is used for receiving and processing the image acquired by the endoscope and transmitting the image to the display device or storing the image in the storage unit;
the display device is used for displaying the image which is processed by the image processing unit and is acquired by the endoscope; also comprises the following steps of (1) preparing,
the augmented reality device is provided with a support, and a second wireless communication unit, a micro-processing unit and a micro-display unit which are arranged on the support, wherein the support is used for fixing the augmented reality device on the head of a human body, and the micro-display unit is positioned in front of the human eyes when the support is fixed on the head of the human body;
the image processing unit of the imaging host is also used for processing images and sending the images through the first wireless communication unit, the second wireless communication unit is used for receiving image signals sent by the first wireless communication unit, and the micro-processing unit is used for controlling and driving the micro-display unit to display the image signals received by the second wireless communication unit.
2. The augmented reality wireless electronic endoscopic surgery system of claim 1, wherein the micro-display unit is mounted on the augmented reality device by an adjustable mount for adjusting a distance between the micro-display unit and the human eye.
3. The augmented reality wireless electronic endoscopic surgery system of claim 2, wherein the display device comprises a first display and a second display, the first display is provided on the imaging host, and the second display is a dedicated medical display; the first display is also used for marking an interested area on a display screen of an operator, the image processing unit is also used for acquiring the interested area, processing the interested area, sending the processed interested area to the augmented reality device, and displaying the interested area by the micro display unit.
4. The augmented reality wireless electronic endoscopic surgery system according to claim 3, wherein the first display has a touch-sensitive display screen for an operator to touch-mark a region of interest on the screen.
5. The augmented reality wireless electronic endoscopic surgery system according to claim 3, wherein a voice receiving unit is further provided on the augmented reality device, the voice receiving unit is connected to the micro-processing unit for receiving a voice command;
the storage unit of the imaging host is also used for storing pathological images acquired by external equipment;
after the voice receiving unit receives the voice command, the micro-processing unit sends the voice command to the image processing unit through the second wireless communication unit, and after the image processing unit recognizes the voice command, the image processing unit calls the corresponding pathological image from the storage unit and sends the pathological image to the micro-display unit on the augmented reality device for display.
6. The augmented reality wireless electronic endoscopic surgery system according to claim 5, further comprising a bone conduction headset, wherein the bone conduction headset is wirelessly connected with the imaging host through a third communication unit, and is configured to receive a prompting instruction from the imaging host and send out a prompting voice.
7. The augmented reality wireless electronic endoscopic surgery system according to claim 2, wherein the endoscope further has a position sensing unit connected to an image processing unit of the imaging host; the position sensing unit is used for detecting the rotation angle of an image shot by the endoscope, and when the position sensing unit detects that the image shot by the endoscope is inclined or tilted, the image processing unit correspondingly rotates and corrects the image collected by the endoscope, so that the image displayed by the display device is always kept upright.
8. The augmented reality wireless electronic endoscopic surgery system of claim 7, wherein the position sensing unit is a nine-axis gyroscope disposed within the endoscope.
9. The augmented reality wireless electronic endoscopic surgery system according to claim 2, further comprising an external power supply, wherein the external power supply comprises a rechargeable battery and a hanging part, the hanging part is used for hanging the power supply on the human body, and the rechargeable battery is connected with the power interface of the augmented reality device.
10. The augmented reality wireless electronic endoscopic surgery system of any one of claims 1-9, wherein the endoscope is one or more of a laparoscope, a thoracoscope, an arthroscope, a rhinoscope, a cystoscope, a proctoscope, a duodenoscope, a mediastinoscope, and a cardioscope.
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| CN201720071697.0U CN206880656U (en) | 2017-01-20 | 2017-01-20 | Augmented reality wireless electronic endoscope surgery systems |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106805934A (en) * | 2017-01-20 | 2017-06-09 | 杭州无创光电有限公司 | Augmented reality wireless electronic endoscope surgery systems |
| CN110101451A (en) * | 2019-05-08 | 2019-08-09 | 解涛 | A kind of VR simulation traction device for neurosurgery |
-
2017
- 2017-01-20 CN CN201720071697.0U patent/CN206880656U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106805934A (en) * | 2017-01-20 | 2017-06-09 | 杭州无创光电有限公司 | Augmented reality wireless electronic endoscope surgery systems |
| CN110101451A (en) * | 2019-05-08 | 2019-08-09 | 解涛 | A kind of VR simulation traction device for neurosurgery |
| CN110101451B (en) * | 2019-05-08 | 2020-04-14 | 解涛 | VR simulation traction device for neurosurgery |
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