TWI760237B - Single-camera 3D scanning projection device used in endoscope and operation method thereof - Google Patents
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Abstract
一種使用於內視鏡之單攝影機三維掃描投影裝置，係安裝於內視鏡頭端之頭管中，包含有：一投射光源；一投影透鏡；一圖案板，可供該投射光源的光透過而於一物體上顯現出一投影圖案，該投影圖案具有彼此交叉的複數垂直網格線與複數水平網格線；一成像透鏡；一影像擷取單元；以及一隔牆。主要利用該投射光源所發出的光其光軸與該影像擷取單元取像之光軸係上下並列的關係，再加上以複數大影像點賦予各該垂直網格線獨一無二的二進位編碼，再配合該成像透鏡的焦距f c 與該投影透鏡的焦距f p 這兩者的焦距比f c /f p 為1-1.4之間，可以在用該三維掃描裝置時，對物體移近或移遠該內視鏡頭端之頭管來進行三維掃描。 A single-camera three-dimensional scanning projection device used in an endoscope is installed in a head pipe at the end of an endoscope, comprising: a projection light source; a projection lens; A projection pattern is displayed on an object, and the projection pattern has a plurality of vertical grid lines and a plurality of horizontal grid lines crossing each other; an imaging lens; an image capturing unit; and a partition wall. It mainly utilizes the juxtaposed relationship between the optical axis of the light emitted by the projection light source and the optical axis of the image capturing unit, and in addition, a plurality of large image points are used to give each of the vertical grid lines a unique binary code, In combination with the focal length f c of the imaging lens and the focal length f p of the projection lens, the focal length ratio f c /f p is between 1 and 1.4, so that the object can be moved closer or moved when the three-dimensional scanning device is used. 3D scanning is performed by moving the head tube far from the end of the endoscope.
Description
本發明係與使用於內視鏡的三維掃描技術有關，特別是指一種使用於內視鏡之單攝影機三維掃描投影裝置及其操作方法。 The present invention is related to the three-dimensional scanning technology used in endoscopes, and particularly relates to a single-camera 3D scanning and projection device used in endoscopes and an operation method thereof.
目前已知的內視鏡主要是提供二維影像為主，而在實際使用時，雖取得了影像，但由於在取像時不知道放大率以及物距，因此就缺少了實際上物體的尺寸資訊，進而無法做到三維掃瞄的結果。 The currently known endoscopes mainly provide two-dimensional images. In actual use, although images are obtained, the actual size of the object is lacking because the magnification and object distance are not known when the image is taken. information, so that the results of 3D scanning cannot be achieved.
對於上述問題，目前已有使用雙攝影機產生類似立體視覺效果之技術，此亦稱為被動立體影像系統(passive stereo)，然而，雙攝影機的技術主要是利用影像的特徵點，來判斷取得的兩個影像之間因視差所產生的特徵點差異，再利用三角法的計算來獲得三維資訊。美國US 8,496,575 B2號專利，就揭露了一種量測內視鏡裝置(Measuring Endoscope Apparatus)，其就是一種使用雙攝影機來取像，並且基於三角法來量測距離的技術。然而，當物體表面缺乏表面紋理特徵時，這種使用雙攝影機的技術就有可能遭遇到無法取特徵點的問題，這樣一來，還是會有無法獲取到三維資訊的問題存在。 For the above problems, there is a technology that uses dual cameras to produce similar stereoscopic visual effects, which is also called passive stereo. However, the dual-camera technology mainly uses the feature points of the image to determine the obtained two The difference of feature points between the images due to parallax is used to obtain 3D information by trigonometry. US Patent No. 8,496,575 B2 discloses a measuring endoscope apparatus (Measuring Endoscope Apparatus), which is a technology that uses dual cameras to take images and measures distances based on triangulation. However, when the surface of the object lacks surface texture features, this technology using dual cameras may encounter the problem of not being able to obtain feature points, so that there will still be a problem of not being able to obtain 3D information.
另外，目前也已有主動立體影像系統(active stereo)，由一台攝影機配合一台投影機所組成，其主要的技術是由該投影機向物體投射一個光圖 案，藉以在物體的表面照映出結構光或編碼光，進而可以讓該攝影機取像，並藉由該攝影機本身的已知參數來測量投影在該物體上的光圖案的變形形狀，進而估算物體尺寸。此種技術的問題在於，一旦圖案變形失真，圖像的順序就會變得很難確定來自於原始光圖案的哪一個部分，因此，光圖案又演變成為編碼圖案，進而可以幫助系統辦識出取像的圖案是該編碼圖案的哪一個部分。在計算時，則是利用三角法來進行運算，進而取得各個特徵點在三維空間中的位置。然而，目前已知的這種投影光圖案再以三角法計算並取得距離或位置的單攝影機三維掃瞄技術，並無針對投影格線中的垂直網格線搭配攝影機與投影機的光軸上下並列的技術所存在者。 In addition, there is also an active stereo system, which consists of a camera and a projector. The main technology is that the projector projects a light image to the object. In order to reflect the structured light or coded light on the surface of the object, the camera can take an image, and the deformation shape of the light pattern projected on the object can be measured by the known parameters of the camera, and then estimated object size. The problem with this technique is that once the pattern is distorted, the order of the images becomes difficult to determine which part of the original light pattern came from, so the light pattern evolves into a coded pattern, which in turn helps the system identify Which part of the coding pattern is the imaged pattern. During the calculation, the trigonometric method is used to perform the operation, and then the position of each feature point in the three-dimensional space is obtained. However, the currently known single-camera 3D scanning technology in which the projected light pattern is calculated by triangulation to obtain the distance or position does not match the vertical grid lines in the projected grid lines with the vertical grid lines of the camera and the projector. A juxtaposition of technological beings.
本發明之主要目的即在於提出一種使用於內視鏡之單攝影機三維掃描投影裝置及其操作方法，其藉由複數垂直網格線搭配攝影機與投影機的光軸上下並列的技術，可以達到對物體表面進行三維掃描的效果。 The main purpose of the present invention is to provide a single-camera 3D scanning projection device for endoscopes and an operation method thereof, which can achieve accurate alignment of the optical axis of the camera and the projector by using a plurality of vertical grid lines with the technology of juxtaposing the optical axes of the camera and the projector. The effect of 3D scanning of the surface of an object.
本發明之再一目的即在於提出一種使用於內視鏡之單攝影機三維掃描投影裝置及其操作方法，其藉由複數垂直網格線搭配攝影機與投影機的光軸上下並列的技術，可以達到在移動內視鏡頭管時，維持複數垂直網格線幾乎不移動的效果，進而可以很容易的確定該複數垂直網格線的特徵。 Another object of the present invention is to provide a single-camera 3D scanning projection device used in an endoscope and an operation method thereof, which can achieve the technology of juxtaposing the optical axes of the camera and the projector by means of a plurality of vertical grid lines. When moving the endoscope tube, the effect that the plurality of vertical grid lines hardly move is maintained, so that the characteristics of the plurality of vertical grid lines can be easily determined.
為了達成上述目的，本發明提出一種使用於內視鏡之單攝影機三維掃描投影裝置，係安裝於內視鏡頭端之頭管中，該使用於內視鏡之單攝影機三維掃描投影裝置包含有：一投射光源，用以發出投射光線；一投影透鏡，供該投射光源的光透過向外射出；一圖案板，設置於該投射光源與該投影透鏡 之間，該圖案板具有一圖案，可供該投射光源的光透過而經過該投影透鏡來投影至一物體上，而於該物體上顯現出一投影圖案，該圖案具備之特徵使得該投影圖案顯現出彼此交叉的複數垂直網格線與複數水平網格線；一成像透鏡，供外部的光進入；一影像擷取單元，對經由該成像透鏡進入之光取像；以及一隔牆，設於該投射光源與該影像擷取單元之間，並且延伸至該投影透鏡與該成像透鏡之間而將其阻隔，該隔牆阻隔該投射光源所發出的光使其不會在該頭管中就照射至該成像透鏡以及該影像擷取單元；其中，該投射光源所發出的光其光軸與該影像擷取單元取像之光軸係上下並列且實質平行；其中，在該投影圖案中，在該複數垂直網格線與該複數水平網格線的某些交叉點分別具有一大影像點，這些大影像點的涵蓋範圍大於各該垂直網格線與各該水平網格線之交叉點，並賦予了各該垂直網格線獨一無二的二進位編碼；其中，該成像透鏡的焦距f c 與該投影透鏡的焦距f p 這兩者的焦距比f c /f p 係為1-1.4之間。 In order to achieve the above object, the present invention provides a single-camera 3D scanning projection device for an endoscope, which is installed in a head tube at the end of the endoscope. The single-camera 3D scanning and projection device for an endoscope includes: a projection light source for emitting projection light; a projection lens for the light of the projection light source to pass through and out; a pattern plate arranged between the projection light source and the projection lens, the pattern plate has a pattern for The light of the projection light source is transmitted through the projection lens to be projected onto an object, and a projection pattern is displayed on the object. The pattern has the characteristics that the projection pattern exhibits a plurality of vertical grid lines and a plurality of intersecting lines. horizontal grid lines; an imaging lens for entering external light; an image capturing unit for capturing images of light entering through the imaging lens; and a partition wall between the projection light source and the image capturing unit , and extends between the projection lens and the imaging lens to block them, the partition wall blocks the light emitted by the projection light source so that it does not irradiate the imaging lens and the image capture unit in the head pipe ; Wherein, the optical axis of the light emitted by the projection light source is juxtaposed up and down and substantially parallel to the optical axis of the image capturing unit; wherein, in the projection pattern, the plurality of vertical grid lines and the plurality of horizontal Some intersections of grid lines have large image points respectively, and the coverage of these large image points is larger than the intersection of each of the vertical grid lines and each of the horizontal grid lines, and gives each of the vertical grid lines a unique wherein, the focal length ratio f c /f p of the focal length f c of the imaging lens and the focal length f p of the projection lens is between 1-1.4.
而操作前述使用於內視鏡之單攝影機三維掃描投影裝置的操作方法，則包含有下列步驟：A)操作該內視鏡之頭管朝向一物體，使該投射光源所發出的光透過該圖案板所形成的圖案投影至該物體上而顯現出一投影圖案，同時該影像擷取單元即進行取像；B)操作該內視鏡之頭管移近或移遠該物體，亦即改變該內視鏡之頭管相對於該物體之直線距離，在移動的過程中造成該投影圖案投影於該物體上的圖形產生變化，且在移動的過程中該影像擷取單元也每隔預定時間取像一次；以及C)依據該投射光源所發出的光其光軸與該影像擷取單元取像之光軸上下並列且相平行的關係，以及依據該複數大影像點賦予了各該垂直網格線獨一無二的二進位編碼的關係，對各個取像而得的影像進行預定運算，而獲得該複數垂直網格線與複數水平網格線的各個交叉點的深度值。 The operating method for operating the single-camera 3D scanning projection device used in the endoscope includes the following steps: A) operating the head tube of the endoscope to face an object, so that the light emitted by the projection light source passes through the pattern The pattern formed by the plate is projected onto the object to reveal a projected pattern, and at the same time, the image capture unit captures the image; B) The head tube of the endoscope is operated to move closer or farther to the object, that is, to change the The linear distance of the head tube of the endoscope relative to the object causes the projection pattern projected on the object to change during the moving process, and the image capturing unit also captures images at predetermined intervals during the moving process. and C) according to the relationship that the optical axis of the light emitted by the projection light source and the optical axis of the image capturing unit are juxtaposed up and down and parallel, and each of the vertical grids is assigned according to the plurality of large image points The unique binary-coded relationship of the lines is used to perform a predetermined operation on the images obtained by each captured image to obtain the depth value of each intersection of the plurality of vertical grid lines and the plurality of horizontal grid lines.
藉由本發明所揭露之上述技術，本發明藉由複數垂直網格線搭配攝影機與投影機的光軸上下並列的技術，可以達到對物體表面進行三維掃描的效果，並且還可以達到在內視鏡頭管時，維持複數垂直網格線投影在物體表面內所擷取的影像呈現幾乎不移動的效果，進而可以很容易的確定該複數垂直網格線上的特徵，以及該複數垂直網格線在該投影圖案內的相對位置。 With the above-mentioned technology disclosed in the present invention, the present invention can achieve the effect of three-dimensional scanning of the surface of an object by using a plurality of vertical grid lines with the technology of juxtaposing the optical axes of the camera and the projector. During the monitoring process, the image captured by the projection of the complex vertical grid lines on the surface of the object presents almost no movement, so that the characteristics of the complex vertical grid lines can be easily determined, and the complex vertical grid lines in the Relative position within the projected pattern.
10:使用於內視鏡之單攝影機三維掃描投影裝置 10: Single-camera 3D scanning projection device for endoscopy
11:投射光源 11: Projection light source
11A:光軸 11A: Optical axis
21:投影透鏡 21: Projection lens
31:圖案板 31: Pattern Board
41:成像透鏡 41: Imaging lens
51:影像擷取單元 51: Image capture unit
51A:光軸 51A: Optical axis
61:隔牆 61: Partition Wall
80:內視鏡 80: Endoscope
81:頭管 81: head tube
90:物體 90: Objects
91:投影圖案 91: Projection Pattern
91H:水平網格線 91H: Horizontal grid lines
91V:垂直網格線 91V: Vertical grid lines
92:大影像點 92: Large image point
L1:長度 L1: length
L2:長度 L2: length
W1:寬度 W1: width
W2:寬度 W2: width
Z1:距離 Z1: Distance
Z2:距離 Z2: Distance
圖1係本發明一較佳實施例之外觀示意圖。 FIG. 1 is a schematic view of the appearance of a preferred embodiment of the present invention.
圖2係本發明一較佳實施例之剖視示意圖。 FIG. 2 is a schematic cross-sectional view of a preferred embodiment of the present invention.
圖3係本發明一較佳實施例之投影圖案示意圖。 FIG. 3 is a schematic diagram of a projection pattern of a preferred embodiment of the present invention.
圖4係本發明一較佳實施例之操作動作圖。 FIG. 4 is an operation action diagram of a preferred embodiment of the present invention.
圖5係本發明一較佳實施例之再一操作動作圖。 FIG. 5 is a still another operation action diagram of a preferred embodiment of the present invention.
圖6係合併圖4及圖5之動作示意圖。以及 FIG. 6 is a schematic diagram of the operation of combining FIG. 4 and FIG. 5 . as well as
圖7係本發明一較佳實施例之又一操作動作圖。 FIG. 7 is another operation action diagram of a preferred embodiment of the present invention.
為了詳細說明本發明之技術特點所在，茲舉以下之較佳實施例並配合圖式說明如後，其中：如圖1至圖7所示，本發明一較佳實施例所提出之一種使用於內視鏡之單攝影機三維掃描投影裝置10，其係安裝於一內視鏡80頭端之頭管81中，該使用於內視鏡之單攝影機三維掃描投影裝置10主要由一投射光源11、一
投影透鏡21、一圖案板31、一成像透鏡41、一影像擷取單元51以及一隔牆61所組成，其中：該投射光源11，用以發出投射光線。該投射光源11可以是發光二極體(LED)，雷射二極體(Laser diode)或雷射(Laser)，也可以是使用光纖將外部投射光源11導入的機構，所發出的光源波段可以是不可見光或可見光。
In order to describe the technical features of the present invention in detail, the following preferred embodiments are given and described in conjunction with the drawings as follows. The single-camera 3D scanning and
該投影透鏡21，供該投射光源11的光透過向外射出。
The
該圖案板31，設置於該投射光源11與該投影透鏡21之間，該圖案板31具有一圖案(圖中未示)，可供該投射光源11的光透過而經過投影透鏡21來投影至一物體90上，而於該物體90上顯現出一投影圖案91，該圖案(圖中未示)具備之特徵使得該投影圖案91顯現出彼此交叉的複數垂直網格線91V以及複數水平網格線91H。該複數垂直網格線91V與該複數水平網格線91H係可以均為直線、或均為波浪線，也可以均為曲線，於本實施例中以均為直線為例。
The
該成像透鏡41，供外部的光進入。
The
該影像擷取單元51，對經由該成像透鏡41進入之光取像。該影像擷取單元可以選用已知的CCD(電荷耦合裝置)。
The
該隔牆61，設於該投射光源11與該影像擷取單元51之間，並且延伸至該投影透鏡21與該成像透鏡41之間而將其阻隔，該隔牆61阻隔該投射光源11所發出的光使其不會在該頭管81中就漫射至該成像透鏡41以及該影像擷取單元51。
The
其中，該投射光源11所發出的光其光軸11A與該影像擷取單元51取像的光軸51A係上下並列且相平行。此外，在該投影圖案91中，在該複數垂直網格線91V與該複數水平網格線91H的某些交叉點分別具有一大影像點92，
這些大影像點92的涵蓋範圍大於各該垂直網格線91V與各該水平網格線91H的交叉點，但不會涵蓋到其他的該垂直網格線91V或該水平網格線91H，並賦予了各該垂直網格線91V獨一無二的二進位編碼。在這裡所指的上下並列，是相對於各該垂直網格線91V而言的，也就是說，該投射光源11所發出的光其光軸11A與該影像擷取單元51取像的光軸51A的上下並列關係，乃是與各該垂直網格線91V平行。而各該大影像點92的形狀，可以都是呈圓形、或都呈方形、或都呈五星形、三角形、菱形...等任何不同於二條垂直線交叉點形態的點，於本實施例中係以圓點為例。
The
其中，該成像透鏡41的焦距f c 與該投影透鏡21的焦距f p 這兩者的焦距比f c /f p 係為1-1.4之間。最佳的狀況來說，是兩者的焦距相同f p =f c ，即焦距比f c /f p 為1.0。簡單來說，就是該投影透鏡21與該成像透鏡41的光學特性要相同或類似，最佳的狀況來說就是相同。而由圖2及圖4至圖6來看，則該投影透鏡21與該圖案板31的距離(由於已對焦完成，因此相同於焦距)與該成像透鏡41與該影像擷取單元51的距離(由於已對焦完成，因此相同於焦距)是相同的。
The focal length ratio f c /f p of the focal length f c of the
以上說明了本實施例的架構，接下來說明本實施例的操作方法。 The architecture of this embodiment is described above, and the operation method of this embodiment is described next.
操作本發明之使用於內視鏡之單攝影機三維掃描投影裝置10的操作方法，主要具有下列步驟：
The operating method for operating the single-camera 3D
A)操作該內視鏡80之頭管81朝向該物體90，使該投射光源11所發出的光透過該圖案板31所形成的圖案投影至該物體90上而顯現出一投影圖案91，同時該影像擷取單元51即進行取像。
A) Operate the
B)操作該內視鏡80之頭管81移近或移遠該物體90，例如，由圖4中的距離Z1移動至圖5中的距離Z2，亦即改變該內視鏡80之頭管81相對於該物體90之直線距離，在移動的過程中造成該投影圖案91投影於該物體90上的圖形產生變化，且在移動的過程中該影像擷取單元51也每隔預定時間取像一次。
B) Operate the
C)依據該投射光源11所發出的光其光軸11A與該影像擷取單元51取像之光軸51A上下並列且相平行的關係，以及依據該複數大影像點92賦予了各該垂直網格線91V獨一無二的二進位編碼的關係，對各該取像而得的影像進行預定運算，而獲得該複數垂直網格線91V與複數水平網格線91H的各個交叉點的深度值。這裡所指的預定運算，可以使用目前已知的三角法來進行運算，其詳細運算技術並非本案之申請重點，因此容不予以詳述。
C) According to the relationship between the
本案之技術重點在於，藉由(1)該投射光源11所發出的光其光軸11A與該影像擷取單元51取像之光軸51A上下並列且相平行的關係，以及(2)該複數大影像點92賦予了各該垂直網格線91V獨一無二的二進位編碼的關係，可以獲得一個特殊的狀況：在操作該內視鏡80之頭管81移近或移遠該物體90時，投射於該物體90上所呈現的投影圖案91的變化，乃僅有該複數水平網格線91H會在取像到的畫面中看起來會移動，而該複數垂直網格線91V則在取像到的畫面中看起來不會移動。其具體原因為：如圖6所示，係為圖4與圖5重疊後的狀態，亦即將物體90由距離Z1移動至距離Z2，此是將該內視鏡80的頭管81朝向左側的該物體90，以觀察者正前方即為該內視鏡80的頭管81朝左的視角來看，則投影至距離Z1的該物體90上的該投影圖案91的寬度為W1，在該物體90移近至Z2的距離後該投影圖案91的寬度即為變為W2，而圖6中的圓點即代表該複數水平網格線91H。由圖6可知，在該物體90相對於該內視鏡80的頭管81的距離發生
改變時，該複數水平網格線91H的位置就會隨著移動。在該物體90表面有高低起伏時，這個移動的狀況會更為明顯而更容易被看出。
The technical point of this case lies in that (1) the
如圖7所示，若將該內視鏡80的頭管81朝向前側的該物體90，以觀察者在上方的俯視角度來看，則該投影透鏡21與該成像透鏡41是重疊的，且該圖案板31也與該影像擷取單元51重疊，而投影至距離Z1的該物體90上的該投影圖案91的長度為L1，在該物體90移近至Z2的位置後該投影圖案91的長度即為變為L2，而圖7中的圓點即代表該複數垂直網格線91V。由圖7可知，在該物體90相對於該內視鏡80的頭管81的距離發生改變時，該複數垂直網格線91V的位置幾乎沒有移動。這樣的該複數垂直線格線91V幾乎沒有移動的狀況，在該物體90表面有高低起伏時，仍然可以很明顯的維持其幾乎沒有移動的狀況。
As shown in FIG. 7 , if the
由上述的說明可知，本發明藉由(1)該投射光源11所發出的光其光軸11A與該影像擷取單元51取像之光軸51A上下並列且相平行的關係，以及(2)該複數大影像點92賦予了各該垂直網格線91V獨一無二的二進位編碼的關係，可以在移近或移遠該內視鏡80的頭管81的過程中，使得該複數垂直網格線91V幾乎沒有移動，這樣一來，可以很容易的確定每條垂直網格線91V上的特徵，進而針對取像後的各個影像中的每條水平網格線91H的移動狀況，藉由預定運算來取得該物體90表面的各個點的深度值，亦即取得了該物體90的表面輪廓特徵，進而達到了三維表面重建的結果。
As can be seen from the above description, in the present invention, (1) the
在上述的說明中，提到了該成像透鏡41的焦距f c 與該投影透鏡21的焦距f p 這兩者的焦距比f c /f p 係為1-1.4之間。而前述的圖7所示的，在該物體90相對於該內視鏡80的頭管81的距離發生改變時，該複數垂直網格線91V的位置幾乎沒有移動，這個特性是建立在該投影透鏡21與該成像透鏡41的光學特性相
同的條件下。而如果該成像透鏡41的焦距f c 與該投影透鏡21的焦距f p 這兩者的焦距比f c /f p 大於1，例如為1.2，則該複數垂直網格線91V的位置就會產生些微的移動，而不是幾乎沒有移動的狀況了。但若焦距比f c /f p 超過1.4，則就會呈現出該複數垂直網格線91V與該複數水平網格線91H都會隨著該物體90表面而有移動的狀況，此時就會難以由取像的結果來取得該物體90的表面深度資訊了。
In the above description, it is mentioned that the focal length ratio f c /f p of the focal length f c of the
值得說明的一點是，在上述的實施例中，主要是以該投射光源11所發出的光其光軸11A與該影像擷取單元51取像的光軸51A係上下並列且相平行，並配合該複數大影像點92賦予了各該垂直網格線91V獨一無二的二進位編碼。然而，也可以改變為另外的形態，即，以該投射光源11所發出的光其光軸11A與該影像擷取單元51取像的光軸51A係水平並列且相平行，並配合該複數大影像點92賦予了各該水平網格線91H獨一無二的二進位編碼。這樣一來，其實也就是相較於上述實施例的設置方式旋轉了90度，在實際操作時，在相對該物體90移近及移遠該內視鏡80的頭管81時，即會呈現出只有該複數垂直網格線91V移動，而該複數水平網格線91H幾乎沒有移動的狀態了。
It is worth noting that, in the above-mentioned embodiments, the
綜合上述可知，本發明可以達到以下的功效： From the above, it can be known that the present invention can achieve the following effects:
一、本發明藉由複數垂直網格線91V搭配該投射光源11與該影像擷取單元的光軸11A,51A上下並列的技術，可以達到對該物體90表面進行三維表面重建的效果。
1. The present invention can achieve the effect of three-dimensional surface reconstruction of the surface of the
二、本發明藉由複數垂直網格線91V搭配該投射光源11與該影像擷取單元的光軸11A,51A上下並列的技術，可以達到在移動內視鏡80的頭管81時，維持複數垂直網格線91V幾乎不移動的效果，進而可以很容易的確定該複
數垂直網格線91V的特徵和確認該複數垂直網格線91V在該投影圖案91內的位置。
2. The present invention uses the technology of juxtaposing the
10:使用於內視鏡之單攝影機三維掃描投影裝置 10: Single-camera 3D scanning projection device for endoscopy
11:投射光源 11: Projection light source
21:投影透鏡 21: Projection lens
31:圖案板 31: Pattern Board
41:成像透鏡 41: Imaging lens
51:影像擷取單元 51: Image capture unit
61:隔牆 61: Partition Wall
80:內視鏡 80: Endoscope
81:頭管 81: head tube
Claims (8)
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160287141A1 (en) * | 2014-03-02 | 2016-10-06 | V.T.M. (Virtual Tape Measure) Technologies Ltd. | Endoscopic measurement system and method |
| TW201903350A (en) * | 2017-03-13 | 2019-01-16 | 新加坡商海特根微光學公司 | Photoelectric device for collecting three-dimensional data |
| TWM617812U (en) * | 2021-05-26 | 2021-10-01 | 醫電鼎眾股份有限公司 | Single-camera three-dimensional scanning projection device used in endoscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160287141A1 (en) * | 2014-03-02 | 2016-10-06 | V.T.M. (Virtual Tape Measure) Technologies Ltd. | Endoscopic measurement system and method |
| TW201903350A (en) * | 2017-03-13 | 2019-01-16 | 新加坡商海特根微光學公司 | Photoelectric device for collecting three-dimensional data |
| TWM617812U (en) * | 2021-05-26 | 2021-10-01 | 醫電鼎眾股份有限公司 | Single-camera three-dimensional scanning projection device used in endoscope |
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