Stereoscopic endoscope projection apparatus and imaging display system

Abstract

This application relates to a stereoscopic endoscopic projection device and imaging display system. The device includes a projection light source, a metasurface device, and a control unit. The metasurface device has micro / nano units on its surface for phase modulation of incident light. The control unit is electrically connected to the metasurface device. The control unit electrically controls the modulation phase of the micro / nano units of the metasurface device based on a hologram of the object being examined. The emitted light from the projection light source is incident on the metasurface device, and after light modulation by the metasurface device, a stereoscopic image of the object being examined is formed in a spatial medium. Through the microstructure of the metasurface device in this application, the limitations of existing 3D endoscopes in use, which affect surgical operations, are solved, achieving the effect of stereoscopic projection imaging by modulating light through the metasurface device.

Description

Technical Field

[0001] This invention relates to the field of endoscopic imaging technology, and in particular to a projection device and imaging display system for a stereoscopic endoscope. Background Technology

[0002] In clinical surgery, endoscopes are a common medical device that can be inserted into the patient's body for observation, assisting doctors in diagnosis and treatment and in performing surgery. Currently, emerging 3D endoscopes, compared to the two-dimensional images acquired by traditional endoscopes, can provide further depth information of the working surface, offering greater convenience for doctors in clinical applications.

[0003] Currently, 3D imaging of endoscopes is mainly achieved by using large 3D displays or by doctors wearing 3D glasses. However, 3D displays increase the size and weight of the system, and the image can only be viewed by moving to the front of the display. Wearing 3D glasses during surgery also has a certain impact on the operation. Therefore, current 3D imaging methods have limitations in use, which in turn affect the surgical procedure. Summary of the Invention

[0004] This embodiment provides a projection device and imaging display system for a stereoscopic endoscope to address the limitations in the use of related technologies, which in turn affect surgical procedures.

[0005] In a first aspect, this embodiment provides a stereoscopic endoscope projection device, characterized in that it includes: a projection light source, a metasurface device, and a control unit; wherein,

[0006] The surface of the metasurface device is provided with micro / nano units for phase modulation of incident light;

[0007] The control unit is electrically connected to the metasurface device; the control unit electrically controls the modulation phase of the micro-nano units of the metasurface device based on the hologram of the object under test;

[0008] The emitted light from the projection light source is incident on the metasurface device, and after being modulated by the metasurface device, a three-dimensional image of the object under inspection is formed in the spatial medium.

[0009] In some embodiments, the hologram of the object being examined is a phase hologram.

[0010] In some of these embodiments, the control unit enables independent addressing and control of the micro-nano units on the surface of the metasurface device.

[0011] In some of these embodiments, the projection light source is a coherent light source or a partially coherent light source.

[0012] Secondly, this embodiment provides a stereoscopic endoscopic imaging display system, including: an information acquisition module, a signal processing module, and a stereoscopic endoscopic projection device as described in the first aspect; wherein,

[0013] The information acquisition module is used to acquire information from the surface of the object being inspected.

[0014] The signal processing module generates a hologram of the object under inspection based on the acquisition signal from the acquisition module, and transmits the hologram to the stereoscopic endoscope projection device.

[0015] The information acquisition module is electrically connected to the signal processing module; the signal processing module is electrically connected to the stereoscopic endoscope projection device.

[0016] In some embodiments, the signal processing module includes: a 3D modeling submodule and a hologram generation submodule;

[0017] The 3D modeling submodule is connected to the hologram generation submodule and is used to generate a 3D model of the object under inspection based on the acquisition signal of the information acquisition module.

[0018] The hologram generation submodule is used to calculate the corresponding hologram of the inspected object based on the 3D model.

[0019] In some embodiments, the signal processing module is integrated with the stereoscopic endoscope projection device.

[0020] In some embodiments, the signal processing module is separate from the stereoscopic endoscope projection device.

[0021] In some embodiments, the information acquisition module is a dual-optical-path image acquisition module.

[0022] In some embodiments, the dual-optical-path image acquisition module acquires two-dimensional images of the object under inspection from different perspectives using a binocular camera and transmits the images to the signal processing module.

[0023] In some embodiments, the 3D modeling submodule is connected to the dual-optical-path image acquisition module to fuse and process two-dimensional images of the inspected object from different perspectives and parse the depth information of the two-dimensional images.

[0024] A three-dimensional point cloud map is created based on the depth information, and a 3D model of the object under inspection is constructed.

[0025] In some embodiments, the information acquisition module is a structured light emission and camera receiving system.

[0026] In some embodiments, the structured light emitting and camera receiving system is connected to the signal processing module and is used to project structured light onto the surface of the object under inspection through the structured light emitting component for modulation, and to collect the modulated structured light through the camera receiving component.

[0027] In some embodiments, the 3D modeling submodule is connected to the structured light emitting and camera receiving system and is used to calculate the three-dimensional surface information of the inspected object based on the modulated structured light;

[0028] A 3D model of the object under inspection is established based on the three-dimensional surface information.

[0029] In some embodiments, the information acquisition module is a TOF (Time-of-Flight) transmitter-receiver system.

[0030] In some embodiments, the TOF transmitting and receiving system is connected to the signal processing module and is used to project incident light onto the surface of the object under test through the TOF transmitting and receiving components, and then receive reflected light reflected from the surface of the object under test.

[0031] In some embodiments, the 3D modeling submodule is connected to the TOF transmitter-receiver system and is used to calculate the three-dimensional surface information of the object under inspection based on the reflected light received by the TOF transmitter-receiver system.

[0032] A 3D model of the object under inspection is established based on the three-dimensional surface information.

[0033] This invention provides a stereoscopic projection device and imaging display system, wherein the device includes: a projection light source, a metasurface device, and a control unit; wherein, the surface of the metasurface device is provided with micro-nano units for phase modulation of incident light; the control unit is electrically connected to the metasurface device; the control unit electrically controls the modulation phase of the micro-nano units of the metasurface device based on the hologram of the object being examined; the outgoing light from the projection light source is incident on the metasurface device, and after being optically modulated by the metasurface device, a stereoscopic image of the object being examined is formed in a spatial medium. By modulating the metasurface device, stereoscopic imaging of the endoscope can be projected, overcoming the limitations in use of the prior art and achieving the effect of not affecting the surgical operation. Attached Figure Description

[0034] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0035] Figure 1 This is a schematic diagram of a stereoscopic endoscope projection device in one embodiment;

[0036] Figure 2 This is a schematic diagram of the projection in a stereoscopic endoscope projection device in one embodiment;

[0037] Figure 3 This is a schematic diagram of a stereoscopic endoscopic imaging display system in one embodiment;

[0038] Figure 4 This is a schematic diagram of a stereoscopic endoscopic imaging display system in another embodiment;

[0039] Figure 5 This is a structural block diagram of a stereoscopic endoscopic imaging display system in a preferred embodiment.

[0040] In the figure: 10. Stereoscopic endoscope projection device; 11. Projection light source; 12. Metasurface device; 13. Control unit; 20. Information acquisition module; 30. Signal processing module; 31. 3D modeling submodule; 32. Hologram generation submodule. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] It should be noted that when a component is said to be "set on" another component, it can be directly set on the other component or there may be an intervening component. When a component is considered to be "set on" another component, it can be directly set on the other component or there may be an intervening component. When a component is considered to be "fixed to" another component, it can be directly fixed to the other component or there may be an intervening component.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0044] An endoscope is a medical device commonly used in clinical surgery. It can be inserted into a patient's body to observe wounds or internal tissues, assisting doctors in diagnosis and surgical procedures. Traditional endoscopes can only acquire two-dimensional images of the subject, thus failing to provide a comprehensive view. Currently, endoscopic technology is gradually developing towards 3D display, which can further provide depth information of the working surface of the subject, offering greater convenience for clinical applications.

[0045] The advent of 3D endoscopes has brought convenience to doctors in clinical applications. From the perspective of existing technology, there are two main types of display solutions for 3D endoscopes. One is to use a 3D display, such as the 3D endoscope disclosed in application CN109770825A, which transmits images captured by the probe to a 3D display. This solution solves the problem of 3D display effect to a certain extent, but this type of endoscope system requires a large 3D display to achieve a good three-dimensional display, which not only increases the size and weight of the system, but also requires the patient to move in front of the display screen to observe the image, thus still having significant limitations in practical applications. The other solution requires doctors to wear 3D glasses to observe images inside the wound. However, the use of 3D glasses has a significant impact on the doctor's surgical operation, greatly affecting the procedure for doctors who do not frequently wear glasses or who already wear glasses.

[0046] Metasurface devices, also known as metasurfaces, have subwavelength metallic or dielectric antennas periodically, quasi-periodically, or randomly distributed on their surface, enabling modulation of the amplitude, phase, and polarization of electromagnetic waves. Metasurfaces provide a novel approach to optical field modulation through the interaction between incident light and nanoantennas. Furthermore, compared to traditional optical modulation devices, metasurfaces offer advantages such as ultrathinness, low loss, planarity, and ease of fabrication, providing significant advantages for the miniaturization of optical systems. This application utilizes metasurface devices in the 3D display of endoscopes, specifically providing the following embodiments.

[0047] This embodiment provides a stereoscopic endoscope projection device. Figure 1 This is a schematic diagram of the stereoscopic endoscope projection device in this embodiment, as shown below. Figure 1 As shown, the stereoscopic endoscope projection device 10 includes: a projection light source 11, a metasurface device 12, and a control unit 13; wherein,

[0048] The surface of the metasurface device 12 is provided with micro-nano units for phase modulation of incident light;

[0049] The control unit 13 is electrically connected to the metasurface device 12; the control unit 13 electrically controls the modulation phase of the micro-nano units of the metasurface device 12 based on the hologram of the object under test.

[0050] Specifically, the control unit 13 is electrically connected to the metasurface device 12, thereby electrically controlling the micro-nano units on the surface of the metasurface device 12. This electrical control can be achieved through voltage or current, with the current or voltage corresponding to the optical modulation performance of each micro-nano unit to adjust the phase and amplitude of the incident light. The hologram contains phase information corresponding to each position on the image, and each micro-nano unit on the surface of the metasurface device 12 corresponds one-to-one with the phase information in the hologram. The control unit 13 electrically controls each micro-nano unit on the metasurface device 12 based on the phase information at each position on the image.

[0051] The light emitted from the projection light source 11 is incident on the metasurface device 12, and after being modulated by the metasurface device 12, a three-dimensional image of the object under inspection is formed in the spatial medium.

[0052] Specifically, the projection light source 11 emits light onto the controlled metasurface device 12, and after being modulated by the micro-nano unit light of the metasurface device 12, a three-dimensional image of the object under inspection is formed in the space medium.

[0053] Specifically, Figure 2 This is a schematic diagram of the projection in the stereoscopic endoscope projection device in this embodiment, as shown below. Figure 2 As shown, the projection light source emits incident light onto the metasurface device. After passing through the metasurface device, a three-dimensional image can be formed in a spatial medium, ultimately achieving a naked-eye 3D effect. The spatial medium includes gases (such as ionized air), frosted glass, holographic projection films, and other media capable of presenting stereoscopic images.

[0054] Furthermore, in practical applications, the position of the projection light source can be adjusted according to the required angle and direction to project the stereoscopic image onto the target position, increasing the ease of use.

[0055] Existing technologies typically achieve 3D imaging of endoscopes by using large 3D displays or requiring doctors to wear 3D glasses. However, 3D displays increase the size and weight of the system, and images can only be viewed by moving in front of the display. Wearing 3D glasses during surgery also has a certain impact on the procedure. Therefore, current 3D imaging methods have limitations in use, thus affecting surgical procedures. The stereoscopic endoscope projection device provided in this embodiment offers an effective supplement to existing technologies. Through the aforementioned structure, metasurface devices are used for endoscopic 3D imaging. The control unit adjusts the micro-nano units of the metasurface device based on the phase information in the hologram of the examined object. Then, a projection light source emits light onto the metasurface device to form a stereoscopic image of the examined object. Due to the tiny structure of the metasurface device, the size and weight of the stereoscopic endoscope can be greatly reduced. Furthermore, through projection imaging, doctors do not need to wear 3D glasses or move in front of the display to view the image. Therefore, it solves the problem of limitations in use in existing technologies that affect surgical procedures.

[0056] In some of these embodiments, the hologram of the object being examined is a phase hologram.

[0057] Specifically, the phase hologram contains phase information corresponding to each position on the image. Each micro / nano unit on the surface of the metasurface device corresponds one-to-one with the phase information in the hologram. Therefore, the control unit can electrically control each micro / nano unit on the metasurface device based on the phase information at each position on the image, thereby providing a corresponding metasurface device for the modulation of incident light to achieve 3D imaging.

[0058] In some of these embodiments, the aforementioned control unit enables independent addressing and control of the micro-nano units on the surface of the metasurface device.

[0059] Specifically, each micro / nano unit on the surface of the metasurface device can be independently addressed and modulated, and each micro / nano unit can be electrically controlled, including but not limited to the following methods:

[0060] (1) By integrating the voltage-controlled varactor diode into the array sub-unit of the metasurface device, continuous phase compensation can be achieved in each array sub-unit of the metasurface device by changing the voltage value of the voltage-controlled varactor diode.

[0061] (2) The metasurface device is a liquid crystal metasurface, which modulates the phase of the metasurface micro-nano units through liquid crystal.

[0062] (3) Each micro-nano unit of the metasurface device is equipped with a phase change material, and modulation is achieved by changing the refractive index of the phase change material through electronic control.

[0063] In this embodiment, the control unit enables independent addressing and control of the micro-nano units on the surface of the metasurface device, providing a more flexible and practical electrical control method for the micro-nano units of the metasurface device. This allows for more accurate control of the metasurface device based on the hologram of the object under test.

[0064] In some of these embodiments, the projection light source is a coherent light source or a partially coherent light source.

[0065] Specifically, the coherent light source can be a laser, and the partially coherent light source can be an LED light source or an ultra-wideband LED light source (SLED), etc., and can independently control the switching and adjust the angle of the emitted light so as to project 3D images onto the target location.

[0066] This embodiment provides the necessary light source for the stereoscopic endoscope projection device, which emits light to the metasurface device according to actual needs, and ultimately forms a stereoscopic image.

[0067] This embodiment provides a stereoscopic endoscopic imaging display system. Figure 3 This is a schematic diagram of the stereoscopic endoscopic imaging display system of this embodiment, as shown below. Figure 3 As shown, the stereoscopic endoscope imaging display system includes: a stereoscopic endoscope projection device 10, an information acquisition module 20, and a signal processing module 30 as described in the above embodiment;

[0068] Information acquisition module 20 is used to acquire information from the surface of the object being inspected.

[0069] Specifically, the information acquisition module 20 includes various image acquisition components or signal receiving components, and acquires the acquisition signal of the object under inspection through various components. The acquisition signal is specifically a two-dimensional image or three-dimensional surface information of the object under inspection.

[0070] The signal processing module 30 generates a hologram of the object under inspection based on the signals acquired by the information acquisition module 20, and transmits the hologram to the stereoscopic endoscope projection device 10.

[0071] The information acquisition module 20 is electrically connected to the signal processing module 30; the signal processing module 30 is electrically connected to the stereoscopic endoscope projection device 10.

[0072] Specifically, the signal processing module 30 and the stereoscopic endoscope projection device 10 can be set separately, and the signal processing module 30 is electrically connected to the stereoscopic endoscope projection device 10. Based on the acquired signal of the object under inspection collected by the information acquisition module 20, the module performs corresponding processing and calculation to generate a hologram and transmit it to the stereoscopic endoscope projection device 10. The hologram has phase information corresponding to each position in the image.

[0073] Furthermore, Figure 4This is a schematic diagram of another stereoscopic endoscopic imaging display system, such as... Figure 4 As shown, the stereoscopic endoscopic imaging display system includes: a stereoscopic endoscopic projection device 10, an information acquisition module 20, and a signal processing module 30 as described in the above embodiment. The signal processing module 30 is integrated with the stereoscopic endoscopic projection device 10, and the information acquisition module 20 is electrically connected to the signal processing module 30.

[0074] Specifically, the signal processing module 30 can be a tablet computer or other handheld electronic device, which also integrates a stereoscopic endoscope projection device 10. It can acquire the acquisition signal collected by the information acquisition module 20 in the tablet computer, and then realize stereoscopic imaging through the signal processing module 30 and the stereoscopic endoscope projection device 10, which further improves the convenience of use.

[0075] The stereoscopic endoscopic imaging display system provided in this embodiment enables signal acquisition of the examined object, further analysis and processing of the acquired signals to generate a hologram of the examined object, and finally, electrical control of the metasurface device based on the hologram through a stereoscopic endoscopic projection device to achieve stereoscopic imaging of the examined object. Due to the microstructure of the metasurface device, the size and weight of the stereoscopic endoscope are greatly reduced. Furthermore, through projection imaging, doctors do not need to wear 3D glasses or move in front of the monitor to view the image. Moreover, the signal processing module and the stereoscopic endoscopic projection device can be integrated into a single design, thus solving the limitations in use of existing technologies that affect surgical procedures.

[0076] In some embodiments, the signal processing module includes a 3D modeling submodule and a hologram generation submodule;

[0077] The 3D modeling submodule, connected to the hologram generation submodule, is used to generate a 3D model of the object under inspection based on the acquisition signals from the information acquisition module.

[0078] Specifically, the 3D modeling submodule performs corresponding calculations and processing based on the acquisition signals of the inspected object collected by the information acquisition module, forming a 3D point cloud map of the inspected object, and then establishing a 3D model of the inspected object, which is then transmitted to the hologram generation submodule. The acquired signals include two-dimensional images or three-dimensional surface information of the inspected object.

[0079] The hologram generation submodule is used to calculate the corresponding hologram of the inspected object based on the 3D model.

[0080] Specifically, the hologram generation submodule receives the 3D model transmitted by the 3D modeling submodule, calculates the diffraction light field at each point of the 3D model, and then performs holographic encoding on the diffraction light field at each point to generate a hologram of the object under inspection.

[0081] In some embodiments, the hologram generation submodule described above can be implemented using the following methods, including but not limited to:

[0082] (1) The complex amplitude of the light field on the holographic surface of each object point in the 3D model is calculated by the object point scattering method and superimposed to obtain the total complex amplitude distribution on the holographic surface. Then, the complex amplitude is encoded to obtain the phase hologram.

[0083] (2) The complex amplitude of the light field on the holographic surface at different depths of the 3D model is superimposed by the tomography method to obtain the total complex amplitude distribution at the holographic surface, and then the complex amplitude is encoded to obtain the phase hologram.

[0084] Through the 3D modeling submodule and hologram generation submodule included in the signal processing module of this embodiment, it is possible to realize the complete signal processing module function of obtaining the corresponding 3D model from the acquired signal of the object under inspection, and then generating the hologram of the object under inspection based on the 3D model. This provides the hologram of the object under inspection for the stereoscopic endoscope projection device, so as to control the metasurface device.

[0085] In some embodiments, the signal processing module and the stereoscopic endoscope projection device are integrated, or the signal processing module and the stereoscopic endoscope projection device are separate.

[0086] Specifically, the schematic diagrams of the integrated and separate configurations are shown in the embodiments above. Figure 4 and Figure 3 As shown. In an integrated setup, the signal processing module can be a tablet computer or other handheld electronic device, which also integrates a stereoscopic endoscope projection device. This allows the tablet computer to acquire the signals collected by the information acquisition module, further improving ease of use. In a separate setup, the signal processing module and the stereoscopic endoscope projection device can be housed in different structures or components, increasing the structural flexibility of the overall stereoscopic endoscope imaging display system.

[0087] In some of these embodiments, the information acquisition module is one or more of a dual-optical-path image acquisition module, a structured light emission and camera receiving system, and a TOF emission and receiving system.

[0088] Specifically, the information acquisition module can be a dual-optical-path image acquisition system or a three-dimensional image sensor signal acquisition system such as structured light or TOF. The principle of 3D reconstruction achieved by the dual-optical-path image acquisition system is to reconstruct the three-dimensional model of the object by acquiring the two-dimensional image. Structured light and TOF three-dimensional sensors can directly detect and acquire the three-dimensional surface information of the object being inspected.

[0089] Furthermore, it is conceivable to combine the above two or three acquisition modules and systems, for example, by combining a dual-optical-path image acquisition system with a structured light emission and camera reception system, or by combining a dual-optical-path image acquisition system with a TOF emission and reception system, or by combining a structured light emission and camera reception system with a TOF emission and reception system, to achieve information acquisition on the surface of the inspected object.

[0090] The information acquisition module implementation system provided in this embodiment can achieve information acquisition of the inspected object through the acquisition system or combination of acquisition systems provided above.

[0091] In some of these embodiments, the dual-optical-path image acquisition module is used to acquire two-dimensional images of the object under inspection from different perspectives using a binocular camera, and then transmit the images to the signal processing module.

[0092] Specifically, when the information acquisition module is a dual-optical-path image acquisition module, the dual-optical-path image acquisition module is connected to the signal processing module. The dual-optical-path image acquisition module acquires images of the inspected object from different perspectives through a binocular camera (two optical imaging devices), and transmits the images to two image sensors respectively to obtain two two-dimensional images with parallax. The two-dimensional images are then transmitted to the 3D modeling submodule.

[0093] Correspondingly, the 3D modeling submodule is connected to the dual-optical-path image acquisition module to fuse and process two-dimensional images of the inspected object from different perspectives, and to analyze the depth information of the two-dimensional images; based on the depth information, a three-dimensional point cloud map is established to construct a 3D model of the inspected object.

[0094] Specifically, the 3D modeling submodule is connected to the dual-optical-path image acquisition module, receives the two two-dimensional images transmitted by it and performs fusion processing. The distance information of each point on the image can be obtained by using the triangulation distance measurement method, thereby generating a 3D point cloud map and constructing a 3D model of the object under inspection.

[0095] In this embodiment, when the dual-optical-path image acquisition module is selected as the information acquisition module, two-dimensional images of the object under inspection from different perspectives are acquired accordingly. Then, the two-dimensional images are fused through the 3D modeling submodule to finally obtain the corresponding 3D model.

[0096] In some of these embodiments, the structured light emitting and camera receiving system described above is connected to a signal processing module for projecting structured light onto the surface of the object under inspection via the structured light emitting component for modulation, and for acquiring the modulated structured light via the camera receiving component.

[0097] Specifically, when the information acquisition module is a structured light emitting and camera receiving system, the structured light emitting and camera receiving system is connected to the signal processing module. After the structured light is projected onto the surface of the object under inspection through the structured light emitting component, it is highly modulated by the object under inspection, and then the modulated structured light is acquired by the camera receiving component.

[0098] Accordingly, the 3D modeling submodule is connected to the structured light emission and camera receiving system to calculate the three-dimensional surface information of the object under inspection based on the modulated structured light; and to build a 3D model of the object under inspection based on the three-dimensional surface information.

[0099] Specifically, the 3D modeling submodule is connected to the structured light emitting and camera receiving system. After receiving the modulated structured light transmitted by the system, it analyzes and calculates the three-dimensional surface data of the object under inspection, and completes the establishment of the 3D model of the object under inspection.

[0100] In this embodiment, when a structured light emission and camera reception system is selected as the information acquisition module, the three-dimensional surface information of the object under inspection is obtained based on the structured light modulated through the surface of the object under inspection, and finally the corresponding 3D model is obtained.

[0101] In some embodiments, the TOF transmitting and receiving system, connected to a signal processing module, is used to project incident light onto the surface of the object under inspection via the TOF transmitting and receiving components, and then receive reflected light reflected from the surface of the object under inspection.

[0102] Specifically, when the information acquisition module is a TOF transmitting and receiving system, the TOF transmitting and receiving system is connected to the signal processing module. The incident light is projected onto the surface of the object under inspection through the TOF transmitting and receiving components, and then the TOF transmitting and receiving system receives the reflected light reflected back from the surface of the object under inspection, thereby completing the acquisition of information about the surface of the object under inspection.

[0103] Accordingly, the 3D modeling submodule is connected to the TOF transmitting and receiving system to calculate the three-dimensional surface information of the object under inspection based on the reflected light received by the TOF transmitting and receiving system; and to establish a 3D model of the object under inspection based on the three-dimensional surface information.

[0104] Specifically, the 3D modeling submodule is connected to the TOF transmitting and receiving system, receives the transmitted light signal from the TOF transmitting and receiving system, and after analysis and calculation, obtains the three-dimensional surface data of the object under inspection, thereby establishing a 3D model of the object under inspection.

[0105] In this embodiment, when a TOF transmitting and receiving system is selected as the information acquisition module, the three-dimensional surface information of the object under inspection is obtained based on the reflected light reflected from the surface of the object under inspection, and finally the corresponding 3D model is obtained.

[0106] The present embodiment will now be described and illustrated through preferred embodiments.

[0107] Figure 5 This is a structural block diagram of the stereoscopic endoscopic imaging display system according to a preferred embodiment, as shown below. Figure 5 As shown, the stereoscopic endoscope imaging display system includes: a stereoscopic endoscope projection device 10, an information acquisition module 20, and a signal processing module 30; the signal processing module 30 is connected to both the information acquisition module 20 and the stereoscopic endoscope projection device 10. The information acquisition module 20 can be one or a combination of several of the following: a dual-optical-path image acquisition module, a structured light emission and camera receiving system, and a TOF emission and receiving system.

[0108] The signal processing module 30 includes a 3D modeling submodule 31 and a hologram generation submodule 32, which are connected.

[0109] It should be noted that the specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated in this embodiment.

[0110] Those skilled in the art will understand that the structures shown in the above embodiments are merely illustrative and do not limit the structure of the terminal described above. For example, the stereoscopic endoscope projection device and the stereoscopic endoscope imaging display system may also include more or fewer components than those shown in the figures, or have different configurations than those shown in the figures.

[0111] Those skilled in the art should understand that the technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments have been described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] It should be understood that the specific embodiments described herein are merely illustrative of the application and not intended to limit it. All other embodiments derived by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0113] Obviously, the accompanying drawings are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar situations based on these drawings without any creative effort. Furthermore, it is understood that although the work done in this development process may be complex and lengthy, for those skilled in the art, certain design, manufacturing, or production modifications made based on the technical content disclosed in this application are merely conventional technical means and should not be considered as insufficient disclosure of this application.

[0114] The term "embodiment" in this application refers to a specific feature, structure, or characteristic described in connection with an embodiment that may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily imply the same embodiment, nor does it imply that it is mutually exclusive with or independent of other embodiments. It will be clearly or implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0115] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of patent protection. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the appended claims.

Claims

1. A stereoscopic endoscopic projection device, characterized in that, include: Projection light source, metasurface devices, and control unit; among which, The surface of the metasurface device is provided with micro / nano units for phase modulation of incident light; The control unit is electrically connected to the metasurface device; the control unit electrically controls the modulation phase of the micro-nano units of the metasurface device based on the hologram of the object under test; The emitted light from the projection light source is incident on the metasurface device, and after being modulated by the metasurface device, a stereoscopic image of the object under inspection is formed in the spatial medium; the stereoscopic image has a naked-eye 3D effect. The control unit is also used to adjust the position of the projection light source so as to project the stereoscopic image onto the target position.

2. The stereoscopic endoscope projection device according to claim 1, characterized in that, The hologram of the object being examined is a phase hologram.

3. The stereoscopic endoscope projection device according to claim 1, characterized in that, The control unit enables independent addressing and control of the micro-nano units on the surface of the metasurface device.

4. The stereoscopic endoscopic projection device according to claim 1, characterized in that, The projection light source is a coherent light source or a partially coherent light source.

5. A stereoscopic endoscopic imaging display system, characterized in that, include: The system comprises an information acquisition module, a signal processing module, and a stereoscopic endoscopic projection device as described in any one of claims 1-4; wherein, The information acquisition module is used to acquire information from the surface of the object being inspected. The signal processing module generates a hologram of the object under inspection based on the signals acquired by the information acquisition module, and transmits the hologram to the stereoscopic endoscope projection device. The information acquisition module is electrically connected to the signal processing module; the signal processing module is electrically connected to the stereoscopic endoscope projection device.

6. The stereoscopic endoscopic imaging display system according to claim 5, characterized in that, The signal processing module includes: a 3D modeling submodule and a hologram generation submodule; The 3D modeling submodule is connected to the hologram generation submodule and is used to generate a 3D model of the object under inspection based on the acquisition signal of the information acquisition module. The hologram generation submodule is used to calculate the corresponding hologram of the inspected object based on the 3D model.

7. The stereoscopic endoscopic imaging display system according to claim 5, characterized in that, The signal processing module is integrated with the stereoscopic endoscope projection device.

8. The stereoscopic endoscopic imaging display system according to claim 5, characterized in that, The signal processing module and the stereoscopic endoscope projection device are set separately.

9. The stereoscopic endoscopic imaging display system according to claim 6, characterized in that, The information acquisition module is a dual-optical-path image acquisition module.

10. The stereoscopic endoscopic imaging display system according to claim 9, characterized in that, The dual-optical-path image acquisition module acquires two-dimensional images of the object under inspection from different perspectives using a binocular camera and transmits the images to the signal processing module.

11. The stereoscopic endoscopic imaging display system according to claim 9, characterized in that, The 3D modeling submodule is connected to the dual-optical-path image acquisition module and is used to fuse and process two-dimensional images of the inspected object from different perspectives and analyze the depth information of the two-dimensional images. A three-dimensional point cloud map is created based on the depth information, and a 3D model of the object under inspection is constructed.

12. The stereoscopic endoscopic imaging display system according to claim 6, characterized in that, The information acquisition module is a structured light emission and camera receiving system.

13. The stereoscopic endoscopic imaging display system according to claim 12, characterized in that, The structured light emitting and camera receiving system is connected to the signal processing module and is used to project structured light onto the surface of the object under inspection through the structured light emitting component for modulation, and to collect the modulated structured light through the camera receiving component.

14. The stereoscopic endoscopic imaging display system according to claim 12, characterized in that, The 3D modeling submodule is connected to the structured light emitting and camera receiving system and is used to calculate the three-dimensional surface information of the inspected object based on the modulated structured light. A 3D model of the object under inspection is established based on the three-dimensional surface information.

15. The stereoscopic endoscopic imaging display system according to claim 6, characterized in that, The information acquisition module is a TOF transmission and reception system.

16. The stereoscopic endoscopic imaging display system according to claim 15, characterized in that, The TOF transmitting and receiving system is connected to the signal processing module and is used to project incident light onto the surface of the object under test through the TOF transmitting and receiving components, and then receive the reflected light reflected from the surface of the object under test.

17. The stereoscopic endoscopic imaging display system according to claim 15, characterized in that, The 3D modeling submodule is connected to the TOF transmitting and receiving system and is used to calculate the three-dimensional surface information of the inspected object based on the reflected light received by the TOF transmitting and receiving system. A 3D model of the object under inspection is established based on the three-dimensional surface information.

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