Superfine 3D endoscope structure
Through the extremely fine 3D endoscope structure, combined with lighting, camera and projection devices, and using optical patterns and high-resolution cameras, the problem of low three-dimensional reconstruction accuracy in narrow cavities is solved, and high-precision three-dimensional dynamic measurement is achieved.
Patent Information
- Application Number
- CN202511178897.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-22
- Publication Date
- 2025-10-10
AI Technical Summary
Existing three-dimensional dynamic imaging technology has low reconstruction accuracy and limited size in narrow cavities, especially the authenticity of deep learning models has not been verified, the accuracy of binocular stereo vision is unstable, and the real-time performance of multi-view stereo vision is poor.
It adopts an extremely fine 3D endoscope structure, combined with a lighting device, a camera device and a projection device, uses optical pattern projection and a high-resolution camera to capture deformed images, and calculates the three-dimensional geometric information through an algorithm to achieve high-precision three-dimensional reconstruction.
It achieves high-precision three-dimensional dynamic measurement in narrow cavities, improves image clarity and restoration, and adapts to different detection environments.
Smart Images
Figure CN120753566A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of realizing three-dimensional dynamic imaging inside a cavity, and in particular to an extremely fine 3D endoscope structure. Background Art
[0002] Endoscopy is a medical technique that uses specialized equipment to allow doctors to directly observe cavities within the patient's body, such as the gastrointestinal tract, bronchi, or sphenoid sinus. This technique not only helps doctors gain a clearer understanding of the patient's condition but also assists with various treatment procedures, minimizing harm to the patient and alleviating the burden on both doctors and patients. With the advancement of computer vision, sensor technology, and growing clinical demand, three-dimensional dynamic imaging technology has rapidly developed, making significant progress in imaging the interiors of narrow cavities.
[0003] Currently, there are many methods for achieving three-dimensional dynamic imaging inside cavities, such as those based on deep learning, binocular stereo vision, and multi-camera stereo vision. However, deep learning-based three-dimensional dynamic imaging technology suffers from insufficient training datasets, and the authenticity and rationality of models trained with synthetic data generated in simulated environments have not been fully verified, making them incapable of direct application in real-world clinical settings. The disparity map of binocular stereo vision is affected by camera resolution, stereo baselines, featureless or reflective surfaces, and poor lighting conditions, resulting in unstable accuracy. Multi-camera stereo vision technology performs poorly in real-time, especially inside narrow cavities, making it challenging to obtain high-quality three-dimensional dynamic images in real time.
[0004] Existing 3D dynamic imaging primarily uses two cameras to observe the same lumen surface, estimating its depth using mathematical principles such as triangulation to achieve 3D reconstruction. For narrow cavities, which require high dimensions and have limited viewing angles, binocular endoscopes suffer from low precision and size limitations. Summary of the Invention
[0005] The present invention provides an extremely fine 3D endoscope structure to solve the problems of low reconstruction accuracy and size limitation of existing three-dimensional reconstruction in a narrow environment, and to achieve three-dimensional high-precision dynamic measurement in a narrow cavity.
[0006] According to one aspect of the present invention, an ultra-fine 3D endoscope structure is provided, comprising: an illumination device, a camera device, and a projection device, wherein the illumination device is used to provide sufficient light source for the endoscope to clearly observe the internal conditions of the cavity; the camera device is used to capture and output a three-dimensional image of the interior of the cavity; and the projection device is used to project the optical pattern required for structured light three-dimensional reconstruction.
[0007] Optionally, the lighting device further comprises any one of the following: using LED light for lighting, the light source brightness is adjustable, the cavity inside can be clearly observed; using optical fiber for lighting, the light source brightness is adjustable, the cavity inside can be clearly observed.
[0008] Optionally, the light source brightness of the lighting device is adjustable, according to the actual detection environment and demand, the light source can be increased or reduced accordingly. Ensure that the image always remains clear, bright and high degree of restoration.
[0009] Optionally, the projected optical pattern further comprises any one of the following: by projecting a Gray code pattern, realizing high-precision three-dimensional reconstruction of the cavity inside; by projecting a stripe pattern, realizing high-precision three-dimensional reconstruction of the cavity inside; by projecting a speckle pattern, realizing high-precision three-dimensional reconstruction of the cavity inside.
[0010] According to another aspect of the present application, a method for realizing three-dimensional reconstruction of an ultra-thin endoscope is provided. The method comprises: by projecting the optical pattern to the object surface, the pattern will be deformed due to the shape of the object surface. Then, using a high-resolution camera to capture the deformed pattern image from a certain angle. By analyzing the difference between the deformed pattern and the original projected pattern, combined with the calibration parameters of the camera and the projector, the three-dimensional geometric information of the object surface can be calculated by using the algorithm. BRIEF DESCRIPTION OF DRAWINGS
[0011] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The embodiments of this application illustrated in the drawings, and their description, are presented to add generic scope to this application. In the drawings:
[0012] Figure 1 is a schematic diagram of an ultra-thin 3D endoscope structure according to an embodiment of the present application;
[0013] Figure 2 is a schematic diagram of an optional cross-section of an ultra-thin 3D endoscope structure according to an embodiment of the present application;
[0014] Figure 3 is a schematic diagram of an optional projection module light path system of an ultra-thin 3D endoscope according to an embodiment of the present application;
[0015] Figure 4 is a schematic diagram of a method for realizing three-dimensional reconstruction of an ultra-thin endoscope according to an embodiment of the present application;
[0016] Among them, the above drawings include the following reference signs:
[0017] 1. Endoscope camera module; 2a. LED light 1; 2b. LED light 2; 3. Package skin; 4. Projection module; 401. Light source; 402. Grating sheet; 403. Lens; 404. Projected optical pattern. DETAILED DESCRIPTION
[0018] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.
[0019] The embodiments of the present invention are further described in detail below with reference to the accompanying drawings.
[0020] According to an embodiment of the present application, an extremely fine 3D endoscope structure is improved.
[0021] Figure 1 FIG. 1 is a schematic diagram of the structure of an ultra-thin 3D endoscope according to an embodiment of the present application. Figure 1 As shown, the ultra-fine 3D endoscope structure includes an illumination device, a camera device and a projection device.
[0022] The lighting device is used to provide sufficient light source for the endoscope to clearly observe the internal conditions of the cavity.
[0023] The camera device is used to collect and output a three-dimensional image of the interior of the cavity.
[0024] The projection device is used to project the optical pattern required for structured light three-dimensional reconstruction.
[0025] In an optional example, the lighting device may be an LED lamp or an optical fiber, which can clearly observe the interior of the cavity.
[0026] In an optional embodiment, the brightness of the light source of the lighting device is adjustable, and the light source can be increased or decreased accordingly according to the actual detection environment and needs, ensuring that the image always remains clear, bright and has a high degree of restoration.
[0027] In an optional example, the projected optical pattern may be a Gray code pattern, a stripe pattern, or a speckle pattern, so as to achieve high-precision three-dimensional reconstruction of the interior of the cavity.
[0028] Figure 2 FIG. 1 is a schematic cross-sectional view of an optional ultra-thin 3D endoscope structure according to an embodiment of the present application. Figure 2 As shown, the 3D endoscope structure includes an endoscope camera module, an LED light source, a packaging skin and a transmission beam.
[0029] This application also provides a method for achieving three-dimensional reconstruction using an ultra-fine 3D endoscope. It should be noted that the ultra-fine 3D endoscope in this application embodiment can be used to implement the ultra-fine 3D endoscope cavity interior three-dimensional dynamic imaging method provided in this application embodiment. The following describes the ultra-fine 3D endoscope method provided in this application embodiment.
[0030] Figure 3 FIG. 1 is a schematic diagram of the operation flow of the method for three-dimensional dynamic imaging inside a cavity of an ultra-fine 3D endoscope according to an embodiment of the present application. Figure 4 As shown, the method includes the following steps:
[0031] Step 1: calibrate the camera and projector respectively to obtain the calibration parameters of the camera and projector.
[0032] In step 2, the selected optical patterns are projected onto the surface of the object, and these patterns are deformed according to the shape of the surface of the object.
[0033] In step 3, a high-resolution camera is used at a specific angle to capture an image of the deformed pattern projected onto the surface of the object. The image contains information about the shape of the object's surface.
[0034] In step 4, the three-dimensional geometric information of the object surface can be calculated based on the calibration parameters of the camera and projector according to the algorithm, thereby reconstructing the three-dimensional shape of the object.
[0035] Optionally, in the three-dimensional reconstruction method of an ultra-fine 3D endoscope provided in an embodiment of the present application, the calibration method for calibrating the camera and projector separately includes but is not limited to the origin array calibration plate calibration method.
[0036] Optionally, in a method for implementing three-dimensional reconstruction using an ultra-fine 3D endoscope provided in an embodiment of the present application, the projected optical pattern may be a Gray code pattern, a stripe pattern, or a speckle pattern, to achieve high-precision three-dimensional reconstruction of the interior of a cavity.
[0037] Optionally, in the three-dimensional reconstruction method of an ultra-fine 3D endoscope provided in an embodiment of the present application, the algorithm for obtaining three-dimensional information includes but is not limited to a deep learning algorithm, a phase shift algorithm, and a Gray code decoding method.
[0038] It should be noted that, in this application, relational terms such as "1" and "2" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.
[0039] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.
Claims
1. An ultra-thin 3D endoscope structure, characterized in that: The endoscope structure comprises: The lighting device is used to provide sufficient light source for the endoscope to clearly observe the internal conditions of the cavity; A camera device, used to capture and output a three-dimensional image of the interior of the cavity; A projection device, used to project the optical pattern required for structured light 3D reconstruction; The projection device includes a light source, a grating, a lens, and a projected optical pattern. When the light source shines on the grating, the grating decomposes the light into multiple diffraction angles, which are related to the period of the grating and the wavelength of the incident light. After passing through the lens, the diffracted light forms a series of alternating light and dark stripes on the focal plane, thus projecting the optical pattern. The spacing and intensity distribution of these stripes reflect the periodicity and diffraction characteristics of the grating.
2. The ultra-thin 3D endoscope structure according to claim 1, characterized in that: The lighting device further includes any one of the following: LED lights are used for lighting, and the brightness of the light source is adjustable, so the inside of the cavity can be clearly observed; optical fibers are used for lighting, and the brightness of the light source is adjustable, so the inside of the cavity can be clearly observed.
3. The ultra-thin 3D endoscope structure according to claim 1, characterized in that: The projected optical pattern further includes any one of the following: By projecting Gray code patterns, high-precision three-dimensional reconstruction of the cavity interior is achieved; By projecting fringe patterns, high-precision three-dimensional reconstruction of the cavity interior is achieved; By projecting the speckle pattern, high-precision three-dimensional reconstruction of the cavity interior can be achieved.
4. The ultra-thin 3D endoscope structure according to claim 1, characterized in that: The brightness of the light source of the lighting device is adjustable. According to the actual detection environment and needs, the light source can be increased or decreased accordingly to ensure that the image always remains clear, bright and has a high degree of restoration.
5. A method for realizing three-dimensional reconstruction using an ultra-thin endoscope, characterized in that: The method comprises: Step 1: calibrate the camera and projector respectively to obtain the calibration parameters of the camera and projector; Step 2: Projecting selected optical patterns onto the surface of the object. These patterns will be deformed according to the shape of the surface. Step 3: Use a high-resolution camera at a specific angle to capture an image of the deformed pattern projected onto the surface of the object. The image contains information about the surface shape of the object. In step 4, the three-dimensional geometric information of the object surface can be calculated based on the calibration parameters of the camera and projector according to the algorithm, thereby reconstructing the three-dimensional shape of the object.
6. The method for realizing three-dimensional reconstruction using an ultra-thin 3D endoscope according to claim 5, characterized in that: The calibration methods for calibrating the camera and projector separately include but are not limited to the origin array calibration plate calibration method.
7. The method for realizing three-dimensional reconstruction using an ultra-thin 3D endoscope according to claim 5, wherein: The algorithm for obtaining three-dimensional information also includes any one of the following: Through deep learning algorithms, neural networks are trained to learn the mapping relationship from two-dimensional images to three-dimensional shapes; Through the phase shifting algorithm, the three-dimensional shape is reconstructed by projecting a phase-shifted sinusoidal fringe pattern and calculating the phase information; With Gray code decoding, the 3D shape is reconstructed by projecting a Gray code pattern and decoding the fringe orders.