3D calibration auxiliary device for three-dimensional hard endoscope
By designing a 3D calibration auxiliary device for the three-dimensional hard endoscope, the cross target seat is used to capture the cross image or X-shaped image, and adjust the relative parallax position of the two optical paths of the three-dimensional hard endoscope, the problem of inaccurate 3D image correction in the prior art is solved, and a clearer 3D image effect is achieved.
Patent Information
- Application Number
- CN202420707533.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-08
- Publication Date
- 2025-03-18
- Estimated Expiration
- 2034-04-08
AI Technical Summary
The lack of standard calibration methods for 3D endoscopic 3D images in the prior art, resulting in inaccurate correction of 3D images, affecting the clarity and usage effect of 3D effects.
A three-dimensional hard endoscope 3D calibration auxiliary device is designed, including an endoscope assembly base and a cross target base. The cross image or X-shaped image is captured through the cross target base, and the relative parallax position of the two optical paths of the three-dimensional hard endoscope is adjusted to achieve more accurate 3D image calibration.
Through the use of this device, the depth of field effect of the three-dimensional hard endoscope can be better adjusted, avoid misjudgment caused by inaccurate calibration of 3D images, and make the 3D images clearer.
Smart Images
Figure CN222622920U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of calibration, in particular to a 3D calibration auxiliary device for a three-dimensional rigid endoscope. Background Art
[0002] The rigid 3D optical endoscope is mainly composed of a 3D imaging system and a lighting system. The imaging system is composed of a slender outer tube on the outside and an optical system composed of two optical path lenses on the inside. The two optical paths take images separately, and then the software system collects the two sets of images separately, and finally synthesizes a 3D image with depth of field.
[0003] At present, there is no standard reference for the calibration of 3D images of three-dimensional rigid endoscopes. For example, indoor images are taken for calibration, but there are no strict requirements on the imaging distance and the relative position of the two images. This will cause inaccurate 3D image calibration and insufficient clarity of the 3D effect of the picture, affecting the judgment of users. Utility Model Content
[0004] In order to solve the problems existing in the prior art, the present application proposes a 3D calibration auxiliary device for a three-dimensional rigid endoscope.
[0005] In order to achieve the above-mentioned purpose, the present application proposes a 3D calibration auxiliary device for a three-dimensional rigid endoscope, comprising an endoscope assembly base and a cross target seat connected to each other, wherein the endoscope assembly base is located at the top and the cross target seat is located at the bottom, the cross target seat is in the shape of a tube with an open upper end and a sealed lower end, and two long through holes are provided at the bottom plate of the cross target seat, and the two long through holes intersect in a "cross" shape, which are recorded as cross targets, and are used for the three-dimensional rigid endoscope to capture the light at the lower end of the cross target to form a cross image or an X image; the endoscope assembly base is provided with a channel and a first through hole that are connected in sequence along the up and down directions for assembling the three-dimensional rigid endoscope, the diameter of the first through hole is smaller than the diameter of the channel, so that a bearing platform for carrying the three-dimensional rigid endoscope is formed at the connection between the channel and the first through hole, and when the three-dimensional rigid endoscope is assembled in the channel, the three-dimensional rigid endoscope is positioned by the bearing platform; the first through hole corresponds to the cross target.
[0006] In some embodiments, the width of each long through hole of the cross target is 0.5 mm to 1 mm.
[0007] In some embodiments, a plurality of recessed portions are formed on the side surface of the endoscope mounting base at intervals along the circumferential direction.
[0008] In some embodiments, the endoscope assembly base is provided with a first channel for assembling a three-dimensional rigid endoscope with a viewing angle of 0°, and a second channel for assembling a three-dimensional rigid endoscope with a viewing angle of 30°, wherein the first channel is arranged along the vertical direction, the second channel is inclined, the angle between the axis of the second channel and the axis of the first channel is 30°, the lower end of the first channel intersects and connects with the lower end of the second channel, and the connected lower end is connected with the first through hole.
[0009] In some embodiments, the upper surface of the endoscope assembly base is divided into three areas, namely a horizontal surface in the middle, and a first inclined surface and a second inclined surface disposed on both sides of the horizontal surface. The first channel is provided at the horizontal surface, and the second channel is provided at the first inclined surface and the second inclined surface.
[0010] In some embodiments, the lower surface of the endoscope assembly base is recessed upward to form a groove, a first threaded portion is provided on the side wall of the groove, and a second threaded portion is provided on the outer surface of the upper end portion of the cross target seat, and the connection between the endoscope assembly base and the cross target seat can be achieved through the cooperation of the first threaded portion and the second threaded portion; and by adjusting the degree to which the cross target seat is screwed into the endoscope assembly base, the distance between the head of the three-dimensional rigid endoscope assembled in the first channel or the second channel and the cross target can be adjusted.
[0011] In some embodiments, the cross-section of the groove is in a concave shape to make the total height of the first threaded portion higher. At this time, the bottom of the groove will form a convex area at the bottom of the groove, and the first through hole is arranged in the convex area at the bottom of the groove.
[0012] In some embodiments, a plurality of second through holes are provided on the side surface of the cross target seat at intervals along the circumferential direction, and each second through hole is communicated with the inner cavity of the cross target seat.
[0013] The beneficial effect of the scheme of the present application lies in the above-mentioned 3D calibration auxiliary device for the three-dimensional rigid endoscope. For the three-dimensional rigid endoscope with a viewing angle of 0° and the three-dimensional rigid endoscope with a viewing angle of 30°, the relative parallax position of the two optical paths of the three-dimensional rigid endoscope can be better adjusted through the calibration auxiliary device, thereby better restoring objects with depth of field; it can avoid the situation where the use effect of the 3D endoscope is affected by inaccurate 3D image calibration and cause misjudgment; after using the calibration auxiliary device involved in the present application to assist in calibrating the 3D image of the three-dimensional rigid endoscope, the 3D image can be made clearer. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1A schematic structural diagram of a 3D calibration auxiliary device for a three-dimensional rigid endoscope in an embodiment is shown.
[0015] Figure 2 A schematic structural diagram of an endoscope assembly base in an embodiment is shown, wherein (a) is one angle and (b) is another angle.
[0016] Figure 3 The schematic diagram of the structure of the endoscope assembly base after assembling a three-dimensional rigid endoscope in the embodiment is shown.
[0017] Figure 4 The schematic diagram of the structure of the cross target seat in the embodiment is shown, wherein (a) is one angle and (b) is another angle.
[0018] Figure 5 A schematic cross-sectional structure diagram of a 3D calibration auxiliary device for a three-dimensional rigid endoscope in an embodiment is shown.
[0019] Figure 6 The schematic diagram of the threaded connection relationship between the endoscope assembly base and the cross target seat in the embodiment is shown, wherein (a) is a schematic diagram of the initial connection state, and (b) is a schematic diagram of the two being completely tightened.
[0020] Figure 7 The figure shows a schematic diagram of the result displayed on a 3D display when the cross target in the cross target holder in the embodiment is used as a "cross", wherein (a) is a double image captured by the binocular of a three-dimensional rigid endoscope before 3D parallax calibration, and (b) is a three-dimensional image with a depth of field effect after 3D parallax calibration, in which the double images are overlapped.
[0021] Figure 8 The figure shows a schematic diagram of the result displayed on a 3D display when the cross target in the cross target holder in the embodiment is used as an "X", wherein (a) is a double image captured by the binocular of a three-dimensional rigid endoscope before 3D parallax calibration, and (b) is a three-dimensional image with a depth of field effect after 3D parallax calibration, in which the double images are overlapped.
[0022] Figure markings: 1-endoscope assembly base, 2-recessed portion, 3-horizontal surface, 4-first inclined surface, 5-second inclined surface, 6-first channel, 7-second channel, 8-bearing platform, 9-groove, 10-first threaded portion, 11-convex area under the groove bottom, 12-first through hole, 13-cross target seat, 14-second threaded portion, 15-second through hole, 16-cross target, 17-dual optical path system of three-dimensional rigid endoscope, 18-3D display, A-three-dimensional rigid endoscope with a viewing angle of 0°, B-three-dimensional rigid endoscope with a viewing angle of 30°. DETAILED DESCRIPTION
[0023] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.
[0024] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.
[0025] like Figures 1 to 6 As shown, the three-dimensional rigid endoscope 3D calibration auxiliary device involved in the present application includes an endoscope assembly base 1 and a cross target seat 13 connected to each other, wherein the endoscope assembly base 1 is at the top, and the cross target seat 13 is at the bottom. The bottom plate of the cross target seat 13 is provided with two long through holes, which intersect and form a "cross" shape, recorded as a cross target 16, which is used for the three-dimensional rigid endoscope to capture the light at the lower end of the cross target 16 to form a cross image or an X image. In order to achieve the calibration accuracy, the width of each long through hole of the cross target 16 is 0.5mm to 1mm.
[0026] In this embodiment, a plurality of recessed portions 2 are formed on the side surface of the endoscope assembly base 1 at intervals along the circumferential direction. Such a design can reduce the weight of the device and facilitate the operator's grip.
[0027] The endoscope assembly base 1 is provided with interconnected channels for assembling a three-dimensional rigid endoscope and a first through hole 12 in sequence along the up and down directions. The diameter of the first through hole 12 is smaller than the diameter of the channel, so that a carrying platform 8 for carrying the three-dimensional rigid endoscope is formed at the connection between the channel and the first through hole 12. When the three-dimensional rigid endoscope is assembled in the channel, the three-dimensional rigid endoscope is positioned by the carrying platform 8.
[0028] In this embodiment, the endoscope assembly base 1 is provided with a first channel 6 for assembling a three-dimensional rigid endoscope A with a viewing angle of 0°, and a second channel 7 for assembling a three-dimensional rigid endoscope B with a viewing angle of 30°, wherein the first channel 6 is arranged along the vertical direction, and the second channel 7 is inclined, and the angle between the axis of the second channel 7 and the axis of the first channel 6 is 30°, the lower end of the first channel 6 intersects and is connected with the lower end of the second channel 7, and the connected lower end is connected with the first through hole 12, and the first through hole 12 corresponds to the cross target 16.
[0029] In this embodiment, the upper surface of the endoscope assembly base 1 is divided into three areas, namely a horizontal surface 3 in the middle, and a first inclined surface 4 and a second inclined surface 5 disposed on both sides of the horizontal surface 3. The horizontal surface 3 is provided with the first channel 6, and the first inclined surface 4 and the second inclined surface 5 are both provided with a second channel 7. The above design method can reduce the weight of the device and can adapt to the assembly of a three-dimensional rigid endoscope B with a viewing angle of 30°.
[0030] The lower surface of the endoscope assembly base 1 is recessed upward to form a groove 9, and a first threaded portion 10 is provided on the side wall of the groove 9. The cross target seat 13 is in the shape of a tube with an open upper end and a sealed lower end, and a second threaded portion 14 is provided on the outer surface of the upper end of the cross target seat 13. Through the cooperation of the first threaded portion 10 and the second threaded portion 14, the connection between the endoscope assembly base 1 and the cross target seat 13 can be achieved; and by adjusting the degree to which the cross target seat 13 is screwed into the endoscope assembly base 1, the distance between the head of the three-dimensional rigid endoscope assembled in the first channel 6 or the second channel 7 and the cross target 16 can be adjusted, thereby adapting to different depth of field ranges.
[0031] In this embodiment, in order to adapt to a larger depth of field, the cross section of the groove 9 is in a "concave" shape. At this time, the groove bottom of the groove 9 will form a convex area 11 at the bottom of the groove. The first through hole 12 is arranged in the convex area 11 at the bottom of the groove. Such a design can make the total height of the first threaded portion 10 higher. Specifically, the total height of the threaded portion is 20mm, with a total of 10 turns. After the cross target seat 13 is screwed into the endoscope assembly base 1 for one turn, the height is reduced by 2mm. Figure 6 As shown, in the initial state, the distance between the head of the three-dimensional rigid endoscope and the cross target 16 is 80mm. When the cross target seat 13 and the endoscope assembly base 1 are completely tightened, the distance between the head of the three-dimensional rigid endoscope and the cross target 16 is 60mm. The applicable depth of field of this device is between 20mm and 120mm. Specifically, according to the actual use environment, the degree to which the cross target seat 13 is screwed into the endoscope assembly base 1 is adjusted. After changing the screwing degree, the cross target seat 13 and the endoscope assembly base 1 do not need to be further fixed, which will not affect the subsequent calibration operation.
[0032] In order to further reduce the weight of the device and facilitate the gripping of the operator, a plurality of second through holes 15 are provided at intervals along the circumferential direction on the side surface of the cross target seat 13 , and each second through hole 15 is communicated with the inner cavity of the cross target seat 13 .
[0033] In the specific use process, the calibration of the three-dimensional rigid endoscope B with a viewing angle of 30° is taken as an example for explanation. Based on the depth of field range of the three-dimensional rigid endoscope B with a viewing angle of 30°, the degree to which the cross target seat 13 is screwed into the endoscope assembly base 1 is adjusted, and then the three-dimensional rigid endoscope B with a viewing angle of 30° is loaded at the second channel 7 and positioned by the carrying platform 8. Then, the image of the cross target 16 is captured by the dual optical path system 17 of the three-dimensional rigid endoscope, as shown in FIG. Figure 7 Or as shown in 8, (a) is a cross image or an X image formed by the binocular capture of the light at the lower end of the cross target 16 of the three-dimensional rigid endoscope before 3D parallax calibration, and (b) is a three-dimensional image with a depth of field effect after 3D parallax calibration, in which the double images are overlapped. The specific calibration process requires the cooperation of relevant calibration software, which can adopt known software in the prior art and does not belong to the protection focus of this patent application.
[0034] The 3D calibration auxiliary device of the three-dimensional rigid endoscope involved in the present application is aimed at the three-dimensional rigid endoscope with a viewing angle of 0° and the three-dimensional rigid endoscope with a viewing angle of 30°. Through the calibration auxiliary device, the relative parallax position of the two optical paths of the three-dimensional rigid endoscope can be better adjusted, thereby better restoring objects with depth of field; it can avoid the situation where the use effect of the 3D endoscope is affected by inaccurate 3D image calibration and cause misjudgment; after using the calibration auxiliary device involved in the present application to assist in calibrating the 3D image of the three-dimensional rigid endoscope, the 3D image can be made clearer.
[0035] The three-dimensional rigid endoscope 3D calibration auxiliary device involved in the present application has the advantages of easy use and good calibration effect. The distance between the head of the three-dimensional rigid endoscope and the cross target can be adjusted according to the usage by adjusting the degree to which the cross target seat is screwed into the endoscope assembly base to meet the 3D display effect in different usage scenarios (the distance required for observation during surgery). The device is equipped with two second channels for assembling three-dimensional rigid endoscopes with a viewing angle of 30°, which can be replaced when unexpected situations occur during use.
[0036] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical solution and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.
Claims
1. A 3D rigid endoscope 3D calibration auxiliary device, characterized in that: The invention comprises an endoscope assembly base and a cross target seat connected to each other, wherein the endoscope assembly base is located at the upper part and the cross target seat is located at the lower part, the cross target seat is in the shape of a tube with an upper end open and a lower end sealed, two long through holes are arranged at the bottom plate of the cross target seat, the two long through holes intersect and form a "cross" shape, which are recorded as a cross target and are used for a three-dimensional rigid endoscope to capture the light at the lower end of the cross target to form a cross image or an X image; the endoscope assembly base is provided with a channel and a first through hole connected to each other in the up and down directions for assembling a three-dimensional rigid endoscope, the diameter of the first through hole is smaller than the diameter of the channel, so that a bearing platform for carrying the three-dimensional rigid endoscope is formed at the connection between the channel and the first through hole, and when the three-dimensional rigid endoscope is assembled in the channel, the three-dimensional rigid endoscope is positioned by the bearing platform; the first through hole corresponds to the cross target.
2. The 3D calibration auxiliary device for a three-dimensional rigid endoscope according to claim 1, characterized in that: The width of each long through hole of the cross target is 0.5 mm to 1 mm.
3. The 3D calibration auxiliary device for a three-dimensional rigid endoscope according to claim 1, characterized in that: A plurality of recessed portions are formed on the side surface of the endoscope assembly base at intervals along the circumferential direction.
4. The 3D calibration auxiliary device for a three-dimensional rigid endoscope according to claim 1, characterized in that: The endoscope assembly base is provided with a first channel for assembling a three-dimensional rigid endoscope with a viewing angle of 0°, and a second channel for assembling a three-dimensional rigid endoscope with a viewing angle of 30°, wherein the first channel is arranged along the vertical direction, and the second channel is inclined, and the angle between the axis of the second channel and the axis of the first channel is 30°, and the lower end of the first channel intersects and is connected with the lower end of the second channel, and the connected lower end is connected with the first through hole.
5. The 3D calibration auxiliary device for a three-dimensional rigid endoscope according to claim 4, characterized in that: The upper surface of the endoscope assembly base is divided into three areas, namely a horizontal surface in the middle, and a first inclined surface and a second inclined surface disposed on both sides of the horizontal surface. The first channel is provided at the horizontal surface, and the second channel is provided at the first inclined surface and the second inclined surface.
6. The 3D calibration auxiliary device for a three-dimensional rigid endoscope according to claim 4, characterized in that: The lower surface of the endoscope assembly base is recessed upward to form a groove, a first threaded portion is provided on the side wall of the groove, and a second threaded portion is provided on the outer surface of the upper end portion of the cross target seat. The connection between the endoscope assembly base and the cross target seat can be achieved through the cooperation of the first threaded portion and the second threaded portion; and the distance between the head of the three-dimensional rigid endoscope assembled in the first channel or the second channel and the cross target can be adjusted by adjusting the degree to which the cross target seat is screwed into the endoscope assembly base.
7. The 3D calibration auxiliary device for a three-dimensional rigid endoscope according to claim 6, characterized in that: The cross section of the groove is in a "concave" shape, so that the total height of the first threaded portion is higher. At this time, the bottom of the groove will form a convex area at the bottom of the groove, and the first through hole is arranged in the convex area at the bottom of the groove.
8. The 3D calibration auxiliary device for a three-dimensional rigid endoscope according to claim 1, characterized in that: A plurality of second through holes are arranged on the side surface of the cross target seat at intervals along the circumferential direction, and each second through hole is communicated with the inner cavity of the cross target seat.