A three-dimensional imaging system for an endoscope

Abstract

The utility model discloses a three -dimensional imaging system of endoscope, include: mounting seat, first objective lens, second objective lens, first image sensor and second image sensor, all set up in mounting seat, and first objective lens and second objective lens are side by side and set up and two optical axes are parallel, and first image sensor generates first image based on the light of first objective lens capture, and second image sensor generates second image based on the light of second objective lens capture, in the direction perpendicular to the optical axis of first objective lens and second objective lens, the inductive surface center of first image sensor is offset the optical axis of first objective lens by preset distance, and the inductive surface center of second image sensor is offset the optical axis of second objective lens by preset distance, and the offset direction of two image sensors is opposite. The utility model discloses three -dimensional imaging system of endoscope can produce horizontal orthoscopic, zero parallax and negative parallax, can increase the depth range of two image's horizontal parallax in fusion range, can reduce the situation of producing stereoscopic viewing asthenopia.

Description

Technical Field

[0001] This utility model relates to the field of endoscope technology, and in particular to a three-dimensional imaging system for endoscopes. Background Technology

[0002] Three-dimensional imaging endoscopes capture images of the observed object using two sets of objective lenses and image sensors. After processing the acquired images or videos, the left and right images are simultaneously transmitted to a three-dimensional display. With the left and right eyes viewing the images separately, the brain fuses the images viewed by the left and right eyes to perceive a stereoscopic effect.

[0003] The eye movement where the visual axes of both eyes converge to a single point in space is called convergence. When observing stereoscopic images on a 3D display, although the left and right images with binocular parallax generated by the binocular vision imaging device can produce a sense of depth after being perceived by the retina, these displayed objects do not emit light with a divergence corresponding to their positions. Instead, like planar images, the divergence of light rays incident on the pupils from each displayed object is consistent. This violation of the normal physiological vision mechanism leads to a perceptual conflict in accommodation and convergence.

[0004] The human eye can tolerate this convergence to a certain extent and can perceive the depth of an image. Studies have shown that when viewing stereoscopic images, if the parallax between the left and right images is within the fusion range, the human eye can fuse the two images into a single stereoscopic image. However, if the parallax is outside the fusion range, the human eye cannot fuse the two images, resulting in stereoscopic viewing fatigue. Therefore, ensuring that the parallax of objects at different depths in the left and right images is within the fusion range is key to avoiding stereoscopic viewing fatigue.

[0005] Existing endoscopic 3D imaging systems use a parallel structure, with the optical axes of the two objectives set parallel to each other. However, this structure results in negative parallax in the perceived 3D scene, with only the image protruding from the display screen and not the image concave into it, thus limiting the depth range of parallax between the left and right images within the fusion range. Utility Model Content

[0006] The purpose of this invention is to provide a three-dimensional imaging system for endoscopes that can generate horizontal positive parallax, zero parallax, and negative parallax, increase the depth range of horizontal parallax between two images within the fusion range, and reduce eye strain during stereoscopic viewing.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A three-dimensional imaging system for an endoscope, comprising:

[0009] Mounting base;

[0010] A first objective lens, a second objective lens, a first image sensor, and a second image sensor are all disposed within the mounting base. The first and second objective lenses are arranged side-by-side with their optical axes parallel. The first image sensor is disposed on the image plane of the first objective lens and is used to generate a first image based on the light captured by the first objective lens. The second image sensor is disposed on the image plane of the second objective lens and is used to generate a second image based on the light captured by the second objective lens. Wherein:

[0011] In a direction perpendicular to the optical axes of the first and second objectives, the center of the sensing surface of the first image sensor is offset by a predetermined distance relative to the optical axis of the first objective, and the center of the sensing surface of the second image sensor is offset by the predetermined distance relative to the optical axis of the second objective, with the offset direction of the first image sensor being opposite to that of the second image sensor.

[0012] Optionally, the first objective lens and the second objective lens have the same lens composition and optical specifications, and the first image sensor and the second image sensor have the same sensing surface width.

[0013] Optionally, the three-dimensional imaging system of the endoscope satisfies the following condition:

[0014] ;

[0015] Where h is the actual image height of the first objective lens and the second objective lens. The preset distance is Wc, and the width of the sensing surface is Wc.

[0016] Optionally, it further includes: a guide rail disposed within the mounting base and arranged along the line connecting the center of the sensing surface of the first image sensor and the center of the sensing surface of the second image sensor. The first image sensor and the second image sensor are respectively disposed on the guide rail and are respectively movable along the guide rail, such that the center of the sensing surface of the first image sensor is offset relative to the optical axis of the first objective lens, and the center of the sensing surface of the second image sensor is offset relative to the optical axis of the second objective lens.

[0017] Optionally, it further includes: an actuation mechanism, connected to the first image sensor and the second image sensor respectively, for driving the first image sensor and the second image sensor to move along the guide rail in opposite directions.

[0018] Optionally, the actuation mechanism includes:

[0019] A mobile platform is disposed within the mounting base;

[0020] The first link has one end connected to the first image sensor and the other end connected to the mobile stage;

[0021] The second link has one end connected to the second image sensor and the other end connected to the mobile stage;

[0022] When the mobile platform moves, the first link drives the first image sensor to move along the guide rail, and the second link drives the second image sensor to move along the guide rail. The moving directions of the first image sensor and the second image sensor are opposite.

[0023] Optionally, the moving stage is disposed on the side of the guide rail away from the first image sensor and the second image sensor, and the moving stage moves along the optical axis of the first objective lens. When the moving stage moves, the first image sensor and the second image sensor move closer to each other or further away from each other.

[0024] Optionally, the length of the first link is the same as the length of the second link, and the first link and the second link are connected to the same position on the moving platform.

[0025] Optionally, the first link is connected to the moving platform via a hinge, and the second link is also connected to the moving platform via a hinge.

[0026] Optionally, it further includes: a control device, connected to the first image sensor, the second image sensor and the actuation mechanism respectively, for controlling the actuation mechanism according to the first image and the second image to drive the first image sensor and the second image sensor to move along the guide rail.

[0027] In the 3D imaging system of this endoscope, 3D imaging can be achieved based on a first image obtained through a first objective lens and a first image sensor, and a second image obtained through a second objective lens and a second image sensor. Specifically, in a direction perpendicular to the optical axes of the first and second objective lenses, the center of the sensing surface of the first image sensor is offset by a predetermined distance relative to the optical axis of the first objective lens, and the center of the sensing surface of the second image sensor is offset by a predetermined distance relative to the optical axis of the second objective lens. Furthermore, the offset directions of the first and second image sensors are opposite. This allows the two images to generate horizontal positive parallax, zero parallax, and negative parallax, increasing the depth range of horizontal parallax between the two images within the fusion range and reducing visual fatigue during stereoscopic viewing. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A schematic diagram of a three-dimensional imaging system for an endoscope provided in an embodiment of the present invention;

[0030] Figure 2-1 A schematic diagram illustrating the principle of zero parallax stereoscopic perception;

[0031] Figure 2-2 A schematic diagram illustrating the principle of stereoscopic perception with orthogonal parallax;

[0032] Figure 2-3 A schematic diagram illustrating the principle of stereo perception with negative parallax;

[0033] Figure 3 This is a schematic diagram illustrating the movement of an image sensor in a three-dimensional imaging system for an endoscope, according to an embodiment of the present invention.

[0034] Figure 4 A flowchart for adjusting horizontal parallax in a three-dimensional imaging system of an endoscope, as provided in an embodiment of this utility model;

[0035] Figure 5 This is a schematic diagram of a three-dimensional imaging system for an endoscope, provided as an embodiment of the present invention.

[0036] The reference numerals in the accompanying drawings include:

[0037] 100-Mounting base, 101-First objective lens, 102-Second objective lens, 103-First image sensor, 104-Second image sensor, 105-First guide rail, 106-Second guide rail, 107-First connecting rod, 108-Second connecting rod, 109-Moving stage, 110-Display screen. Detailed Implementation

[0038] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of this utility model.

[0039] This embodiment provides a three-dimensional imaging system for an endoscope, including:

[0040] Mounting base;

[0041] A first objective lens, a second objective lens, a first image sensor, and a second image sensor are all disposed within the mounting base. The first and second objective lenses are arranged side-by-side with their optical axes parallel. The first image sensor is disposed on the image plane of the first objective lens and is used to generate a first image based on the light captured by the first objective lens. The second image sensor is disposed on the image plane of the second objective lens and is used to generate a second image based on the light captured by the second objective lens. Wherein:

[0042] In a direction perpendicular to the optical axes of the first and second objectives, the center of the sensing surface of the first image sensor is offset by a predetermined distance relative to the optical axis of the first objective, and the center of the sensing surface of the second image sensor is offset by the predetermined distance relative to the optical axis of the second objective, with the offset direction of the first image sensor being opposite to that of the second image sensor.

[0043] Light captured by the first objective lens is incident on the first image sensor, which generates a first image based on the acquired light. Light captured by the second objective lens is incident on the second image sensor, which generates a second image based on the acquired light. Three-dimensional imaging can be achieved based on the first and second images.

[0044] In a direction perpendicular to the optical axes of the first and second objective lenses, the center of the sensing surface of the first image sensor is offset by a preset distance relative to the optical axis of the first objective lens, and the center of the sensing surface of the second image sensor is offset by a preset distance relative to the optical axis of the second objective lens, and the offset directions of the two are opposite. This can enable the two images to produce horizontal positive parallax, zero parallax, and negative parallax, which can increase the depth range of the horizontal parallax of the two images within the fusion range and reduce the occurrence of stereoscopic viewing eye fatigue.

[0045] For example, refer to Figure 1 , Figure 1 A schematic diagram of a three-dimensional imaging system for an endoscope is provided as an embodiment, as shown below. Figure 1 As shown, the first objective lens 101, the second objective lens 102, the first image sensor 103, and the second image sensor 104 are all disposed within the mounting base 100. The first objective lens 101 and the second objective lens 102 are arranged side by side. The first image sensor 103 is disposed corresponding to the first objective lens 101 and is located on the imaging plane of the first objective lens 101. The second image sensor 104 is disposed corresponding to the second objective lens 102 and is located on the imaging plane of the second objective lens 102.

[0046] For example, refer to Figures 2-1 to 2-3 , Figure 2-1 A schematic diagram illustrating the principle of zero parallax stereoscopic perception. Figure 2-2 This is a schematic diagram illustrating the principle of stereoscopic perception based on orthogonal parallax. Figure 2-3 This is a schematic diagram illustrating the principle of stereo perception with negative parallax. Where Q... L Q represents the image point formed by the object point in the first image. R Let Q represent the image point formed by the object point in the second image. L And like point Q R The merged image point. When image point Q L With image point Q R When they coincide, there is zero parallax, i.e., image point Q. L The horizontal position of the first image and image point Q R With the same horizontal position as the second image, the viewer will perceive that the reproduced object point is located on the display screen 110; when image point Q R Located at image point Q L When viewed from the right, the parallax is orthographic, i.e., image point Q. R The horizontal position of the second image is at image point Q L On the right side of the horizontal position of the first image, the viewer will perceive that the reproduced object point is located behind the display screen 110; when image point Q R Located at image point Q L When the image is on the left, the parallax is negative, i.e., image point Q. R The horizontal position of the second image is at image point Q L On the left side of the horizontal position of the first image, the viewer will perceive that the reproduced object point is located in front of the display screen 110. When the center of the sensing surface of the first image sensor 103 is offset from the optical axis of the first objective lens 101, and the center of the sensing surface of the second image sensor 104 is offset from the optical axis of the second objective lens 102, positive parallax, zero parallax, and negative parallax can be generated simultaneously. Within the depth range of positive parallax, there can be a depth segment where the horizontal parallax of the two images is within the fusion range. Within the depth range of negative parallax, there can also be a depth segment where the horizontal parallax of the two images is within the fusion range. Therefore, it is possible to increase the depth range of the horizontal parallax of the two images within the fusion range.

[0047] In some embodiments, the first objective lens 101 and the second objective lens 102 have the same lens composition and optical specifications, and the first image sensor 103 and the second image sensor 104 have the same sensing surface width. The identical lens composition and optical specifications of the two objectives, along with the identical sensing surface width of the two image sensors, minimize the risk of stereoscopic visual fatigue due to differences in the optical performance of the two objectives.

[0048] In some implementations, the three-dimensional imaging system of the endoscope satisfies the following condition:

[0049] ;

[0050] Where h is the actual image height of the first objective lens and the second objective lens. The preset distance (i.e., the distance by which the center of the sensing surface of the first image sensor 103 / second image sensor 104 is offset relative to the optical axis of the first objective lens 101 / second objective lens 102), and Wc is the width of the sensing surface. If During the offset process of the first image sensor 103 and the second image sensor 104, the image formed by the first objective lens 101 may move out of the sensing surface of the first image sensor 103, and the image formed by the second objective lens 102 may move out of the sensing surface of the second image sensor 104. Therefore, the three-dimensional imaging system of the endoscope must meet the following requirements. This ensures that during the offset of the first image sensor 103 and the second image sensor 104, the image formed by the first objective lens 101 does not move out of the sensing surface of the first image sensor 103, and the image formed by the second objective lens 102 does not move out of the sensing surface of the second image sensor 104. In this way, neither the first nor the second image will produce black borders on the display, and a stereoscopic image can be obtained without sacrificing pixels.

[0051] In some embodiments, the three-dimensional imaging system of this endoscope further includes: a guide rail disposed within the mounting base and arranged along the line connecting the center of the sensing surface of the first image sensor 103 and the center of the sensing surface of the second image sensor 104. The first image sensor 103 and the second image sensor 104 are respectively disposed on the guide rail and are movable along the guide rail, such that the center of the sensing surface of the first image sensor 103 is offset relative to the optical axis of the first objective lens 101, and the center of the sensing surface of the second image sensor 104 is offset relative to the optical axis of the second objective lens 102. The guide rail facilitates the axial positioning of the first image sensor 103 and the second image sensor 104, and improves the convenience of adjusting the off-axis position of the first image sensor 103 and the second image sensor 104, thus facilitating assembly and debugging.

[0052] For example, such as Figure 1As shown, the guide rail may include a first guide rail 105 and a second guide rail 106. The first image sensor 103 is disposed on the first guide rail 105 and is movable along the first guide rail 105 such that the center of the sensing surface of the first image sensor 103 is offset relative to the optical axis of the first objective lens 101. The second image sensor 104 is disposed on the second guide rail 106 and is movable along the second guide rail 106 such that the center of the sensing surface of the second image sensor 104 is offset relative to the optical axis of the second objective lens 102. The separate provisioning of the first guide rail 105 and the second guide rail 106 helps to avoid mutual interference between adjusting the off-axis position of the first image sensor 103 and adjusting the off-axis position of the second image sensor 104. It is understood that in other embodiments not shown, a single guide rail may also be provided, on which both the first image sensor 103 and the second image sensor 104 are slidably disposed. When the first image sensor 103 and / or the second image sensor 104 are moved into position, they can be locked in a given position by a locking component.

[0053] In some embodiments, the three-dimensional imaging system of this endoscope further includes an actuation mechanism connected to the first image sensor 103 and the second image sensor 104, respectively, for driving the first image sensor 103 and the second image sensor 104 to move along the guide rail in opposite directions. In this embodiment, driving the first image sensor 103 and the second image sensor 104 to move along the guide rail via the actuation mechanism can further improve the convenience and reliability of adjusting the off-axis position of the two image sensors.

[0054] In some embodiments, the actuation mechanism may include: a movable stage 109 disposed within a mounting base; a first connecting rod 107, one end of which is connected to the first image sensor 103, and the other end of which is connected to the movable stage 109; and a second connecting rod 108, one end of which is connected to the second image sensor 104, and the other end of which is connected to the movable stage 109. When the movable stage 109 moves, the first connecting rod 107 drives the first image sensor 103 to move along the guide rail, and the second connecting rod 108 drives the second image sensor 104 to move along the guide rail, wherein the moving directions of the first image sensor 103 and the second image sensor 104 are opposite. By using the movable stage 109, the first connecting rod 107, and the second connecting rod 108 to control the movement of the first image sensor 103 and the second image sensor 104 respectively, the structure is simple and effective.

[0055] In this embodiment, both the first link 107 and the second link 108 are connected to the moving stage 109. The movement of the first image sensor 103 and the second image sensor 104 is controlled via the same moving stage 109, reducing the number of components used and helping to reduce the size of the 3D imaging system. See also the exemplary embodiment. Figure 3 , Figure 3 This is a schematic diagram illustrating the movement of an image sensor in a three-dimensional imaging system for an endoscope, as provided in one embodiment. The solid lines with arrows indicate the direction of movement. One end of the first connecting rod 107 is connected to the first image sensor 103, and the other end is connected to the moving stage 109. One end of the second connecting rod 108 is connected to the second image sensor 104, and the other end is connected to the moving stage 109.

[0056] In some embodiments, the stage 109 is positioned on the side of the guide rail away from the first image sensor 103 and the second image sensor 104, and moves in a direction parallel to the optical axis of the first objective lens 101 and also in a direction parallel to the optical axis of the second objective lens 102. This allows the stage 109 to move axially along the mounting base 100 of the endoscope, preventing radial movement of the stage 109 along the mounting base 100 from increasing the radial dimension of the endoscope. When the stage 109 moves, the first image sensor 103 and the second image sensor 104 move closer to or further away from each other, ensuring that the offset direction of the first image sensor 103 is opposite to that of the second image sensor 104. During horizontal parallax adjustment, based on the first image, the second image, and the observation surface selected as the zero parallax surface within the depth range of the observed object, the required increase / decrease in the distance between the center of the sensing surface of the first image sensor 103 and the center of the sensing surface of the second image sensor 104 is calculated, and then this increase / decrease is allocated to each image sensor. For example, if the distance between the center of the sensing surface of the first image sensor 103 and the center of the sensing surface of the second image sensor 104 needs to be increased or decreased according to the calculation results, the first image sensor 103 and the second image sensor 104 can be controlled to move away from or closer to each other by the moving stage 109.

[0057] In some embodiments, the length of the first link 107 is the same as the length of the second link 108. The first link 107 and the second link 108 are connected to the same position on the moving stage 109. Thus, when the moving stage 109 moves, the first link 107 and the second link 108 can drive the first image sensor 103 and the second image sensor 104 to move synchronously, and both move the same distance. During the horizontal parallax adjustment process, based on the first image, the second image, and the observation surface selected as the zero parallax surface within the depth range of the observed object, the required increase / decrease in the distance between the center of the sensing surface of the first image sensor 103 and the center of the sensing surface of the second image sensor 104 can be calculated first, and then this increase / decrease can be evenly distributed between the two image sensors.

[0058] In some embodiments, the first link 107 and the second link 108 are connected to the moving stage 109 via a hinge. The hinged connection between the first link 107 / second link 108 and the moving stage 109 allows the positional movement of the moving stage 109 to be converted into an angular change in the direction of movement of the first link 107 / second link 108 relative to the moving stage 109, which in turn translates into the movement of the first image sensor 103 / second image sensor 104 along the guide rail.

[0059] In some embodiments, the actuation mechanism may further include a drive unit connected to the movable stage 109 for driving the movable stage 109 to move. The drive unit may be a motor.

[0060] Mounting base 100 can be a mirror mount, with each objective lens and each image sensor housed within the mount, which is then installed into the endoscope's headstock. Alternatively, mounting base 100 can be the endoscope's headstock, with each objective lens and each image sensor housed within the endoscope's headstock.

[0061] In some embodiments, the three-dimensional imaging system of this endoscope may further include: a control device connected to the first image sensor 103, the second image sensor 104 and the actuation mechanism respectively, for controlling the actuation mechanism according to the first image and the second image to drive the first image sensor 103 and the second image sensor 104 to move along the guide rail.

[0062] For example, the control device can analyze the first and second images to determine the off-axis positions of the target on the first image sensor 103 and the second image sensor 104, and then control the actuation mechanism to drive the first image sensor 103 and the second image sensor 104 to move to the off-axis position on the target in a direction perpendicular to the optical axis of the first objective lens 101 and the second objective lens 102. This ensures that within the depth range of the observed object, the horizontal parallax of the first and second images exhibits positive parallax, zero parallax, and negative parallax, all within the fusion range. Therefore, by linking the control device and the actuation mechanism, the zero parallax position and 3D imaging effect of the system can be easily adjusted in real time to adapt to the depth of field / user observation conditions during use.

[0063] In some implementations, the control device is used to perform the following processes, which may be referred to Figure 4 , Figure 4 A flowchart illustrating the adjustment of horizontal parallax in a three-dimensional imaging system for an endoscope, as shown in the figure, includes the following steps:

[0064] S11: Obtain the depth range of the observed object based on the first image and the second image.

[0065] S12: Select an observation surface within the depth range, and obtain the horizontal parallax of the observation surface corresponding to the first and second images based on the depth of the observation surface.

[0066] The depth range of the observed object can be considered as the range between its foremost and last surfaces. An observation surface can be selected at any depth within this depth range.

[0067] Based on the imaging optical path of the first objective lens 101 and the first image sensor 103, the imaging optical path of the second objective lens 102 and the second image sensor 104, and the principle of geometric optics, the horizontal parallax of the observation surface corresponding to the first image and the second image is obtained according to the depth of the observation surface.

[0068] Horizontal parallax refers to the difference between the horizontal position of the image point formed by an object point in the first image and the horizontal position of the image point formed by the same object point in the second image.

[0069] S13: Based on the horizontal parallax, obtain the first offset of the center of the sensing surface of the first image sensor 103 relative to the optical axis of the first objective lens 101 and the second offset of the center of the sensing surface of the second image sensor 104 relative to the optical axis of the second objective lens 102 when the horizontal parallax of the observation surface corresponding to the first image and the second image is zero.

[0070] Based on the imaging optical path of the first objective lens 101 and the first image sensor 103, the imaging optical path of the second objective lens 102 and the second image sensor 104, and the principle of geometric optics, a first offset and a second offset can be obtained based on the horizontal parallax to make the horizontal parallax of the observation surface corresponding to the first image and the second image zero.

[0071] S14: Control the movement of the first image sensor 103 and the second image sensor 104 according to the first offset and the second offset, respectively.

[0072] S15: Display the first image and the second image on the display screen 110. If a preset command is received, proceed to step S16; if no preset command is received, proceed to step S12. If the observer believes that the observed three-dimensional imaging effect meets the requirements within the depth range of the observed object when viewing the display screen 110, a preset command is issued; otherwise, no preset command is issued.

[0073] S16: Adjustment complete.

[0074] In this embodiment, by adjusting the offset of the center of the sensing surface of the first image sensor 103 relative to the optical axis of the first objective lens 101 and the offset of the center of the sensing surface of the second image sensor 104 relative to the optical axis of the second objective lens 102, until the first image acquired by the first objective lens 101 and the first image sensor 103, and the second image acquired by the second objective lens 102 and the second image sensor 104 are displayed on the display screen 110, the three-dimensional imaging effect seen by the observer when viewing the display screen 110 meets the requirements throughout the entire depth range of the observed object. Meeting the requirements for the three-dimensional imaging effect seen by the observer when viewing the display screen 110 within the depth range of the observed object means that the observer will not experience dizziness when viewing the three-dimensional imaging within the depth range of the observed object. In this case, it can be considered that the horizontal parallax of the first image and the second image is within the fusion range within the depth range of the observed object.

[0075] For example, refer to Figure 5 , Figure 5 This is a schematic diagram of a three-dimensional imaging system for an endoscope, provided as an embodiment, wherein Q L Q represents the image point formed by the object point in the first image. R Let Q represent the image point formed by the object point in the second image. L And like point Q R Merged image points. X L X represents the horizontal coordinate of the image point of the object point in the first image. R This indicates the horizontal coordinates of the image point of the object point in the second image. L O represents the optical center of the first objective lens 101. R Z0 represents the optical center of the second objective lens 102, B represents the distance between the first objective lens 101 and the second objective lens 102, f represents the focal length of the first objective lens 101 and the focal length of the second objective lens 102, and Z0 represents the depth.

[0076] In some implementations, the horizontal parallax corresponding to the viewing surface in the first and second images can be calculated using the following formula:

[0077] ;

[0078] Among them, W S W represents the width of the display screen. C The width of the sensing surface of the first image sensor 103 and the width of the sensing surface of the second image sensor 104 are represented, and ρ0 represents the horizontal parallax of the observation surface at depth Z0 corresponding to the first image and the second image.

[0079] In some embodiments, the first offset of the center of the sensing surface of the first image sensor 103 relative to the optical axis of the first objective lens 101 and the second offset of the center of the sensing surface of the second image sensor 104 relative to the optical axis of the second objective lens 102 can be calculated according to the following formula. In this embodiment, the first offset and the second offset are equal and are represented as Δx.

[0080] .

[0081] When an observer views the display screen 110, in the observed 3D image, the object points on the zero-parallax surface are imaged on the display screen 110. Object points in front of the zero-parallax surface are imaged "protruding" from the display screen 110, while object points behind the zero-parallax surface are imaged "recessed" into the display screen 110. After adjustment, the object points on the zero-parallax surface are imaged on the display screen 110, and the object points in front of and behind the zero-parallax surface are imaged in front of and behind the display screen 110, respectively. Furthermore, the horizontal parallax of the first and second images is within the fusion range. Compared to 3D imaging systems using parallel coaxial structures, the 3D imaging system of the endoscope provided in this embodiment expands the depth range of the horizontal parallax of the two images within the fusion range, reducing the likelihood of stereoscopic viewing fatigue. Moreover, the 3D imaging system of the endoscope in this embodiment uses a method of offsetting the two image sensors, ensuring that neither image produces black borders on the display screen 110 without sacrificing image pixels.

[0082] In an embodiment of the endoscopic three-dimensional imaging system including a first link 107, a second link 108, and a moving stage 109, after calculating and obtaining the first offset and the second offset, the movement amount of the moving stage 109 can be further calculated based on the first offset and the second offset, thereby controlling the movement of the moving stage 109 so that the first image sensor 103 and the second image sensor 104 move by the corresponding offset.

[0083] The above provides a detailed description of the three-dimensional imaging system for an endoscope provided by this utility model. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that those skilled in the art can make various improvements and modifications to this utility model without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this utility model.

Claims

1. A three-dimensional imaging system for an endoscope, characterized in that, include: Mounting base; A first objective lens, a second objective lens, a first image sensor, and a second image sensor are all disposed within the mounting base. The first and second objective lenses are arranged side-by-side with their optical axes parallel. The first image sensor is disposed on the image plane of the first objective lens and is used to generate a first image based on the light captured by the first objective lens. The second image sensor is disposed on the image plane of the second objective lens and is used to generate a second image based on the light captured by the second objective lens. Wherein: In a direction perpendicular to the optical axes of the first and second objectives, the center of the sensing surface of the first image sensor is offset by a predetermined distance relative to the optical axis of the first objective, and the center of the sensing surface of the second image sensor is offset by the predetermined distance relative to the optical axis of the second objective, with the offset direction of the first image sensor being opposite to that of the second image sensor.

2. The three-dimensional imaging system for an endoscope according to claim 1, characterized in that, The first objective lens and the second objective lens have the same lens composition and optical specifications, and the first image sensor and the second image sensor have the same sensing surface width.

3. The three-dimensional imaging system for an endoscope according to claim 2, characterized in that, The three-dimensional imaging system of the endoscope satisfies the following condition: ； Where h is the actual image height of the first objective lens and the second objective lens. The preset distance is Wc, and the width of the sensing surface is Wc.

4. The three-dimensional imaging system for an endoscope according to any one of claims 1-3, characterized in that, Also includes: A guide rail is disposed within the mounting base and is arranged along the line connecting the center of the sensing surface of the first image sensor and the center of the sensing surface of the second image sensor. The first image sensor and the second image sensor are respectively disposed on the guide rail and can move along the guide rail, such that the center of the sensing surface of the first image sensor can be offset relative to the optical axis of the first objective lens, and the center of the sensing surface of the second image sensor can be offset relative to the optical axis of the second objective lens.

5. The three-dimensional imaging system for an endoscope according to claim 4, characterized in that, Also includes: An actuation mechanism is connected to the first image sensor and the second image sensor respectively, and is used to drive the first image sensor and the second image sensor to move along the guide rail in opposite directions.

6. The three-dimensional imaging system for an endoscope according to claim 5, characterized in that, The actuation mechanism includes: A mobile platform is disposed within the mounting base; The first link has one end connected to the first image sensor and the other end connected to the mobile stage; The second link has one end connected to the second image sensor and the other end connected to the mobile stage; When the mobile platform moves, the first link drives the first image sensor to move along the guide rail, and the second link drives the second image sensor to move along the guide rail. The moving directions of the first image sensor and the second image sensor are opposite.

7. The three-dimensional imaging system for an endoscope according to claim 6, characterized in that, The moving stage is located on the side of the guide rail away from the first image sensor and the second image sensor, and the moving stage moves along the optical axis of the first objective lens. When the moving stage moves, the first image sensor and the second image sensor move closer to each other or further away from each other.

8. The three-dimensional imaging system for an endoscope according to claim 7, characterized in that, The length of the first link is the same as the length of the second link, and the first link and the second link are connected to the same position on the moving platform.

9. The three-dimensional imaging system for an endoscope according to claim 6, characterized in that, The first link is connected to the moving platform via a hinge, and the second link is connected to the moving platform via a hinge.

10. The three-dimensional imaging system for an endoscope according to claim 5, characterized in that, Also includes: A control device is connected to the first image sensor, the second image sensor, and the actuation mechanism, respectively, and is used to control the actuation mechanism according to the first image and the second image to drive the first image sensor and the second image sensor to move along the guide rail.

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