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全景内窥成像技术及应用

霍嘉燚 李冕豪 王子川 袁波 杨青 王立强

霍嘉燚, 李冕豪, 王子川, 袁波, 杨青, 王立强. 全景内窥成像技术及应用[J]. 中国光学(中英文), 2023, 16(1): 44-60. doi: 10.37188/CO.2022-0074
引用本文: 霍嘉燚, 李冕豪, 王子川, 袁波, 杨青, 王立强. 全景内窥成像技术及应用[J]. 中国光学(中英文), 2023, 16(1): 44-60. doi: 10.37188/CO.2022-0074
HUO Jia-yi, LI Mian-hao, WANG Zi-chuan, YUAN Bo, YANG Qing, WANG Li-qiang. Panoramic endoscopic imaging technology and it’s applications[J]. Chinese Optics, 2023, 16(1): 44-60. doi: 10.37188/CO.2022-0074
Citation: HUO Jia-yi, LI Mian-hao, WANG Zi-chuan, YUAN Bo, YANG Qing, WANG Li-qiang. Panoramic endoscopic imaging technology and it’s applications[J]. Chinese Optics, 2023, 16(1): 44-60. doi: 10.37188/CO.2022-0074

全景内窥成像技术及应用

基金项目: 国家重点研发计划项目(No. 2021YFC2400103);浙江省基础公益研究计划项目(No. LGF20F50006);之江实验室科研项目(No. 2019MC0AD02, 2022MG0AL01)
详细信息
    作者简介:

    霍嘉燚(1997—),男,河北保定人,博士研究生,2019年6月于天津大学获得学士学位,2019年9月进入浙江大学光电学院学习,主要从事内窥镜成像、三维成像等方面研究。E-mail:jiayi_huo@zju.edu.cn

    王立强(1977—),男,陕西渭南人,副教授,博士生导师,1998年、2001年、2004年于浙江大学分别获得学士学位,硕士学位,博士学位,现为浙江大学光电信息检测技术研究所副所长,主要从事光电成像技术及内窥镜方面的研究。E-mail:wangliqiang@zju.edu.cn

  • 中图分类号: TP394.1

Panoramic endoscopic imaging technology and it’s applications

Funds: Supported by the National Key Research and Development Program of China (No. 2021YFC2400103); the Zhejiang Provincial Natural Science Foundation of China (No. LGF20F050006); Key Research Project of Zhejiang Lab (No. 2019MC0AD02, No. 2022MG0AL01)
More Information
  • 摘要:

    全景内窥成像技术可有效减小体内器官的观察盲区,具有缩短手术时间、降低术中出血风险、改善手术预后、缩短术后恢复时间等多种优点,在微创手术和术前检查中有重要应用价值,是近年来的研究热点。本文从原理和产品应用两个方面对全景内窥成像技术进行了梳理。首先,综述了基于二维和三维成像的各种全景内窥成像技术,阐述了它们各自的实现方式,并分析了其关键指标和性能。其次,对比分析了由全景内窥成像技术衍生出来的胶囊内窥镜、全景结直肠镜等多种不同类型的产品,并展望了全景内窥成像技术的发展趋势和应用前景。

     

  • 图 1  套针相机组件[26]

    Figure 1.  Trocar-camera assembly[26]

    图 2  双摄像头胶囊内窥镜[30]

    Figure 2.  Dual-view capsule endoscope[30]

    图 3  紧凑双视角内窥镜设计方案[33]

    Figure 3.  Design scheme of compact dual-view endoscope[33]

    图 4  自由曲面棱镜的设计方案[33]

    Figure 4.  Design scheme of freeform surface lens[33]

    图 5  全景环形透镜的原理示意图

    Figure 5.  Principle schematic diagram of panoramic annular lens

    图 6  基于全景环形透镜和自由曲面棱镜的内窥镜系统[34]

    Figure 6.  Endoscope system based on PAL and freeform surface lens[34]

    图 7  凹凸型广角内窥镜设计方案[36]

    Figure 7.  Design of foveated wide angle endoscope lens[36]

    图 8  基于抛物面镜内窥镜设计图[38]

    Figure 8.  Design of endoscope based on convex parabolic mirrors[38]

    图 9  基于复合透镜的仿生内窥镜原型[39]

    Figure 9.  Prototype of bionic endoscope based on compound lens[39]

    图 10  紧凑双视场内窥镜的设计示意图[41]

    Figure 10.  Schematic diagram of compact dual-view endoscope design[41]

    图 11  真实内窥镜图像视差图。(a)输入图像(左);(b)SGBM视差图;(c)StereoNet视差图[59]

    Figure 11.  Disparity results of real endoscopic images. (a) Input image (left); (b) disparity map produced by the SGBM algorithm; (c) disparity map produced by StereoNet

    图 12  整个胃器官重建三维点云图[60]

    Figure 12.  Reconstruction 3D point cloud of the whole stomach[60]

    图 13  实验场景及全景三维点云图[66]

    Figure 13.  Experiment scene and full-view 3D point clouds

    图 14  单目内窥镜SLAM框架[70]

    Figure 14.  Framework for monocular SLAM-endoscopy[70]

    图 15  SfM重建三维点云图[71]

    Figure 15.  3D point cloud reconstructed by SfM[71]

    图 16  (a)CapsoCam SV1示意图及 (b)SVI拍摄的图像

    Figure 16.  (a) Schematic diagram of CapsoCam SV1 capsule endoscope and (b) image captured by SV1

    图 17  全景胶囊内镜下CD粘膜萎缩内镜特征[8]

    Figure 17.  Typical signs of mucosal atrophy detected by panoramic capsule endoscope[8]

    图 18  传统结肠镜和FUSE拍摄的图像[73]

    Figure 18.  Images captured by traditional colonoscopy and FUSE[73]

    图 19  (a)FUSE结肠镜; ( b)FUSE拍摄的图像

    Figure 19.  (a) FUSE colonoscope; (b) image captured by FUSE

    表  1  不同全景镜头技术对比

    Table  1.   Comparison of different panoramic lens technologyies

    成像方式视场结构复杂度成本畸变特点
    自由曲面棱镜[33]多视角成像,
    视场不连续
    全景环形透镜[34]宽视场、高分辨率
    折反射成像
    系统[35-37]
    加工难度低
    仿生光学系统[39-40]分辨率高、
    成像均匀
    多系统组合[41]边缘视场成
    像质量高
    下载: 导出CSV

    表  2  常用商用胶囊内镜

    Table  2.   Common commercial capsule endoscopes

    产品厂家国家帧率摄像头
    数量
    视场角
    PillCam SB3Medtronic美国2~61156°
    PillCam Crohn’s
    Capsule
    Medtronic美国4~352336°
    EndoCapsule 10Olympus日本21160°
    MiroCam MC1600IntroMedic韩国61170°
    MiroCam MC2000IntroMedic韩国3(per
    camera)
    2340°
    OMOM RC100Jinshan中国2~81160°
    CapsoCam PlusCapso
    Vision
    美国12-204360°
    下载: 导出CSV

    表  3  商用结肠内镜

    Table  3.   Commercial colonoscopies

    产品厂家国家视场角摄像头
    个数
    实现方式
    CF-HQ290Olympus日本170°1超广角
    FUSEEndo Choice美国330°3多视角显示
    EWAVEOlympus日本232°3多摄像头拼接
    Third Eye
    Panoromic
    Avantis美国>300°3多视角显示
    下载: 导出CSV
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  • 收稿日期:  2022-04-20
  • 修回日期:  2022-05-07
  • 网络出版日期:  2022-07-06

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