全景内窥成像技术及应用 -

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全景内窥成像技术及应用

doi:10.37188/CO.2022-0074

1.
浙江大学光电科学与工程学院, 浙江杭州 310027
2.
之江实验室类人感知研究中心, 浙江杭州 311100

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
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出版历程
- 收稿日期:2022-04-20
- 修回日期:2022-05-07
- 网络出版日期:2022-07-06

Panoramic endoscopic imaging technology and it’s applications

1.
College of Optical Science and Engineering, Zhejiang University, Hangzhou 310027, china
2.
Research Center for Humanoid Sensing, Zhejiang Lab., Hangzhou 311100, china

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

Corresponding author:wangliqiang@zju.edu.cn

摘要

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。
- 内窥镜/
- 全景成像/
- 3D重建/
- 图像拼接
Abstract:
Panoramic endoscopic imaging technology can effectively reduce the observation blind area of internal organs. It has many advantages, such as shortening the operation time, reducing the risk of intraoperative bleeding, improving the prognosis and shortening the postoperative recovery time. It has important application value in minimally invasive surgery and preoperative examination. It is a research hotspot in recent years. This paper combs the panoramic endoscopic imaging technology from two aspects: principle and product applications. Firstly, various panoramic endoscopic imaging technologies based on two-dimensional and three-dimensional imaging are reviewed, their implementation methods are described, and their key indexes and performances are analyzed. Secondly, the capsule endoscope, panoramic enteroscope and other different types of products derived from panoramic endoscopic imaging technology are compared and analyzed, and the development trend and application prospect of panoramic endoscopic imaging technology are prospected.
- endoscope/
- panoramic imaging/
- 3D reconstruction/
- image stitching

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图 1套针相机组件^[26]

Figure 1.Trocar-camera assembly^[26]

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图 2双摄像头胶囊内窥镜^[30]

Figure 2.Dual-view capsule endoscope^[30]

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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]

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图 4自由曲面棱镜的设计方案^[33]

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

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图 5全景环形透镜的原理示意图

Figure 5.Principle schematic diagram of panoramic annular lens

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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]

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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]

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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]

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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]

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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]

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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

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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]

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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

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图 14单目内窥镜SLAM框架^[70]

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

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图 15SfM重建三维点云图^[71]

Figure 15.3D point cloud reconstructed by SfM^[71]

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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

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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]

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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]

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图 19（a）FUSE结肠镜; （ b）FUSE拍摄的图像

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

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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]	中	中	中	小	多视角成像，视场不连续
全景环形透镜^[34]	大	高	中	小	宽视场、高分辨率
折反射成像系统^[35-37]	大	低	低	大	加工难度低
仿生光学系统^[39-40]	小	高	高	小	分辨率高、成像均匀
多系统组合^[41]	小	高	中	小	边缘视场成像质量高

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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 SB3	Medtronic	美国	2~6	1	156°
PillCam Crohn’s Capsule	Medtronic	美国	4~35	2	336°
EndoCapsule 10	Olympus	日本	2	1	160°
MiroCam MC1600	IntroMedic	韩国	6	1	170°
MiroCam MC2000	IntroMedic	韩国	3（per camera）	2	340°
OMOM RC100	Jinshan	中国	2~8	1	160°
CapsoCam Plus	Capso Vision	美国	12-20	4	360°

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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-HQ290	Olympus	日本	170°	1	超广角
FUSE	Endo Choice	美国	330°	3	多视角显示
EWAVE	Olympus	日本	232°	3	多摄像头拼接
Third Eye Panoromic	Avantis	美国	>300°	3	多视角显示

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