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CLC number: TP391; R608

On-line Access: 2014-12-23

Received: 2014-04-22

Revision Accepted: 2014-09-25

Crosschecked: 2014-12-08

Cited: 0

Clicked: 2117

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Jia TANG

http://orcid.org/0000-0001-9873-2733

Li-qiang WANG

http://orcid.org/0000-0002-9940-4480

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Frontiers of Information Technology & Electronic Engineering  2015 Vol.16 No.1 P.79-84

http://doi.org/10.1631/FITEE.1400149


Design and calibration of a new high-definition three-dimensional laparoscopic system


Author(s):  Jia Tang, Li-qiang Wang, Bo Yuan, Hong Jiang, Qi-ming Zhu

Affiliation(s):  State Key Laboratory of Modern Optical Instrumentation, Optical Engineering Department, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   wangliqiang@zju.edu.cn

Key Words:  Dual optical channels, Three dimensional, Camera calibration, Pinhole model, Depth measurement, Laparoscopic system


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Jia Tang, Li-qiang Wang, Bo Yuan, Hong Jiang, Qi-ming Zhu. Design and calibration of a new high-definition three-dimensional laparoscopic system[J]. Frontiers of Information Technology & Electronic Engineering, 2015, 16(1): 79-84.

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Abstract: 
We present a high-definition (HD) 3D laparoscopic system including a dual channel optical system, two cameras, a camera control unit (CCU), and an HD 3D monitor. This laparoscopic system is capable of outputting dual high-definition videos and providing vivid 3D images. A modified pinhole camera model is used for camera calibration and a new method of depth measurement to improve precision. The average error of depth measurement measured by experiment (about 1.13 mm) was small in proportion to the large range in distance of the system (10–150 mm). The new method is applicable to any calibrated binocular vision system.

The authors constituted a set of 3D laparoscopic system using two HD cameras, and calibrated the camera system using a novel algorithm in consideration of a different focal length and rotation angle between two cameras as well as relatively short working distance in real laparoscopic surgery. It is interesting.

新型三维腹腔镜系统的设计与标定

目的:为简化三维腹腔镜结构,同时保证其成像和3D视频质量,研发一种新型高清三维腹腔镜系统。
创新:采用双光学通道,使用中继透镜延长图像光学传输距离,在中继透镜末端用两个相机接收内窥图像,简化腹腔镜结构,并保证了成像质量。
方法:首先,根据图像传感器参数和视场需求大小确定内窥镜光学系统的有效焦距,在此基础上设计包括中继透镜在内的双通道光学镜头(图1)。其次,设计CCU用于采集和处理双通道高清视频图像,并通过HDMI输出将它们同时显示在3D显示器上,由此构建了高清三维腹腔镜系统(图4)。最后,针对双目内窥镜系统采用传统针孔模型计算距离存在较大误差的问题,通过理论分析提出一种新的距离计算方法,并在0-150 mm范围内的距离测量实验中验证该算法的有效性(图3)。
结论:新型三维腹腔镜在保证成像质量的基础上简化了系统结构;采用提出的双目系统距离计算方法可以有效提高双目内窥系统的测距精度。

关键词:双光学通道;三维;相机标定;深度测量;腹腔镜系统

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