为了施行较为复杂的微创外科手术,设计了医用三维电子内窥镜系统,对系统的工作原理、显示方式等进行了分析.该系统基于双目立体视觉原理,采用双CCD摄像机模拟人眼实现了机器立体视觉；利用Zemax软件辅助设计了双光路内窥镜光学系统；通过比较几种立体显示方式的优缺点,选择了无源偏振眼镜立体显示方法,该方法采用基于FPGA的时分制立体显示技术,左右图像以100Hz帧频交替显示,并与液晶调制屏同步,观察者佩戴偏振眼镜即可观察到清晰无闪烁立体图像.经临床试验表明:简化了的光学系统的电子内窥镜图像质量得到显著提高；图像帧频达到100Hz,无闪烁感,且无停顿、拖尾、扭曲和停滞等现象.该系统可广泛应用于微创外科手术中,并可作为腹腔手术机器人的显示系统使用.%In order to perform more complex minimally invasive surgery, we designed 3D medical electronic endoscope system, and analyzed the system principle and display mode. The system based on the principle of binocular stereo vision achieves 3D machine vision, adopting the dual CCD cameras to simulate the human eye. A dual-optical endoscope system is designed by "Zemax" software. We choose the passive polarized glasses stereoscopic display through comparing the advantages and disadvantages of several 3D display ways, and this way adopts the time-division 3D display technology based on FPGA, the left and right images alternately display with 100Hz frame rate, and synchronize with the modulated LCD screen. When the viewers wear polarized glasses, they can observe the clear stereoscopic images without flicker. The clinical tests indicate that the images quality of electronic endoscope significantly improved by simplified optical system, the image frame rate reaches to 100Hz and is not flickering. The images have not stop, tailing, twist, and stagnation. The system can be widely used in minimally invasive surgery and serve as a display system of the abdominal surgery robot.
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