KR101500717B1 - Laparocope system provide forward 3D images with operator - Google Patents

Abstract

The present invention relates to a laparoscopic system for providing a three-dimensional image, and more particularly, to a laparoscopic system for providing a three-dimensional image, and more particularly, The present invention relates to a laparoscopic system that provides a three-dimensional image based on a practitioner who can increase convenience, shorten a procedure time, and prevent a medical accident.
A laparoscopic system for providing a three-dimensional image based on a practitioner according to the present invention includes a binocular camera for converting an incident left image and a right image into digital image signals of a left eye image and a right eye image, respectively; And a main body for synthesizing the left eye image and the right eye image, which are input from the binocular camera, into a 3D image and outputting the 3D image to a monitor, wherein the main body includes a synthesizer for synthesizing a left eye image and a right eye image, And a preprocessor which rotates and rotates the same by an amount corresponding to a user's operation command signal (or output by a motion controller) when the rotation is displayed by rotation, unlike an actual object.

Description

[0001] Laparoscopic system providing a three-dimensional image based on a practitioner [0002]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laparoscopic system for providing a three-dimensional image, and more particularly to a laparoscopic system for providing a three-dimensional image. More specifically, when a viewing direction of a binocular camera is rotated clockwise or counterclockwise during a procedure, It is inconvenient to recognize the degree of rotation of the person to be manipulated and rationally judge the manipulation of the manipulated person. In order to solve this inconvenience, even if the viewing direction of the binocular camera is rotated, a three- , It is possible to increase the convenience of the procedure, shorten the procedure time and prevent medical accidents,

The main time of the left eye image and the right eye image are automatically adjusted to provide a higher quality three-dimensional image,

The present invention also relates to a laparoscopic system for providing a three-dimensional image based on a practitioner's body, which prevents the deterioration of the quality of the image by enhancing the waterproof property of the housing incorporating the binocular camera.

In general, laparoscopic procedures are used for the purpose of treatment and diagnosis, when the physician inspects the organs of the patient directly by inserting them into the patient's body to observe the inside of the body.

Previously, laparoscopic procedures provided 2D images, which made it difficult to approach the patient's treatment area precisely during precise surgery because of the lack of distance perception.

Recently, a laparoscopic procedure is disclosed in Patent Document 10-252014 entitled "Stereoscopic Laparoscopic System Employing a Three-Dimensional Conversion Optical Adapter of Two-dimensional Image ", and a three-dimensional image is provided using a two- .

A laparoscopic system for providing a three-dimensional image for laparoscopic surgery generally comprises a binocular scope which is inserted into the abdomen of a patient and receives an image of the inside of the abdomen and a left and right image input from the binocular scope, And a main body for synthesizing the left and right eye images input from the binocular camera and outputting them to a monitor.

The laparoscopic procedure is a procedure for viewing the inside of the abdomen through a monitor, and the position of the binocular scope is continuously changed so that the lesion is accurately monitored and the procedure is easily performed.

The problem with such a laparoscopic procedure is that the image to be displayed on the monitor based on the operator and the image displayed on the monitor input from the binocular camera are rotated without matching.

1, the viewing angle of the binocular scope is changed so that the image is displayed on the monitor by the operator. And shows the rotated image without matching the viewing angle.

A person judges an object based on his own viewpoint.

In other words, the image displayed on the monitor is based on the binocular camera, and the practitioner generally recognizes that the object is displayed on the monitor based on his / her view.

And when a person is in the forward direction of his / her sight and the forward direction of the object displayed on the monitor is slightly inclined to the left or right, it is recognized that the object displayed on the monitor is inclined and the inclined direction is forward However,

It is difficult for the operator to constantly recognize the rotated angle of the image of the object displayed on the monitor when the degree of tilting of the object displayed on the monitor is severe.

Therefore, if the monitor image is excessively rotated or reversed in the laparoscopic procedure, if the operator does not recognize that the image is reversed, the operator moves the treatment tool to the upper part of the lesion as displayed on the monitor In practice, the monitor may be moved to the lower part of the instrument, which may lead to the wrong procedure.

Therefore, in the laparoscopic procedure, it is desirable that the image displayed on the monitor can display the position of the real object correctly even when the binocular scope is rotated, thereby preventing medical accidents, improving the convenience of the procedure, and shortening the procedure time.

A technique used in the prior art to prevent rotation of an image in a state in which an image displayed on a monitor is rotated is different from a viewing angle of a surgeon in an observation direction of a scope transmitting an image of a diseased part to a camera, Is rotated.

However, this is possible in a two-dimensional image, that is, in the case of using one scope and one camera, and can not be applied to a three-dimensional image using a binocular scope (left and right lens barrel) and left and right cameras.

Therefore, in the laparoscopic system providing the three-dimensional image, the image displayed on the monitor is inconvenient because the operator rotates the monitor differently from the monitor depending on the degree of the scope rotating. Therefore, even if the operator rotates the scope, there is a need for a technique of rotating the 3D image so that the image displayed on the monitor looks the same as the object.

The difference in the direction that occurs when the same subject is observed at two different points is called " parallax ".

A person can feel a stereoscopic effect on a subject by the principle of binocular parallax. A stereoscopic camera (i.e., a binocular camera) is a device for acquiring a stereoscopic image (i.e., a three-dimensional image) to be. Therefore, the stereoscopic camera has a pair of left and right cameras so as to acquire a stereoscopic image, that is, a pair of left and right images.

There is a parallax between the left camera and the right camera of the stereoscopic camera. As a result, the pixel coordinates of the subject differ vertically and / or horizontally from the left and right images respectively obtained by the image sensor (CCD) through the left camera and the right camera. The difference between the pixel coordinates of the subject on the left image and the right eye, that is, the position difference, is called a 'parallax amount'.

The two eyes of a person adjust the amount of parallax for the object to be observed by moving the left and right eyes. By controlling the amount of parallax, it is possible to simultaneously observe an object to be viewed and a surrounding object while feeling a three-dimensional feeling with ease.

The control of the amount of parallax is called a convergence control. In general, when the amount of parallax of the object to be viewed is 0, the stereoscopic image can be viewed most comfortably. On the other hand, when a stereoscopic image which is not controlled by the main visual control is viewed, the amount of parallax for the subject becomes very large, so that the outline of the subject is blurred and the observer feels severe observation fatigue due to observation of the object not focused.

In order to minimize the observer fatigue of the viewer, it is required to control the amount of parallax. Generally, in the case of a stereoscopic camera, it is required to control the distance between the left and right cameras and the observation direction of each camera so that the amount of parallax is minimized in accordance with the change in the direction or distance of the object to be watched.

In general, in an endoscope providing a three-dimensional image, a reference image such as a cross shape is placed on an appropriate reference distance (or working distance) to be processed from a binocular camera, and the left eye image and the right eye image obtained by photographing the image are displayed on a monitor The user manually adjusts the up / down position and the main time position so that the cross hair of the left eye image and the cross hair of the right eye image are displayed at the center of the monitor.

The method of directly adjusting the up / down and main time manually by the user takes a lot of time to adjust, and it is not easy to precisely adjust the up / down and main time.

And for a sophisticated laparoscopic procedure, a clean, sharp, high-quality three-dimensional image should be provided.

In other words, the quality of the left eye image and the right eye image itself provided by the binocular camera should be high, as well as the precise adjustment of the up / down and main time of the three-dimensional image.

The main external factors that degrade the quality of the left and right eye images provided by the binocular camera are foreign substances such as dust and water, and when the foreign body and water are penetrated by the binocular camera, the quality of the left eye image and the right eye image acquired from the binocular camera .

Therefore, the waterproof property is important in order to prevent foreign substances, disinfectants, body fluids, and water from penetrating into the binocular camera.

The present invention relates to a laparoscopic system for providing a three-dimensional image for a laparoscopic procedure, which provides a three-dimensional image based on an operator, which prevents rotation of an image displayed on a monitor, System,

It is an object of the present invention to provide a laparoscopic system that provides a three-dimensional image based on a practitioner who does not have a problem of lowering the quality of the image in the process of correcting the rotation of the image while minimizing the increase of the manufacturing cost and the volume.

It is also an object of the present invention to provide a laparoscopic system that automatically adjusts the main clock to solve problems such as inconvenience due to manual adjustment of the main time of the left eye image and the right eye image, difficulty of time adjustment and precise adjustment.

In addition, in order to prevent degradation of image quality due to foreign substances such as dust, disinfectant, body fluids, and water, the waterproof property is strengthened so that a three-dimensional image based on a practitioner having an automatic main time adjusting function for providing high- And a laparoscopic system for providing a laparoscopic system.

In order to achieve the above object, a laparoscopic system for providing a three-dimensional image based on a practitioner according to the present invention includes:

A binocular camera for converting an incident left image and a right image into a digital image signal of a left eye image and a right eye image, respectively;

And a body for synthesizing a left eye image and a right eye image, which are input from the binocular camera, into a 3D image and outputting the resultant image to a monitor,

The body

A synthesizer for synthesizing a left eye image and a right eye image,

And a preprocessor which rotates the left eye image and the right eye image by a rotated amount in the opposite direction when the rotation command signal is input, and transmits the rotation image to the synthesis unit.

The rotation command signal input to the main body is an operation signal inputted by a practitioner or an inversion angle signal transmitted by a motion sensor for sensing the posture of the binocular camera.

Wherein the preprocessor rotates the left eye image and the right eye image in a direction opposite to the rotation angle transmitted by the motion sensor for sensing the posture of the binocular camera,

An auto focusing module for moving the two objective lenses for the left and right eyes of the binocular camera, respectively,

Further comprising: an autofocus adjusting unit provided in the preprocessing unit and including a main time control module for adjusting the main time of the left eye image and the right eye image,

The auto focusing module stores a previously moved position and is movable to a previous position according to a position movement command of the pre-processing unit.

The laparoscopic system providing the operator's standard three-dimensional image according to the present invention having the above-described structure can be used in a wide variety of fields, such as a field of view, a field of view, The reference image is displayed so that the operator's convenience of operation can be improved, medical accident can be prevented,

There are few components to be added in order to prevent rotation of the image, so that there is almost no problem such as an increase in manufacturing cost and an increase in volume,

The automatic focus adjusting means automatically adjusts the focus of the left eye image and the right eye image to enable a clear image and the automatic main time adjusting function of the preprocessing unit makes it possible to adjust the main time precisely without any troublesome adjustment, By minimizing the amount of parallax through adjustment, a high-quality three-dimensional image with less eye fatigue is provided to the practitioner, thereby shortening the operation time and enabling elaborate procedures,

In addition, a laparoscopic system that provides a three-dimensional image based on a practitioner capable of providing a high-quality three-dimensional image by introducing a waterproof means capable of completely blocking the penetration of dust and moisture into the binocular camera, It is a useful invention.

1 is a view showing an example in which objects are displayed in a forward direction and rotated and displayed in a monitor according to a direction of a binocular scope;
2 is a block diagram of a laparoscopic system providing a three-dimensional image based on a practitioner according to the present invention.
FIG. 3 is a view showing a process of changing a left eye image and a right eye image, rotating them, and then synthesizing them.
4 is a view showing a process of adjusting the main time of the left eye image and the right eye image.
FIG. 5 is a perspective view of a binocular scope and a housing incorporating a binocular camera of a laparoscopic system that provides a practitioner-based three-dimensional image according to the present invention.
FIG. 6 is an exploded perspective view of FIG. 5; FIG.
7 is an exploded perspective view in which waterproofing means is introduced in Fig.

Hereinafter, the present invention will be described in more detail with reference to the drawings.

Before describing a laparoscopic system for providing a practitioner-based three-dimensional image according to the present invention with reference to the drawings,

While the present invention has been described in connection with certain embodiments, it is obvious that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention. It is to be understood, however, that the invention is not intended to be limited to the particular forms disclosed, but on the contrary, is intended to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

In the drawings, the same reference numerals are used for the same reference numerals, and in particular, the numerals of the tens and the digits of the digits, the digits of the tens, the digits of the digits and the alphabets are the same, Members referred to by reference numerals can be identified as members corresponding to these standards.

In the drawings, the components are expressed by exaggeratingly larger (or thicker) or smaller (or thinner) in size or thickness in consideration of the convenience of understanding, etc. However, It should not be.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the term " comprising " or " consisting of ", or the like, refers to the presence of a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

As shown in the drawing, a laparoscopic system for providing a three-dimensional image based on a practitioner according to the present invention includes a binocular scope 20, a binocular camera 30, a main body 40, do.

The binocular scope 20 is composed of a pair of image columns 21, 22 arranged side by side and each inputting a left side image and a right side image of a subject,

An objective lens 23 arranged in front of the image tube 21 and 22 to receive an image of a subject and a lens 22 arranged in the longitudinal direction of the front and back to transmit an image incident on the objective lens 23 to the rear, A lens 24 and an eyepiece 25 disposed behind and passing an image transmitted through the rod lens 24 to an objective lens 31 of the binocular camera 30 through a prism 32 do.

In the vicinity of the pair of image tube bodies 21 and 22, an illuminating mirror barrel 70 is disposed for illuminating a subject so that an image of the subject can be input to the binocular scope 20. [ An optical fiber bundle may be provided inside the illumination lens barrel 70 to transmit the light emitted from the LED, which is a light source provided inside the housing, to illuminate the subject.

The pair of image tube bodies 21 and 22 and the illumination tube body 70 are built in and protected by the protection tube 23 so that the illumination tube body 70 is balanced around the pair of image tube bodies 21 and 22 So that the subject is illuminated with a uniform illumination.

The binocular camera 30 is composed of a pair of cameras and converts the left and right images input from the binocular 20 into digital image signals of a left eye image and a right eye image, respectively, and transmits them to the main body 40 .

Each of the cameras constituting the binocular camera 30 includes an image sensor (e.g., CCD, CMOS) 33 for converting an incident image into a digital image signal, an image sensor 33 for detecting an image input from the binocular 20, (Image) path so that an image output from the eyepiece 25 of the binocular 20 is incident on the objective lens 31, and a prism 32).

The main body 40 is a main function for mixing a left eye image and a right eye image transmitted from the binocular camera 30 into a 3D image (three-dimensional image) and outputting the mixed image to a monitor 80. When a rotation command signal is inputted, the left eye image and the right eye image are rotated and then synthesized and output to the monitor 80.

When the scope is not rotated by the user, that is, when the position of a real object and the position of an object displayed on the monitor coincide with the operator's criteria, the 3D image signal input to the preprocessing unit 43 is a left- It is preferable that the height of the top and bottom of the monitor is set at the center of the monitor with reference to the center of the reference image (cross-hair) and the main time of the reference distance is adjusted and transmitted to the 3D Mux 41, It is preferable to transmit the rotation command to the 3D Mux 41 by rotating the rotation command angle to a higher degree.

Although the normal image has an indicator (for example, a floor, a building, etc.) capable of recognizing the direction, and the image is displayed on the monitor even if it is displayed on the monitor, the image of the present invention is an image inside the human body. It is difficult to find a perceptible index. Therefore, it is necessary that the image displayed on the monitor continues to be based on the viewing angle of the operator.

Accordingly, even if the posture of the binocular camera is changed, the preprocessing unit rotates the left eye image and the right eye image in a direction opposite to the rotation angle transmitted by the motion sensor for sensing the posture of the binocular camera, To be displayed.

The main body 40 is provided with a main time control module 65 of the automatic focus adjusting means 60 for adjusting the main time before the synthesizing unit 41 synthesizes the left eye image and the right eye image.

In general, stereoscopic images (three-dimensional images) can be viewed most comfortably when the amount of parallax of the object to be viewed becomes zero. On the other hand, when a stereoscopic image which is not controlled by the main visual control is viewed, the amount of parallax for the subject is very large, and the observer feels severe observation fatigue according to the observation of the object.

Therefore, the present invention includes the main time control module 65 in the automatic focus adjusting means 60 for automatically adjusting the main time of the left eye image and the right eye image.

Particularly, the present invention relates to a In order to prevent unintentional rotation, the left and right images must be rotated in the opposite direction in real time in order to display the input image desired by the operator in the same direction as the actual object, There is a great need to adjust the time of the week.

The main time control module 65 of the automatic focus adjustment means 60 determines whether the left eye image and the right eye image acquired by the binocular camera 30 are spaced apart from the reference image (crosshair) The main time is adjusted so that the difference between the up / down position and the left / right is minimized.

The automatic focus adjustment unit 60 moves the objective lens 31 provided in the binocular camera 30 in the X-axis direction (i.e., right and left in the drawing) to adjust the distance from the image sensor to adjust the focus An autofocusing module 61 and a main time control module 65 for controlling the driving of the autofocusing module 61 and adjusting the main time of the left eye image and the right eye image.

The autofocusing module 61 is incorporated in the camera housing and the main vision control module 65 is incorporated in the main body 40.

The autofocusing module 61 includes an actuator for providing power for moving the objective lens 31, a rail for guiding the objective lens 31 to move in the X-axis direction according to the driving of the actuator, And a gear for converting the linear motion into a linear motion.

The main visual control module 65 works together with the preprocessor 4 to filter the left eye image and the right eye image transmitted from the binocular camera 30 and outputs the filtered left eye image and right eye image to the main visual reference line So that the main time of the left eye image and the right eye image are adjusted.

A process of adjusting the main time of the left eye image and the right eye image by the main time control module 65 will be briefly described below.

First, a left eye image and a right eye image including a reference image (e.g., a cross, a square block) are input through the binocular scope 20 and the binocular camera 30,

The left eye image and the right eye image including the reference image are filtered,

The reference image of the left eye image and the right eye image filtered by the autofocusing module 61 are compared with each other to see whether they coincide with the main time reference point,

Finally, the left eye image and the right eye image are synthesized (overlapped) to check whether the reference image of the left eye image matches the reference image of the right eye image. If they match, the main time adjustment process is completed If not, repeat the above process again.

Then, when the main time of the left eye image and the right eye image are adjusted through the above process, the outline of the left eye image and the right eye image are detected, and regions not shared by the left eye image and the right eye image are removed.

The method of adjusting the main time will be described again with reference to Fig.

The left eye image L shown in the left side of FIG. 4 has the reference image (cross: +) located at the lower left of the central main reference point, the right eye image R shown at the right is the reference image (cross: +) Is located on the right upper side with respect to the center main reference point.

The left-eye image (L), which does not coincide with the main time, moves to the upper right corner to match the reference image to the central reference point, and the right-eye image (R) to the lower left corner to match the reference image with the central reference point .

Next, the left eye image L and the right eye image R are combined (middle) so that the two reference images coincide with each other.

Next, if two reference images of the left eye image L and the right eye image R coincide with each other, an area that is not shared with each other is removed.

The left eye image L and the right eye image R that have been adjusted in the outline detection by the outline detection are transmitted to a display device and displayed on a monitor. A 3D display device equipped with a 3D Muxer includes a left eye image L ) And the right eye image R can be transmitted and synthesized in a display device. In a 3D display device not provided with a 3D Muxer, a left eye image L and a right eye image R are synthesized and transmitted.

In the above, the reference image of the filtered left eye image and the right eye image are compared and analyzed to determine whether they correspond to the summation point (main reference point), and when an image that does not match is moved to correspond to the background point, The objective lens 31 corresponding to the moving image transmitted to the auto focusing module 61 is moved, and the image input after the objective lens 31 is moved is filtered to determine whether the reference image matches the main time reference point It may be preferable to perform comparative analysis.

When the positions and the focuses of the reference image of the left eye image and the right eye image synthesized in the final step are not coincident with each other, the previous step is repeated again. Therefore, the auto focusing module 61 It may be desirable to have the main time control module 65 make a move command to move to the previous position to repeat the previous step so that the previous step is performed immediately.

5 to 7, in order to improve the quality of the left eye image and the right eye image itself acquired by the binocular camera 30, a housing (not shown) for preventing foreign substances such as dust from being infiltrated into the binocular camera 30 10) and the waterproof means will be described.

The binocular camera 30 and the auto focusing module 61 are built in the housing 10 to protect the binocular camera 30. The binocular camera 30 is coupled to the front of the binocular camera 30. The binocular camera 30 is coupled to the body 40, The data cable C for communication and the power cable C1 supplied from the main body 40 are connected.

The housing 10 is composed of an upper case 16 and a lower case 11 which are assembled and coupled to house the binocular camera 30 and the auto focusing module 61 therein,

The waterproof means seals a contact portion between the upper case 16 and the lower case 11 and a portion where the upper case 16 and the lower case 11 are in contact with the binocular 20, The gap between the body 10 of the binocular scope 20 and the coupling 90 for fastening the body 10 to the housing 10 is once again sealed.

First, the waterproof means for the coupling 90 (90A, 90B) for sealing the gap between the coupling 90 and the housing 10 and the body 50 will be described.

The front side of the binocular camera 30 in the housing 10 is provided with a fastening bracket 36 having a threaded fastening part 36 which is exposed in front of the housing 10 and screwed into the coupling 90. [ (35)

The male coupling port 34 connecting the binocular camera 30 and the two-sided scope 20 is protruded to be exposed in the coupling part 36,

A female connection port 54 is formed at the rear of the body 50 to receive and connect the male connection port 34,

The coupling 90 is screwed on the inner surface of the coupling portion 36 and screwed to the coupling portion 36. The coupling 90 includes a first coupling 90A that surrounds and protects the periphery of the male coupling port 34, And a second coupling 90B which is screwed on the cable body 50 and is provided with a protrusion 91 which is hooked on the cable body 50 on the inner surface.

The waterproof means for sealing the gap between the first coupling (90A) and the housing (10)

A seating groove 19 formed in front of the housing 10,

And a plurality of tightening vanes 99 spaced annularly at a predetermined distance from the rear of the first coupling 90A.

The plurality of tightening vanes 99 are seated in the seating groove 19 as the first coupling 90A is screwed back to the coupling portion 36 and are superimposed on each other, Tightly adheres to the inner wall of the seating groove 19 to completely seal the gap between the coupling 90 and the housing 10. [

The first coupling 90A and the second coupling 90B and the waterproofing means for sealing the gap between the second coupling 90B and the cable body 50

An annular (cylindrical structure) sealing pad 95 protruding rearward from the front outer periphery of the first coupling 90A,

A curved groove 96 formed on the rear surface of the second coupling 90B in a snail-like structure,

A contact pad 53 of a cylindrical structure protruding forward of the body 50,

And a snail groove 93 formed in a snail-like structure in front of the inner surface of the second coupling 90B.

The sealing pads 95 are inserted into the curled grooves 96 as the second coupling 90B is screwed to the first coupling 90A and are retracted. And is closely attached to the inner wall of the curled groove 96 so as to completely seal the gap between the first coupling 90A and the second coupling 90B,

The contact pad 53 is inserted into the snail groove 93 as the second coupling 90B is screwed into the first coupling 90A and is moved back, And closely adheres to the inner wall of the snail groove 93 to completely seal the gap between the second coupling 90B and the cable body 50. [

At this time, the thickness of the sealing pad 95 and the contact pad 53 gradually increase from the end portion thereof toward the inside (that is, from front to back), or the curled groove 96 and the snail groove 93 It is preferable that the sealing pad 95 and the contact pad 53 enter the snail groove 93 so as to be more closely attached to the inner wall.

Next, the waterproof means for sealing the gap between the upper case 16 and the lower case 11 of the housing 10 will be described.

First, a contact surface between the upper case 16 and the lower case 11 of the housing 10 is provided with a step structure so as to be engaged with each other.

The waterproof means for sealing the gap between the upper case 16 and the lower case 11 of the housing 10

A plurality of upper fitting protrusions 111 protruding downward from an inner lower contact surface 17 in the stepped structure of the upper case 16,

A plurality of lower fitting protrusions 112 protruding upward from the inner upper contact surface 12 in the stepped structure of the lower case 11 and interlaced into the plurality of upper fitting protrusions 111,

The middle portion has a zigzag structure so as to be disposed between the upper fitting protrusion 111 and the lower fitting protrusion 112 and is filled with air so that the upper fitting protrusion 111 and the lower fitting protrusion 112 are engaged with each other, An air tube 113 which is pressed and expanded to be brought into close contact with a contact surface between the lower case 11 and the upper case 16,

An extension 113a extending from the inside of the air tube 113 to the upper and lower portions and contacting the inner surfaces of the lower case 11 and the upper case 16,

The extension portion 113a of the air tube which is protruded from the inner surface of the lower case 11 and the upper case 16 and is expanded by the air is closely contacted with the inner surface of the lower case 11 and the upper case 16 And a supporting portion 114 for supporting the outside of the extending portion 113a.

The air tube 113 is made of a rubber material having elasticity to keep its shape as much as possible so that when the upper fitting protrusion 111 and the lower fitting protrusion 112 are fitted and pressurized,

The overall volume of the air tube 113 is reduced and the air inside is repelled and the outer surface of the air tube 113 is brought into close contact with the upper fitting projection 111 and the lower fitting projection 112,

Particularly, the inside and outside of the air tube 113 are inflated by the moving air. The outside is blocked by the step structure of the base 11 and the inside is blocked by the supporting part 114, 111 and the lower fitting protrusion 112 to seal the gap.

A portion of the housing 10 where the upper case 16 and the lower case 11 are not in contact with each other, that is, a portion where the fastening portion 36 of the binocular camera 30 is disposed, In this region

The air tube 113 has a thin ring structure 113b to enclose the coupling portion 36 inserted inward and the outer peripheral surface of the cable C so that the upper case 16 and the lower case 11 are assembled When they are combined, they are pressurized to seal these gaps.

While the present invention has been described in connection with what is presently considered to be the preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, Modifications and variations are to be construed as falling within the scope of protection of the present invention.

10: housing 11: lower case
16: upper case 19: seat groove
20: binocular scope 30: binocular camera
31; Objective lens 33: Image sensor
35: fastening bracket 36: fastening part
40: main body 50: cable body
60: auto-focus adjusting means 61; Auto Focusing Module
65: main vision control module 70: illumination lens barrel
80: Monitor 90: Coupling
91: latching jaw 93; Snail home
95: sealing pad 96: curled groove
99: tight wing

Claims (4)

A binocular camera for converting an incident left image and a right image into a digital image signal of a left eye image and a right eye image, respectively;
And a body for synthesizing a left eye image and a right eye image, which are input from the binocular camera, into a 3D image and outputting the resultant image to a monitor,

The body
A synthesizer for synthesizing a left eye image and a right eye image,
And a preprocessor for rotating the left eye image and the right eye image by a rotated amount in the opposite direction when the rotation signal is inputted,

Wherein the rotation command signal input to the main body is a rotation angle signal transmitted by a motion sensor for sensing an operation signal inputted by a practitioner or a posture of the binocular camera. delete The method according to claim 1,
Wherein the preprocessor rotates the left eye image and the right eye image in a direction opposite to a rotation angle transmitted by a motion sensor for sensing a posture of the binocular camera. The method according to claim 1 or 3,
An auto focusing module for moving the two objective lenses for the left and right eyes of the binocular camera, respectively,
And a main vision control module for adjusting the principal time of the left eye image and the right eye image,

Wherein the autofocusing module stores a previously moved position and is able to move to a previous position according to a position movement command of the main vision control module.

Images