Bronchus binocular medical endoscope system based on three-dimensional cloud modeling and application thereof

The invention relates to a bronchus binocular medical endoscope system based on three-dimensional cloud modeling and application of the bronchus binocular medical endoscope system. Besides original CCD camera shooting, an RGB-D camera assembly for collecting depth images in a bronchus tube is additionally arranged independently, and three-dimensional point cloud parameters of the depth images in the tube can be collected and transmitted back to a computer; the three-dimensional point cloud image is stored by a computer and then shared to a three-dimensional modeling system on a cloud server, a three-dimensional model is constructed according to the three-dimensional point cloud image, so that a three-dimensional pipeline model of the bronchial tube is generated, the three-dimensional structure of the bronchial tube is visually displayed, and medical personnel visually judge whether a patient has focuses such as foreign matters, tumors and bleeding in the bronchial tube or not. Therefore, the endoscope can be