CN105996961B - 3D three-dimensional imagings capsule endoscope system and method based on structure light - Google Patents
3D three-dimensional imagings capsule endoscope system and method based on structure light Download PDFInfo
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- CN105996961B CN105996961B CN201610270301.5A CN201610270301A CN105996961B CN 105996961 B CN105996961 B CN 105996961B CN 201610270301 A CN201610270301 A CN 201610270301A CN 105996961 B CN105996961 B CN 105996961B
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- 238000003384 imaging method Methods 0.000 title claims abstract description 107
- 239000002775 capsule Substances 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims description 11
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000005286 illumination Methods 0.000 claims abstract description 8
- 230000003287 optical effect Effects 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000012545 processing Methods 0.000 claims description 5
- 210000001035 gastrointestinal tract Anatomy 0.000 claims description 4
- 241001269238 Data Species 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 3
- 230000003760 hair shine Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910044991 metal oxide Inorganic materials 0.000 description 2
- 150000004706 metal oxides Chemical class 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000002496 gastric effect Effects 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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Abstract
The invention discloses a kind of 3D three-dimensional imaging capsule endoscope systems based on structure light, it includes capsule housing, controller, shine subsystem, lighting device, imaging subsystems, capsule positioning subsystem, controller, shine subsystem, lighting device, imaging subsystems and capsule positioning subsystem are arranged in capsule housing, the signal input part of the luminous subsystem of luminous subsystem controls signal output part connection of controller, the control signal input of the illumination light control signal output connection lighting device of controller, the imaging signal input terminal of the imaging signal output terminal connection controller of imaging subsystems, the location information communication ends of the location information communication ends connection controller of capsule positioning subsystem.The present invention can carry out alimentary canal internal information comprehensive display, facilitate doctor more definitely effectively to be diagnosed.
Description
Technical field
The present invention relates to technical field of medical equipment, in particular to being peeped in a kind of 3D three-dimensional imaging capsules based on structure light
Mirror system and method.
Background technology
Existing Wireless capsule endoscope, is taken orally into alimentary canal by people, and peristalsis of the digest tract provides power for it and is allowed to
Can be moved in alimentary canal, so as to complete the shooting to alimentary canal image, and by wireless transmitting system be transferred in vitro into
Row display.
All simply two dimension is static for the image that the Wireless capsule endoscope being widely used currently on the market is got, it is impossible to
The comprehensive truth for clearly displaying 3-D view in alimentary canal.For this problem, patent publication No. is
The Chinese patent of CN104720735A《Virtual reality capsule endoscope》, a kind of capsule endoscope of the Patent design, the capsule
Endoscope has used the camera device of two Image Acquisition in capsule, simulates the left eye and right eye of people, and wireless transport module will
View data is transferred on display module, and doctor wears special eyeglasses with regard to that can have the effect of 3D.The program simply simulates human eye
Imaging effect, is not real 3D display, it is impossible to comprehensive acquisition alimentary canal information, and the technology needs to be equipped with Private Eye
Mirror, cost are higher；
Patent publication No. is the Chinese patent of CN104939793A《Adjustable focus 3-D capsule endoscopes based on liquid lens
System》, the patent utilize adjustable focus capsule endoscope system, obtain the clearly sequence image under different focal, Ran Houli
Sequence image is handled with three-dimensional reconstruction algorithm, the three-dimensional information for the target that is taken is calculated, so as to obtain three-dimensional vertical
Body is imaged.But the technology carries out three-dimensional reconstruction using sequence image, can only obtain the 3-D view under some visual angle, it is impossible to
Obtain whole gastral three-dimensional imaging, and the system needs to focus repeatedly, the requirement of complicated and control system compared with
It is high.
The content of the invention
Present invention aim to provide a kind of 3D three-dimensional imagings capsule endoscope system and method based on structure light,
The system and method can carry out alimentary canal internal information comprehensive display, facilitate doctor more definitely effectively to be examined
It is disconnected.
In order to achieve this, the 3D three-dimensional imaging capsule endoscope systems based on structure light designed by the present invention, it is special
Sign is：It include capsule housing, controller, the luminous subsystem for sending 3D imaging arrangement light, for disappearing to examinee
Change road intracavitary portion be illuminated lighting device, the imaging subsystems for shooting examinee's alimentary canal internal image, for obtaining
The capsule positioning subsystem of capsule positional information and capsule attitude information is taken, wherein, the controller, the subsystem that shines, illumination
Device, imaging subsystems and capsule positioning subsystem are arranged in capsule housing, the luminous subsystem controls of the controller
The signal input part of the luminous subsystem of signal output part connection, the illumination light control signal output connection lighting device of controller
Control signal input, the imaging signal input terminal of the imaging signal output terminal connection controller of imaging subsystems, capsule is fixed
The location information communication ends of the location information communication ends connection controller of sub-systems.
A kind of endoscopic imaging methods using said system, it is characterised in that it includes the following steps：
Step 1：Capsule housing is placed in alimentary canal；
Step 2：Controller is controlled by data transmission sub-system using host computer, controller control lighting device
Light；
Step 3：Controller control light source sends white light, in the white light that light source is sent to structure light generation module, knot
Structure light generation module carries out optical filtering processing to the white light, forms required 3D imaging arrangement light, 3D imaging arrangements light irradiation
A 3D imaging band is formed in alimentary canal internal object body surface；
Step 4：Imaging subsystems are imaged the 3D imaging bands of alimentary canal internal object body surface, and will imaging
Information is transferred to controller, and image-forming information is transferred to host computer by controller by data transmission sub-system, and host computer utilizes knot
Optical filter and the shading baffle corresponding coding information that puts in order carry out imaging decoding to image-forming information in structure light generation module
Processing, space coordinate of the target object surface in 3D imagings is calculated according to imaging decoded information；
Step 5：By obtained capsule housing, posture and positional information are transferred to controller to capsule positioning subsystem at this time, control
Capsule housing posture at this time and positional information are transferred to host computer by device processed by data transmission sub-system, and host computer is according to mesh
The posture and positional information of space coordinate and capsule housing of the body surface in 3D imagings at this time are marked, by target object in 3D
Space coordinate conversion in imaging forms cloud data into world coordinates；
Step 6：Capsule housing is obtained corresponding in diverse location in the digestive tract by the method for above-mentioned steps 2~5
Cloud data；
Step 7：The cloud data that host computer obtains diverse location in alimentary canal, carries out registering fusion, obtains complete
Whole gastral all cloud datas are carried out three-dimensional modeling by point cloud information, and three-dimensional modeling pattern is shown.
Beneficial effects of the present invention：
1st, extra ancillary equipment i.e. observable three-dimensional information in the digestive tract is not required in the present invention；
2nd, the present invention can obtain complete alimentary canal three-dimensional information, and carry out three-dimensional modeling；
3rd, the present invention substitutes a camera using luminous subsystem and imaging subsystems, aids in calculating using structure light,
Improve the precision of 3D imagings；
4th, the present invention can obtain range information, so as to obtain the actual size of lesion region in alimentary canal, facilitate doctor
Diagnosis；
5th, the present invention is using the 3D imagings based on structure light, can information in comprehensive, multi-angle observation alimentary canal, improve
Verification and measurement ratio；
Brief description of the drawings
Fig. 1 is the lateral incision face structure diagram of the present invention；
Fig. 2 is the overlooking the structure diagram of the present invention；
Fig. 3 is the principle of the present invention block diagram；
Fig. 4 is that the present invention establishes process schematic based on structured light technique 3D imagings；
Fig. 5 is the structure diagram of structure light generation module in the present invention.
Wherein, 1-capsule housing, 1.1-transparent half-shell, 1.2-nontransparent half-shell, 2-shine subsystem, 2.1-light
Source, 2.2-structure light generation module, 2.3-optical filter, 2.4-shading baffle, 3-imaging subsystems, 3.1-image sensing
Device, 3.2-optical lens, 4-lighting device, 5-controller, 6-data transmission sub-system, 7-capsule positioning subsystem,
8-power supply, 9-flexible circuit installing plate, 9.1-upper horizontal flexibility circuit installing plate, 9.2-vertical flexible circuit installing plate,
9.3-lower horizontal flexibility circuit installing plate.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail：
The 3D three-dimensional imaging capsule endoscope systems based on structure light as described in Fig. 1~3, it includes capsule housing 1, control
Device 5 processed, the luminous subsystem 2 for sending 3D imaging arrangement light, the photograph for being illuminated to examinee's alimentary canal intracavitary portion
Bright device 4, the imaging subsystems 3 for shooting examinee's alimentary canal internal image, for obtaining capsule positional information and capsule
The capsule positioning subsystem 7 of attitude information, wherein, the controller 5, shine subsystem 2, lighting device 4, imaging subsystems 3
It is arranged at capsule positioning subsystem 7 in capsule housing 1, the luminous subsystem controls signal output part of the controller 5 connects
The signal input part of sending and receiving photonic system 2, the control letter of the illumination light control signal output connection lighting device 4 of controller 5
Number input terminal, the imaging signal input terminal of the imaging signal output terminal connection controller 5 of imaging subsystems 3, capsule positioning subsystem
The location information communication ends of the location information communication ends connection controller 5 of system 7.
In above-mentioned technical proposal, shine subsystem 2 and imaging subsystems 3 are at 1 both ends of capsule housing, towards the same side, hair
The distance between photonic system 2 and imaging subsystems 3 scope are 15mm~25mm.For ensure to shine subsystem 2 and imaging subsystem
System 3 works at the same time, and avoids gastrointestinal motor from impacting, both are no more than 1ms at delay.
In above-mentioned technical proposal, 3D structure lights are radiated in the alimentary canal internal objects for needing to shoot by the subsystem 2 that shines,
Imaging subsystems 3 are imaged alimentary canal internal objects, and capsule positioning subsystem 7 carries out the position of capsule and attitude data
Record, after data transmission sub-system 6 receives the data of imaging subsystems 3 and capsule positioning subsystem 7, is handled and is sent to
External host computer, host computer calculate the 3D information of alimentary canal internal objects, then carry out 3D display, facilitate comprehensive observation
Alimentary canal internal objects.
In above-mentioned technical proposal, the capsule housing 1 by top half transparent half-shell 1.1 and the latter half it is nontransparent
Half-shell 1.2 links into an integrated entity composition.The light-emitting window of the structure light generation module 2.2 is filled towards transparent half-shell 1.1, the illumination
4 light-emitting window is put towards transparent half-shell 1.1.Transparent half-shell 1.1 can pass through the light of luminous subsystem 2 and imaging subsystems 3.
In above-mentioned technical proposal, the luminous subsystem 2 includes light source 2.1 and structure light generation module 2.2, the control
The signal input part of the luminous subsystem controls signal output part connection light source 2.1 of device 5, the optical axis axle center of light source 2.1 and structure
The axle center of the optical signal input of light generation module 2.2 is coaxial, the light-emitting surface and capsule housing of the structure light generation module 2.2
Angle α between 1 axis is 0 °~45 °.The pattern that the angle can shoot imaging subsystems 3 becomes apparent from.
In above-mentioned technical proposal, the structure light generation module 2.2 is by polylith optical filter 2.3 and polylith shading baffle 2.4
Be alternately arranged and to be formed and (shading baffle be set between i.e. adjacent two pieces of optical filters), 2.3 color disposal order of polylith optical filter according to
Default 3D imaging arrangements pumped FIR laser order determines.The color disposal order of polylith optical filter 2.3 as shown in Figure 5 be followed successively by it is green,
It is blue, red, yellow, blue or green.
In above-mentioned technical proposal, every piece of optical filter 2.3 and every piece of shading baffle 2.4 correspond to an optical plane, to ensure
System accuracy, optical plane is small in body surface imaging width, and the width of every piece of optical filter 2.3 and every piece of shading baffle 2.4 is homogeneous
Deng and width be respectively less than 1mm.
In above-mentioned technical proposal, it further includes the data transmission sub-system 6 for connecting host computer, the controller 5
Communication ends connect data transmission sub-system 6.Above-mentioned data transmission sub-system 6 is comprising ASIC (application-specific integrated circuit) chips and wirelessly
Transport module, asic chip are compressed view data, then transfer data to host computer by wireless transport module.
In above-mentioned technical proposal, flexible circuit installing plate 9, the flexible circuit installation are fixed with the capsule housing 1
Plate 9 includes upper horizontal flexibility circuit installing plate 9.1, vertical flexible circuit installing plate 9.2 and lower horizontal flexibility circuit installing plate
9.3, the upper horizontal flexibility circuit installing plate 9.1 and lower horizontal flexibility circuit installing plate 9.3 are installed by vertical flexible circuit
Plate 9.2 connects, the axis of the upper horizontal flexibility circuit installing plate 9.1 and lower horizontal flexibility circuit installing plate 9.3 and capsule housing 1
Line is parallel；Flexible circuit installing plate 9 makes the softness that capsule is tried one's best, and facilitates patient to swallow.
Luminous subsystem 2, lighting device 4 and imaging subsystems are installed on the upper horizontal flexibility circuit installing plate 9.1
3, data transmission sub-system 6, capsule positioning subsystem 7,8 and of power supply are installed on the lower horizontal flexibility circuit installing plate 9.3
Controller 5, the power supply 8 is respectively to luminous subsystem 2, imaging subsystems 3, controller 5, data transmission sub-system 6 and capsule
Positioning subsystem 7 is powered.
In above-mentioned technical proposal, above-mentioned imaging subsystems 3 include CMOS (Complementary Metal Oxide
Semiconductor, complementary metal oxide semiconductor), imaging sensor 3.1 and optical lens 3.2, the optical lens
(cmos image sensor 3.1 has the size small, low in energy consumption excellent at the 3.2 image sensing ends for being installed on cmos image sensor 3.1
Point, is adapted to be placed in capsule), the imaging signal input of the signal output part connection controller 5 of above-mentioned cmos image sensor 3.1
End.Diagonal a diameter of 5.658mm of cmos image sensor 3.1,3.1 acquired image frames rate of cmos image sensor are 2 frames/s.
A kind of endoscopic imaging methods using said system, it includes the following steps：
Step 1：Capsule housing 1 is placed in alimentary canal；
Step 2：Controller 5 is controlled by data transmission sub-system 6 using host computer, the control illumination of controller 5
Device 4 is lighted, and imaging subsystems extinguish lighting device after being completed to alimentary canal internal imaging, imaging；
Step 3：Controller 5 controls light source 2.1 to send white light, and the white light that light source 2.1 is sent to structure light produces mould
On block 2.2, structure light generation module 2.2 carries out optical filtering processing to the white light, forms required 3D imaging arrangement light, the 3D into
A 3D imaging band is formed as structure light is radiated at alimentary canal internal object body surface；
Step 4：Imaging subsystems 3 are imaged the 3D imaging bands of alimentary canal internal object body surface, such as Fig. 4 institutes
Show, and image-forming information is transferred to controller 5, image-forming information is transferred to upper by controller 5 by data transmission sub-system 6
Machine, the coding letter that host computer puts in order corresponding using optical filter 2.3 in structure light generation module 2.2 and shading baffle 2.4
Breath carries out imaging decoding process to image-forming information, and sky of the target object surface in 3D imagings is calculated according to imaging decoded information
Between coordinate；
Step 5：By obtained capsule housing 1, posture and positional information are transferred to controller to capsule positioning subsystem 7 at this time
5, the posture at this time of capsule housing 1 and positional information are transferred to host computer by controller 5 by data transmission sub-system 6, upper
Space coordinate and capsule housing 1 posture and positional information at this time of the machine according to target object surface in 3D imagings, by mesh
Space coordinate conversion of the object in 3D imagings is marked into world coordinates, forms cloud data, host computer filters cloud data
Ripple denoising；
Step 6：Capsule housing 1 is obtained corresponding in diverse location in the digestive tract by the method for above-mentioned steps 2~5
Cloud data；
Step 7：The cloud data that host computer obtains diverse location in alimentary canal, carries out registering fusion, obtains complete
Whole gastral all cloud datas are carried out three-dimensional modeling by point cloud information, and three-dimensional modeling pattern is shown.
, it is necessary to carry out initial parameter calibration before the step 1 of above-mentioned technical proposal, initial parameter calibration is passed comprising cmos image
3.1 parametric calibration of sensor and systematic parameter calibration.3.1 parametric calibration of cmos image sensor obtains lens distortion and internal ginseng
Number, including focal length；System calibration obtains the parameter for the optical plane that shine 2 distortion parameter of subsystem and luminous subsystem 2 produce.
In the step 3 of above-mentioned technical proposal, an optical plane Ax+By+Cz+D=0 of the formation of structure light generation module 2.2
A light belt (irradiating object, speed up processing at the same time using multiple optical planes) is formed in body surface, imaging subsystems 3 are right
Light belt comprising body surface shape information is imaged, and using formula (1), is calculated space of the target surface in 3D imagings and is sat
Mark (x, y, z)：
Wherein,
Wherein, f is the focal length of imaging subsystems 3, and x ', y ' are pixel coordinate of the target in imaging subsystems 3, and x, y, z is
Space coordinate in 3D imagings, optical plane Ax+By+Cz+D=0 is to be imaged as referential with 3D, its coefficient A, B, C, D exist
It can be obtained during system compensation.
The content that this specification is not described in detail belongs to the prior art known to professional and technical personnel in the field.
Claims (9)
- A kind of 1. 3D three-dimensional imaging capsule endoscope systems based on structure light, it is characterised in that：It include capsule housing (1), Controller (5), the luminous subsystem (2) for sending 3D imaging arrangement light, for shining examinee's alimentary canal intracavitary portion Bright lighting device (4), the imaging subsystems (3) for shooting examinee's alimentary canal internal image, for obtaining capsule position The capsule positioning subsystem (7) of information and capsule attitude information, wherein, the controller (5), the subsystem (2) that shines, illumination dress Put (4), imaging subsystems (3) and capsule positioning subsystem (7) to be arranged in capsule housing (1), the hair of the controller (5) The signal input part of the luminous subsystem (2) of photonic system control signal output connection, the illumination optical control signal of controller (5) The control signal input of output terminal connection lighting device (4), the imaging signal output terminal connection controller of imaging subsystems (3) (5) imaging signal input terminal, the location information of the location information communication ends connection controller (5) of capsule positioning subsystem (7) Communication ends；The luminous subsystem (2) includes light source (2.1) and structure light generation module (2.2), the luminous son of the controller (5) The signal input part of system control signal output terminal connection light source (2.1), optical axis axle center and the structure light of light source (2.1) produce mould The axle center of the optical signal input of block (2.2) is coaxial；The controller (5) is used to control light source (2.1) to send white light, and the white light that light source (2.1) is sent to structure light is produced On raw module (2.2)；The structure light generation module (2.2) is used to carry out optical filtering processing to the white light, forms required 3D imaging arrangement light, The 3D imaging arrangements light is used to be radiated at alimentary canal internal object body surface one 3D imaging band of formation；The imaging subsystems (3) are used to be imaged the 3D imaging bands of alimentary canal internal object body surface.
- 2. the 3D three-dimensional imaging capsule endoscope systems according to claim 1 based on structure light, it is characterised in that：It is described Capsule housing (1) is linked into an integrated entity structure by the transparent half-shell (1.1) of top half and the nontransparent half-shell (1.2) of the latter half Into.
- 3. the 3D three-dimensional imaging capsule endoscope systems according to claim 2 based on structure light, it is characterised in that：It is described Angle α between the light-emitting surface of structure light generation module (2.2) and the axis of capsule housing (1) is 0 °~45 °.
- 4. the 3D three-dimensional imaging capsule endoscope systems according to claim 3 based on structure light, it is characterised in that：It is described The light-emitting window of structure light generation module (2.2) is towards transparent half-shell (1.1), and the light-emitting window of the lighting device (4) is towards transparent Half-shell (1.1).
- 5. the 3D three-dimensional imaging capsule endoscope systems according to claim 3 based on structure light, it is characterised in that：It is described Structure light generation module (2.2) is alternately arranged and is formed by polylith optical filter (2.3) and polylith shading baffle (2.4), and polylith filters Piece (2.3) color disposal order is determined according to default 3D imaging arrangements pumped FIR laser order；The imaging subsystems (3) are additionally operable to image-forming information being transferred to controller (5), and controller (5) is additionally operable to believe imaging Breath is transferred to host computer by data transmission sub-system (6)；The host computer is used to utilize optical filter (2.3) and shading baffle (2.4) in structure light generation module (2.2) to put in order Corresponding coding information carries out imaging decoding process to image-forming information, and target object surface is calculated according to imaging decoded information Space coordinate in 3D imagings；The capsule positioning subsystem (7) be used for will obtained capsule housing (1) posture and positional information are transferred to control at this time Device (5), controller (5), which is additionally operable to capsule housing (1) posture at this time and positional information passing through data transmission sub-system (6), to be passed Host computer is defeated by, the host computer is additionally operable to the space coordinate and capsule housing in 3D imagings according to target object surface (1) posture and positional information at this time, by space coordinate conversion of the target object in 3D imagings into world coordinates, forms point cloud Data；The capsule housing (1) is used to obtain corresponding cloud data in diverse location in the digestive tract；The host computer is additionally operable to the cloud data obtained to diverse location in alimentary canal, carries out registering fusion, obtains complete Whole gastral all cloud datas are carried out three-dimensional modeling by point cloud information, and three-dimensional modeling pattern is shown.
- 6. the 3D three-dimensional imaging capsule endoscope systems according to claim 5 based on structure light, it is characterised in that：Every piece Optical filter (2.3) and the width of every piece of shading baffle (2.4) is equal and width is respectively less than 1mm.
- 7. the 3D three-dimensional imaging capsule endoscope systems according to claim 1 based on structure light, it is characterised in that：It is also Including the data transmission sub-system (6) for connecting host computer, the communication ends connection data transmission sub-system of the controller (5) (6)。
- 8. the 3D three-dimensional imaging capsule endoscope systems according to claim 1 based on structure light, it is characterised in that：It is described Flexible circuit installing plate (9) is fixed with capsule housing (1), the flexible circuit installing plate (9) includes upper horizontal flexibility circuit Installing plate (9.1), vertical flexible circuit installing plate (9.2) and lower horizontal flexibility circuit installing plate (9.3), the upper horizontal flexibility Circuit installing plate (9.1) and lower horizontal flexibility circuit installing plate (9.3) are connected by vertical flexible circuit installing plate (9.2), institute State horizontal flexibility circuit installing plate (9.1) and lower horizontal flexibility circuit installing plate (9.3) and the axis of capsule housing (1) is put down OK；Luminous subsystem (2), lighting device (4) and imaging subsystem are installed on the upper horizontal flexibility circuit installing plate (9.1) Unite (3), data transmission sub-system (6), capsule positioning subsystem are installed on the lower horizontal flexibility circuit installing plate (9.3) (7), power supply (8) and controller (5), the power supply (8) is respectively to luminous subsystem (2), imaging subsystems (3), controller (5), data transmission sub-system (6) and capsule positioning subsystem (7) power supply.
- 9. the 3D three-dimensional imaging capsule endoscope systems according to claim 1 based on structure light, it is characterised in that：It is above-mentioned Imaging subsystems (3) include cmos image sensor (3.1) and optical lens (3.2), and the optical lens (3.2) is installed on The image sensing end of cmos image sensor (3.1), the signal output part connection controller of above-mentioned cmos image sensor (3.1) (5) imaging signal input terminal.
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| WO2018140062A1 (en) * | 2017-01-30 | 2018-08-02 | CapsoVision, Inc. | Method and apparatus for endoscope with distance measuring for object scaling |
| US10531074B2 (en) | 2015-10-16 | 2020-01-07 | CapsoVision, Inc. | Endoscope employing structured light providing physiological feature size measurement |
| US11504024B2 (en) | 2018-03-30 | 2022-11-22 | Vibrant Ltd. | Gastrointestinal treatment system including a vibrating capsule, and method of use thereof |
| GB2554354B (en) | 2016-09-21 | 2021-06-02 | Vibrant Ltd | Systems for adaptive treatment of disorders in the gastrointestinal tract |
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