CN116392058A - Automatic focusing method and system for electronic endoscope - Google Patents
Automatic focusing method and system for electronic endoscope Download PDFInfo
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- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
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- G02B7/36—Systems for automatic generation of focusing signals using image sharpness techniques, e.g. image processing techniques for generating autofocus signals
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Abstract
The invention provides an automatic focusing method and an automatic focusing system for an electronic endoscope, and belongs to the technical field of endoscopes. The method comprises the following steps: acquiring a video frame image of an endoscope, and calculating the phase parallax of the current video frame image; when the phase parallax is smaller than a set threshold, judging that the automatic focusing of the endoscope is finished; otherwise, acquiring the distance to be moved of the optical module of the endoscope according to the phase parallax, acquiring the video frame image of the endoscope again after the optical module finishes moving, and comparing the phase parallax with a set threshold value until focusing is completed; the invention can quickly and automatically adjust the focusing position, ensures the definition of the endoscope image and improves the efficiency of endoscope exploration.
Description
Technical Field
The invention relates to the technical field of electronic endoscopes, in particular to an automatic focusing method and an automatic focusing system for an electronic endoscope.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The traditional endoscope image system generally comprises an endoscope, an image processing host, a light source host and a display. The endoscope enters the human body through a natural cavity channel or a minimally invasive incision of the human body, acquires images of corresponding organs, and transmits the images to an image processing host. The image processing host processes the video image input by the endoscope and outputs the video image to the display. The basic function of the display is to display the image output by the image processing host. The light source host mainly provides a light source for the endoscope, and a system block diagram is shown in fig. 1.
The inventor finds that the traditional endoscope needs to manually adjust the position of the endoscope in the using process so as to ensure optimal imaging, but the level of the user of the endoscope is uneven, and part of the users of the endoscope cannot realize better focusing for a long time, so that the checking process is greatly delayed.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides an automatic focusing method and an automatic focusing system for an electronic endoscope, which can quickly and automatically adjust the focusing position when the position of the endoscope is changed, ensure the definition of an endoscope image and improve the efficiency of endoscope exploration.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the invention provides an automatic focusing method of an electronic endoscope.
An automatic focusing method of an electronic endoscope comprises the following steps:
acquiring a video frame image of an endoscope, and calculating the phase parallax of the current video frame image;
when the phase parallax is smaller than a set threshold, judging that the automatic focusing of the endoscope is finished; otherwise, the distance of the optical module of the endoscope to be moved is obtained according to the phase parallax, after the optical module is moved, the video frame image of the endoscope is obtained again, and the phase parallax is compared with a set threshold value until focusing is completed.
As a further limitation of the first aspect of the present invention, the obtaining the distance to be moved by the optical module of the endoscope according to the phase parallax includes:
and expressing the conversion relation between the phase parallax and the position of the optical module of the electronic endoscope by adopting the defocusing conversion coefficient, and obtaining the distance required to move by the optical module of the endoscope according to the defocusing conversion coefficient and the acquired phase parallax.
As a further limitation of the first aspect of the present invention, the defocus conversion coefficient is a ratio of a distance to be moved by the optical module of the endoscope to the phase parallax.
As a further limitation of the first aspect of the present invention, the defocus conversion factor is corrected before use, the correction comprising:
the optical module is kept at the middle position of the far focus and the near focus, an image sensor of the electronic endoscope is controlled to execute automatic exposure, and after gain mapping data are obtained, image sensor parameters are configured;
arranging the optical modules at a far focus position, and controlling the optical modules to sequentially move a preset distance to a near focus position, wherein the position of each optical module corresponds to one endoscope image;
and acquiring data of the shielded pixel points from all the endoscope images, calculating definition, and performing linear fitting to obtain corrected defocus conversion coefficients.
As a further limitation of the first aspect of the present invention, the predetermined distance of each movement of the optical module is the same.
A second aspect of the present invention provides an electronic endoscope auto-focus system.
An electronic endoscope autofocus system comprising:
a data acquisition module configured to: acquiring a video frame image of an endoscope, and calculating the phase parallax of the current video frame image;
a focus judgment module configured to: when the phase parallax is smaller than a set threshold, judging that the automatic focusing of the endoscope is finished; otherwise, the distance of the optical module of the endoscope to be moved is obtained according to the phase parallax, after the optical module is moved, the video frame image of the endoscope is obtained again, and the phase parallax is compared with a set threshold value until focusing is completed.
As a further limitation of the second aspect of the present invention, in the focusing judgment module, the distance to be moved by the optical module of the endoscope is obtained according to the phase parallax, including:
and expressing the conversion relation between the phase parallax and the position of the optical module of the electronic endoscope by adopting the defocusing conversion coefficient, and obtaining the distance required to move by the optical module of the endoscope according to the defocusing conversion coefficient and the acquired phase parallax.
As a further definition of the second aspect of the present invention, the defocus conversion factor is corrected before use, the correction comprising:
the optical module is kept at the middle position of the far focus and the near focus, an image sensor of the electronic endoscope is controlled to execute automatic exposure, and after gain mapping data are obtained, image sensor parameters are configured;
arranging the optical modules at a far focus position, and controlling the optical modules to sequentially move a preset distance to a near focus position, wherein the position of each optical module corresponds to one endoscope image;
and acquiring data of the shielded pixel points from all the endoscope images, calculating definition, and performing linear fitting to obtain corrected defocus conversion coefficients.
As a further limitation of the second aspect of the invention, the predetermined distance of each movement of the optical module is the same.
A third aspect of the present invention provides an electronic endoscope comprising: the device comprises an optical module, an image sensor, a handle, an image processing host and a monitor;
the handle is internally provided with a motor, a motor control module, a video control data fusion module and a storage module, wherein the video control data fusion module is respectively communicated with the image sensor, the motor control module and the storage module, the motor control module is communicated with the motor, the motor is connected with the optical module, and the storage module stores a defocusing conversion coefficient;
the video control data fusion module is communicated with a video processing module in the image processing host, and the video processing module is communicated with the monitor;
the video processing module is configured to: the electronic endoscope automatic focusing method according to the first aspect of the present invention is executed.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention creatively provides an automatic focusing strategy of an electronic endoscope, when the position of the endoscope is changed, the focusing position can be quickly and automatically adjusted, the definition of an endoscope image is ensured, and the efficiency of endoscope exploration is improved.
2. The invention creatively provides an automatic focusing strategy of the electronic endoscope, which is characterized in that the defocusing conversion coefficient is required to be corrected before use, so that the movement precision of the optical assembly is ensured, and the definition of the endoscope image is further improved.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIG. 1 is a schematic view of a prior art endoscope as mentioned in the background;
fig. 2 is a schematic diagram of a phase focusing principle provided in embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of an endoscopic DCC calibration procedure according to embodiment 1 of the present invention;
fig. 4 is a schematic diagram of an automatic focusing control flow of an endoscope according to embodiment 1 of the present invention;
fig. 5 is a schematic diagram of an electronic endoscope auto-focusing system according to embodiment 2 of the present invention;
fig. 6 is an overall block diagram of an electronic endoscope according to embodiment 3 of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1:
the embodiment 1 of the invention provides an automatic focusing method of an electronic endoscope, which comprises the following steps:
acquiring a video frame image of an endoscope, and calculating the phase parallax of the current video frame image;
when the phase parallax is smaller than a set threshold, judging that the automatic focusing of the endoscope is finished; otherwise, the distance of the optical module of the endoscope to be moved is obtained according to the phase parallax, after the optical module is moved, the video frame image of the endoscope is obtained again, and the phase parallax is compared with a set threshold value until focusing is completed.
According to the embodiment, the rapid focusing of the endoscope in the operation process is realized according to the principle of PDAF (Phase Detection Auto Focus), a plurality of regularly symmetrical shielding pixel points are reserved on a photosensitive part of an image sensor, the PDAF is specially used for carrying out phase detection, and then the offset of focusing is determined according to the distance and the change between pixels, so that the accurate focusing is realized; in contrast to contrast focus, phase focus does not require repeated movement of the optical portion, thereby achieving fast focus, as shown in fig. 2.
The conversion between the phase parallax and the position of the optical module of the electronic endoscope is represented by a defocus conversion coefficient DCC (Defocus Conversion Coefficient) in dac/pixel, specifically, comprising:
wherein Δlensposion is the position of the optical module of the endoscope, represents the absolute distance between the optical module and the image sensor, DCC is an unsigned quantity, and data obtained by calibrating each endoscope individually is stored in an EEPROM in the endoscope, and the calibration flow is shown in fig. 3, specifically, the method comprises the following steps:
configuring an image sensor to enable PD pixel points (i.e. shielded pixel points);
the optical module is kept at the middle position of the far focus and the near focus, the image sensor of the electronic endoscope is controlled to execute automatic exposure, and after gain mapping data (namely the amplification factor of an amplifier in the image sensor) is obtained, the parameters of the image sensor are configured, as shown in fig. 6, and control data between the video data fusion module and the image sensor are transmitted through an IIC bus.
Arranging the optical modules at far-focus positions, and controlling the optical modules to sequentially move a preset distance to near-focus positions (one tenth of the distance between far and near focuses is moved each time), wherein the position of each optical module corresponds to one endoscopic image (ten endoscopic images in total);
and acquiring data of the shielded pixel points (video data processed by an image processing host computer is in an RGB format) from all the endoscope images, calculating definition, and performing linear fitting to obtain corrected defocus conversion coefficients.
The calculated definition in this embodiment is the definition of the shielded pixel, the RGB data is converted into the gray data, and the definition is calculated;
when the focusing is completed, the image is the clearest, the high-frequency component in the image is the most, the difference value between the abrupt pixel and the adjacent pixel is also increased, the 2 nd gray values of the right neighborhood of the shielded pixel level are subtracted and multiplied, the gray values of all the shielded pixels are accumulated, the definition is calculated, and the phase parallax is represented.
D(f)＝∑ y ∑ x f(x+2,y)-f(x,y) 2
Wherein f (x, y) represents the gray value of the pixel point of the image (x, y), D (f) is the image definition, the position of the lens optical module and the phase parallax are linear relations in theory, and the defocus conversion coefficient is the slope of the fitted equation.
More specifically, the specific process of the electronic endoscope automatic focusing method is shown in fig. 4, and includes the following steps:
s1: automatic focusing enabling;
s2: acquiring a DCC table in an EEPROM (i.e. a storage module) of the endoscope, and storing the DCC table in a RAM;
the maximum distance allowed by the lens optical module to move is 1mm, the lens optical module is divided into 10 sections averagely, 11 groups of video data are collected, and 11 groups of phase parallaxes are calculated.
S3: acquiring video data of an endoscope;
s4: calculating a phase disparity (the phase disparity is represented by the image sharpness of occluded pixels) for a current video frame;
s5: judging whether the parallax is smaller than a preset value, if so, finishing the automatic focusing of the endoscope, returning to the step S2, and if not, entering the step S6;
s6: inquiring the DCC table to obtain the distance required to be moved by the optical module;
s7: and enabling the motor control module to drive the motor, and returning to S2.
Example 2:
as shown in fig. 5, embodiment 2 of the present invention provides an electronic endoscope auto-focusing system, including:
a data acquisition module configured to: acquiring a video frame image of an endoscope, and calculating the phase parallax of the current video frame image;
a focus judgment module configured to: when the phase parallax is smaller than a set threshold, judging that the automatic focusing of the endoscope is finished; otherwise, the distance of the optical module of the endoscope to be moved is obtained according to the phase parallax, after the optical module is moved, the video frame image of the endoscope is obtained again, and the phase parallax is compared with a set threshold value until focusing is completed.
The working method of the system is the same as the automatic focusing method of the electronic endoscope provided in embodiment 1, and will not be described here again.
Example 3:
as shown in fig. 6, embodiment 3 of the present invention provides an electronic endoscope including: the device comprises an optical module, an image sensor, a handle, an image processing host and a monitor;
the handle is internally provided with a motor, a motor control module, a video control data fusion module and a storage module, wherein the video control data fusion module is respectively communicated with the image sensor, the motor control module and the storage module, the motor control module is communicated with the motor, the motor is connected with the optical module, and the storage module stores a defocusing conversion coefficient;
the video control data fusion module is communicated with a video processing module in the image processing host, and the video processing module is communicated with the monitor;
the video processing module is configured to: the electronic endoscope automatic focusing method described in embodiment 1 of the present invention is executed.
In this embodiment, the electronic endoscope uses the image sensor OV08a10 of OV to support the PDAF function, outputs video data of 1080p@60fps, and the optical module is driven by the handle portion motor.
More specifically, the handle portion mainly comprises 2 functional modules, a video control data fusion module and an electronic control module, the video control data fusion module mainly converts MIPI data of the image sensor into high-speed serial, and simultaneously fuses control data of the image sensor and the motor control module, and the motor control module mainly drives the motor according to parameters sent by the image processing host, so that the position of the optical module is controlled.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An automatic focusing method of an electronic endoscope is characterized by comprising the following steps:
acquiring a video frame image of an endoscope, and calculating the phase parallax of the current video frame image;
when the phase parallax is smaller than a set threshold, judging that the automatic focusing of the endoscope is finished; otherwise, the distance of the optical module of the endoscope to be moved is obtained according to the phase parallax, after the optical module is moved, the video frame image of the endoscope is obtained again, and the phase parallax is compared with a set threshold value until focusing is completed.
2. The method for auto-focusing an electronic endoscope as described in claim 1, wherein,
the distance that the optical module of the endoscope needs to move is obtained according to the phase parallax, comprising:
and expressing the conversion relation between the phase parallax and the position of the optical module of the electronic endoscope by adopting the defocusing conversion coefficient, and obtaining the distance required to move by the optical module of the endoscope according to the defocusing conversion coefficient and the acquired phase parallax.
3. The method for auto-focusing an electronic endoscope as described in claim 2, wherein,
the defocus conversion coefficient is the ratio of the distance the optical module of the endoscope needs to move to the phase parallax.
4. The method for auto-focusing an electronic endoscope as described in claim 2, wherein,
the defocus conversion coefficient is corrected before use, the correction comprising:
the optical module is kept at the middle position of the far focus and the near focus, an image sensor of the electronic endoscope is controlled to execute automatic exposure, and after gain mapping data are obtained, image sensor parameters are configured;
arranging the optical modules at a far focus position, and controlling the optical modules to sequentially move a preset distance to a near focus position, wherein the position of each optical module corresponds to one endoscope image;
and acquiring data of the shielded pixel points from all the endoscope images, calculating definition, and performing linear fitting to obtain corrected defocus conversion coefficients.
5. The method for auto-focusing an electronic endoscope as described in claim 4, wherein,
the predetermined distance of each movement of the optical module is the same.
6. An electronic endoscope autofocus system comprising:
a data acquisition module configured to: acquiring a video frame image of an endoscope, and calculating the phase parallax of the current video frame image;
a focus judgment module configured to: when the phase parallax is smaller than a set threshold, judging that the automatic focusing of the endoscope is finished; otherwise, the distance of the optical module of the endoscope to be moved is obtained according to the phase parallax, after the optical module is moved, the video frame image of the endoscope is obtained again, and the phase parallax is compared with a set threshold value until focusing is completed.
7. The electronic endoscope automatic focusing system of claim 6, wherein,
in the focusing judgment module, the distance that the optical module of the endoscope needs to move is obtained according to the phase parallax, and the focusing judgment module comprises:
and expressing the conversion relation between the phase parallax and the position of the optical module of the electronic endoscope by adopting the defocusing conversion coefficient, and obtaining the distance required to move by the optical module of the endoscope according to the defocusing conversion coefficient and the acquired phase parallax.
8. The electronic endoscope automatic focusing system of claim 7,
the defocus conversion coefficient is corrected before use, the correction comprising:
the optical module is kept at the middle position of the far focus and the near focus, an image sensor of the electronic endoscope is controlled to execute automatic exposure, and after gain mapping data are obtained, image sensor parameters are configured;
arranging the optical modules at a far focus position, and controlling the optical modules to sequentially move a preset distance to a near focus position, wherein the position of each optical module corresponds to one endoscope image;
and acquiring data of the shielded pixel points from all the endoscope images, calculating definition, and performing linear fitting to obtain corrected defocus conversion coefficients.
9. The electronic endoscope automatic focusing system of claim 7,
the predetermined distance of each movement of the optical module is the same.
10. An electronic endoscope, comprising:
the device comprises an optical module, an image sensor, a handle, an image processing host and a monitor;
the handle is internally provided with a motor, a motor control module, a video control data fusion module and a storage module, wherein the video control data fusion module is respectively communicated with the image sensor, the motor control module and the storage module, the motor control module is communicated with the motor, the motor is connected with the optical module, and the storage module stores a defocusing conversion coefficient;
the video control data fusion module is communicated with a video processing module in the image processing host, and the video processing module is communicated with the monitor;
the video processing module is configured to: performing the electronic endoscope auto-focus method of any one of claims 1-5.
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08136832A (en) * | 1994-11-09 | 1996-05-31 | Olympus Optical Co Ltd | Autofocusing mechanism for endoscope |
| US20140111628A1 (en) * | 2011-08-23 | 2014-04-24 | Olympus Corporation | Focus control device, endoscope device, and focus control method |
| CN106556960A (en) * | 2015-09-29 | 2017-04-05 | 宁波舜宇光电信息有限公司 | Out of focus conversion coefficient verification method |
| CN113014790A (en) * | 2019-12-19 | 2021-06-22 | 华为技术有限公司 | Defocus conversion coefficient calibration method, PDAF method and camera module |
| US20220038613A1 (en) * | 2020-07-30 | 2022-02-03 | Olympus Corporation | Imaging device |
| CN115314635A (en) * | 2022-08-03 | 2022-11-08 | Oppo广东移动通信有限公司 | Model training method and device for determining defocus amount |
-
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- 2023-04-18 CN CN202310437554.7A patent/CN116392058A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08136832A (en) * | 1994-11-09 | 1996-05-31 | Olympus Optical Co Ltd | Autofocusing mechanism for endoscope |
| US20140111628A1 (en) * | 2011-08-23 | 2014-04-24 | Olympus Corporation | Focus control device, endoscope device, and focus control method |
| CN106556960A (en) * | 2015-09-29 | 2017-04-05 | 宁波舜宇光电信息有限公司 | Out of focus conversion coefficient verification method |
| CN113014790A (en) * | 2019-12-19 | 2021-06-22 | 华为技术有限公司 | Defocus conversion coefficient calibration method, PDAF method and camera module |
| US20220038613A1 (en) * | 2020-07-30 | 2022-02-03 | Olympus Corporation | Imaging device |
| CN115314635A (en) * | 2022-08-03 | 2022-11-08 | Oppo广东移动通信有限公司 | Model training method and device for determining defocus amount |
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