CN105942959B - Capsule endoscope system and its three-D imaging method - Google Patents
Capsule endoscope system and its three-D imaging method Download PDFInfo
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- CN105942959B CN105942959B CN201610382301.4A CN201610382301A CN105942959B CN 105942959 B CN105942959 B CN 105942959B CN 201610382301 A CN201610382301 A CN 201610382301A CN 105942959 B CN105942959 B CN 105942959B
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- capsule endoscope
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- alimentary canal
- forming apparatus
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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
-
- 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
- A61B1/00002—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
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- 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
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- 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
- A61B1/00131—Accessories for endoscopes
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- 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
- A61B1/06—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 with illuminating arrangements
- A61B1/0661—Endoscope light sources
- A61B1/0684—Endoscope light sources using light emitting diodes [LED]
-
- 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
- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
-
- 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
- A61B1/31—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 for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
Abstract
The present invention provides a kind of capsule endoscope systems, for observing the alimentary canal in examinee's body, the capsule endoscope system includes capsule endoscope, to carry out the three-dimensional image forming apparatus of three-dimensional modeling to alimentary canal and to show the display device of threedimensional model；The capsule endoscope includes in the shell of capsule shape, the photographic device being set in shell, the image processing apparatus for handling the image that photographic device is shot and the radio frequency transmission device to be communicated between image processing apparatus and three-dimensional image forming apparatus.By three-dimensional image forming apparatus, the alimentary canal in examinee's body may make to be directly displayed in a manner of threedimensional model in display device, user can use direct visual perception, simple operation.
Description
Technical field
The present invention relates to a kind of capsule endoscope systems and its three-D imaging method applied to field of medical technology.
Background technology
Capsule endoscope system due to its safety, reliability and diagnosis during comfort the advantages that, at present
It is widely recognized as and applied in the diagnosis of enterogastric diseases.Capsule endoscope has camera unit and using LED light composition
Lighting device and wireless communication apparatus etc., and be built in the capsule housing that size takes for population, by by examinee from
Mouth is swallowed, and can be shot to stomach or enteron aisle etc. during by body cavity.Capsule endoscope can also lead to photographing information
It crosses wireless device and is sent to outside, external equipment receives photographing information, is then displayed in display equipment.It is painless in human gastrointestinal tract
In the state of bitter, hurtless measure, medical staff can carry out examinee according to the image in display equipment the diagnosis of enterogastric diseases.
The imaging mode of capsule endoscope system used at present is two dimensional image, in order to keep capsule endoscope cleverer
It is living, controllable, more efficient, three-dimensional imaging can be realized using the capsule endoscope system of virtual reality technology in research.However it should
Virtual reality technology do not use dimensional Modeling Technology, finally also need to by the special helmet either glasses or display come for doctor
It is raw to use, just it is observed that 3-D view, and it is also inconvenient in operating process, three-dimensional imaging can not be fully achieved.Also,
Since the direction of motion and shooting angle of capsule endoscope are uncontrollable, so as to cause entire gastral graphics can not be shot
Picture, and the observation visual angle for observing the images such as stomach and small intestine is also limited.
Therefore, it is necessary to design a kind of capsule endoscope system and its imaging method easy to use.
Invention content
In view of the problems of the existing technology, its purpose is to provide one kind, and user can be allowed directly with the naked eye to see by the present invention
The capsule endoscope system and its control method examined.
To achieve the above object, the present invention provides a kind of capsule endoscope systems, for observing disappearing in examinee's body
Change road, the capsule endoscope system include capsule endoscope, to alimentary canal carry out three-dimensional modeling three-dimensional image forming apparatus,
And to show the display device of threedimensional model；The capsule endoscope include in capsule shape shell, be set in shell
Photographic device, for handle photographic device shooting image image processing apparatus and in image processing apparatus and three
The radio frequency transmission device communicated between dimension imaging device.
As a further improvement on the present invention, the photographic device includes for simulating the two of human eye camera units, being somebody's turn to do
Two camera units are fixed on the circuit board included by capsule endoscope and spaced setting.
As a further improvement on the present invention, 1cm to 2cm is spaced between described two camera units.
As a further improvement on the present invention, the shell includes the cooperate transparent shell connected and opaque shell
Body, the photographic device are arranged towards the transparent shell.
As a further improvement on the present invention, the enclosure interior is provided with lighting device.
As a further improvement on the present invention, the capsule endoscope system further includes having motion control device, the fortune
Dynamic control device includes the magnet for being fixed on enclosure interior, be fixed in shell to detect/record capsule endoscope position,
The Magnetic Sensor of posture information and hull outside is set to control the permanent magnet of the capsule endoscope motion.
As a further improvement on the present invention, the three-dimensional image forming apparatus includes：Three-dimensional coordinate computing module, to clap
Image during taking the photograph captured by the position of capsule endoscope, posture information and photographic device calculates capsule endoscope and exists
The spatial coordinated information of alimentary canal inner wall, the spatial coordinated information also referred to as point cloud；With the change in location of capsule endoscope,
Form series of points cloud；Three-dimensional point cloud Fusion Module to form complete alimentary canal point cloud to merge series of points cloud；It is three-dimensional
Model Reconstruction module, it is gastral to be formed to the image progress three-dimensional reconstruction captured by photographic device according to alimentary canal point cloud
Threedimensional model.
As a further improvement on the present invention, the three-dimensional image forming apparatus further includes：Photographic device calibration module, to
The lens parameters of photographic device are calibrated before shooting；Three-dimensional point cloud noise reduction module, to generating in shooting and calculating process
Error dot cloud carries out noise reduction process.
To achieve the above object, the present invention also provides the three-D imaging method of capsule endoscope system, be used to form by
The complete three-dimensional modeling of alimentary canal in inspection person's body, the method includes：Photographic device shoots gastral image in examinee's body；
Image processing apparatus handles the image captured by photographic device；By treated, image is sent to three to radio frequency transmission device
Tie up imaging device；Three-dimensional image forming apparatus carries out three-dimensional modeling to alimentary canal；Established threedimensional model is mapped in display device
On.
As a further improvement on the present invention, the capsule endoscope system further includes motion control device, the movement
Control device includes the magnet for being fixed on enclosure interior, is fixed on enclosure interior for detecting/recording the capsule endoscope position
It sets, the Magnetic Sensor of posture information, and is set to hull outside and can control the permanent magnetism of the movement of the capsule endoscope
Body；Before three-dimensional image forming apparatus carries out three-dimensional modeling to alimentary canal, the permanent magnet being set to outside capsule endoscope is logical
Rotation or the movement of control magnet are crossed to control movement of the capsule endoscope in alimentary canal, the Magnetic Sensor detection/record
The position of the capsule endoscope, posture information and position, posture information are sent to three-dimensional image forming apparatus.
As a further improvement on the present invention, the step of three-dimensional image forming apparatus carries out three-dimensional modeling to alimentary canal is specific
Including：According to the image captured by the position of the capsule endoscope received, posture information and photographic device, calculate in capsule
Sight glass is in the spatial coordinated information of alimentary canal inner wall, the spatial coordinated information also referred to as point cloud；As permanent magnet controls glue
Capsule endoscope position, attitudes vibration form series of points cloud；Above-mentioned series of points cloud is combined to be formed in examinee's body completely
Alimentary canal point cloud；Three-dimensional reconstruction is carried out to the image captured by photographic device according to alimentary canal point cloud and forms alimentary canal complete three
Dimension module.
As a further improvement on the present invention, the three-dimensional image forming apparatus builds alimentary canal progress three-dimensional according to image information
The step of mould further includes：Before photographic device shoots the alimentary canal in examinee's body, the camera lens of photographic device is joined
Number is calibrated, and relative displacement and the spin matrix of photographic device are calculated according to the lens parameters after calibration.
As a further improvement on the present invention, the three-dimensional image forming apparatus builds alimentary canal progress three-dimensional according to image information
The step of mould further includes：Before above-mentioned cloud is combined, the noise spot cloud generated when shooting and coordinates computed is carried out at noise reduction
Reason.
The beneficial effects of the invention are as follows：The capsule endoscope shoots gastral image by photographic device, and by institute
The image of shooting is mapped in forming threedimensional model in display device by three-dimensional image forming apparatus so that user can pass through naked eyes
Directly observe, it is easy to use without by helmet glasses all tools.
Description of the drawings
Fig. 1 is the schematic diagram of capsule endoscope of the present invention；
Fig. 2 is the vertical view of capsule endoscope of the present invention；
Fig. 3 is the hardware structure diagram of capsule endoscope system of the present invention.
Specific implementation mode
Hereinafter, the present invention will be described in detail with reference to various embodiments shown in the accompanying drawings.But these embodiments are not
The limitation present invention, the transformation in structure or function that those skilled in the art are made according to these embodiments are wrapped
Containing within the scope of the present invention.
As shown in Figures 1 to 3, the present invention provides a kind of capsule endoscope systems, are applied to field of medical technology, the glue
Intracapsular endoscope system includes capsule endoscope 100, it is three-dimensional to be carried out to alimentary canal to the image that is shot according to capsule endoscope 100
The three-dimensional image forming apparatus 300 of modeling, controlling the movable motion control device (in figure in alimentary canal of capsule endoscope 100
It is not shown) and to show the display device 200 of threedimensional model.The display device 200 can be various electronic equipments
Display screen, for example, computer display screen etc..The motion control device include setting be fixed on it is controllable in capsule endoscope 100
System drives the magnet 2 that capsule endoscope 100 moves, and is set to 100 inside of capsule endoscope and to detect/record in capsule
The Magnetic Sensor 9 of 100 position of sight glass, and be set to outside capsule endoscope 100 and moved to control the capsule sight glass 100
Permanent magnet 500.
As shown in Figure 1, the capsule endoscope 100 includes being in the shell 1 of capsule shape, the camera shooting being set in shell 1 dress
Set the 3, image processing apparatus 4 for controlling photographic device 3 and being handled the image data captured by photographic device 3, with
And the radio frequency transmission device 5 communicated between image processing apparatus 4 and three-dimensional image forming apparatus.The capsule endoscope 100 also wraps
Include the lighting device 6 to being illuminated inside examinee's alimentary canal, the power supply 7, above-mentioned to power to capsule endoscope 100
Magnet 2, Magnetic Sensor 9 and circuit board 8.
The shell 1 is made of the transparent shell 11 and opaque shell 12 of the connection that cooperates, and the hyaline test
Body 11 and 12 shape of opaque shell it is in a strip shape and cooperate.
The circuit board 8 is located at the interface of the transparent shell 11 and opaque shell 12, and the circuit board 8 includes
It is exposed to the one side of transparent shell 11 and is exposed to the another side of opaque shell 12.The lighting device 6 and camera shooting
Device 3 is set to the one side that circuit board 8 is exposed to transparent shell 11；The radio frequency transmission device 5, magnet 2, power supply 7, image
Processing unit 4 is set to the one side that circuit board 8 is exposed to opaque shell 12.
The photographic device 3 includes for simulating the two of human eye camera units 30, which is fixed on
On circuit board 8 and spaced, spacing distance is at 1 centimetre (cm) between 2 centimetres (cm).Each camera unit 30 includes fixing
In on circuit board 8 imaging sensor 31 and the optical lens 32 that is fixed on imaging sensor 31.Described image sensor
31 is, to shoot the CMOS etc. of examinee's in-vivo image, optical lens 32 so that image to image in imaging sensor 31
Light-receiving surface.
The lighting device 6 is usually arranged as the light emitting diodes such as LED, for sending out the scene progress to photographic device 3
The visible light of illumination, such as white light, can be to playing illuminating effect in 3 shooting process of photographic device.In the present invention, the illumination
Device 6 uses 3-7 LED, and is evenly distributed in around two camera units 30 of photographic device 3, in present embodiment
In, as shown in Fig. 2, the lighting device 6 uses 7, then set between the two of photographic device 3 camera unit 30 there are one LED,
The border of any one camera unit 30 is uniformly distributed there are four LED.
Described image processing unit 4 is with the dedicated IC chip ASIC of processing function with control, it can be achieved that right
Capsule endoscope 100 shoots the control of image.Also, described image processing unit 4 can handle the figure captured by photographic device 3
Picture, the processing refers to carries out stylistic processing to captured image, such as by compression of images at lattice such as JPEG or JPEG-LS
Formula picture.Described image processing unit 4 also ensures that the synchronism of two camera units 30 shooting image of photographic device 3.
Magnet 2 is mainly made of a Ferrite, a local magnetic field higher than earth's magnetic field can be generated, in this implementation
In mode, magnet 2 is a magnetic dipole.Magnetic Sensor 9 can determine by 100 position of acquisition capsule endoscope, posture information
The spatial position of capsule endoscope 100, by external permanent magnets control internal magnets 2 to realize the master to capsule endoscope 100
Dynamic control positioning.Also, external permanent magnets can control the rotation and movement of magnet 2, since magnet 2 is fixed in shell 1, thus
External permanent magnets can control the capsule endoscope 100 accordingly according to 9 collected position of internal Magnetic Sensor, posture information
Rotation and movement.Also, the Magnetic Sensor 9 can the position of real-time detection/the record capsule endoscope 100, posture letter
Breath, and the position, posture information are sent to three-dimensional image forming apparatus.
The three-dimensional image forming apparatus is generally disposed on a computing device (such as computer), for receiving capsule endoscope
Image captured by 100, and three-dimensional modeling is carried out to alimentary canal according to the image that capsule endoscope 100 is shot.It is described it is three-dimensional at
As device includes：
Photographic device calibration module, to be calibrated to the lens parameters etc. of photographic device 3 before shooting, and according to
Lens parameters after calibration calculate relative displacement and the spin matrix of two camera units 30 of photographic device 3；
Three-dimensional coordinate computing module, to using lens parameters, relative displacement and spin matrix as parameter, and according to reception
Image captured by two camera units 30 of the position of the capsule endoscope 100 arrived, posture information and photographic device 3 comes
Calculate the spatial coordinated information of 100 place alimentary canal inner wall of capsule endoscope, the spatial coordinated information also referred to as point cloud；
Three-dimensional point cloud noise reduction module, to carry out noise reduction process to the error dot cloud generated in shooting or calculating process；
Three-dimensional point cloud Fusion Module merges to form complete alimentary canal point cloud will put cloud；
Reconstructing three-dimensional model module, to carry out Three-dimensional Gravity to the image captured by photographic device 3 according to alimentary canal point cloud
It builds to form gastral threedimensional model.
Therefore, the three-D imaging method of the capsule endoscope system includes：
Photographic device 3 shoots gastral image in examinee's body；
Image processing apparatus 4 handles the image captured by photographic device 3；
By treated, image is sent to three-dimensional image forming apparatus to radio frequency transmission device 5；
Three-dimensional image forming apparatus carries out three-dimensional modeling to alimentary canal；
Established threedimensional model is mapped in display device.
Further, the three-D imaging method of the capsule endoscope system is specially：
S1：Before shooting, photographic device calibration module calibrate photographic device 3 lens parameters, and according to calibration after
Lens parameters calculate relative displacement and the spin matrix of two camera units 30 of photographic device 3；
S2：Capsule endoscope 100 enters after alimentary canal predetermined position, and image processing apparatus 4 controls two camera shooting dresses
It sets 3 while shooting, lighting device 6 illuminates alimentary canal inner wall, and the predeterminated position can be the positions such as stomach, enteron aisle；
S3：Image processing apparatus 4 to captured by photographic device 3 image carry out format analysis processing, such as compression processing at
The formats such as JPEG or JPEG-LS；
S4：Radio frequency transmission device 5 gives the image transmitting after compression processing to reconstructing three-dimensional model module；
S5：In shooting process, Magnetic Sensor 9 acquires the position of capsule endoscope 100, posture information, and by position, posture
Information real-time Transmission gives three-dimensional coordinate computing module；
S6：Three-dimensional coordinate computing module is using lens parameters, relative displacement, spin matrix as parameter, according to what is received
Image captured by the position of capsule endoscope 100, posture information and photographic device 3, calculates capsule endoscope 100 and is disappearing
Change the spatial coordinated information of road inner wall, the spatial coordinated information which generates is referred to as point cloud；As external permanent magnets 500 are controlled
The change of 100 position of capsule endoscope processed forms a series of cloud；
S7：Some errors are will produce when shooting image and calculating error, to form noise spot cloud, are then needed by three
Dimension point cloud noise reduction module carries out noise reduction process to these noise spot clouds；
S8：After shooting, three-dimensional point cloud Fusion Module combines above-mentioned series of points cloud to be formed in examinee's body completely
Alimentary canal point cloud；
S9：Reconstructing three-dimensional model module carries out three-dimensional reconstruction according to alimentary canal point cloud to the image captured by photographic device 3,
Form complete gastral threedimensional model；
S10：Threedimensional model after reconstruction is mapped in display device, i.e., user can observe by the naked eye examinee's body
The threedimensional model of digested road.And by coordinate transform, which can also provide internal view, expansion view, section
The different view modes of three kinds or more such as figure, so as to observe gastral threedimensional model with different visual angles.
Wherein, above-mentioned S4 and S5 sequence of steps can overturn, and can also be carried out at the same time, and still, capsule endoscope 100 is located at one
Position, posture information when position must be corresponded with the image for shooting formation at this location.In addition, above-mentioned S8 and S9 steps
Suddenly it can be carried out at the same time, i.e., when merging series of points cloud, the image synchronization after format analysis processing be spliced, then alimentary canal point cloud
It is synchronously completed with gastral threedimensional model.
100 system of capsule endoscope and its control method of the present invention has many advantages, such as, specific as follows：
1. the shell 1 of the capsule endoscope 100 in the present invention includes transparent shell 11 and opaque shell 12, and phase interworking
It closes, two camera units 30 of photographic device 3 are arranged towards the transparent shell 11；Thus, the shooting visual angle of photographic device 3
It is more broad, and it is spaced 1-2cm between two camera units 30 of photographic device 3, it can preferably simulate human eye.
2. the capsule endoscope 100 in the present invention is positioned and is transported to capsule endoscope 100 by external permanent magnets 500
Dynamic control then can carry out active control to the position of capsule endoscope 100, solve existing capsule endoscope 100 and rely only on
Gastral wriggling is come the shortcomings that moving.
3. by three-dimensional image forming apparatus, 3 D stereo modeling is carried out to alimentary canal in examinee's body, user can directly lead to
It crosses and visually observes, to avoid user from needing could to observe by devices such as the helmet, glasses the inconvenience of threedimensional model；Also,
Threedimensional model can be operated, threedimensional model is observed from different angles, to greatly facilitate medical staff
Diagnosis process so that diagnosis process is more clear, controllably, to 100 field of capsule endoscope have very high practicability and hair
Exhibition foreground.
4. by the method for above-mentioned three-dimensional modeling, the image co-registration shot photographic device 3 using cloud is together so that
Threedimensional model after foundation is more complete, three-dimensional.
It should be appreciated that although this specification is described in terms of embodiments, but not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solution in each embodiment may also be suitably combined to form those skilled in the art can for bright book
With the other embodiment of understanding.
The series of detailed descriptions listed above only for the present invention feasible embodiment specifically
Bright, they are all without departing from equivalent implementations made by technical spirit of the present invention not to limit the scope of the invention
Or change should all be included in the protection scope of the present invention.
Claims (11)
1. a kind of capsule endoscope system, for observing the alimentary canal in examinee's body, which is characterized in that the capsule endoscope
System includes capsule endoscope, to carry out the three-dimensional image forming apparatus of three-dimensional modeling to alimentary canal and to show three-dimensional mould
The display device of type；The capsule endoscope include in capsule shape shell, be set in shell photographic device, for handling
Photographic device shooting image image processing apparatus and to be communicated between image processing apparatus and three-dimensional image forming apparatus
Radio frequency transmission device, the capsule endoscope further include be fixed in shell to detect/record capsule endoscope position,
The Magnetic Sensor of posture information, the capsule endoscope position, posture information be sent to three-dimensional image forming apparatus for alimentary canal into
Row three-dimensional modeling；
The three-dimensional image forming apparatus includes：
Three-dimensional coordinate computing module, in shooting process according to the position of capsule endoscope, posture information and photographic device
Captured image calculates capsule endoscope in the spatial coordinated information of alimentary canal inner wall, which is also referred to as
Point cloud；With the change in location of capsule endoscope, series of points cloud is formed；
Three-dimensional point cloud Fusion Module to form complete alimentary canal point cloud to merge series of points cloud；
Reconstructing three-dimensional model module is formed to carry out three-dimensional reconstruction to the image captured by photographic device according to alimentary canal point cloud
Gastral threedimensional model.
2. capsule endoscope system according to claim 1, which is characterized in that the photographic device includes for simulating people
Two camera units of eye, two camera units are fixed on the circuit board included by capsule endoscope and spaced set
It sets.
3. capsule endoscope system according to claim 2, which is characterized in that be spaced between described two camera units
1cm to 2cm.
4. capsule endoscope system according to claim 1, which is characterized in that the shell includes the connection that cooperates
Transparent shell and opaque shell, the photographic device are arranged towards the transparent shell.
5. capsule endoscope system according to claim 1, which is characterized in that the enclosure interior is provided with illumination dress
It sets.
6. capsule endoscope system according to claim 1, which is characterized in that the capsule endoscope system further includes having
Motion control device, the motion control device include the magnet for being fixed on enclosure interior, the Magnetic Sensor and are set to
Hull outside is controlling the permanent magnet of the capsule endoscope motion.
7. capsule endoscope system according to claim 1, which is characterized in that the three-dimensional image forming apparatus further includes：
Photographic device calibration module, to calibrate the lens parameters of photographic device before shooting；
Three-dimensional point cloud noise reduction module, to carry out noise reduction process to the error dot cloud generated in shooting and calculating process.
8. a kind of three-dimensional image forming apparatus of capsule endoscope system is used to form the complete three-dimensional of alimentary canal in examinee's body and builds
Mould, which is characterized in that the three-dimensional image forming apparatus includes：
Photographic device shooting examinee's body in gastral image, image processing apparatus to the image captured by photographic device into
Row processing, and radio frequency transmission device will treated after image is sent to three-dimensional image forming apparatus, three-dimensional image forming apparatus is to alimentary canal
Carry out three-dimensional modeling；
The three-dimensional image forming apparatus to alimentary canal carry out three-dimensional modeling the step of include：
According to the image captured by the position of the capsule endoscope received, posture information and photographic device, calculate in capsule
Sight glass is in the spatial coordinated information of alimentary canal inner wall, the spatial coordinated information also referred to as point cloud；As permanent magnet controls glue
Capsule endoscope position, attitudes vibration form series of points cloud；The position of the capsule endoscope, posture information are by being fixed on shell
Internal Magnetic Sensor detection/recording and sending is to three-dimensional image forming apparatus；
Above-mentioned series of points cloud is combined to form complete alimentary canal point cloud in examinee's body；
Three-dimensional reconstruction is carried out to the image captured by photographic device according to alimentary canal point cloud and forms the complete threedimensional model of alimentary canal；
Established threedimensional model is mapped in display device.
9. the three-dimensional image forming apparatus of capsule endoscope system according to claim 8, which is characterized in that peeped in the capsule
Mirror system further includes motion control device, and the motion control device includes the magnet for being fixed on enclosure interior, the magnetic sensing
Device and the permanent magnet for being set to hull outside and the movement of the controllable capsule endoscope；It is offseted in three-dimensional image forming apparatus
Before changing road progress three-dimensional modeling, it is set to rotation or movement of the permanent magnet outside capsule endoscope by control magnet
To control movement of the capsule endoscope in alimentary canal.
10. the three-dimensional image forming apparatus of capsule endoscope system according to claim 8, which is characterized in that it is described it is three-dimensional at
As device further includes to the step of alimentary canal progress three-dimensional modeling according to image information：
Before photographic device shoots the alimentary canal in examinee's body, the lens parameters of photographic device are calibrated,
And relative displacement and the spin matrix of photographic device are calculated according to the lens parameters after calibration.
11. the three-dimensional image forming apparatus of capsule endoscope system according to claim 8, which is characterized in that it is described it is three-dimensional at
As device further includes to the step of alimentary canal progress three-dimensional modeling according to image information：
Before above-mentioned cloud is combined, noise reduction process is carried out to the noise spot cloud generated when shooting and coordinates computed.
Priority Applications (1)
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