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
- Publication number
- 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
- Authority
- CN
- China
- Prior art keywords
- imaging
- subsystem
- light
- capsule
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000003384 imaging method Methods 0.000 title claims abstract description 112
- 239000002775 capsule Substances 0.000 title claims abstract description 88
- 238000000034 method Methods 0.000 title description 8
- 238000004891 communication Methods 0.000 claims abstract description 10
- 230000003287 optical effect Effects 0.000 claims description 28
- 230000005540 biological transmission Effects 0.000 claims description 24
- 210000001035 gastrointestinal tract Anatomy 0.000 claims description 12
- 230000015572 biosynthetic process Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 108091026890 Coding region Proteins 0.000 claims 1
- 230000001678 irradiating effect Effects 0.000 claims 1
- 238000005286 illumination Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 229910044991 metal oxide Inorganic materials 0.000 description 1
- 150000004706 metal oxides Chemical class 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Classifications
-
- 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
- A61B1/04—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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
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 invention relates to the technical field of medical equipment, in particular to a 3D (three-dimensional) imaging capsule endoscope system and method based on structured light.
Background
The existing wireless capsule endoscope enters the alimentary canal through a human body garment, and the alimentary canal wriggle provides power for the endoscope so that the endoscope can move in the alimentary canal, thereby completing the shooting of images of the alimentary canal and transmitting the images to the outside of the body for displaying through a wireless transmission system.
The images acquired by the wireless capsule endoscope widely used in the market at present are only two-dimensional static, and the real situation of three-dimensional images in the alimentary canal cannot be displayed comprehensively and clearly. To solve this problem, chinese patent "virtual reality capsule endoscope" with patent publication No. CN104720735A, which designs a capsule endoscope that uses two image capturing cameras in a capsule to simulate the left and right eyes of a human, and a wireless transmission module transmits image data to a display module, so that a doctor can have a 3D effect by wearing special glasses. The scheme only simulates the human eye imaging effect, is not real 3D display, cannot acquire the digestive tract information in all directions, and needs to be provided with special glasses, so that the cost is high;
chinese patent CN104939793A, whose publication number is CN104939793A, discloses a focus-adjustable 3-D capsule endoscope system based on a liquid lens, which uses a focus-adjustable capsule endoscope system to obtain clear sequence images at different focal lengths, then uses a three-dimensional reconstruction algorithm to process the sequence images, and calculates to obtain three-dimensional information of a photographed target, thereby obtaining three-dimensional stereo imaging. However, the technology performs three-dimensional reconstruction by using the sequence images, can only obtain three-dimensional images under a certain viewing angle, cannot obtain three-dimensional stereo imaging of the whole digestive tract, and needs repeated focusing, and has a complex structure and high requirements on a control system.
Disclosure of Invention
The invention aims to provide a 3D (three-dimensional) imaging capsule endoscope system and a method based on structured light, which can display the internal information of the alimentary canal in an omnibearing manner and are convenient for doctors to diagnose more accurately and effectively.
To achieve the purpose, the invention designs a structured light-based 3D stereo imaging capsule endoscope system, which is characterized in that: it comprises a capsule shell, a controller, a light-emitting subsystem for emitting 3D imaging structured light, an illuminating device for illuminating the inside of the digestive tract cavity of a detected person, an imaging subsystem for shooting images inside the digestive tract of the detected person, and a capsule positioning subsystem for acquiring capsule position information and capsule posture information, wherein the controller, the light-emitting subsystem, the illuminating device, the imaging subsystem and the capsule positioning subsystem are all arranged in the capsule shell, the control signal output end of the light-emitting subsystem of the controller is connected with the signal input end of the light-emitting subsystem, the illumination light control signal output end of the controller is connected with the control signal input end of the illuminating device, the imaging signal output end of the imaging subsystem is connected with the imaging signal input end of the controller, and the positioning information communication end of the capsule positioning subsystem is connected with the positioning information communication end of the controller.
An endoscopic imaging method using the system, comprising the steps of:
step 1: placing the capsule shell in the alimentary tract;
step 2: the upper computer is used for controlling the controller through the data transmission subsystem, and the controller controls the lighting device to be turned on;
and step 3: the controller controls the light source to emit white light, the white light emitted by the light source irradiates the structured light generation module, the structured light generation module performs filtering processing on the white light to form required 3D imaging structured light, and the 3D imaging structured light irradiates the surface of a target object in the alimentary canal to form a 3D imaging light band;
and 4, step 4: the imaging subsystem images a 3D imaging optical band on the surface of a target object in the alimentary canal and transmits imaging information to the controller, the controller transmits the imaging information to the upper computer through the data transmission subsystem, the upper computer performs imaging decoding processing on the imaging information by utilizing coding information corresponding to the arrangement sequence of the optical filter and the shading baffle in the structured light generation module, and the spatial coordinate of the surface of the target object in 3D imaging is calculated according to the imaging decoding information;
and 5: the capsule positioning subsystem transmits the obtained posture and position information of the capsule shell to the controller, the controller transmits the posture and position information of the capsule shell to the upper computer through the data transmission subsystem, and the upper computer converts the space coordinate of the target object in the 3D imaging into world coordinate according to the space coordinate of the surface of the target object in the 3D imaging and the posture and position information of the capsule shell at the moment to form point cloud data;
step 6: obtaining corresponding point cloud data at different positions of the capsule shell in the alimentary canal by the method in the step 2-5;
and 7: the upper computer performs registration and fusion on the point cloud data obtained from different positions in the alimentary canal to obtain complete point cloud information, performs three-dimensional modeling on all the point cloud data of the entire alimentary canal, and displays a three-dimensional modeling pattern.
The invention has the beneficial effects that:
1. the invention can observe the three-dimensional information in the alimentary canal without additional auxiliary equipment;
2. the invention can obtain complete three-dimensional information of the digestive tract and carry out three-dimensional modeling;
3. the invention replaces a camera with the light-emitting subsystem and the imaging subsystem, and improves the precision of 3D imaging by using the structured light for auxiliary calculation;
4. the invention can obtain distance information, thereby obtaining the actual size of a lesion area in the digestive tract and facilitating the diagnosis of doctors;
5. the invention utilizes the 3D imaging based on the structured light, can observe the information in the alimentary canal in an omnibearing and multi-angle way, and improves the detection rate;
drawings
FIG. 1 is a schematic side sectional view of the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a functional block diagram of the present invention;
FIG. 4 is a schematic diagram of the 3D imaging setup process based on structured light technology according to the present invention;
fig. 5 is a schematic structural diagram of a structural light generating module according to the present invention.
The device comprises a capsule shell, a transparent half shell, a non-transparent half shell, a light-emitting subsystem, a light source, a structured light generating module, a light filter, a shading baffle, an imaging subsystem, an image sensor, an optical lens, a lighting device, a controller, a data transmission subsystem, a capsule positioning subsystem, a power supply, a flexible circuit mounting plate, an upper horizontal flexible circuit mounting plate, a vertical flexible circuit mounting plate, a lower horizontal flexible circuit mounting plate, a controller, a data transmission subsystem, a capsule positioning subsystem, a power supply, a flexible circuit mounting plate, a lower horizontal flexible circuit mounting plate, a light source, a light shading baffle, a light source.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
the 3D stereoscopic imaging capsule endoscope system based on structured light as shown in fig. 1-3 comprises a capsule shell 1, a controller 5, a light-emitting subsystem 2 for emitting 3D imaging structured light, an illuminating device 4 for illuminating the inside of the digestive tract cavity of a subject, an imaging subsystem 3 for shooting images inside the digestive tract of the subject, and a capsule positioning subsystem 7 for acquiring capsule position information and capsule posture information, wherein the controller 5, the light-emitting subsystem 2, the illuminating device 4, the imaging subsystem 3 and the capsule positioning subsystem 7 are all arranged in the capsule shell 1, the light-emitting subsystem control signal output end of the controller 5 is connected with the signal input end of the light-emitting subsystem 2, the illuminating light control signal output end of the controller 5 is connected with the control signal input end of the illuminating device 4, the imaging signal output end of the imaging subsystem 3 is connected with the imaging signal input end of the controller 5, the positioning information communication end of the capsule positioning subsystem 7 is connected with the positioning information communication end of the controller 5.
In the above technical solution, the light emitting subsystem 2 and the imaging subsystem 3 are located at two ends of the capsule shell 1, and face to the same side, and the distance between the light emitting subsystem 2 and the imaging subsystem 3 ranges from 15mm to 25 mm. In order to ensure that the light-emitting subsystem 2 and the imaging subsystem 3 work simultaneously and avoid the influence caused by the movement of the digestive tract, the delay between the two is not more than 1 ms.
Among the above-mentioned technical scheme, light-emitting subsystem 2 shines the inside object of alimentary canal that needs were shot with 3D structure light, imaging subsystem 3 images the inside object of alimentary canal, capsule positioning subsystem 7 is taken notes the position and the attitude data of capsule, data transmission subsystem 6 receives behind imaging subsystem 3 and capsule positioning subsystem 7's the data, handle and send the external host computer to, the host computer solves the 3D information of the inside object of alimentary canal, then carry out the 3D demonstration, make things convenient for the inside object of all-round observation alimentary canal.
In the above technical solution, the capsule shell 1 is formed by integrally connecting a transparent half shell 1.1 of the upper half part and a non-transparent half shell 1.2 of the lower half part. The light outlet of the structured light generating module 2.2 faces the transparent half-shell 1.1, and the light outlet of the lighting device 4 faces the transparent half-shell 1.1. The transparent half-shell 1.1 enables the light of the illumination subsystem 2 and the imaging subsystem 3 to pass through.
in the above technical scheme, the light emitting subsystem 2 includes a light source 2.1 and a structured light generating module 2.2, a light emitting subsystem control signal output end of the controller 5 is connected with a signal input end of the light source 2.1, an optical axis of the light source 2.1 is coaxial with an axis of an optical signal input end of the structured light generating module 2.2, and an included angle α between a light emitting surface of the structured light generating module 2.2 and an axis of the capsule shell 1 is 0 to 45 degrees, which enables a pattern shot by the imaging subsystem 3 to be clearer.
In the above technical solution, the structured light generating module 2.2 is formed by alternately arranging a plurality of optical filters 2.3 and a plurality of light shielding baffles 2.4 (i.e. a light shielding baffle is arranged between two adjacent optical filters), and the color arrangement order of the plurality of optical filters 2.3 is determined according to the preset 3D imaging structured light coding order. As shown in fig. 5, the color arrangement of the plurality of filters 2.3 is green, blue, red, yellow, and cyan in sequence.
In the above technical scheme, each optical filter 2.3 and each shading baffle 2.4 correspond to a light plane, and in order to ensure the system precision, the light plane has a small imaging width on the object surface, and the widths of each optical filter 2.3 and each shading baffle 2.4 are equal and less than 1 mm.
In the above technical solution, it further includes a data transmission subsystem 6 for connecting to an upper computer, and the communication end of the controller 5 is connected to the data transmission subsystem 6. The data transmission subsystem 6 comprises an ASIC (application specific integrated circuit) chip and a wireless transmission module, wherein the ASIC chip compresses image data and then transmits the data to an upper computer through the wireless transmission module.
In the above technical solution, a flexible circuit mounting plate 9 is fixed in the capsule housing 1, the flexible circuit mounting plate 9 includes an upper horizontal flexible circuit mounting plate 9.1, a vertical flexible circuit mounting plate 9.2 and a lower horizontal flexible circuit mounting plate 9.3, the upper horizontal flexible circuit mounting plate 9.1 and the lower horizontal flexible circuit mounting plate 9.3 are connected by the vertical flexible circuit mounting plate 9.2, and the upper horizontal flexible circuit mounting plate 9.1 and the lower horizontal flexible circuit mounting plate 9.3 are parallel to the axis of the capsule housing 1; the flexible circuit mounting plate 9 makes the capsule as soft as possible, which is convenient for the patient to swallow.
Go up horizontal flexible circuit mounting panel 9.1 and go up and install lighting subsystem 2, lighting device 4 and formation of image subsystem 3, install data transmission subsystem 6, capsule location subsystem 7, power 8 and controller 5 on the horizontal flexible circuit mounting panel 9.3 down, power 8 is the power supply to lighting subsystem 2, formation of image subsystem 3, controller 5, data transmission subsystem 6 and capsule location subsystem 7 respectively.
In the above technical solution, the imaging subsystem 3 includes a CMOS (Complementary Metal oxide semiconductor), an image sensor 3.1 and an optical lens 3.2, the optical lens 3.2 is installed at an image sensing end of the CMOS image sensor 3.1 (the CMOS image sensor 3.1 has advantages of small size and low power consumption, and is suitable for being placed in a capsule), and a signal output end of the CMOS image sensor 3.1 is connected to an imaging signal input end of the controller 5. The diagonal diameter of the CMOS image sensor 3.1 is 5.658mm, and the frame rate of the image collected by the CMOS image sensor 3.1 is 2 frames/s.
An endoscopic imaging method using the system comprises the following steps:
step 1: placing the capsule shell 1 in the alimentary canal;
step 2: the upper computer is used for controlling the controller 5 through the data transmission subsystem 6, the controller 5 controls the lighting device 4 to be lightened, the imaging subsystem images the interior of the digestive tract, and the lighting device is turned off after imaging is finished;
and step 3: the controller 5 controls the light source 2.1 to emit white light, the white light emitted by the light source 2.1 irradiates the structured light generation module 2.2, the structured light generation module 2.2 performs filtering processing on the white light to form required 3D imaging structured light, and the 3D imaging structured light irradiates the surface of a target object in the alimentary canal to form a 3D imaging light band;
and 4, step 4: the imaging subsystem 3 images a 3D imaging optical band on the surface of a target object in the alimentary canal, as shown in figure 4, imaging information is transmitted to the controller 5, the controller 5 transmits the imaging information to the upper computer through the data transmission subsystem 6, the upper computer performs imaging decoding processing on the imaging information by using coding information corresponding to the arrangement sequence of the optical filter 2.3 and the shading baffle 2.4 in the structured light generation module 2.2, and the spatial coordinate of the surface of the target object in 3D imaging is calculated according to the imaging decoding information;
and 5: the capsule positioning subsystem 7 transmits the obtained attitude and position information of the capsule shell 1 at the moment to the controller 5, the controller 5 transmits the attitude and position information of the capsule shell 1 at the moment to the upper computer through the data transmission subsystem 6, the upper computer converts the spatial coordinate of the target object in 3D imaging into world coordinate according to the spatial coordinate of the surface of the target object in the 3D imaging and the attitude and position information of the capsule shell 1 at the moment to form point cloud data, and the upper computer performs filtering and denoising on the point cloud data;
step 6: obtaining corresponding point cloud data at different positions of the capsule shell 1 in the alimentary canal by the method in the step 2-5;
and 7: the upper computer performs registration and fusion on the point cloud data obtained from different positions in the alimentary canal to obtain complete point cloud information, performs three-dimensional modeling on all the point cloud data of the entire alimentary canal, and displays a three-dimensional modeling pattern.
Before step 1 of the above technical solution, initial parameter calibration needs to be performed, and the initial parameter calibration includes parameter calibration of the CMOS image sensor 3.1 and system parameter calibration. The CMOS image sensor 3.1 is used for calibrating parameters to obtain lens distortion and internal parameters including focal length; the system calibration obtains the distortion parameters of the light emitting subsystem 2 and the parameters of the light plane generated by the light emitting subsystem 2.
In step 3 of the above technical solution, one optical plane Ax + By + Cz + D formed By the structured light generating module 2.2 forms one optical band on the surface of the object (the object is simultaneously irradiated By a plurality of optical planes, thereby increasing the processing speed), the imaging subsystem 3 images the optical band including the shape information of the surface of the object, and the spatial coordinates (x, y, z) of the target surface in the 3D imaging are calculated By using the following formula (1):
wherein,
where f is the focal length of the imaging subsystem 3, x 'and y' are the pixel coordinates of the target in the imaging subsystem 3, x, y, and z are the spatial coordinates in 3D imaging, the optical plane Ax + By + Cz + D is 0 in 3D imaging as a reference frame, and the coefficient A, B, C, D can be obtained during system calibration.
Details not described in this specification are within the skill of the art that are well known to those skilled in the art.
Claims (9)
1. A3D stereo imaging capsule endoscope system based on structured light is characterized in that: the capsule comprises a capsule shell (1), a controller (5), a light-emitting subsystem (2) for emitting 3D imaging structured light, an illuminating device (4) for illuminating the inside of a digestive tract cavity of a detected person, an imaging subsystem (3) for shooting images inside the digestive tract of the detected person, and a capsule positioning subsystem (7) for acquiring capsule position information and capsule posture information, wherein the controller (5), the light-emitting subsystem (2), the illuminating device (4), the imaging subsystem (3) and the capsule positioning subsystem (7) are all arranged in the capsule shell (1), a control signal output end of the light-emitting subsystem of the controller (5) is connected with a signal input end of the light-emitting subsystem (2), an illuminating light control signal output end of the controller (5) is connected with a control signal input end of the illuminating device (4), and an imaging signal output end of the imaging subsystem (3) is connected with an imaging signal input end of the controller (5), the positioning information communication end of the capsule positioning subsystem (7) is connected with the positioning information communication end of the controller (5);
the light-emitting subsystem (2) comprises a light source (2.1) and a structured light generation module (2.2), a light-emitting subsystem control signal output end of the controller (5) is connected with a signal input end of the light source (2.1), and an optical axis of the light source (2.1) is coaxial with an optical signal input end of the structured light generation module (2.2);
the controller (5) is used for controlling the light source (2.1) to emit white light, and the white light emitted by the light source (2.1) irradiates the structural light generation module (2.2);
the structured light generation module (2.2) is used for filtering the white light to form required 3D imaging structured light, and the 3D imaging structured light is used for irradiating the surface of a target object in the alimentary canal to form a 3D imaging light band;
the imaging subsystem (3) is used for imaging a 3D imaging optical band on the surface of a target object in the alimentary canal.
2. The structured-light based 3D stereoscopic imaging capsule endoscopic system of claim 1, wherein: the capsule shell (1) is formed by connecting a transparent half shell (1.1) of the upper half part and a non-transparent half shell (1.2) of the lower half part into a whole.
3. the structured light-based 3D stereoscopic imaging capsule endoscope system according to claim 2, wherein the included angle α between the light-emitting surface of the structured light generating module (2.2) and the axis of the capsule housing (1) is 0-45 °.
4. The structured light based 3D stereoscopic imaging capsule endoscopic system of claim 3, wherein: the light outlet of the structured light generation module (2.2) faces the transparent half-shell (1.1), and the light outlet of the lighting device (4) faces the transparent half-shell (1.1).
5. The structured light based 3D stereoscopic imaging capsule endoscopic system of claim 3, wherein: the structured light generation module (2.2) is formed by alternately arranging a plurality of optical filters (2.3) and a plurality of shading baffles (2.4), and the color arrangement sequence of the optical filters (2.3) is determined according to the preset 3D imaging structured light coding sequence;
the imaging subsystem (3) is also used for transmitting imaging information to the controller (5), and the controller (5) is also used for transmitting the imaging information to the upper computer through the data transmission subsystem (6);
the upper computer is used for carrying out imaging decoding processing on imaging information by utilizing coded information corresponding to the arrangement sequence of the optical filter (2.3) and the shading baffle (2.4) in the structured light generation module (2.2), and calculating the space coordinate of the surface of the target object in 3D imaging according to the imaging decoding information;
the capsule positioning subsystem (7) is used for transmitting the obtained attitude and position information of the capsule shell (1) to the controller (5), the controller (5) is also used for transmitting the attitude and position information of the capsule shell (1) to the upper computer through the data transmission subsystem (6), and the upper computer is also used for converting the spatial coordinates of the target object in the 3D imaging into world coordinates according to the spatial coordinates of the surface of the target object in the 3D imaging and the attitude and position information of the capsule shell (1) at the moment to form point cloud data;
the capsule shell (1) is used for obtaining corresponding point cloud data at different positions in the alimentary canal;
the upper computer is also used for registering and fusing point cloud data obtained from different positions in the alimentary canal to obtain complete point cloud information, carrying out three-dimensional modeling on all the point cloud data of the entire alimentary canal and displaying a three-dimensional modeling pattern.
6. The structured-light based 3D stereoscopic imaging capsule endoscopic system of claim 5, wherein: the widths of each optical filter (2.3) and each shading baffle (2.4) are equal and less than 1 mm.
7. The structured-light based 3D stereoscopic imaging capsule endoscopic system of claim 1, wherein: the intelligent controller also comprises a data transmission subsystem (6) used for connecting an upper computer, and a communication end of the controller (5) is connected with the data transmission subsystem (6).
8. The structured-light based 3D stereoscopic imaging capsule endoscopic system of claim 1, wherein: a flexible circuit mounting plate (9) is fixed in the capsule shell (1), the flexible circuit mounting plate (9) comprises an upper horizontal flexible circuit mounting plate (9.1), a vertical flexible circuit mounting plate (9.2) and a lower horizontal flexible circuit mounting plate (9.3), the upper horizontal flexible circuit mounting plate (9.1) and the lower horizontal flexible circuit mounting plate (9.3) are connected through the vertical flexible circuit mounting plate (9.2), and the upper horizontal flexible circuit mounting plate (9.1) and the lower horizontal flexible circuit mounting plate (9.3) are parallel to the axis of the capsule shell (1);
go up horizontal flexible circuit mounting panel (9.1) and go up and install light-emitting subsystem (2), lighting device (4) and formation of image subsystem (3), install data transmission subsystem (6), capsule location subsystem (7), power (8) and controller (5) down on horizontal flexible circuit mounting panel (9.3), power (8) are respectively to light-emitting subsystem (2), formation of image subsystem (3), controller (5), data transmission subsystem (6) and the power supply of capsule location subsystem (7).
9. The structured-light based 3D stereoscopic imaging capsule endoscopic system of claim 1, wherein: the imaging subsystem (3) comprises a CMOS image sensor (3.1) and an optical lens (3.2), the optical lens (3.2) is installed at an image sensing end of the CMOS image sensor (3.1), and a signal output end of the CMOS image sensor (3.1) is connected with an imaging signal input end of a controller (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610270301.5A CN105996961B (en) | 2016-04-27 | 2016-04-27 | 3D three-dimensional imagings capsule endoscope system and method based on structure light |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610270301.5A CN105996961B (en) | 2016-04-27 | 2016-04-27 | 3D three-dimensional imagings capsule endoscope system and method based on structure light |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105996961A CN105996961A (en) | 2016-10-12 |
| CN105996961B true CN105996961B (en) | 2018-05-11 |
Family
ID=57081276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610270301.5A Active CN105996961B (en) | 2016-04-27 | 2016-04-27 | 3D three-dimensional imagings capsule endoscope system and method based on structure light |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105996961B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| GB2554354B (en) | 2016-09-21 | 2021-06-02 | Vibrant Ltd | Systems for adaptive treatment of disorders in the gastrointestinal tract |
| US11504024B2 (en) | 2018-03-30 | 2022-11-22 | Vibrant Ltd. | Gastrointestinal treatment system including a vibrating capsule, and method of use thereof |
| US10905378B1 (en) | 2017-01-30 | 2021-02-02 | Vibrant Ltd | Method for treating gastroparesis using a vibrating ingestible capsule |
| US10888277B1 (en) | 2017-01-30 | 2021-01-12 | Vibrant Ltd | Method for treating diarrhea and reducing Bristol stool scores using a vibrating ingestible capsule |
| CN107349012A (en) * | 2017-05-26 | 2017-11-17 | 重庆金山医疗器械有限公司 | A kind of modeling method and system of stomach threedimensional model |
| US12083303B2 (en) | 2019-01-21 | 2024-09-10 | Vibrant Ltd. | Device and method for delivering a flowable ingestible medicament into the gastrointestinal tract of a user |
| US11638678B1 (en) | 2018-04-09 | 2023-05-02 | Vibrant Ltd. | Vibrating capsule system and treatment method |
| US10537720B2 (en) | 2018-04-09 | 2020-01-21 | Vibrant Ltd. | Method of enhancing absorption of ingested medicaments for treatment of parkinsonism |
| US11510590B1 (en) | 2018-05-07 | 2022-11-29 | Vibrant Ltd. | Methods and systems for treating gastrointestinal disorders |
| IL283822B2 (en) | 2019-01-03 | 2024-05-01 | Vibrant Ltd | Device and method for delivering an ingestible medicament into the gastrointestinal tract of a user |
| GB201900780D0 (en) | 2019-01-21 | 2019-03-06 | Vibrant Ltd | Device and method for delivering a flowable ingestible medicament into the gastrointestinal tract of a user |
| GB201901470D0 (en) | 2019-02-04 | 2019-03-27 | Vibrant Ltd | Vibrating capsule for gastrointestinal treatment, and method of use thereof |
| CN112261399B (en) * | 2020-12-18 | 2021-03-16 | 安翰科技(武汉)股份有限公司 | Capsule endoscope image three-dimensional reconstruction method, electronic device and readable storage medium |
| CN114637871B (en) * | 2022-03-23 | 2024-08-13 | 安翰科技(武汉)股份有限公司 | Method, device and storage medium for establishing digestive tract database |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5581352A (en) * | 1994-09-22 | 1996-12-03 | Zeien; Robert | Phase shifting device with selectively activated grating generator |
| CN1636230A (en) * | 2001-09-05 | 2005-07-06 | 吉温成象有限公司 | System and method for three dimensional display of body lumens |
| CN101836852A (en) * | 2010-05-21 | 2010-09-22 | 哈尔滨工业大学 | Medical endoscope containing structured light three-dimensional imaging system |
| CN101996417A (en) * | 2009-08-18 | 2011-03-30 | 来宝株式会社 | Apparatus and method for processing 3d image |
| CN102397113A (en) * | 2010-09-10 | 2012-04-04 | 三维光子国际公司 | Method of data acquisition for three-dimensional imaging |
| CN105377109A (en) * | 2013-03-14 | 2016-03-02 | 光圈诊断有限公司 | Full-field three dimensional surface measurement |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2007059780A1 (en) * | 2005-11-28 | 2007-05-31 | 3Shape A/S | Coded structured light |
| US8422030B2 (en) * | 2008-03-05 | 2013-04-16 | General Electric Company | Fringe projection system with intensity modulating by columns of a plurality of grating elements |
| US8334900B2 (en) * | 2008-07-21 | 2012-12-18 | The Hong Kong University Of Science And Technology | Apparatus and method of optical imaging for medical diagnosis |
| US20150238276A1 (en) * | 2012-09-30 | 2015-08-27 | M.S.T. Medical Surgery Technologies Ltd. | Device and method for assisting laparoscopic surgery - directing and maneuvering articulating tool |
-
2016
- 2016-04-27 CN CN201610270301.5A patent/CN105996961B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5581352A (en) * | 1994-09-22 | 1996-12-03 | Zeien; Robert | Phase shifting device with selectively activated grating generator |
| CN1636230A (en) * | 2001-09-05 | 2005-07-06 | 吉温成象有限公司 | System and method for three dimensional display of body lumens |
| CN101996417A (en) * | 2009-08-18 | 2011-03-30 | 来宝株式会社 | Apparatus and method for processing 3d image |
| CN101836852A (en) * | 2010-05-21 | 2010-09-22 | 哈尔滨工业大学 | Medical endoscope containing structured light three-dimensional imaging system |
| CN102397113A (en) * | 2010-09-10 | 2012-04-04 | 三维光子国际公司 | Method of data acquisition for three-dimensional imaging |
| CN105377109A (en) * | 2013-03-14 | 2016-03-02 | 光圈诊断有限公司 | Full-field three dimensional surface measurement |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105996961A (en) | 2016-10-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105996961B (en) | 3D three-dimensional imagings capsule endoscope system and method based on structure light | |
| CN105942959B (en) | Capsule endoscope system and its three-D imaging method | |
| US20230324684A1 (en) | Head-mounted display for virtual and mixed reality with inside-out positional, user body and environment tracking | |
| US20160295194A1 (en) | Stereoscopic vision system generatng stereoscopic images with a monoscopic endoscope and an external adapter lens and method using the same to generate stereoscopic images | |
| CN110044300A (en) | Amphibious 3D vision detection device and detection method based on laser | |
| WO2018097831A1 (en) | Light field capture and rendering for head-mounted displays | |
| CN106456292B (en) | Systems, methods, devices for collecting color information related to an object undergoing a 3D scan | |
| CN104434001B (en) | Monocular endoscope system based on omnibearing three-dimensional stereovision | |
| CN105342561B (en) | The wearable molecular image navigation system of Wireless sound control | |
| KR101772187B1 (en) | Method and device for stereoscopic depiction of image data | |
| CN105809654A (en) | Target object tracking method and device, and stereo display equipment and method | |
| US20160073854A1 (en) | Systems and methods using spatial sensor data in full-field three-dimensional surface measurement | |
| CN104116496A (en) | Medical three-dimensional venous vessel augmented reality device and method | |
| US20150079534A1 (en) | Apparatus for imaging dental arch in oral cavity | |
| CN109668509A (en) | Based on biprism single camera three-dimensional measurement industrial endoscope system and measurement method | |
| CN107072498A (en) | Image processing apparatus, range-measurement system and endoscopic system | |
| CN106231986A (en) | Image processing apparatus | |
| WO2021115068A1 (en) | Capsule endoscope having 3d measurement function and corresponding imaging method | |
| CN109091099A (en) | The high definition miniature electronic endoscopic system of binocular vision | |
| Furukawa et al. | Calibration of a 3d endoscopic system based on active stereo method for shape measurement of biological tissues and specimen | |
| CN115919239A (en) | Imaging method for 3D endoscopic imaging system and 3D endoscopic imaging system | |
| CN110840385A (en) | Binocular 3D endoscope three-dimensional image processing method and imaging system based on single detector | |
| CN114004880A (en) | Point cloud and strong-reflection target real-time positioning method of binocular camera | |
| CN105812772A (en) | Stereo display system and method for medical images | |
| JP2006305332A (en) | Image processor and endoscope using the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180828 Address after: 200120 2F207 room 435, Chuan Qiao Road, China (Shanghai) free trade zone. Patentee after: Shanghai Sheng Kang Mdt InfoTech Ltd. Address before: 430075 666 new high tech Avenue, East Lake New Technology Development Zone, Wuhan, Hubei Patentee before: ANKON TECHNOLOGIES Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231116 Address after: 214000 floor 18, No. 2, 5300 building, Binhu District, Wuxi City, Jiangsu Province Patentee after: WUXI HUAZHUO OPTOELECTRONICS TECHNOLOGY CO.,LTD. Address before: 200120 2F207 room 435, Chuan Qiao Road, China (Shanghai) free trade zone. Patentee before: Shanghai Sheng Kang Mdt InfoTech Ltd. |