CN107361722A - Alimentary canal diagnostic equipment and capsule endoscope display image visual angle regulating method and system - Google Patents
Alimentary canal diagnostic equipment and capsule endoscope display image visual angle regulating method and system Download PDFInfo
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- CN107361722A CN107361722A CN201710507083.7A CN201710507083A CN107361722A CN 107361722 A CN107361722 A CN 107361722A CN 201710507083 A CN201710507083 A CN 201710507083A CN 107361722 A CN107361722 A CN 107361722A
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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
- A61B1/00131—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
- A61B1/04—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
- A61B1/045—Control thereof
-
- 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
Abstract
The present invention discloses a kind of capsule endoscope display image visual angle regulating method, including：Obtain current taken image and the current pose angle of capsule endoscope；The current pose angle of capsule endoscope and the difference at current demand visual angle are calculated by presetting analysis program, and adjusts the shooting visual angle of the current taken image of capsule endoscope accordingly.So, when capsule endoscope gathers image job in human body alimentary canal, the posture of capsule endoscope can be adjusted by the difference at its current pose angle and current demand visual angle, so that the shooting visual angle of the current taken image of capsule endoscope recognizes the fixed viewpoint required for its moving direction for medical personnel, therefore, medical personnel can accurately, clearly judge the movement locus of capsule endoscope according to the shooting image of capsule endoscope, ensure that capsule endoscope moves along predetermined direction.Invention additionally discloses a kind of capsule endoscope display image visual angle adjustment system and a kind of alimentary canal diagnostic equipment, its advantage are as described above.
Description
Technical field
The present invention relates to Medical Devices and technical field of image processing, in more particularly to a kind of capsule of alimentary canal diagnostic equipment
Sight glass display image visual angle regulating method.The invention further relates to a kind of capsule endoscope display image visual angle of alimentary canal diagnostic equipment
Adjustment system and a kind of alimentary canal diagnostic equipment.
Background technology
With the development of micro photo-electro-mechanical technology, robot technology, wireless communication technology, Medical Instruments start to miniaturization,
Intelligent, woundless diagnosis direction is developed, and electronic capsule is increasingly becoming study hotspot.
Capsule endoscope is greatly expanded the digestive tract examining visual field of doctor, has filled up gastroscope, the blind area of enteroscopy,
Solves disease of intestine for many years and problem that intestines and stomach are occulted blood in terms of diagnosis.Compared with conventional medical endoscope, peeped in capsule
Mirror have the advantages that it is simple to operate, check convenience, hurtless measure, no pain, without cross-infection, do not influence the normal work of patient,
Especially there is very high diagnostic value to small intestine dubiety lesion, revolution and the side of the development of 21 century endoscope are described as by medical field
To.
The active controllable type capsule endoscope system of external magnetic field type of drive is widely used at present, and the system includes built-in
Permanent magnet in capsule endoscope coats Permanent-magnet layer, and external magnetic field device on capsule endoscope outer surface, and this is outer
Portion's magnetic field device can use can be by the magnetic head arm of manual control, or can also use three axle Helmholtz coils, leads to
The universal Rotating with Uniform field drives capsule endoscope for crossing the three axles Helmholtz coil is rolled, pitching, driftage and advance
Deng motion.
After capsule endoscope is swallowed, with it is gastral motion advance, to by way of alimentary canal chamber section be continuously shot,
And the picture of shooting is sent in the recorder of patient's carrying in real time in a manner of wireless signal and carries out record storage.Check
Afterwards, image data is downloaded to image processing software and analyzed by doctor, provides diagnosis report.When capsule is in Gastric retention,
Doctor can be by controlling capsule to be moved to predetermined position with external magnetic field in vitro.
When capsule is inside alimentary canal, doctor can control the movement of capsule by changing external magnetic field, but need glue
Capsule is in the shooting of fixed position, and when capsule hovers over stomach etc., due to gravity and magnetic fields, each freedom can occur for camera lens
The skew of degree, when doctor is using external magnetic field dragging capsule, due to the skew of image, whether doctor can not recognize capsule
Move in the predetermined direction.
Therefore, how when using capsule endoscope, medical personnel are made accurately, clearly to judge the motion of capsule endoscope
Track, ensure that capsule endoscope moves along predetermined direction, be those skilled in the art's technical problem urgently to be resolved hurrily.
The content of the invention
It is an object of the invention to provide a kind of capsule endoscope display image visual angle regulating method of alimentary canal diagnostic equipment, energy
It is enough medical personnel accurately, is clearly judged the movement locus of capsule endoscope when using capsule endoscope, ensure in capsule
Sight glass moves along predetermined direction.It is a further object of the present invention to provide a kind of capsule endoscope display image of alimentary canal diagnostic equipment
Visual angle adjusts system and a kind of alimentary canal diagnostic equipment.
In order to solve the above technical problems, the present invention provides a kind of capsule endoscope display image visual angle regulating method, including：
Obtain current taken image and the current pose angle of capsule endoscope；
The current pose angle of the capsule endoscope and the difference at current demand visual angle are calculated by presetting analysis program, and
The shooting visual angle of the current taken image of the capsule endoscope is adjusted accordingly.
Preferably, the current pose angle of the capsule endoscope is obtained, is specifically included：
The current acceleration of the capsule endoscope is detected, and passes through formula
Calculate the current angle of pitch of the capsule endoscope；
Pass through formula
Calculate the current yaw angle of the capsule endoscope；
Pass through formula
Calculate the current roll angle of the capsule endoscope；
Wherein, Ax is projected length of the current acceleration of the capsule endoscope in x-axis in preset coordinate system, Ay
For projected length of the current acceleration in y-axis in preset coordinate system of the capsule endoscope, Az is to be peeped in the capsule
Projected length of the current acceleration of mirror in the z-axis in preset coordinate system.
Preferably, the shooting visual angle of the current taken image of the capsule endoscope is adjusted, is specifically included：
Institute is controlled by the relative position relation for the permanent magnet for changing external magnetic field and being arranged in the capsule endoscope
State the attitude angle of capsule endoscope.
Preferably, after the shooting visual angle for adjusting the current taken image of the capsule endoscope, in addition to：
Judge whether the attitude angle after the capsule endoscope adjustment and the difference at current demand visual angle are in tolerance zone
It is interior, if it is not, then continuing to adjust the shooting visual angle of the current taken image of the capsule endoscope.
Preferably, the current taken image of capsule endoscope is obtained, is specifically included：
By the capsule endoscope gather human body alimentary canal in image, and according to preset format pack framing after pass through
Wireless communication mode is sent to work station and shown.
The present invention also provides a kind of capsule endoscope display image visual angle adjustment system, including：
Image collection module, for obtaining the current taken image of capsule endoscope；
Posture acquisition module, for obtaining the current pose angle of the acquisition capsule endoscope；
Dip countion module, for the current pose angle by the default analysis program calculating capsule endoscope and currently
The difference of Requirement；
Visual angle adjusting module, for adjusting working as the capsule endoscope according to the result of calculation of the Dip countion module
The shooting visual angle of preceding shooting image.
Preferably, the posture acquisition module, which specifically includes, is arranged in the capsule endoscope, for detecting its acceleration
The acceleration transducer of degree, and be connected with the acceleration transducer signals, for passing through preset formula according to its detected value
Calculate the angle calculation module of the attitude angle of the capsule endoscope.
Preferably, described image acquisition module, which specifically includes, is arranged in the capsule endoscope, disappears for gathering human body
Change the shooting part of image in road, and be connected with the shooting part signal, for the view data that is collected it by
Packed according to preset format and the wireless communication module that work station shows is sent to by wireless communication mode after framing.
The present invention also provides a kind of alimentary canal diagnostic equipment, including for gathering the capsule endoscope of image in human body alimentary canal
With the magnetic field controller for controlling the capsule endoscope to be moved in human body alimentary canal, and for showing in the capsule
The work station of sight glass shooting image, wherein, it is provided with the work station and is peeped as described above in the capsule any one of three
Mirror display image visual angle adjusts system.
Capsule endoscope display image visual angle regulating method provided by the present invention, mainly include two steps, be respectively：
Obtain current taken image and the current pose angle of capsule endoscope；The capsule endoscope is calculated by presetting analysis program
The difference at current pose angle and current demand visual angle, and the shooting for adjusting the current taken image of the capsule endoscope accordingly regards
Angle.Wherein, in a first step, when capsule endoscope is run in human body alimentary canal, by continuous shooting image, therefore first
The current taken image of capsule endoscope can be obtained；Meanwhile capsule endoscope is in human body alimentary canal when running, in gravity and magnetic
Attitude offsets occur for the effects such as field, accurately to judge its attitudes vibration in human body alimentary canal, therefore can obtain in capsule and peep
The current pose angle of mirror.In second step, whether medical personnel are to accurate judgement capsule endoscope along preset direction
, it is necessary to which the visual angle of capsule endoscope is adjusted into a readily discernible fixed viewpoint first, the visual angle is currently to need for movement
Ask visual angle.Therefore, in this step, current pose angle and the current demand of capsule endoscope can be calculated by presetting analysis program
The difference at visual angle, then the posture of capsule endoscope is adjusted further according to the difference, and then adjusts working as capsule endoscope
The shooting visual angle of preceding shooting image, the shooting visual angle being at required for medical personnel.In this way, capsule provided by the present invention
Endoscope display image visual angle regulating method, when capsule endoscope gathers image job in human body alimentary canal, it can be passed through
Current pose angle and the posture of the difference regulation capsule endoscope at current demand visual angle so that the current shooting figure of capsule endoscope
As shooting visual angle for medical personnel recognize its moving direction required for fixed viewpoint, in this way, medical personnel can be according to glue
The shooting image of intracapsular sight glass is accurate, clearly judges the movement locus of capsule endoscope, ensures capsule endoscope along predetermined party
To movement.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of flow chart of embodiment provided by the present invention；
Fig. 2 is a kind of module map of embodiment provided by the present invention.
Wherein, in Fig. 2：
Image collection module -1, shooting part -101, wireless communication module -102, attitude determination module -2, accelerate
Spend sensor -201, angle calculation module -202, Dip countion module -3, visual angle adjusting module -4.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Fig. 1 is refer to, Fig. 1 is a kind of flow chart of embodiment provided by the present invention.
In a kind of embodiment provided by the present invention, capsule endoscope display image visual angle regulating method is main
To include two steps, be respectively：Obtain current taken image and the current pose angle of capsule endoscope；Pass through default parsing journey
Sequence calculates the current pose angle of the capsule endoscope and the difference at current demand visual angle, and adjusts the capsule endoscope accordingly
Current taken image shooting visual angle.
Wherein, in a first step, when capsule endoscope is run in human body alimentary canal, by continuous shooting image, because
This can obtain the current taken image of capsule endoscope first；Meanwhile capsule endoscope is in human body alimentary canal when running, in weight
Attitude offsets occur for the effect such as power and magnetic field, accurately to judge its attitudes vibration in human body alimentary canal, therefore can obtain glue
The current pose angle of intracapsular sight glass.
In second step, whether medical personnel move along preset direction to accurate judgement capsule endoscope, need
The visual angle of capsule endoscope is adjusted to a readily discernible fixed viewpoint first, the visual angle is current demand visual angle.
Therefore, in this step, the current pose angle and current demand visual angle of capsule endoscope can be calculated by presetting analysis program
Difference, then the posture of capsule endoscope is adjusted further according to the difference, and then adjusts the current shooting of capsule endoscope
The shooting visual angle of image, the shooting visual angle being at required for medical personnel.
In this way, the capsule endoscope display image visual angle regulating method that the present embodiment is provided, when capsule endoscope is in people
In body alimentary canal during collection image job, capsule endoscope can be adjusted by the difference at its current pose angle and current demand visual angle
Posture so that the shooting visual angle of the current taken image of capsule endoscope is required for medical personnel recognize its moving direction
Fixed viewpoint, in this way, medical personnel can it is accurate according to the shooting image of capsule endoscope, clearly judge capsule endoscope
Movement locus, ensure that capsule endoscope moves along predetermined direction.
Specifically, when obtaining the current taken image of capsule endoscope, human body can be gathered by capsule endoscope first
Image in alimentary canal, it is then again that the view data of collection is real according to work station progress is sent to after preset format packing framing
When display output.Because operation of capsule endoscope is in human body, it is preferred that capsule endoscope can be by the figure after the completion of processing
As data by wireless communication mode are sent to work station.Such as capsule endoscope can be communicated by WIFI or 3G etc. mode to
The external world sends data.
When obtaining the current pose angle of capsule endoscope, can be calculated by way of the acceleration for detecting capsule endoscope
Its attitude angle, the attitude angle are the angle of pitch, yaw angle and the roll angle of capsule endoscope.Wherein, pitching angle theta can be by following
Formula is calculated：
Yaw angle ψ can be calculated by following formula：
Roll angle φ can be calculated by following formula：
Wherein, Ax is projected length of the acceleration of capsule endoscope in the x-axis in preset coordinate system, and Ay is in capsule
Projected length of the acceleration of sight glass in the y-axis in preset coordinate system, Az are the acceleration of capsule endoscope in preset coordinate
The projected length in z-axis in system.Peeped in the capsule that the preset coordinate system is typically set up by medical personnel according to actual environment
Depending on the operating environment of mirror.
Certainly, the attitude angle assay method of capsule endoscope is not limited in the mode above by acceleration transducer,
Remaining such as can equally realize capsule endoscope by modes such as triple axle acceleration detection instrument, angular speed instrument and gyroscopes
Attitude angle determines.
In addition, when adjusting the shooting visual angle of current taken image of capsule endoscope, specifically can be by changing outside magnetic
The relative position relation of permanent magnet of the field with being set in capsule endoscope controls the attitude angle of capsule endoscope.Meanwhile medical care people
Member also can be by operating external magnetic field, and driving capsule endoscope moves in alimentary canal.
Moreover, in order to improve the shooting visual angle degree of regulation of the shooting image of capsule endoscope, capsule is being adjusted
After the shooting visual angle of the current taken image of endoscope, feedback element can be also set up.
Specifically, the attitude angle after the completion of capsule endoscope adjustment can be determined first, then the attitude angle is calculated with currently needing
The difference at visual angle is sought, and judges the difference whether in tolerance zone, if it is, the shooting visual angle of explanation capsule endoscope
It is adjusted in place, Adjustment precision is higher, without being modified；If it is not, then explanation capsule endoscope shooting visual angle adjustment less than
Position is, it is necessary to be modified, in this way, then needing to continue to adjust the shooting visual angle of the current taken image of capsule endoscope, until adjustment
The attitude angle of capsule endoscope afterwards is in tolerance zone with the difference at current demand visual angle.
The present embodiment also provides a kind of capsule endoscope display image visual angle adjustment system, mainly including image collection module
1st, attitude determination module 2, Dip countion module 3 and visual angle adjusting module 4.
Wherein, image collection module 1 is mainly used in obtaining the current taken image of capsule endoscope, attitude determination module 2
It is mainly used in obtaining the current pose angle of the acquisition capsule endoscope, Dip countion module 3 is mainly used in by default parsing
Program calculates the current pose angle of the capsule endoscope and the difference at current demand visual angle, and visual angle adjusting module 4 is mainly used in
The shooting visual angle of the current taken image of the capsule endoscope is adjusted according to the result of calculation of the Dip countion module 3.
In a kind of preferred embodiment on image collection module 1, the image collection module 1 specifically includes image pickup part
Part 101 and wireless communication module 102.Wherein, shooting part 101 is arranged in capsule endoscope, is mainly used in collection human body and is disappeared
Change the image in road.Wireless communication module 102 is connected with the signal of shooting part 101, is mainly used in being gathered shooting part 101
To view data according to preset format pack framing after be sent to work station carry out output display, certainly, wireless communication module
102 mainly outwardly send data by wireless communication mode.
In a kind of preferred embodiment on attitude determination module 2, the attitude determination module 2 specifically includes acceleration
Sensor 201 and angle calculation module 202.Wherein, the acceleration transducer 201 is arranged in capsule endoscope, is mainly used in
Detect the acceleration of capsule endoscope.And angle calculation module 202 is connected with the signal of acceleration transducer 201, it is mainly used in root
The attitude angle of capsule endoscope, i.e. its angle of pitch, yaw angle and roll angle are calculated by preset formula according to its detected value.
The present embodiment also provides a kind of alimentary canal diagnostic equipment, main to include being used for the capsule for gathering image in human body alimentary canal
Endoscope, peeped for the magnetic field controller for controlling capsule endoscope to be moved in human body alimentary canal, and for showing in capsule
The work station of mirror shooting image, wherein, capsule sight glass display image visual angle adjustment system, the system are provided with the work station
Identical with above-mentioned related content, here is omitted.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (9)
- A kind of 1. capsule endoscope display image visual angle regulating method, it is characterised in that including：Obtain current taken image and the current pose angle of capsule endoscope；The current pose angle of the capsule endoscope and the difference at current demand visual angle are calculated by presetting analysis program, and accordingly Adjust the shooting visual angle of the current taken image of the capsule endoscope.
- 2. capsule endoscope display image visual angle regulating method according to claim 1, it is characterised in that obtain the glue The current pose angle of intracapsular sight glass, is specifically included：The current acceleration of the capsule endoscope is detected, and passes through formula<mrow> <mi>&theta;</mi> <mo>=</mo> <msup> <mi>tan</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <mfrac> <msub> <mi>A</mi> <mi>x</mi> </msub> <msqrt> <mrow> <msup> <msub> <mi>A</mi> <mi>y</mi> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>A</mi> <mi>z</mi> </msub> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> <mo>)</mo> </mrow> </mrow>Calculate the current angle of pitch of the capsule endoscope；Pass through formula<mrow> <mi>&psi;</mi> <mo>=</mo> <msup> <mi>tan</mi> <mrow> <mo>-</mo> <mn>1</mn> </mrow> </msup> <mrow> <mo>(</mo> <mfrac> <msub> <mi>A</mi> <mi>y</mi> </msub> <msqrt> <mrow> <msup> <msub> <mi>A</mi> <mi>x</mi> </msub> <mn>2</mn> </msup> <mo>+</mo> <msup> <msub> <mi>A</mi> <mi>z</mi> </msub> <mn>2</mn> </msup> </mrow> </msqrt> </mfrac> <mo>)</mo> </mrow> </mrow>Calculate the current yaw angle of the capsule endoscope；Pass through formulaCalculate the current roll angle of the capsule endoscope；Wherein, Ax is projected length of the current acceleration of the capsule endoscope in the x-axis in preset coordinate system, and Ay is institute Projected length of the current acceleration of capsule endoscope in the y-axis in preset coordinate system is stated, Az is the capsule endoscope Projected length of the current acceleration in the z-axis in preset coordinate system.
- 3. capsule endoscope display image visual angle regulating method according to claim 2, it is characterised in that adjust the glue The shooting visual angle of the current taken image of intracapsular sight glass, is specifically included：The glue is controlled by the relative position relation for the permanent magnet for changing external magnetic field and being arranged in the capsule endoscope The attitude angle of intracapsular sight glass.
- 4. capsule endoscope display image visual angle regulating method according to claim 3, it is characterised in that adjust the glue After the shooting visual angle of the current taken image of intracapsular sight glass, in addition to：Judge whether the attitude angle after the capsule endoscope adjustment and the difference at current demand visual angle are in tolerance zone, such as Fruit is no, then continues to adjust the shooting visual angle of the current taken image of the capsule endoscope.
- 5. capsule endoscope display image visual angle regulating method according to claim 4, it is characterised in that obtain in capsule The current taken image of sight glass, is specifically included：By the capsule endoscope gather human body alimentary canal in image, and according to preset format pack framing after by wireless Communication modes are sent to work station and shown.
- 6. a kind of capsule endoscope display image visual angle adjusts system, it is characterised in that including：Image collection module, for obtaining the current taken image of capsule endoscope；Attitude determination module, for obtaining the current pose angle of the acquisition capsule endoscope；Dip countion module, for calculating current pose angle and the current demand of the capsule endoscope by presetting analysis program The difference at visual angle；Visual angle adjusting module, for adjusting the current bat of the capsule endoscope according to the result of calculation of the Dip countion module Take the photograph the shooting visual angle of image.
- 7. capsule endoscope display image visual angle according to claim 6 adjusts system, it is characterised in that the posture is surveyed Cover half block specifically include be arranged in the capsule endoscope, the acceleration transducer for detecting its acceleration, and with institute State acceleration transducer signals connection, the attitude angle for calculating the capsule endoscope by preset formula according to its detected value Angle calculation module.
- 8. capsule endoscope display image visual angle according to claim 7 adjusts system, it is characterised in that described image obtains Modulus block specifically include be arranged in the capsule endoscope, the shooting part for gathering image in human body alimentary canal, and It is connected with the shooting part signal, being packed for the view data that is collected it according to preset format passes through nothing after framing Line communication modes are sent to the wireless communication module that work station is shown.
- 9. a kind of alimentary canal diagnostic equipment, including for gathering in human body alimentary canal the capsule endoscope of image and described for controlling The magnetic field controller that capsule endoscope moves in human body alimentary canal, and for showing the capsule endoscope shooting image Work station, it is characterised in that set in the work station and show figure just like the capsule endoscope described in claim any one of 6-8 As visual angle adjustment system.
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| CN110236579A (en) * | 2019-06-14 | 2019-09-17 | 湖南省华芯医疗器械有限公司 | Medical imaging direction calibration system and its calibration method |
| CN110613454A (en) * | 2019-10-09 | 2019-12-27 | 北京华亘安邦科技有限公司 | Method and system for searching position of capsule endoscope |
| CN110613454B (en) * | 2019-10-09 | 2022-07-26 | 北京华亘安邦科技有限公司 | Method and system for searching position of capsule endoscope |
| CN112372635A (en) * | 2020-10-15 | 2021-02-19 | 北京航空航天大学 | Control method and device of capsule robot, storage medium and terminal |
| CN112372635B (en) * | 2020-10-15 | 2022-04-01 | 北京航空航天大学 | Control method and device of capsule robot, storage medium and terminal |
| WO2024008042A1 (en) * | 2022-07-04 | 2024-01-11 | 安翰科技(武汉)股份有限公司 | Method for quantitatively controlling first viewing angle of capsule endoscope, system and storage medium |
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