CN107361728A - Endoscope guidance method and guider - Google Patents
Endoscope guidance method and guider Download PDFInfo
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- CN107361728A CN107361728A CN201710700157.9A CN201710700157A CN107361728A CN 107361728 A CN107361728 A CN 107361728A CN 201710700157 A CN201710700157 A CN 201710700157A CN 107361728 A CN107361728 A CN 107361728A
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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
- A61B1/005—Flexible endoscopes
- A61B1/01—Guiding arrangements therefore
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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
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
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- 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
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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
- A61B1/005—Flexible 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
- A61B1/273—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
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Optics & Photonics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Gastroenterology & Hepatology (AREA)
- Signal Processing (AREA)
- Endoscopes (AREA)
Abstract
The present invention provides a kind of endoscope guidance method and guider, and this method includes obtaining the image of endoscope camera head shooting, and carries out binary conversion treatment to acquired image, obtains the image after binaryzation；Before the center of gravity of the image after obtaining binaryzation, the image after binaryzation is cut；Obtain the center of gravity of the image after binaryzation；According to the position of centre of gravity of image, control signal is sent to endoscope electric machine controller, control signal is used to control the coiled pipe of endoscope distal end to bend.The device includes image collection module, for obtaining the image of endoscope camera head shooting；Binary conversion treatment module, for carrying out binary conversion treatment to acquired image, obtain the image after binaryzation；Image reform acquisition module, for obtaining the center of gravity of the image after binaryzation；Control signal generation module, for the position of centre of gravity according to image, control signal is sent to endoscope electric machine controller, control signal is used to control the coiled pipe of endoscope distal end to bend.The present invention can facilitate doctor to operate endoscope, and reduce endoscope touching patient and cause discomfort.
Description
Technical field
The present invention relates to endoscope control field, more particularly, to a kind of endoscope guidance method and realizes this method
Endoscope guider.
Background technology
In recent years, with the development and popularization of minimally invasive surgery, medical endoscope system is in division of respiratory disease, GI Medicine, ear nose
Larynx section etc. applies on a large scale.During using endoscopic diagnosis or treatment, it usually needs the image of observation or operative site is uploaded
Onto display, for doctor's analyzing and diagnosing.In the prior art, during such as applied to GI Medicine, hose-like endoscope passes through
Oral cavity, esophagus are observed into patient's stomach, but patient is easily sick in the stomach or different when endoscope enters the stomach of patient
The senses of discomfort such as the stomachache of degree.
In addition, the operation of this endoscope is largely dependent upon the operating experience of doctor, and needed during operation double
Hand co-operates, and doctor needs a hand push to send instrumentation tubes to enter cavity, and another hand rotational handle is to adjust front end coiled pipe
Curve angle, so as to realize the smooth entrance of endoscope.Such operating method make it that doctor is easily tired, can not concentrate note
Lesion situation in power of anticipating observation alimentary canal, and doctor's control endoscope distal end steering error is easily caused in alimentary canal and damaged.
The content of the invention
Above-mentioned in order to solve the problems, such as, the main object of the present invention is to provide a kind of endoscope for being easy to doctor to operate and is oriented to
Method.
Reduction patient does not accommodate error damage after entering patient's body it is a further object of the present invention to provide a kind of endoscope
Endoscope guider.
To realize above-mentioned main purpose, endoscope guidance method provided by the invention includes obtaining endoscope camera head bat
The image taken the photograph, and binary conversion treatment is carried out to acquired image, obtain the image after binaryzation；Obtain the image after binaryzation
Center of gravity；According to the position of centre of gravity of image, control signal is sent to endoscope electric machine controller, control signal is used to control interior peep
The coiled pipe bending of mirror front end.
One preferable scheme is, before carrying out binary conversion treatment to acquired image, adjust the image taken gray scale and/
Or contrast, wherein, adjusting the gray scale of acquired image is included the image adjustment of colour into black-white-gray image.
Further scheme is before the center of gravity of the image after acquisition binaryzation, the image after binaryzation to be cut, obtained
The center of gravity of the image after binaryzation is taken to include the center of gravity for obtaining the image after cutting.
Further scheme is that image is carried out to cut the image included by square image cropping into circle, also,
When cutting image, cavity region in image is identified, cropped image-region is the image-region beyond cavity region.
Further scheme is that control signal is what is bent for controlling the coiled pipe of endoscope distal end to center of gravity direction
Control signal.
To realize above-mentioned another object, endoscope guider provided by the invention includes image collection module, is used for
Obtain the image of endoscope camera head shooting；Binary conversion treatment module, for carrying out binary conversion treatment to acquired image, obtain
Obtain the image after binaryzation；Image reform acquisition module, for obtaining the center of gravity of the image after binaryzation；Control signal generates mould
Block, for the position of centre of gravity according to image, control signal is sent to endoscope electric machine controller, control signal is used to control interior peep
The coiled pipe bending of mirror front end.
Endoscope guidance method provided by the invention can automatically calculate and obtain the position of centre of gravity of image, so as to automatic
Control endoscope coiled pipe to position of centre of gravity bend, so, doctor is when operating endoscope, it is not necessary to is controlled by handle
The bending of the coiled pipe of endoscope, it is only necessary to which endoscope is promoted patient's body by a hand, so as to greatly reduce doctor behaviour
The difficulty and degree of fatigue of work, so it is effective avoid because doctor's operational error and caused by patient secondary damage.
Also, handled when obtaining image reform by carrying out gray scale regulation and binaryzation etc. to image so that image
In the image in cavity region clearly shown that now calculate the center of gravity of image again, the center of gravity of the image obtained is usual
It is the center of cavity, so may insure that center of the coiled pipe along cavity is advanced, will not be touched because of endoscope
Patient's cavity and cause interior damage.In addition, also image is cut before calculating image reform, such as by image cropping into circle,
Picture shape after reducing is consistent with effective imaging region of imaging sensor, can so be advantageous to the meter of image reform
Calculate, reduce amount of calculation, improve computational efficiency.
In addition, the control signal sent to endoscope controlled motor is that the coiled pipe of endoscope distal end is curved to position of centre of gravity
Song, so, when doctor promote coiled pipe when, it can be ensured that direction of advance center curvature from coiled pipe to cavity and advance.
Brief description of the drawings
Fig. 1 is the flow chart of endoscope guidance method embodiment of the present invention.
Fig. 2 is using the image captured by endoscope guidance method embodiment of the present invention.
Fig. 3 is that the image after gray scale regulation is carried out to image using endoscope guidance method embodiment of the present invention.
Fig. 4 is to carry out the image after binary conversion treatment to image using endoscope guidance method embodiment of the present invention.
Fig. 5 is the image after being cut using endoscope guidance method embodiment of the present invention to image.
Fig. 6 is the structured flowchart of endoscope guider embodiment of the present invention.
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment
The endoscope guidance method of the present invention is applied in the controller unit of endoscope, and endoscope has a main body, and
The front end of main body is provided with coiled pipe, and coiled pipe can be bent under the control signal that controlled motor is sent.When coiled pipe is bent
Afterwards, when doctor promotes coiled pipe, endoscope advances the direction bent according to coiled pipe.In addition, set in the front end of endoscope
There is a camera, camera is used for the image for shooting patient's body, for example, when endoscope enters stomach, esophagus of patient etc.
When in cavity, camera says that the image of shooting is the image of the cavities such as stomach, esophagus.
Therefore, the control to endoscope is, it is necessary to set an image recognition main frame and electric machine controller, image recognition master
Machine is used to the image captured by camera is identified and handled, and sends control signal to electric machine controller, and electric
Machine controller is then used to send control signal to the controlled motor of coiled pipe, so as to control the action of coiled pipe controlled motor, enters
And the bending of coiled pipe is controlled, change the direction of advance of endoscope.
The endoscope guider of the present invention is the computer program operated on image recognition main frame, above-mentioned for realizing
Endoscope guidance method.
Below by taking gastroscope as an example, method that endoscope is introduced with reference to Fig. 1.First, doctor by endoscope from the oral cavity of patient
Or nasal cavity is advanced to patient's body, now, the image of the camera shooting patient's body cavity of endoscope distal end is arranged on, that is, is held
Row step S1.Endoscope enter patient's body before, doctor open endoscope camera, camera by lasting shooting photo simultaneously
And image is obtained, acquired image is as shown in Figure 2.Generally, camera is colour imagery shot, and the image of acquisition is typically colour
Image.Shown in Fig. 2 is the image of one section of cavity of patient, and the deeper region of the color wherein on the left of image is the front of cavity.
In order to more accurately obtain the center of gravity of image, it is necessary to handle image, gray scale, the contrast of image are such as adjusted
Spend and the image to image progress binaryzation and to binaryzation is cut etc., therefore, it is necessary first to by the image of colour
The regulation of gray scale and contrast is carried out, that is, performs step S2.
In the present embodiment, the gray scale of image is adjusted, can will be image of the colored image adjustment into black-white-gray originally, adjust
While saving gradation of image, the contrast of image, or the individually contrast of regulation image can also be adjusted so that the color of image
Coloured silk contrast is more obvious, is advantageous to subsequently carry out image the operation of binaryzation.Gray scale and contrast are carried out to Fig. 2 image
Image after regulation is as shown in Figure 3.It can be seen from figure 3 that after carrying out gray scale and contrast adjustment, the color contrast of image is brighter
It is aobvious.
Then, step S3 is performed, binaryzation is carried out to image, that is, converts images into only black and white two kinds of face
The image of color.The binarization of image is the numerical value and white pixel using the pixel of black by each pixel in image
Numerical approximation analog image, so that image only has black and white two kinds of colors.Image such as Fig. 4 institutes after binaryzation
Show, as seen from Figure 4, the later image of binaryzation only has black and white two kinds of colors, and large stretch of connect is formd in image
White color lump and the black color lump of piece.
Then, step S4 is performed, image is cut.The purpose cut to image is a reservation imaging sensor
The image of effective imaging region, because imaging sensor is generally all square, but camera lens is circular, in order to comply with doctor
Observation habit, and also to make image within the vision apparent, generally the inscribed circle region of imaging sensor is determined
Justice is effective imaging region.It is of course also possible to effective imaging region using other shapes such as hexagons as imaging sensor.
In the present embodiment, as shown in figure 5, the image after cutting is circular image, that is, the shape of the image after cutting with
The shape of effective imaging region is consistent acquired in endoscope distal end camera, therefore under the cutting of effective imaging region during reduction
Come.Preferably, the image after cutting includes the region of cavity in image, is cavity in order to obtain the center of gravity of image
Center, in order to which coiled pipe is using cavity center as the direction advanced.
Therefore, before image is cut, it is necessary first to determine the region of cavity in image.Because the color in cavity region is usual
Relatively deep, the later image of binaryzation is typically the color lump of a sheet of black, therefore, can be by two-value before image cropping
The distribution for changing later image color lump determines cavity region is located at which region of image, avoids cutting out the region when cutting image
Cut.
Or before binaryzation is carried out to image, state as shown in Figure 3, the deeper region of color is usual in image
It is the region where cavity, therefore the region where cavity region can be determined by the image before binaryzation.
Or a cavity image data base is established, the image in a variety of different cavity regions is stored in the data
In storehouse, before cutting image, enter by obtaining the data of the cavity image data base, and with the image currently after binaryzation
Row contrast, and then judge which region in image is the image-region where cavity, it also can interpolate that out the cavity institute in image
Region.
After determining the region where cavity, image is cut, for example, it is determined that cavity region beyond
Region, the frame of a circular is established, then by the image cropping beyond the circular frame, so as to obtain a circular figure
Picture.Also, it is necessary to which whether the region where judging cavity is completely retained in the image after cutting after cutting image, if
Region where cavity is cut, that is, the image after cutting does not retain the image of complete cavity region, then needs
Image is cut again, i.e., cut again with the later image of binaryzation.
Certainly, the image after cutting is not necessarily the image of circle, can be the figure of the image of other shapes, such as square
As or the image of ellipse, the image etc. of regular hexagon, also, the shape of the image after cutting can be according to cavity region
General profile determines, for example, the profile in cavity region is generally circular or oval, then the image after cutting is defined as justifying
Shape, if the profile in cavity region is generally rectangular shaped, the image after cutting can be the shapes such as rectangle.
Then, step S5 is performed, obtains the center of gravity of image.When calculating the center of gravity for obtaining image, according to the figure after binaryzation
Center of gravity as calculating image, for example, determining figure according to the color lump distribution situation of the image after cutting when calculating the center of gravity of image
As the deviation situation of black picture element.It is as shown in Figure 5, because black picture element is mainly distributed on the lower left of image, then image
Center of gravity should also be located at the lower left of image.A kind of computational methods for calculating image reform are to be by the quality settings of black color dots
1, it is 0 by the quality settings of white point, the center of gravity of whole region is calculated by algorithm.It is as shown in Figure 5, calculate the image of acquisition
Center of gravity is located at the position where tracking cross in Fig. 5.
Finally, the center of gravity of the image obtained according to calculating, generates control signal, and the control signal is that control endoscope is snakelike
The control signal of pipe bending direction.By coiled pipe is controlled by controlled motor, therefore, the weight of image recognition Framework computing image
After the heart, according to the direction of current coiled pipe sensing, generation control coiled pipe points to the control signal of image reform, and will control
Signal is transmitted to electric machine controller, after electric machine controller receives the control signal, by control coiled pipe bending so that coiled pipe
Bending direction face image center of gravity.
Because the center of gravity of image is cavity center, after center of gravity bending of the coiled pipe towards image, in doctor's propulsion
When sight glass advances, endoscope will advance to the center position of cavity, so as to avoid endoscope from touching patient's cavity when advancing
Inwall and the damage for causing patient.
Endoscope guider is introduced with reference to Fig. 6.The present embodiment has image collection module 20, image adjustment module
21st, binary conversion treatment module 22, image cropping module 23, image reform acquisition module 24 and control signal generation module 25.
Wherein, image collection module 20 is used to obtain the image captured by the camera of endoscope distal end, and image is sent into figure
As identification main frame.
Image adjustment module 21 is used to the image acquired in image collection module 20 be adjusted, such as the ash to image
Degree, contrast are adjusted, when the gray scale of image is adjusted, image that can be by the image adjustment of colour into black-white-gray,
When the contrast of image is adjusted, the contrast of the color of different colours in image can be increased, so that image
The contrast of color is more obvious.
Binary conversion treatment module 22 is used to enter the image after the gray scale of image, contrast adjustment image adjustment module 21
Row binary conversion treatment, i.e., black-white-gray image is converted into black white image, such as the pixel value of each pixel is adjusted to black picture
The pixel value of element or the pixel value of white pixel, so as to convert images into the image of only black and white.
Image cropping module 23 is used to cut image, for example, the image after cutting is circular image, that is, cuts
The shape of image afterwards is consistent with the shape of effectively imaging region acquired in endoscope distal end camera.Certainly, image is carried out
During cutting, it is impossible to cavity region in image is cut, therefore to needing to identify cavity region in image before image cropping,
Needs avoid being cropped to the region of cavity in image when cutting image, therefore the region beyond cavity region can only be cut out
Cut.
Because cavity region is typically black color lump in flakes, therefore, during to image cropping it can identify in image exist
Black color lump in flakes, or go out according to the image recognition before binaryzation the region of cavity in image, so that it is guaranteed that will not
Cavity region is cropped.Also, the image after cutting can be circular image or ellipse, square image,
It can specifically be determined according to the profile in cavity region.
Image reform acquisition module 24 is used for the center of gravity for obtaining the image after cutting, such as according to the distribution feelings of color lump in image
Condition, determine image reform position, it is determined that image reform should be center positioned at cavity region.Finally, image recognition
Main frame generates control signal according to the center of gravity of acquired image, i.e., generates control signal by control signal generation module 25, should
Control signal is transferred into electric machine controller, for controlling the motor of coiled pipe to work, so as to drive the bending of coiled pipe so that
Coiled pipe points to image reform position, that is, the center for making coiled pipe point to cavity.
When doctor promotes endoscope to advance, because coiled pipe points to the center of cavity, therefore can avoid because of doctor
Raw operational error and the inwall that causes endoscope to touch cavity and cause the discomfort of patient.Further, since the snake of endoscope
Shape pipe has been directed at the center of cavity automatically, and doctor does not need a hand propelled endoscope to advance when operating endoscope, another
Hand needs the bending of operation handle regulation coiled pipe, can greatly reduce the difficulty of doctor's operation, reduces the fatigue of doctor's operation
Degree.
Certainly, above-described embodiment is only the preferred embodiment of the present invention, and during practical application, the present invention is also more
Change, for example, when calculating image reform, can be calculated using not clipped image, or binaryzation is carried out to image
Before, the gray scale and contrast of image are not adjusted, such change can also realize the purpose of the present invention.
Claims (10)
1. endoscope guidance method, it is characterised in that：Including
The image of endoscope camera head shooting is obtained, and binary conversion treatment is carried out to acquired image, after obtaining binaryzation
Image；
Obtain the center of gravity of the image after the binaryzation；
According to the position of centre of gravity, control signal is sent to endoscope electric machine controller, the control signal is used to control interior peep
The coiled pipe bending of mirror front end.
2. endoscope guidance method according to claim 1, it is characterised in that：
Before carrying out binary conversion treatment to acquired image, the gray scale and/or contrast of acquired image are adjusted, wherein, adjust
The gray scale of the acquired image of section is included the image adjustment of colour into black-white-gray image.
3. endoscope guidance method according to claim 1 or 2, it is characterised in that：
Before the center of gravity for obtaining the image after the binaryzation, the image after the binaryzation is cut, obtains the two-value
The center of gravity of image after change includes the center of gravity for obtaining the image after cutting.
4. endoscope guidance method according to claim 3, it is characterised in that：
When carrying out cutting the image included by square image cropping into circle to image, also, cutting image, identify in image
Cavity region, cropped image-region are the image-region beyond the cavity region.
5. endoscope guidance method according to claim 1 or 2, it is characterised in that：
The control signal is the control signal for controlling the coiled pipe of endoscope distal end to be bent to the center of gravity direction.
6. endoscope guider, including
Image collection module, for obtaining the image of endoscope camera head shooting；
Binary conversion treatment module, for carrying out binary conversion treatment to acquired image, obtain the image after binaryzation；
Image reform acquisition module, for obtaining the center of gravity of the image after the binaryzation；
Control signal generation module, it is described for according to the position of centre of gravity, control signal to be sent to endoscope electric machine controller
Control signal is used to control the coiled pipe of endoscope distal end to bend.
7. endoscope guider according to claim 6, it is characterised in that also include：
Image adjustment module, before carrying out binary conversion treatment to acquired image, adjust acquired image gray scale and/
Or contrast, wherein, adjusting the gray scale of acquired image is included the image adjustment of colour into black-white-gray image.
8. the endoscope guider according to claim 6 or 7, it is characterised in that also include：
Image cropping module, before the center of gravity for the image after the binaryzation is obtained, the image after the binaryzation is entered
Row is cut, and obtains the center of gravity that the center of gravity of the image after the binaryzation includes obtaining the image after cutting.
9. endoscope guider according to claim 8, it is characterised in that：
Described image cuts module and image is carried out to cut the image included by square image cropping into circle, also, cuts
During image, cavity region in image is identified, cropped image-region is the image-region beyond the cavity region.
10. the endoscope guider according to claim 6 or 7, it is characterised in that：
The control signal that the control signal generation module is generated is for controlling the coiled pipe of endoscope distal end to institute
State the control signal of center of gravity direction bending.
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| CN201710700157.9A CN107361728A (en) | 2017-08-16 | 2017-08-16 | Endoscope guidance method and guider |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110720882A (en) * | 2019-10-16 | 2020-01-24 | 深圳开立生物医疗科技股份有限公司 | Endoscope system and endoscope operation control method |
| US10646288B2 (en) | 2017-04-12 | 2020-05-12 | Bio-Medical Engineering (HK) Limited | Automated steering systems and methods for a robotic endoscope |
| CN111973134A (en) * | 2020-08-06 | 2020-11-24 | 江苏势通生物科技有限公司 | Method for aligning test body to channel to be tested based on vision, navigation method and system |
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| US20040199053A1 (en) * | 2003-04-01 | 2004-10-07 | Scimed Life Systems, Inc. | Autosteering vision endoscope |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10646288B2 (en) | 2017-04-12 | 2020-05-12 | Bio-Medical Engineering (HK) Limited | Automated steering systems and methods for a robotic endoscope |
| CN110720882A (en) * | 2019-10-16 | 2020-01-24 | 深圳开立生物医疗科技股份有限公司 | Endoscope system and endoscope operation control method |
| CN111973134A (en) * | 2020-08-06 | 2020-11-24 | 江苏势通生物科技有限公司 | Method for aligning test body to channel to be tested based on vision, navigation method and system |
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Application publication date: 20171121 |