CN109008909A - A kind of low-power consumption capsule endoscope Image Acquisition and three-dimensional reconstruction system - Google Patents
A kind of low-power consumption capsule endoscope Image Acquisition and three-dimensional reconstruction system Download PDFInfo
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- CN109008909A CN109008909A CN201810770217.9A CN201810770217A CN109008909A CN 109008909 A CN109008909 A CN 109008909A CN 201810770217 A CN201810770217 A CN 201810770217A CN 109008909 A CN109008909 A CN 109008909A
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
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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
- A61B1/00064—Constructional details of the endoscope body
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
Abstract
The invention discloses a kind of low-power consumption capsule endoscope Image Acquisition and three-dimensional reconstruction systems, including capsule endoscope body and image receiving end；Capsule endoscope body includes the first MCU control module connecting respectively with cmos image sensor, image compression module and wireless transmitter module, cmos image sensor, wireless transmitter module and MCU control module are connect with the first power management module respectively, image receiving end includes the second MCU control module connecting respectively with wireless receiving module, SD card memory module, serial communication module and USB communication module, second MCU control module is connect with second source management module, and wireless transmitter module and wireless receiving module are bidirectional wireless communication module.System Image Acquisition perfect in shape and function of the invention, volume compact, system the operation is stable can be very good to complete Image Acquisition transmission, receive, store function, and the cycle operation state write on software greatly reduces power consumption, extends System production time.
Description
Technical field
The invention belongs to Image Acquisition and processing technology field, and in particular to a kind of low-power consumption capsule endoscope figure
As acquisition and three-dimensional reconstruction system.
Background technique
Capsule endoscope relies primarily on its internal photographic device and completes the shooting of subject's in-vivo image, and passes through data
Processing unit carries out image the processing such as to compress, and is passed in vitro by wireless transmission mode, all these equipment are by capsule
Battery power supply.On the one hand, the lasting shooting enteron aisle picture of existing capsule endoscope, and send in monitoring outlay, until
Battery exhausts, such operating mode, so that entire capsule endoscope is in the state of the high power consumption of high power consumption；On the other hand, glue
Intracapsular sight glass completes the primary complete big appointment of shooting process and shoots a large amount of image, and often exists in shooting process very much
Multiimage, the presence of this multiimage wastes the limited electricity of capsule.Therefore it needs to reduce power consumption, extends in capsule and peep
Operating time；On the other hand to doctor can be made to increase work load, diagnosis and treatment efficiency is reduced.
Patent CN 102973236B discloses one kind by the way that whether detection cell voltage is less than threshold value to determine to be
The method that RF enters narrowband, interval sends low power mode of operation is wanted, there is no the repetition figures for solving capsule endoscope for this method
As problem；
Patent CN201710979327 discloses a kind of wireless capsule endoscope system that image frame per second is adaptive and frame per second
Adaptive approach, the result obtained by the first posture information of capsule endoscope and the second posture information of portable recorder
Relative motion is judged whether there is, to generate the shooting frame rate of command adapted thereto signal adjustment capsule endoscope.At present in low-power consumption
Sight glass directly carries out three-dimensional reconstruction with received picture and implements relatively difficult, current capsule endoscope there are sample frames
Rate is lower, it is passive move ahead, random shooting, cannot be to the shooting observation problem that can carry out emphasis with lesions position, and due to figure
As quantity will lead to greatly the reduction of diagnosis and treatment efficiency, therefore, the received picture of institute after low-power consumption capsule endoscope has acquired image
Direct Three-dimensional is rebuild, and is built into three-dimensional data, is directly quickly diagnosed and be necessary for doctor.
Summary of the invention
It is an object of the invention to: above-mentioned deficiency in the prior art is solved, a kind of low-power consumption capsule endoscope figure is provided
As acquisition and three-dimensional reconstruction system, the number of invalid multiimage in shooting process is reduced, the working efficiency of capsule is improved, is saved
The limited electricity of capsule reduces the diagosis quantity of doctor by the three-dimensional reconstruction in suspected abnormality region, improves diagnosis and treatment efficiency.
To achieve the goals above, the technical solution adopted by the present invention are as follows:
A kind of low-power consumption capsule endoscope Image Acquisition and three-dimensional reconstruction system, including capsule endoscope body and image connect
Receiving end；The capsule endoscope body include the first MCU control module, first MCU control module respectively with CMOS
Imaging sensor, image compression module are connected with wireless transmitter module, the wireless transmitter module and MCU control module difference
It is connect with the first power management module, the power management module is also connect with the cmos image sensor, described
Cmos image sensor further includes short-focus lens；The image receiving end include the second MCU control module, described second
MCU control module is connect with wireless receiving module, SD card memory module, serial communication module and USB communication module respectively, described
The second MCU control module also connect with second source management module, the wireless transmitter module and wireless receiving module are equal
For bidirectional wireless communication module.
Further, above-mentioned power management module includes 2.5V power supply and 1.2V power supply, the 2.5V power supply difference
It is connect with first MCU control module and wireless transmitter module, the 1.2V power supply and the cmos image sense
Device connection.
Further, the first above-mentioned MCU control module passes through the first spi bus and cmos image sensor, figure respectively
Connect with wireless transmitter module as compression module, second MCU control module pass through the second spi bus with it is described wireless
Receiving module connection, second MCU control module are connect by SDIO interface with SD card memory module.
Further, above-mentioned cmos image sensor also passes through I2C bus and connect with LED illumination module.
Further, the first above-mentioned MCU control module by single-ended Zero-ohm resistor, scheme with CMOS respectively altogether by mode
As sensor, image compression module are connected with wireless transmitter module.
Further, the signal input part of above-mentioned wireless receiving module is also connected with receiving front-end amplifying unit.
A kind of low-power consumption capsule endoscope Image Acquisition and three-dimensional rebuilding method, using in a kind of above-mentioned low-power consumption capsule
Sight glass Image Acquisition and three-dimensional reconstruction system, comprising the following steps:
Step 1: capsule endoscope body is taken into vivo, and capsule endoscope body starts, the first MCU control module,
Cmos image sensor and wireless transmitter module work normally, and cmos image sensor shoots the image in enteron aisle and by wireless
Transmitting module is transmitted in image receiving end and saves；
Step 2: system carries out three-dimensional reconstruction to image.
Further, in above-mentioned step one:
When capsule endoscope body starts, cmos image sensor and LED illumination module are started to work, wireless transmitter module
In off-position；Shooting is completed and by the image compression module built in cmos image sensor by after the completion of picture compression,
Cmos image sensor and the power-off of LED illumination module, while starting wireless transmitter module and picture is sent to image receiving end；Figure
After the completion of detecting that SD card memory module saves picture as the second MCU control module in receiving end, pass through wireless transmission mould
Block notifies the first MCU control module, and after the first MCU control module is notified, control wireless transmitter module enters off-position
And control cmos image sensor and LED illumination module are started to work；
The capsule endoscope body and image receiving end repeats the above steps, and completes until image collection works.
Further, above-mentioned step two specifically:
Step 201: the image saved in image receiving end being pre-processed, pretreatment image, the pre- place are obtained
It manages highlighted retroreflective regions when taking pictures caused by the bubble including removal enteric cavity mucus and difference processing is carried out to picture noise；
Step 202: grid region division being carried out to obtained pretreatment image, according to the feature distribution parameter of grid region
The feature that number is stable and is evenly distributed is extracted, according to feature distribution value from greatly to small to grid region rearrangement；
Step 203: being worth in biggish preceding k grid region from feature distribution and extract n random character point and each pixel
Between distance be greater than preset distance threshold, then random character point is matched, obtains sequence image；
Step 204: adjacent two frame sequences image being matched, the kinematic parameter and three-dimensional of cmos image sensor are obtained
Coordinate；
Step 205: discrete three-dimensional network is constructed according to the three-dimensional coordinate of the kinematic parameter of cmos image sensor, then
It is smooth to discrete three-dimensional network progress surface, obtain focal zone reconstruction image.
Further, when matching in above-mentioned step 203 to random character point, matching effect does not reach expection if it exists
Unexpected observation, then carry out eliminating unstable characteristic processing；
If capsule endoscope body shakes the spy for causing present frame several frame images with before suddenly when running in enteron aisle
It fails to match for sign point, and is matched to the sequence image shot in several frame pictures after the current frame again, then deletes
Five frame images after present frame, only to the characteristic area three-dimensional reconstruction of suspicious lesions.
By adopting the above-described technical solution, the beneficial effects of the present invention are:
A kind of low-power consumption capsule endoscope Image Acquisition of the invention and three-dimensional reconstruction system select the MCU control of low-power consumption
Capsule endoscope body, it is disconnected to be in cmos image sensor and LED illumination after off-position-is taken pictures for radio receiving transmitting module when taking pictures
Power-off-MCU controls SD after the completion of electricity-MCU control starting wireless sending module and wireless receiving module send and receive picture
Card storage picture-MCU control starting cmos image sensor and LED illumination work, average current is significantly under cycle operation state
Reduce, low-power consumption effect is obvious.
System of the invention is made of capsule endoscope body and external image receiving end two parts.Capsule endoscope sheet
Body hardware circuit all selects the device of low-power consumption, small package as far as possible when circuit design type selecting.Capsule image receiving end energy
The mobile SD card that receives stores picture, can communicate with computer USB mouth, to copy real-time display on picture and on computers position machine software
Gained picture.
System Image Acquisition perfect in shape and function of the invention, volume compact, system the operation is stable can be very good to complete image
Acquisition sends, receives, store function, and the cycle operation state write on software greatly reduces power consumption, extends system work
Time.
Verification and measurement ratio, enteron aisle edge clear journey for the result figure of reconstruction, from smooth surface smooth degree, protrusion and recess
Whether degree compares close to real surface etc., can obviously obtain the recess that shape is different, not of uniform size, fold is in three-dimensional figure
Middle display effect is obvious, and different protrusion obtains obvious Three-dimensional Display.Meanwhile the burr zigzag phenomenon of result figure obtains
Clear-cut to improvement, edge surface smoother effectively reflects the essential characteristic inside enteron aisle.
Detailed description of the invention
Fig. 1 is Image Acquisition control flow schematic diagram of the invention.
Fig. 2 is capsule endoscope body structural schematic diagram of the invention.
Fig. 3 is image receiving end structural schematic diagram of the invention.
Fig. 4 is image capture module schematic diagram of internal structure.
Fig. 5 is method for reconstructing flow diagram of the invention.
Specific embodiment
Referring to attached drawing 1-5, specific description is done to embodiments of the present invention.
As shown in Figs. 1-2, a kind of low-power consumption capsule endoscope Image Acquisition and three-dimensional reconstruction system, including capsule endoscope
Ontology and image receiving end；The capsule endoscope body includes the first MCU control module 1, and the first MCU controls mould
Block 1 is connect with cmos image sensor 5, image compression module 6 and wireless transmitter module 8 respectively, the wireless transmitter module 8
Connect respectively with the first power management module 2 with the first MCU control module 1, first power management module 2 also with it is described
Cmos image sensor 5 connect, the cmos image sensor 5 further includes short-focus lens 3；The image receiving end packet
Include the second MCU control module 9, second MCU control module 9 respectively with wireless receiving module 12, SD card memory module 13,
Serial communication module 14 and USB communication module 15 connect, second MCU control module 9 also with second source management module
10 connections, the wireless transmitter module 8 and wireless receiving module 12 are bidirectional wireless communication module.Described image receiving end
In wireless communication module and capsule endoscope body wireless communication module difference be capsule endoscope body wireless telecommunications mould
Block is added to RFX2401C wireless receiving front end to improve receiving sensitivity.
First MCU control module 1 uses low-power consumption MCU, and MCU control circuit is responsible for 5 sequential operation of cmos image sensor
And the power management of data acquisition, lamp lighting system and wireless communication module control, system.
Further, the first above-mentioned power management module 2 includes 2.5V power supply and 1.2V power supply, the 2.5V power supply
It is connect respectively with first MCU control module 1 and wireless transmitter module 8, the 1.2V power supply and the CMOS scheme
As the ultra-low noise linear voltage regulator that sensor 5 connects, and the first power management module 2 selection TI company DSBGA is encapsulated
LP5907, what the cmos image sensor 5 was selected is the cmos image sensor with compression engine, passes through cmos image
Sensor 5 is done directly picture collection and compression output, without being further added by other peripheral circuits.
First power management module 2 uses ultra-low noise linear voltage regulator, exports 2.5V all the way and controls to the first MCU
Module 1 and wireless transmitter module 8 are powered；Another output 1.2V individually gives cmos image sensor 5 to power.Design guarantees in this way
The isolation of analog signal and digital signal, 5 power supply of cmos image sensor and the isolated from power of other circuit modules are opened, from it
The image interference that the ripple of his circuit power acquires sensor, and the packet loss of wireless telecommunications can be reduced.
Further, the first above-mentioned MCU control module 1 respectively by the first spi bus and cmos image sensor 5,
Image compression module 6 and wireless transmitter module 8 connect, second MCU control module 9 by the second spi bus with it is described
Wireless receiving module 12 connect, second MCU control module 9 is connect by SDIO interface with SD card memory module 13.
Further, above-mentioned cmos image sensor 5 is also connect by I2C bus with LED illumination module 4.
The LED illumination module of the capsule endoscope body uses the white high bright LED symmetric configuration with reflector to be
It unites photographic light sources, the picture quality of capsule endoscope has the environment outside the Pass also with its position and surrounding to have in addition to the selection with light source
It closes, same target generates the image of different quality under different lighting conditions.Low-light (level) may cause dark images, excessively shine
Bright to may cause overexposure phenomenon, the lighting condition of balance can preferably obtain the information and details of image.So system source is set
Meter focuses on guaranteeing the uniformity of system illumination.The brightness of shooting object depends on following factor: capsule itself
Position, subject distance, the reflective degree of object, the quantity of LED light source, the angle of LED illumination.The lighting system of design
It must be able to reduce system captures images overexposure according to shooting environmental automatic regulating lightness or image is excessively dark, realize
Balancing illumination can also save power consumption to greatest extent.
As operating voltage 2.7V of the system voltage lower than White LED, being higher than system can work this section minimum voltage 2.5V
Interior LED light can also work on, and this system is used and can be boosted, and the programmable flash lamp of driving current controls chip LM3643
Extend the system photographs time.
The capsule endoscope body lighting system and cmos image sensor of the capsule endoscope image capturing system are same
Step opens LED illumination module 4 before capturing the image, stops triggering after having shot to close LED illumination module 4.
Further, the first above-mentioned MCU control module 1 by single-ended Zero-ohm resistor, scheme with CMOS respectively altogether by mode
As sensor 5, image compression module 6 and wireless transmitter module 8 connect.
Further, the signal input part of above-mentioned wireless receiving module 12 is also connected with receiving front-end amplifying unit 11.
A kind of low-power consumption capsule endoscope Image Acquisition and three-dimensional rebuilding method, using in a kind of above-mentioned low-power consumption capsule
Sight glass Image Acquisition and three-dimensional reconstruction system, comprising the following steps:
Step 1: capsule endoscope body is taken into vivo, and capsule endoscope body starts, the first MCU control module 1,
Cmos image sensor 5 and wireless transmitter module 8 work normally, and cmos image sensor 5 shoots the image in enteron aisle and passes through
Wireless transmitter module 8 is transmitted in image receiving end and saves；
Step 2: system carries out three-dimensional reconstruction to image.
Further, in above-mentioned step one:
When capsule endoscope body starts, cmos image sensor 5 and LED illumination module 4 are started to work, wireless transmission mould
Block 8 is in off-position；Shooting is completed and the image compression module 6 passed through built in cmos image sensor 5 is complete by picture compression
Cheng Hou, cmos image sensor 5 and LED illumination module 4 power off, while starting wireless transmitter module 8 and picture is sent to image
Receiving end；After the completion of the second MCU control module 9 in image receiving end detects that SD card memory module 13 saves picture, lead to
It crosses wireless receiving module 12 and notifies the first MCU control module 1, after the first MCU control module 1 is notified, control wireless transmission
Module 8 enters off-position and control cmos image sensor 5 and LED illumination module 4 are started to work；
The capsule endoscope body and image receiving end repeats the above steps, and completes until image collection works.
After cmos image sensor 5 has acquired a picture, the first MCU control module 1, which is sent, stops acquisition,
The power-off of cmos image sensor 5 stops taking pictures, while the first MCU control module 1 sends transfer data command, wireless transmitter module
8 start to power and send the collected image data of cmos image sensor 5, when the wireless receiving mould of image receiving end
Block 12 is successfully received the image data of cmos image sensor acquisition, has transmitted and received figure to the second MCU control module 9 at this time
Sheet data signal, the second MCU control module 9 just sends order control wireless transmitter module 12 and wireless receiving module 8 powers off, and
And photographing command is sent to cmos image sensor 5 simultaneously, at this moment cmos image sensor 5 is powered and starts to take pictures.When
For cmos image sensor 5 when taking pictures state, wireless transmitter module 8 and wireless receiving module 12 are all for off-position.?
It is exactly that camera is only just powered when needing to take pictures, wireless transmitter module 8 and wireless receiving module 12 are all in disconnected during taking pictures
Electricity condition, camera just power off after having clapped photo.While camera has clapped photo power-off, wireless transmitter module 8 and wireless receiving are given
Module 12 is powered, and after wireless receiving module 12 has received image data, is controlled camera again and is taken pictures.Such cycle operation, reaches
To power consumption is reduced, the purpose of power supply is saved.
The collected picture of cmos image sensor 5 is that compressed JPEG picture is sent to through wireless transmitter module 8 again
SD card memory module 13 in image receiving end stores.It can also will scheme after wireless receiving module 12 has received image data
Piece real-time display is in upper computer software, when cmos image sensor 5 acquires picture, while in magnetic strength device array adjusting body
The state of capsule, to obtain the higher picture of precision, the picture that this mode obtains is more accurate for diagnosing.The capsule
The cmos image sensor 5 of endoscopic main body carries compression engine, can support whole frame, sub-sampling, scale and take the modes such as window
Under the 8 or 10 image datas output of various resolution ratio.Can also by SCCB Interface Controller, realize auto-exposure control,
The functions such as white balance, contrast adjustment, color saturation adjusting.It is done directly picture collection and compression output by the sensor,
Without being further added by other peripheral circuits.
Further, above-mentioned step two specifically:
Step 201: the image saved in image receiving end being pre-processed, pretreatment image, the pre- place are obtained
It manages highlighted retroreflective regions when taking pictures caused by the bubble including removal enteric cavity mucus and difference processing is carried out to picture noise；
Step 202: grid region division being carried out to obtained pretreatment image, according to the feature distribution parameter of grid region
The feature that number is stable and is evenly distributed is extracted, according to feature distribution value from greatly to small to grid region rearrangement；
Step 203: being worth in biggish preceding k grid region from feature distribution and extract n random character point and each pixel
Between distance be greater than preset distance threshold, then random character point is matched, obtains sequence image；
Step 204: adjacent two frame sequences image being matched, the kinematic parameter and three of cmos image sensor 5 is obtained
Tie up coordinate；
Step 205: discrete three-dimensional network is constructed according to the three-dimensional coordinate of the kinematic parameter of cmos image sensor 5, so
It is smooth to discrete three-dimensional network progress surface afterwards, obtain focal zone reconstruction image.
Further, when matching in above-mentioned step 203 to random character point, matching effect does not reach expection if it exists
Unexpected observation, then carry out eliminating unstable characteristic processing；
If capsule endoscope body shakes the spy for causing present frame several frame images with before suddenly when running in enteron aisle
It fails to match for sign point, and is matched to the sequence image shot in several frame pictures after the current frame again, then deletes
Five frame images after present frame, only to the characteristic area three-dimensional reconstruction of suspicious lesions.
Method is randomly selected in the ORB feature based on grid region, so that stablizing in number of features simultaneously, in two dimensional image
On mapping point uniformly distribution in the picture.
It is as follows that ORB feature based on grid region randomly selects method:
Firstly, pretreated image is divided into grid region such as M*N of specified size, M, N are constant；
The characteristic point of entire image is detected using ORB feature extraction algorithm, then these ORB characteristic points can be randomly distributed
In M*N grid region.
Remember the position coordinates f of characteristic point in the zonei(uj, vj), i=1,2..., M*N, j=1,2 ... ni。
Then n ORB characteristic point position coordinate mean value, variance are calculated, to count distribution parameter value in region:It resequences from big to small to grid region according to feature distribution value, then from feature
N random character point is extracted in the biggish preceding k grid region of profile exponent value, and the distance between each pixel is greater than institute
The threshold value of setting guarantees that extracting characteristic point is not overlapped, and is in this way likely to the compact characteristic point extracted in some region to area
The feature of area image describes no practical significance, and may have very much to the description of whole image must in certain characteristic points few region
It wants, screening feature, which randomly selects, in this way improves the efficiency and accuracy of algorithm.
Characteristic matching complexity is reduced in extraordinary matching area active searching method for characteristic matching, promotes matching
Efficiency.Error hiding is deleted, simultaneously by improving the expanded Kalman filtration algorithm of extension for error hiding that may be present
Remedy useful feature information.
To the intestines and stomach image characteristic analysis for receiving storage, for the viscous of bubble or enteron aisle itself remaining in intestines and stomach
Liquid leads to the highlight regions that capsule endoscope is serious reflective in shooting, and output image occurs, using " the feature of adjacent pixels point
It is approximate " thinking introduces smooth iterative algorithm and mathematical mor-phology method is removed retroreflective regions to image.
For there is a problem of that the image of noise or resolution ratio are lower, handled with difference.
It, need to be by repeatedly observing obtaining its depth letter since capsule endoscope Image Acquisition obtains the two-dimensional signal of feature
Breath.Using the subtense angle of different location, reasonable optimization algorithm and surface restraint condition is selected to carry out according to principle of triangulation
Solution obtains image depth information.
Meanwhile for ensure the result of three-dimensional reconstruction maximumlly close to true intestines and stomach surface, it is extensive in basic light and shade
8 methods are incorporated on the basis of complex shape, and cube interpolation algorithm of nurbs curve, knot are used in the smooth treatment of three-dimensional surface
The thought for closing the energy method of surface smoothing, improving reconstructed results using the control point solving method of actual surface is more bonded may
There are rough phenomenons, enhance Three-dimensional Display effect.
Claims (10)
1. a kind of low-power consumption capsule endoscope Image Acquisition and three-dimensional reconstruction system, it is characterised in that: including capsule endoscope sheet
Body and image receiving end；The capsule endoscope body includes the first MCU control module, first MCU control module
It is connect respectively with cmos image sensor, image compression module and wireless transmitter module, the wireless transmitter module and first
MCU control module is connect with the first power management module respectively, and first power management module is also schemed with the CMOS
As sensor connection, the cmos image sensor further includes short-focus lens；It is controlled including the 2nd MCU the image receiving end
Molding block, second MCU control module respectively with wireless receiving module, SD card memory module, serial communication module and USB
Communication module connection, second MCU control module are also connect with second source management module, the wireless transmitter module
It is bidirectional wireless communication module with wireless receiving module.
2. a kind of low-power consumption capsule endoscope Image Acquisition according to claim 1 and three-dimensional reconstruction system, feature exist
It include 2.5V power supply and 1.2V power supply in: first power management module, the 2.5V power supply is respectively with described
One MCU control module is connected with wireless transmitter module, and the 1.2V power supply is connect with the cmos image sensor.
3. a kind of low-power consumption capsule endoscope Image Acquisition according to claim 1 and three-dimensional reconstruction system, feature exist
In: first MCU control module passes through the first spi bus and cmos image sensor, image compression module and nothing respectively
The connection of line transmitting module, second MCU control module are connect by the second spi bus with the wireless receiving module,
Second MCU control module is connect by SDIO interface with SD card memory module.
4. a kind of low-power consumption capsule endoscope Image Acquisition according to claim 1 and three-dimensional reconstruction system, feature exist
In: the cmos image sensor also passes through I2C bus and connect with LED illumination module.
5. a kind of low-power consumption capsule endoscope Image Acquisition according to claim 1 and three-dimensional reconstruction system, feature exist
In: first MCU control module by single-ended Zero-ohm resistor altogether mode respectively with cmos image sensor, image pressure
Contracting module is connected with wireless transmitter module.
6. a kind of low-power consumption capsule endoscope Image Acquisition according to claim 1 and three-dimensional reconstruction system, feature exist
In: the signal input part of the wireless receiving module is also connected with receiving front-end amplifying unit.
7. a kind of low-power consumption capsule endoscope Image Acquisition and three-dimensional rebuilding method, using described in any one of claim 1-6
A kind of low-power consumption capsule endoscope Image Acquisition and three-dimensional reconstruction system, it is characterised in that the following steps are included:
Step 1: capsule endoscope body is taken into vivo, capsule endoscope body starting, the first MCU control module, CMOS scheme
As sensor and wireless transmitter module normal work, cmos image sensor shoots the image in enteron aisle and simultaneously passes through wireless transmission mould
Block is transmitted in image receiving end and saves；
Step 2: system carries out three-dimensional reconstruction to image.
8. a kind of low-power consumption capsule endoscope Image Acquisition according to claim 7 and three-dimensional rebuilding method, feature exist
In: in the step one:
When capsule endoscope body starts, cmos image sensor and LED illumination module are started to work, and wireless transmitter module is in
Off-position；Shooting is completed and by the image compression module built in cmos image sensor by after the completion of picture compression, CMOS
Imaging sensor and the power-off of LED illumination module, while starting wireless transmitter module and picture is sent to image receiving end；Image connects
It is logical by wireless receiving module after the completion of the second MCU control module in receiving end detects that SD card memory module saves picture
Know the first MCU control module, after the first MCU control module is notified, control wireless transmitter module enters off-position and control
Cmos image sensor processed and LED illumination module are started to work；
The capsule endoscope body and image receiving end repeats the above steps, and completes until image collection works.
9. a kind of low-power consumption capsule endoscope Image Acquisition according to claim 7 and three-dimensional rebuilding method, feature exist
In: the step two specifically:
Step 201: the image saved in image receiving end being pre-processed, pretreatment image, the pretreatment packet are obtained
It includes highlighted retroreflective regions when taking pictures caused by the bubble for removing enteric cavity mucus and difference processing is carried out to picture noise；
Step 202: grid region division being carried out to obtained pretreatment image, according to the feature distribution parameter extraction of grid region
Feature number stabilization and be evenly distributed, according to feature distribution value from greatly to small to grid region rearrangement；
Step 203: being worth in biggish preceding k grid region from feature distribution and extract between n random character point and each pixel
Distance is greater than preset distance threshold, then matches to random character point, obtains sequence image；
Step 204: adjacent two frame sequences image being matched, the kinematic parameter and three-dimensional seat of cmos image sensor are obtained
Mark；
Step 205: discrete three-dimensional network is constructed according to the three-dimensional coordinate of the kinematic parameter of cmos image sensor, then to from
Scattered three-dimensional network progress surface is smooth, obtains focal zone reconstruction image.
10. a kind of low-power consumption capsule endoscope Image Acquisition according to claim 9 and three-dimensional rebuilding method, feature exist
In: when matching in the step 203 to random character point, matching effect does not reach expected unexpected observation if it exists,
It then carries out eliminating unstable characteristic processing；
If capsule endoscope body shakes the characteristic point for causing present frame several frame images with before suddenly when running in enteron aisle
It fails to match, and is matched to the sequence image shot again in several frame pictures after the current frame, then deletes current
Five frame images after frame, only to the characteristic area three-dimensional reconstruction of suspicious lesions.
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