CN109464115A - A kind of endoscopic system and a kind of AI diagnostic device - Google Patents
A kind of endoscopic system and a kind of AI diagnostic device Download PDFInfo
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- CN109464115A CN109464115A CN201811543429.XA CN201811543429A CN109464115A CN 109464115 A CN109464115 A CN 109464115A CN 201811543429 A CN201811543429 A CN 201811543429A CN 109464115 A CN109464115 A CN 109464115A
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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
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00018—Operational features of endoscopes characterised by signal transmission using electrical cables
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
Abstract
This application discloses a kind of endoscopic systems and a kind of AI diagnostic device, wherein endoscopic system is provided with high-speed bidirectional communication interface, and the endoscopic system is sent to AI diagnostic device to diagnostic message by the high-speed bidirectional communication interface, by collected；And the AI diagnostic device is received based on the diagnostic result determined to diagnostic message by the high-speed bidirectional communication interface, and carry out fusion on the display of the endoscopic system and show.By the application, tissue is shown especially using early cancer diagnosing image technology, auxiliary diagnosis morning cancer improves the accuracy of early cancer.
Description
Technical field
This application involves medical fields, more particularly to a kind of endoscopic system and a kind of AI diagnostic device.
Background technique
Early cancer diagnosis is one of the core technology in endoscopy clinical applications field, although major endoscopic assistance business men develops
A variety of morning cancer diagnosing image technologies, but it is constrained to the popularity of technology, process is difficult to complete early cancer diagnosis in most of art
Work cannot achieve the target of early discovery early treatment.AI diagnostic techniques is applied to endoscopic system, is located at outside endoscopic system
Diagnostic device determine the diagnostic result of suspected abnormality according to scope video；Diagnostic result can in adjuvant clinical doctor's art to disease
Stove pathology is judged.
Existing AI engine is substantially based on White-light image or characteristic spectrum image carries out diagnostic analysis, without effective
With early cancer diagnosing image technology (White-light image and various features spectrum picture) combine.Such as under White-light image, clinician
Lesion can not almost be diagnosed as early cancer；After only showing tissue signature especially by morning cancer diagnosing image technology, clinician just has can
Efficient diagnosis can be carried out to lesion according to characteristic spectrum image.
Another first patent application such as applicant, Chinese patent application (CN108670203A), it discloses one kind
Imaging device can generate the imaging device of White-light image, feature light image and fluorescent image by one kind, and it is early to improve judgement
The accuracy of cancer.
The application and its another patent application group are shaped to endoscope morning cancer diagnostic system.
Summary of the invention
Based on this, the application proposes a kind of endoscopic system, uses early cancer diagnosing image technology to show tissue especially, auxiliary is examined
Disconnected morning cancer, improves the accuracy of early cancer.
Technical solution provided by the present application are as follows:
A kind of endoscopic system, the endoscopic system are provided with high-speed bidirectional communication interface, comprising:
The endoscopic system is sent to collected AI to diagnostic message and examined by the high-speed bidirectional communication interface
Disconnected equipment；And by the high-speed bidirectional communication interface receive the AI diagnostic device based on it is described to diagnostic message determine
Diagnostic result, and carry out fusion on the display of the endoscopic system and show.
Preferably, the endoscopic system includes integrated unit；The integrated unit, for including in the diagnostic result
When suspected abnormality coordinate information in the picture, the coordinate information is merged described to be currently played in diagnostic message
Image in；
When the diagnostic result includes including the image in the suspected abnormality region, then shown in first area described in
It to diagnostic message, and include the image in the suspected abnormality region described in showing in second area；The first area with
The second area is adjacent；
The diagnostic result include the coordinate information and it is described include the suspicious region image, then will be described
Coordinate information merge in the image being currently played, also, the first area show described in diagnostic message, and
It and include the image in the suspected abnormality region described in being shown in the second area.
Preferably, the integrated unit will when the diagnostic result includes the coordinate information of suspected abnormality in the picture
Coordinate information fusion is in the image to be currently played in diagnostic message, comprising: by the coordinate information with
OSD mode, be added to the image being currently played.
Preferably, in the endoscopic system further include: valid frame extraction unit, for from described to be mentioned in diagnostic message
Take the target image for meeting preset quality index；The endoscopic system will be collected by the high-speed bidirectional communication interface
Be sent to AI diagnostic device to diagnostic message, comprising: the endoscopic system is by the high-speed bidirectional communication interface by institute
It states target image and is sent to the AI diagnostic device.
Preferably, the endoscopic system is being sent out collected to diagnostic message by the high-speed bidirectional communication interface
It send to before the AI diagnostic device, Xiang Suoshu AI diagnostic device sends the request for establishing connection；Receive the AI diagnostic device
The handshaking information of feedback；The endoscopic system is sent out collected to diagnostic message by the high-speed bidirectional communication interface
It send to AI diagnostic device, comprising: the endoscopic system is examined the collected AI by the high-speed bidirectional communication interface
The image type that disconnected equipment can diagnose is sent to the AI diagnostic device to diagnostic message.
Preferably, high-speed bidirectional communication interface is provided on the AI diagnostic device, comprising: the AI diagnostic device passes through
The high-speed bidirectional communication interface receive that endoscopic system sends to diagnostic message；It is diagnosed according to described determined to diagnostic message
As a result；And the diagnostic result is sent to by the endoscopic system by the high-speed bidirectional communication interface, and described interior
Fusion is carried out on the display of endoscope system to show.
Preferably, the AI diagnostic device by the high-speed bidirectional communication interface receive endoscopic system send to
Before diagnostic message, the request for being used to establish connection that the endoscopic system is sent is received；After receiving the request, to
The endoscopic system feeds back handshaking information；The handshaking information includes: the image type that the AI diagnostic device can diagnose；
The AI diagnostic device is by high-speed bidirectional communication interface reception endoscopic system transmission to diagnostic message, comprising: institute
AI diagnostic device is stated by the high-speed bidirectional communication interface, receives the figure that can be diagnosed that the endoscopic system is sent
As type is to diagnostic message.
Preferably, the image type that the AI diagnostic device can diagnose includes White-light image and/or multi-modality image.
Preferably, the high-speed bidirectional communication interface is to support high-speed PCI e interface, the Ethernet interface of hot plug.
The application's has the beneficial effect that
In the endoscopic image that endoscopic system provided by the present application generates with received diagnostic result simultaneous display single
On display, the efficiency of endoscopic surgery is improved, simplifies clinical diagnostic environment；The endoscopic system of the application will be original
White light data, multi-mode morning cancer diagnosing image data are input to AI equipment by bidirectional high speed communication interface, receive AI diagnosis and set
The diagnostic result of standby feedback, realizes the purpose of quick inline diagnosis；It is set multi-mode morning cancer diagnosing image data as AI diagnosis
The input data of standby diagnosis, AI technology and multi-mode diagnostic techniques are combined, and improve accuracy rate of diagnosis；It is arranged on endoscopic system
There is the high-speed bidirectional communication interface communicated with AI diagnostic device, wherein interface is that bidirectional interface allows AI diagnostic device will
Diagnostic result to diagnostic message feeds back to endoscopic system, meanwhile, interface is high-speed interface, so that improving in endoscopic system
Show a certain position to diagnostic message during AI diagnostic device feed back to the position diagnostic result probability；Also,
Diagnostic result is merged into display with to diagnostic message；Due to the application improve endoscopic system show a certain position wait diagnose
AI diagnostic device feeds back the probability of the diagnostic result at the position during information, so that endoscopic system provided by the present application mentions
The high probability to diagnostic message and diagnostic result simultaneous display.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of application for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram of diagnostic system in the application；
Fig. 2 is a kind of diagnostic flow chart of endoscopic system and AI diagnostic device in the application；
Fig. 3 is a kind of in the application to merge schematic diagram to diagnostic message and diagnostic result；
Fig. 4 is the interaction diagrams in the application between another endoscopic system and AI diagnostic device.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Existing AI equipment obtains scope video by video interface, and endoscopic system and AI equipment room are without both-way communication.
Cause AI diagnostic result that cannot feed back in endoscope system, can only show diagnostic result in an independent way；The application is one kind
Endoscopic system is provided with high-speed bidirectional communication interface on endoscopic system, wherein the transmitted in both directions of interface sets AI diagnosis
It is standby that the diagnostic result to diagnostic message can feed back to endoscopic system, and diagnostic result is shown with merging to diagnostic message
Show, so that display content is the fusion results to diagnostic message and diagnostic result.
Fig. 1 is one of the application diagnostic system schematic diagram, which includes that endoscopic system and AI diagnosis are set
It is standby.Wherein, high-speed bidirectional communication interface is fitted on endoscopic system and AI diagnostic device.In the embodiment of the present application,
High-speed bidirectional communication interface can be 100 m ethernet mouth, gigabit Ethernet mouth, high-speed PCI e interface, the optical fiber for supporting hot plug
Interface, hi-speed USB interface, certainly, in practical applications, high-speed bidirectional communication interface can also be other interfaces, the present embodiment
The concrete form of specific high-speed bidirectional communication interface is not limited.Transmission is effectively reduced using high-speed bidirectional communication interface to prolong
Late.
Specifically, Fig. 2 is the diagnostic process of the endoscopic system and AI diagnostic device in the diagnostic system of the present embodiment, packet
Include following steps:
Step 201: endoscopic system is obtained to diagnostic message.
It in this step, can be the information of video format or picture format etc. to diagnostic message.Specifically, being peeped interior
Mirror is currently formed by scope video during checking in the cavity or endoscopic image is used as to diagnostic message；Wherein, should
Scope video can be through overcompression or non-compression processing.
Step 202: endoscopic system is sent to AI diagnostic device to diagnostic message by high-speed bidirectional communication interface.
Step 203:AI diagnostic device is acquired from high-speed bidirectional communication interface to diagnostic image.
Diagnostic device is acquired from high-speed bidirectional communication interface to diagnostic message, and is treated diagnostic message and handled, and is obtained
To for Diagnosis of Suspected lesion to diagnostic image；It include wherein decompression, optimization processing etc. to the processing of diagnostic message.
Step 204:AI diagnostic device is from collected to determine diagnostic result in diagnostic image.
In this step, diagnostic result includes to the markup information of suspected abnormality in diagnostic message and examining for suspected abnormality
Disconnected information.Wherein, the markup information of suspected abnormality can be the coordinate information in suspected abnormality image, and/or, it is labeled with doubtful
The image of focal area；Diagnostic message may include: the probability that suspected abnormality is cancer.
Step 205:AI diagnostic device sends diagnostic result to endoscope by high-speed bidirectional communication interface.
Step 206: diagnostic result is carried out on the display of endoscope fusion and shown by endoscope.
It should be noted that the fusion display refers to diagnostic result and original image information, in same display
On shown.Using AI diagnostic result and endoscope carried out to diagnostic message merge display, this improves endoscopes
The efficiency of operation simplifies clinical diagnostic environment.
In diagnostic system provided in this embodiment, endoscopic system and AI diagnostic device pass through high-speed bidirectional communication interface
Connection, wherein the two-way of interface allows AI diagnostic device that the diagnostic result to diagnostic message is fed back to endoscopic system,
Meanwhile interface is high-speed interface so that endoscopic system show a certain position to diagnostic message during AI diagnosis set
The feedback probability of the standby diagnostic result for feeding back the position is improved, so that diagnostic system provided by the present application is improved wait diagnose
The probability of information and diagnostic result simultaneous display.
It should be noted that the probability of the simultaneous display is since above-mentioned diagnostic result needs to send back to the display of endoscope
Fusion is carried out on device to show, but due to time delay of communication process etc., is sent back to endoscope there is diagnostic result and merged
When display, display is asynchronous, or not can be carried out fusion display, therefore, same there are one under the premise of realizing that fusion is shown
Walk the probability of display.
Specifically, if the process that diagnostic message is carried out merging display with diagnostic result may include: in diagnostic result
Markup information only include the coordinate information of suspected abnormality in the picture, then the coordinate information according to suspected abnormality in the picture,
The coordinate information of suspected abnormality is merged in the current image to be played, so that in the identical of the currently played image of display
Suspected abnormality region is shown on coordinate position, and diagnostic message is shown around displayed image.Specifically, can use
OSD mode merges coordinate information in currently played image.Specifically, Fig. 3 is the schematic diagram of fusion results.
If the markup information in diagnostic result only include include suspected abnormality region image, in the display
First area show shown to diagnostic message in second area include suspected abnormality region image；Wherein, first area with
Second area is adjacent.For example, can show that this includes suspected abnormality region around the currently displayed image of display
Image, and including that the image in suspected abnormality region is displayed next to diagnostic message.
If the markup information in diagnostic result includes simultaneously the coordinate information of suspected abnormality in the picture, while including mark
Note has the image of suspicious region, then in this step, the coordinate information of suspected abnormality and the current image to be played are carried out
Fusion, meanwhile, it will include that the image in suspected abnormality region is shown in second area, for example, will include suspected abnormality region
Image beside currently played image.At this point, can third over the display for the display position of diagnostic message
Region, the position the present embodiment of specific third region in the display are not especially limited.
In the present embodiment, diagnostic result is merged into display with to diagnostic message, so that display content is to diagnostic message
With the fusion results of diagnostic result；
Due to the application improve endoscopic system show a certain position to diagnostic message during AI diagnosis set
The feedback probability of the standby diagnostic result for feeding back the position so that diagnostic system provided by the present application improve to diagnostic message with examine
The probability of disconnected result simultaneous display.
In practical applications, in order to further decrease from endoscope send when diagnostic message to receive diagnostic result when
Long, endoscope extracts the mesh for meeting preset quality index after producing scope video from current produced scope video
Logo image, so that endoscope sends target image by high-speed bidirectional communication interface, and then diagnostic device can be directly from high speed
Target image is received in bi-directional communication interface, and target image is diagnosed, and obtains diagnostic result.In this way, in one side
Sight glass directly to diagnostic device send target image, compared to video format to diagnostic message for, target image is through excessively high
Time needed for fast bi-directional communication interface is shorter；On the other hand, diagnostic device is after receiving target image, directly to target figure
As being diagnosed, without carrying out decompression operations to diagnostic message to video format, so that compared to video format wait diagnose
For information, diagnostic device determines that the time of diagnostic result shortens；So that from endoscope send target image to receive diagnosis
As a result time further shortens, in turn, so that reaching on the display of endoscopic system to diagnostic message and diagnostic result
The probability of simultaneous display.
In addition, in the present embodiment, since the target image that endoscopic system is sent to diagnostic device is endoscope generation
Original image compared to the image to solve extrusion in diagnostic message from video format, diagnose operate through overcompression etc.
The objective image quality that equipment receives is higher, so that the accuracy for the diagnostic result that diagnostic device is determined is higher.
Specifically, extracting the mode for meeting the target image of preset quality index from scope video, may include:
In a time neighborhood at current time, by gradient determining method, the gradient of every frame image in the moment is obtained
Average value；The highest frame of average value or a few frame images are chosen as target image.It should be noted that in practical applications,
There are many kinds of the judgment methods of picture quality, and this gives a kind of methods that may be implemented to extract target image, still
The concrete mode for extracting target image is not limited.
Endoscope in the endoscopic system of the present embodiment is that can generate White-light image, the endoscope of multi-modality image.
AI diagnostic device can only have to a kind of ability that types of image is diagnosed, or by two kinds of image
The ability diagnosed.Endoscopic system and diagnostic device in the present embodiment are fitted with high-speed bidirectional communication interface.
In the diagnostic system, interaction flow of the Fig. 4 between endoscopic system and AI diagnostic device may include following step
It is rapid:
Step 401: endoscopic system sends the request for establishing connection to AI diagnostic device.
Step 402:AI diagnostic device feeds back handshaking information to endoscopic system.
In this step, handshaking information may include: diagnostic device can diagnose image type, diagnostic device information and
Diagnostic result marking types etc..
Step 403: endoscopic system according to handshaking information, determine sent to AI diagnostic device to diagnostic message.
In this step, the image type that endoscopic system can be diagnosed according to AI diagnostic device in handshaking information, really
Determine to diagnostic message.For example, AI diagnostic device may only diagnose White-light image, at this point, endoscopic system is produced from current
White-light image is extracted in raw scope video, and by the White-light image compressed video format extracted to diagnostic message, and
It will be sent to diagnostic message to diagnostic device.Certainly, endoscopic system can also be extracted from current produced scope video
Meet the target white light image of preset quality index out, and sends determined target white light image to diagnostic device.
When AI diagnostic device can diagnose White-light image and multi-modality image, at this point, endoscopic system directly will
Current produced scope Video Quality Metric be video format, and AI to diagnostic device send video format to diagnostic message；Or
Person, extracts target white light image and target multi-modality image from current produced scope video, and to AI diagnostic device
Send target white light image and target multi-modality image.
Step 404:AI diagnostic device determines diagnostic result to diagnostic message.
Diagnostic result is fed back to endoscopic system by step 405:AI diagnostic device.
Step 406: endoscopic system is while showing current produced scope video, fusion display diagnostic result.
Specifically, the specific implementation of this step, it can be with reference to the fusion display diagnosis knot in the corresponding embodiment of Fig. 2
The step of fruit, which is not described herein again.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with it is other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.Herein, such as " first " and
The relational terms of " second " or the like are only used to distinguish one entity or operation from another entity or operation, and
Without necessarily requiring or implying that between these entities or operation, there are any actual relationship or orders.In the text
The word explanations such as "include", "comprise" be comprising meaning rather than exclusive or exhaustive meaning；That is, be " include but
Be not limited to " meaning.Deformation, same replacement without departing from the inventive concept of the premise, can also be made, improved etc., these
Belong to protection scope of the present invention.
The foregoing description of the disclosed embodiments makes professional and technical personnel in the field can be realized or use the application.
Various modifications to these embodiments will be readily apparent to 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 application.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (10)
1. a kind of endoscopic system, which is characterized in that the endoscopic system is provided with high-speed bidirectional communication interface, comprising:
The endoscopic system is sent to collected AI diagnosis to diagnostic message and set by the high-speed bidirectional communication interface
It is standby；And the AI diagnostic device is received based on the diagnosis determined to diagnostic message by the high-speed bidirectional communication interface
As a result, and carrying out fusion on the display of the endoscopic system and showing.
2. endoscopic system according to claim 1, which is characterized in that the endoscopic system includes integrated unit；
The integrated unit, for when the diagnostic result includes the coordinate information of suspected abnormality in the picture, by the seat
Information fusion is marked in the image to be currently played in diagnostic message；
When the diagnostic result includes including the image in the suspected abnormality region, then the follow-up is shown in first area
Disconnected information, and include the image in the suspected abnormality region described in showing in second area；The first area with it is described
Second area is adjacent；
The diagnostic result include the coordinate information and it is described include the suspicious region image, then by the coordinate
Information merge in the image being currently played, also, the first area show described in diagnostic message, and
The second area show described in include the suspected abnormality region image.
3. endoscopic system according to claim 2, which is characterized in that the integrated unit, in the diagnostic result packet
When including the coordinate information of suspected abnormality in the picture, the coordinate information is merged described to currently broadcast in diagnostic message
In the image put, comprising:
By the coordinate information in a manner of OSD, be added to the image being currently played.
4. endoscopic system according to claim 2, which is characterized in that in the endoscopic system further include: valid frame
Extraction unit, for meeting the target image of preset quality index to extract in diagnostic message from described；
The endoscopic system is sent to collected AI diagnosis to diagnostic message and set by the high-speed bidirectional communication interface
It is standby, comprising:
The target image is sent to the AI diagnostic device by the high-speed bidirectional communication interface by the endoscopic system.
5. endoscopic system according to claim 1, which is characterized in that the endoscopic system is double by the high speed
To communication interface by it is collected be sent to the AI diagnostic device to diagnostic message before, Xiang Suoshu AI diagnostic device transmission build
The request of vertical connection；Receive the handshaking information of the AI diagnostic device feedback；The endoscopic system passes through the high-speed bidirectional
Communication interface is sent to AI diagnostic device to diagnostic message for collected, comprising:
The endoscopic system can be diagnosed the collected AI diagnostic device by the high-speed bidirectional communication interface
Image type is sent to the AI diagnostic device to diagnostic message.
6. a kind of AI diagnostic device, which is characterized in that be provided with high-speed bidirectional communication interface on the AI diagnostic device, comprising:
The AI diagnostic device is by high-speed bidirectional communication interface reception endoscopic system transmission to diagnostic message；Foundation
It is described to determine diagnostic result to diagnostic message；And the diagnostic result is sent to by the high-speed bidirectional communication interface described
Endoscopic system, and carry out fusion on the display of the endoscopic system and show.
7. AI diagnostic device according to claim 6, which is characterized in that the AI diagnostic device is double by the high speed
Receive that endoscopic system sends to communication interface to diagnostic message before, receive that the endoscopic system sends for establishing
The request of connection；After receiving the request, Xiang Suoshu endoscopic system feeds back handshaking information；The handshaking information includes:
The image type that the AI diagnostic device can diagnose；
The AI diagnostic device is by high-speed bidirectional communication interface reception endoscopic system transmission to diagnostic message, packet
It includes:
The AI diagnostic device receives described can examine of the endoscopic system transmission by the high-speed bidirectional communication interface
Disconnected image type to diagnostic message.
8. AI diagnostic device according to claim 7, which is characterized in that the image class that the AI diagnostic device can diagnose
Type includes White-light image and/or multi-modality image.
9. endoscopic system described in any one according to claim 1~5, which is characterized in that the high-speed bidirectional communication connects
Mouth is high-speed PCI e interface, the Ethernet interface for supporting hot plug.
10. according to AI diagnostic device described in claim 6~9 any one, which is characterized in that the high-speed bidirectional communication connects
Mouth is high-speed PCI e interface, the Ethernet interface for supporting hot plug.
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| CN201811543429.XA CN109464115A (en) | 2018-12-17 | 2018-12-17 | A kind of endoscopic system and a kind of AI diagnostic device |
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| CN201811543429.XA CN109464115A (en) | 2018-12-17 | 2018-12-17 | A kind of endoscopic system and a kind of AI diagnostic device |
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Application publication date: 20190315 |