CN110897595A - Motion detection method, frame rate adjustment method, capsule endoscope, recorder and system - Google Patents
Motion detection method, frame rate adjustment method, capsule endoscope, recorder and system Download PDFInfo
- Publication number
- CN110897595A CN110897595A CN201911236744.2A CN201911236744A CN110897595A CN 110897595 A CN110897595 A CN 110897595A CN 201911236744 A CN201911236744 A CN 201911236744A CN 110897595 A CN110897595 A CN 110897595A
- Authority
- CN
- China
- Prior art keywords
- acceleration
- antenna
- frame rate
- capsule
- radio frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Pathology (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Physics & Mathematics (AREA)
- Radiology & Medical Imaging (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Computer Networks & Wireless Communication (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses a motion detection method, a frame rate adjustment method, a capsule type endoscope, a recorder and an endoscope system. The motion detection method comprises the following steps: acquiring acceleration information of a capsule type endoscope end and a wearable recorder end, and recording the acceleration information as a first acceleration and a second acceleration respectively; and judging whether the first acceleration is different from the second acceleration or not, if so, considering that the capsule type endoscope moves in the body, and if not, considering that the capsule type endoscope does not move in the body. The method does not need a complex processing algorithm, can quickly obtain the motion detection result, greatly reduces the processing time, saves the power consumption, considers the judgment interference caused by the human motion (such as walking, running and the like) after the wearable recorder is worn on the human body in the detection process, and can effectively eliminate the detection error caused by the human motion and the drift error of the sensor by taking the second acceleration as the reference.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a motion detection method, a frame rate adjusting method, a capsule endoscope, a recorder and an endoscope system.
Background
The capsule type endoscope (capsule for short) moves in the body along with the peristaltic action and the gravity action of the digestive tract, and the movement speed information can be provided for useful reference information of doctors for judging the intestinal peristalsis capacity, and more importantly can be used as a basis for adjusting the capsule shooting frame rate. In practical application, if the capsule is shot at a high frame rate all the time, many redundant repeated images with high similarity can appear when the capsule is static or moves slowly, so that the reading amount of a doctor is increased, and the electric quantity of the capsule can be wasted to influence the working time of the capsule; however, if the capsule is always shot at a low frame rate, when the capsule moves at a high speed, missed shooting is likely to occur, which may cause an adverse effect of missed diagnosis.
The technical scheme that the speed of the capsule moving in the body is judged by judging the similarity of adjacent pictures shot by a capsule endoscope in the prior art is provided, and the higher the similarity of the adjacent pictures is, the slower the capsule moving in the body is indicated; conversely, the lower the similarity of adjacent pictures, the faster the capsule moves in vivo. However, in the processing process of the scheme, the information link delay is not negligible, a certain time (such as hundreds of ms) is required for transmitting the capsule image to the recorder, a certain time (such as hundreds of ms) is required for image processing by the recorder, then a certain time is required for sending the control command to the capsule to adjust the frame rate, and the sum of all the times is a non-negligible time difference (such as a total time of nearly 1 s), and the time difference causes the frame rate control to have delay and poor responsiveness, so that missed shooting is easily introduced.
Disclosure of Invention
The invention aims to at least solve the technical problems in the prior art, and particularly provides a motion detection method, a frame rate adjusting method, a capsule endoscope, a recorder and an endoscope system.
In order to achieve the above object of the present invention, according to a first aspect of the present invention, there is provided a motion detection method comprising: acquiring acceleration information of a capsule type endoscope end and a wearable recorder end, and recording the acceleration information as a first acceleration and a second acceleration respectively; and judging whether the first acceleration is different from the second acceleration or not, if so, considering that the capsule type endoscope moves in the body, and if not, considering that the capsule type endoscope does not move in the body.
The beneficial effects of the above technical scheme are: the method takes the second acceleration of the wearable recorder end as a reference, judges whether the capsule type endoscope moves in the body by comparing whether the first acceleration and the second acceleration are different, does not need a complex processing algorithm, can quickly obtain a movement detection result, greatly reduces the processing time, saves the power consumption, considers the judgment interference caused by the movement (such as walking, running and the like) of the human body after the wearable recorder is worn on the human body in the detection process, takes the second acceleration as a reference, can effectively eliminate the detection errors caused by the movement of the human body and the drift error of the sensor, and has high accuracy.
In a preferred embodiment of the present invention, a first method and/or a second method are/is used to determine whether the first acceleration is different from the second acceleration; the method comprises the following steps: calculating the absolute value of the difference value of the first acceleration and the second acceleration; comparing the absolute value with a preset motion threshold, if the absolute value is greater than the motion threshold, considering that the first acceleration is different from the second acceleration, and if the absolute value is less than or equal to the motion threshold, considering that the first acceleration is not different from the second acceleration; the second method comprises the following steps: calculating the absolute value of the difference value of the first acceleration and the second acceleration; and comparing the ratio of the absolute value to the second acceleration with a preset proportional threshold, if the ratio is greater than the proportional threshold, considering that the first acceleration is different from the second acceleration, and if the ratio is less than or equal to the proportional threshold, considering that the first acceleration is not different from the second acceleration.
The beneficial effects of the above technical scheme are: a judgment method with less calculation amount is disclosed, so that the time consumption is short, and the motion state of the capsule can be quickly obtained.
In a preferred embodiment of the present invention, the acceleration information is three-axis acceleration information, and an absolute value of a difference between the first acceleration and the second acceleration is: l { x1, y1, z1} - { x2, y2, z2} |; if { x1, y1, z1} - { x2, y2, z2 }. non-volatile phosphor>δ0The capsule type endoscope is considered to move in the body; if { x1, y1, z1} - { x2, y2, z2} | is less than or equal to delta0The capsule type endoscope is considered not to move in the body; wherein { x1, y1, z1} represents the three-axis acceleration of the capsule endoscope end, { x2, y2, z2} represents the three-axis acceleration of the wearable recorder end, { delta }0Representing a motion threshold.
The beneficial effects of the above technical scheme are: a calculation formula capable of obtaining a result quickly is disclosed.
In a preferred embodiment of the present invention, N-level thresholds are set to increase stepwise, where N is a positive integer; the motion threshold is a level 0 threshold; if the N-1 level threshold value is less than or equal to the N level threshold value in absolute value, the motion of the capsule type endoscope in the body is considered to be N level motion, wherein N is a positive integer and is more than or equal to 1 and less than or equal to N; and/or setting an N-level ratio threshold value which is increased step by step, wherein N is a positive integer; the proportional threshold is a 0 th-level ratio threshold; and if the n-1 th ratio threshold value is less than or equal to the n-th ratio threshold value in absolute value, the capsule type endoscope is considered to be in the n-th motion.
The beneficial effects of the above technical scheme are: the motion level can be detected, and the motion can be detected more finely.
In order to achieve the above object of the present invention, according to a second aspect of the present invention, there is provided a photographing frame rate adjusting method including: obtaining the motion state of the capsule type endoscope according to the method of the invention in real time or at intervals; adjusting the shooting frame rate of the capsule type endoscope according to the motion state, specifically: when the capsule type endoscope moves, controlling the capsule type endoscope to shoot images at a first shooting frame rate; when the capsule type endoscope does not move, controlling the capsule type endoscope to shoot images at a second shooting frame rate; the second shooting frame rate is smaller than the first shooting frame rate.
The beneficial effects of the above technical scheme are: the method can quickly obtain the motion state of the capsule type endoscope, quickly and timely adjust the shooting frame rate according to the change of the motion state, has high response speed, is beneficial to reducing the missed shooting probability caused by corresponding delay, uses a higher shooting frame rate when the capsule moves, effectively improves missed detection, uses a lower shooting frame rate when the capsule does not move, prolongs the working time and reduces the work load of film reading.
In a preferred embodiment of the present invention, the method further comprises: and setting N-stage first shooting frame rates which are in one-to-one correspondence with the N-stage motions and increase step by step, and controlling the capsule type endoscope to shoot images at the nth-stage first shooting frame rate when the capsule type endoscope moves at the nth stage.
The beneficial effects of the above technical scheme are: different shooting frame rates are set for different motion levels, the higher the motion level is, the higher the shooting frame rate is, and the lower the motion level is, the lower the shooting frame rate is, so that the shooting frame rate is adjusted more finely.
In order to achieve the above object of the present invention, according to a third aspect of the present invention, there is provided a capsule endoscope comprising a first acceleration sensor, an image pickup unit, a first radio frequency unit, a first antenna, and a first control unit; the first control unit obtains acceleration information of an external wearable recorder end at intervals or in real time through the first radio frequency unit and the first antenna, obtains acceleration information output by the first acceleration sensor, and adjusts the shooting frame rate of the image acquisition unit according to the method.
The beneficial effects of the above technical scheme are: the capsule type endoscope can quickly acquire the motion state of the capsule type endoscope, quickly and timely adjust the shooting frame rate according to the change of the motion state, has high response speed, is favorable for reducing the missed shooting probability caused by corresponding delay, uses a higher shooting frame rate when the capsule moves, effectively improves missed detection, uses a lower shooting frame rate when the capsule does not move, prolongs the working time and reduces the work load of film reading.
In order to achieve the above object of the present invention, according to a third aspect of the present invention, there is provided a wearable recorder comprising a second acceleration sensor, a second radio frequency unit, a second antenna, and a second control unit; the second control unit obtains acceleration information of the end of the capsule type endoscope at intervals or in real time through the second radio frequency unit and the second antenna, obtains acceleration information output by the second acceleration sensor, obtains a target adjusting frame rate of the capsule type endoscope according to the method, and sends the target adjusting frame rate to the end of the capsule type endoscope through the second radio frequency unit and the second antenna.
The beneficial effects of the above technical scheme are: the wearable recorder can quickly acquire the motion state of the capsule type endoscope, can quickly and timely adjust the shooting frame rate according to the change of the motion state, is high in response speed, is beneficial to reducing the missed shooting probability caused by corresponding delay, uses a high shooting frame rate when the capsule moves, effectively improves missed detection, uses a low shooting frame rate when the capsule does not move, prolongs the working time, and reduces the work load of film reading.
In order to achieve the above object, according to a fourth aspect of the present invention, there is provided a capsule endoscope system comprising a wearable recorder and the capsule endoscope of the present invention; the wearable recorder comprises a second acceleration sensor, a second radio frequency unit, a second antenna and a second control unit; the second control unit collects acceleration information output by the second acceleration sensor at intervals or in real time and sends the acceleration information to the end of the capsule endoscope through the second radio frequency unit and the second antenna.
The beneficial effects of the above technical scheme are: the motion state of the capsule type endoscope can be quickly obtained, the shooting frame rate can be quickly and timely adjusted according to the change of the motion state, the response speed is high, the missing shooting probability caused by corresponding delay is favorably reduced, a higher shooting frame rate is used when the capsule moves, the missing detection is effectively improved, a lower shooting frame rate is used when the capsule does not move, the working time is prolonged, and the piece reading workload is reduced.
In order to achieve the above object of the present invention, according to a fifth aspect of the present invention, there is provided a capsule endoscope system comprising a capsule endoscope and the wearable recorder of the present invention; the capsule type endoscope comprises a first acceleration sensor, an image acquisition unit, a first radio frequency unit, a first antenna and a first control unit; the first control unit collects acceleration information output by the first acceleration sensor at intervals or in real time and sends the acceleration information to the wearable recorder end through the first radio frequency unit and the first antenna; the first control unit receives a target adjustment frame rate sent by the wearable recorder end through the first radio frequency unit and the first antenna, and controls the image acquisition unit to shoot a picture according to the target adjustment frame rate.
The beneficial effects of the above technical scheme are: the motion state of the capsule type endoscope can be quickly obtained, the shooting frame rate can be quickly and timely adjusted according to the change of the motion state, the response speed is high, the missing shooting probability caused by corresponding delay is favorably reduced, a higher shooting frame rate is used when the capsule moves, the missing detection is effectively improved, a lower shooting frame rate is used when the capsule does not move, the working time is prolonged, and the piece reading workload is reduced.
In order to achieve the above object, according to a fifth aspect of the present invention, there is provided a capsule endoscope system comprising the capsule endoscope of the present invention and the wearable recorder of the present invention; the capsule type endoscope comprises a first acceleration sensor, an image acquisition unit, a first radio frequency unit, a first antenna and a first control unit; the wearable recorder comprises a second acceleration sensor, a second radio frequency unit, a second antenna and a second control unit; executing the first process or the second process; the first process is as follows: the second control unit collects acceleration information output by the second acceleration sensor at intervals or in real time and sends the acceleration information to the first antenna through the second radio frequency unit and the second antenna; the first control unit acquires acceleration information output by the second acceleration sensor and acceleration information output by the first acceleration sensor through the first radio frequency unit and the first antenna, and adjusts the shooting frame rate of the image acquisition unit according to the method; and a second process: the first control unit collects acceleration information output by the first acceleration sensor at intervals or in real time and sends the acceleration information to the second antenna through the first radio frequency unit and the first antenna; the second control unit acquires acceleration information output by the first acceleration sensor and acceleration information output by the second acceleration sensor through the second radio frequency unit and the second antenna, acquires a target adjustment frame rate of the capsule endoscope according to the method, and sends the target adjustment frame rate to the first antenna through the second radio frequency unit and the second antenna; the first control unit receives a target adjustment frame rate through the first radio frequency unit and the first antenna, and controls the image acquisition unit to shoot pictures according to the target adjustment frame rate.
The beneficial effects of the above technical scheme are: the motion state of the capsule type endoscope can be quickly obtained, the shooting frame rate can be quickly and timely adjusted according to the change of the motion state, the response speed is high, the missing shooting probability caused by corresponding delay is favorably reduced, a higher shooting frame rate is used when the capsule moves, the missing detection is effectively improved, a lower shooting frame rate is used when the capsule does not move, the working time is prolonged, and the piece reading workload is reduced.
Drawings
FIG. 1 is a schematic flow chart of a motion detection method according to an embodiment of the present invention;
FIG. 2 is a flow chart illustrating frame rate adjustment for shooting according to an embodiment of the present invention;
fig. 3 is a system block diagram of a capsule type endoscope system in an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The invention discloses a motion detection method, in a preferred embodiment, a flow diagram of which is shown in fig. 1, comprising:
acquiring acceleration information of a capsule type endoscope end and a wearable recorder end, and recording the acceleration information as a first acceleration and a second acceleration respectively;
and judging whether the first acceleration is different from the second acceleration or not, if so, considering that the capsule type endoscope moves in the body, and if not, considering that the capsule type endoscope does not move in the body.
In the present embodiment, the first acceleration and the second acceleration are preferably, but not limited to, triaxial acceleration information, uniaxial acceleration information, biaxial acceleration information, or the like.
In this embodiment, preferably, in order to reduce the erroneous determination and enhance the robust characteristic of the method, a difference threshold is set, and only when the difference between the first acceleration and the second acceleration is greater than the difference threshold, the capsule endoscope is considered to be moving, otherwise, the capsule endoscope is considered to be not moving.
In a preferred embodiment, a first method and/or a second method are/is adopted to judge whether the first acceleration is different from the second acceleration;
the method comprises the following steps:
calculating the absolute value of the difference value of the first acceleration and the second acceleration;
comparing the absolute value with a preset motion threshold, if the absolute value is greater than the motion threshold, considering that the first acceleration is different from the second acceleration, and if the absolute value is less than or equal to the motion threshold, considering that the first acceleration is not different from the second acceleration;
the second method comprises the following steps:
calculating the absolute value of the difference value of the first acceleration and the second acceleration;
and comparing the ratio of the absolute value to the second acceleration with a preset proportional threshold, if the ratio is greater than the proportional threshold, considering that the first acceleration is different from the second acceleration, and if the ratio is less than or equal to the proportional threshold, considering that the first acceleration is not different from the second acceleration.
In this embodiment, the first method or the second method may be adopted to determine whether the first acceleration is different from the second acceleration; the method I can be used firstly, then the method II can be used, the difference of the first acceleration compared with the second acceleration is considered only when the conditions of the method I and the method II are met simultaneously, namely the capsule type endoscope is considered to move in a human body, otherwise, the difference of the first acceleration compared with the second acceleration is not considered, so that the misjudgment of motion detection can be reduced, and the detection precision is improved.
In this embodiment, in the first method, it is preferable that the acceleration information is triaxial acceleration information, and an absolute value of a difference between the first acceleration and the second acceleration is:
|{x1,y1,z1}-{x2,y2,z2}|；
if | { x1, y1, z1} - { x2, y2, z2 }. non-volatile phosphor>δ0The capsule type endoscope is considered to move in the body;
if | { x1, y1, z1} - { x2, y2, z2} | is less than or equal to delta0The capsule type endoscope is considered not to move in the body;
wherein { x1, y1, z1} represents the three-axis acceleration of the end of the capsule endoscopeAnd { x2, y2, z2} represents the three-axis acceleration of the wearable recorder end, delta0Representing a motion threshold.
In the present embodiment, δ0The motion vector can be a three-dimensional coordinate, such as { x0, y0, z0}, and if the absolute values of the corresponding differences of the three-axis coordinates in | { x1, y1, z1} - { x2, y2, z2} | are respectively less than or equal to x0, y0, and z0, the capsule endoscope is considered to have no motion, and otherwise, the capsule endoscope is considered to have motion.
In the present embodiment, δ0Can be a positive number, if
Consider a capsule endoscope motion; if it is
Consider the capsule endoscope to have no motion, at which time delta0The value of (a) is related to the output value of the acceleration sensor, preferably 1% to 10% of the maximum output value thereof.
In this embodiment, in the second method, it is preferable that the acceleration information is triaxial acceleration information, and an absolute value of a difference between the first acceleration and the second acceleration is:
|{x1,y1,z1}-{x2,y2,z2}|；
if it is
Consider a capsule endoscope motion;
if it is
No motion of the capsule endoscope is considered;
λ0representing the proportional threshold, may take values in the range of 0 to 20%, where | { x1, y1, z1} - { x2, y2, z2} | may be considered as | { x1, y1, z1} - ]
I { x2, y2, z2} | can be considered as
In a preferred embodiment, an N-step difference threshold value which is increased step by step is set, wherein N is a positive integer; the motion threshold is a 0 th level difference threshold;
if the N-1 level difference threshold value is less than or equal to the N level difference threshold value, the capsule type endoscope is considered to be in the N level motion, N is a positive integer, and N is more than or equal to 1 and less than or equal to N;
and/or setting an N-level ratio threshold value which is increased step by step, wherein N is a positive integer; the proportional threshold is a 0 th-level ratio threshold;
and if the n-1 th ratio threshold value is less than or equal to the n-th ratio threshold value in absolute value, the capsule type endoscope is considered to be in the n-th motion.
The present invention also discloses a method for adjusting a frame rate, wherein in a preferred embodiment, a schematic flow chart is shown in fig. 2, and the method includes:
obtaining the motion state of the capsule type endoscope in real time or at intervals according to the motion detection method;
adjusting the shooting frame rate of the capsule type endoscope according to the motion state, specifically:
when the capsule type endoscope moves, controlling the capsule type endoscope to shoot images at a first shooting frame rate;
when the capsule type endoscope does not move, controlling the capsule type endoscope to shoot images at a second shooting frame rate;
the second photographing frame rate is less than the first photographing frame rate.
In the present embodiment, the interval time may be set arbitrarily, such as 20 ms.
In a preferred embodiment, the method further comprises:
and setting N-stage first shooting frame rates which are in one-to-one correspondence with the N-stage motions and increase step by step, and controlling the capsule type endoscope to shoot images at the nth-stage first shooting frame rate when the capsule type endoscope moves at the nth stage.
Compared with the existing method for adjusting the shooting frame rate by depending on the similarity of the images before and after calculation, the method for adjusting the shooting frame rate has the advantages of high speed, simplicity in operation and low power consumption. The response time of the present invention depends on the time for collecting the acceleration sensor data, the transmission time, the transmission interval and the calculation comparison time of 2 acceleration data, i.e.
T, calculating and comparing T-collected acceleration sensor data + T sending time + T sending interval + T data;
the response time of the conventional image comparison method depends on the time for acquiring one frame of image, the time for transmitting one frame of image, the transmission interval and the image processing time, i.e.
T tradition is T collecting a frame of image + T sending a frame of image time + T sending interval + T image processing time + T processing result returning time.
From the above 2 equations, it can be seen that the speed of the present invention is much greater than the conventional method.
In addition, the method only needs to read 2 sensor values for comparison, and is simpler and requires less power consumption compared with a complex image processing and similarity comparison algorithm.
The invention also discloses a capsule endoscope, which comprises a first acceleration sensor, an image acquisition unit, a first radio frequency unit, a first antenna and a first control unit, wherein in a preferred embodiment, as shown in fig. 3;
the first control unit obtains acceleration information of an external wearable recorder end at intervals or in real time through the first radio frequency unit and the first antenna, obtains acceleration information output by the first acceleration sensor, and adjusts the shooting frame rate of the image acquisition unit according to a shooting frame rate method.
The invention also discloses a wearable recorder, in a preferred embodiment, as shown in fig. 3, comprising a second acceleration sensor, a second radio frequency unit, a second antenna and a second control unit;
the second control unit obtains acceleration information of the end of the capsule type endoscope at intervals or in real time through the second radio frequency unit and the second antenna, obtains acceleration information output by the second acceleration sensor, obtains a target frame adjusting rate of the capsule type endoscope according to a shooting frame rate method, and sends the target frame adjusting rate to the end of the capsule type endoscope through the second radio frequency unit and the second antenna.
The invention also discloses a capsule type endoscope system, which comprises a wearable recorder and the capsule type endoscope in a preferred embodiment, as shown in figure 3;
the wearable recorder comprises a second acceleration sensor, a second radio frequency unit, a second antenna and a second control unit;
the second control unit collects acceleration information output by the second acceleration sensor at intervals or in real time and sends the acceleration information to the end of the capsule endoscope through the second radio frequency unit and the second antenna.
The invention also discloses a capsule type endoscope system, which comprises a capsule type endoscope and the wearable recorder;
the capsule type endoscope comprises a first acceleration sensor, an image acquisition unit, a first radio frequency unit, a first antenna and a first control unit;
the first control unit collects acceleration information output by the first acceleration sensor at intervals or in real time and sends the acceleration information to the wearable recorder end through the first radio frequency unit and the first antenna;
the first control unit receives a target adjusting frame rate sent by the wearable recorder end through the first radio frequency unit and the first antenna, and controls the image acquisition unit to shoot pictures according to the target adjusting frame rate.
In this embodiment, preferably, a three-axis acceleration sensor is added to both the capsule end and the recorder end, and the information of the two acceleration sensors is compared with each other with the information of the acceleration sensor on the recorder as a reference to determine whether the capsule moves in the body.
The invention also discloses a capsule type endoscope system, which comprises the capsule type endoscope and the wearable recorder;
the capsule type endoscope comprises a first acceleration sensor, an image acquisition unit, a first radio frequency unit, a first antenna and a first control unit;
the wearable recorder comprises a second acceleration sensor, a second radio frequency unit, a second antenna and a second control unit;
executing the first process or the second process;
the first process is as follows:
the second control unit collects acceleration information output by the second acceleration sensor at intervals or in real time and sends the acceleration information to the first antenna through the second radio frequency unit and the second antenna;
the first control unit acquires acceleration information output by the second acceleration sensor and acceleration information output by the first acceleration sensor through the first radio frequency unit and the first antenna, and adjusts the shooting frame rate of the image acquisition unit according to the shooting frame rate adjusting method;
and a second process:
the first control unit collects acceleration information output by the first acceleration sensor at intervals or in real time and sends the acceleration information to the second antenna through the first radio frequency unit and the first antenna;
the second control unit acquires acceleration information output by the first acceleration sensor and acceleration information output by the second acceleration sensor through the second radio frequency unit and the second antenna, acquires a target adjustment frame rate of the capsule endoscope according to the shooting frame rate method, and sends the target adjustment frame rate to the first antenna through the second radio frequency unit and the second antenna;
the first control unit receives the target adjusting frame rate through the first radio frequency unit and the first antenna and controls the image acquisition unit to shoot pictures according to the target adjusting frame rate.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. A motion detection method, comprising:
acquiring acceleration information of a capsule type endoscope end and a wearable recorder end, and recording the acceleration information as a first acceleration and a second acceleration respectively;
and judging whether the first acceleration is different from the second acceleration or not, if so, considering that the capsule type endoscope moves in the body, and if not, considering that the capsule type endoscope does not move in the body.
2. The motion detection method of claim 1, wherein whether the first acceleration is different from the second acceleration is determined using method one and/or method two;
the method comprises the following steps:
calculating the absolute value of the difference value of the first acceleration and the second acceleration;
comparing the absolute value with a preset motion threshold, if the absolute value is greater than the motion threshold, considering that the first acceleration is different from the second acceleration, and if the absolute value is less than or equal to the motion threshold, considering that the first acceleration is not different from the second acceleration;
the second method comprises the following steps:
calculating the absolute value of the difference value of the first acceleration and the second acceleration;
and comparing the ratio of the absolute value to the second acceleration with a preset proportional threshold, if the ratio is greater than the proportional threshold, considering that the first acceleration is different from the second acceleration, and if the ratio is less than or equal to the proportional threshold, considering that the first acceleration is not different from the second acceleration.
3. A motion detection method according to claim 2, wherein N-step difference threshold values are set to be increased stepwise, N being a positive integer; the motion threshold is a 0 th level difference threshold;
if the N-1 level difference threshold value is less than or equal to the N level difference threshold value, the capsule type endoscope is considered to be in the N level motion, wherein N is a positive integer and is more than or equal to 1 and less than or equal to N;
and/or setting an N-level ratio threshold value which is increased step by step, wherein N is a positive integer; the proportional threshold is a 0 th-level ratio threshold;
and if the n-1 th ratio threshold value is less than or equal to the n-th ratio threshold value in absolute value, the motion of the capsule type endoscope in the body is considered to be the n-th motion.
4. A method for adjusting a shooting frame rate is characterized by comprising the following steps:
obtaining a motion state of the capsule type endoscope in real time or at intervals according to the method of one of claims 1 to 3;
adjusting the shooting frame rate of the capsule type endoscope according to the motion state, specifically:
when the capsule type endoscope moves, controlling the capsule type endoscope to shoot images at a first shooting frame rate;
when the capsule type endoscope does not move, controlling the capsule type endoscope to shoot images at a second shooting frame rate;
the second shooting frame rate is smaller than the first shooting frame rate.
5. The photographing frame rate adjusting method of claim 4, further comprising:
and setting N-stage first shooting frame rates which are in one-to-one correspondence with the N-stage motions and increase step by step, and controlling the capsule type endoscope to shoot images at the nth-stage first shooting frame rate when the capsule type endoscope moves at the nth stage.
6. A capsule type endoscope is characterized by comprising a first acceleration sensor, an image acquisition unit, a first radio frequency unit, a first antenna and a first control unit;
the first control unit obtains acceleration information of an external wearable recorder end through the first radio frequency unit and the first antenna at intervals or in real time, obtains acceleration information output by the first acceleration sensor, and adjusts the shooting frame rate of the image acquisition unit according to the method of claim 4 or 5.
7. The wearable recorder is characterized by comprising a second acceleration sensor, a second radio frequency unit, a second antenna and a second control unit;
the second control unit obtains acceleration information of the end of the capsule endoscope and acceleration information output by the second acceleration sensor at intervals or in real time through the second radio frequency unit and the second antenna, obtains a target frame adjusting rate of the capsule endoscope according to the method of claim 4 or 5, and sends the target frame adjusting rate to the end of the capsule endoscope through the second radio frequency unit and the second antenna.
8. A capsule endoscope system comprising a wearable recorder and the capsule endoscope of claim 6;
the wearable recorder comprises a second acceleration sensor, a second radio frequency unit, a second antenna and a second control unit;
the second control unit collects acceleration information output by the second acceleration sensor at intervals or in real time and sends the acceleration information to the end of the capsule endoscope through the second radio frequency unit and the second antenna.
9. A capsule endoscope system comprising a capsule endoscope and the wearable recorder of claim 7;
the capsule type endoscope comprises a first acceleration sensor, an image acquisition unit, a first radio frequency unit, a first antenna and a first control unit;
the first control unit collects acceleration information output by the first acceleration sensor at intervals or in real time and sends the acceleration information to the wearable recorder end through the first radio frequency unit and the first antenna;
the first control unit receives a target adjustment frame rate sent by the wearable recorder end through the first radio frequency unit and the first antenna, and controls the image acquisition unit to shoot a picture according to the target adjustment frame rate.
10. A capsule endoscope system comprising the capsule endoscope of claim 6 and the wearable recorder of claim 7;
the capsule type endoscope comprises a first acceleration sensor, an image acquisition unit, a first radio frequency unit, a first antenna and a first control unit;
the wearable recorder comprises a second acceleration sensor, a second radio frequency unit, a second antenna and a second control unit;
executing the first process or the second process;
the first process is as follows:
the second control unit collects acceleration information output by the second acceleration sensor at intervals or in real time and sends the acceleration information to the first antenna through the second radio frequency unit and the second antenna;
the first control unit acquires acceleration information output by the second acceleration sensor and acceleration information output by the first acceleration sensor through the first radio frequency unit and the first antenna, and adjusts the shooting frame rate of the image acquisition unit according to the method of claim 4 or 5;
and a second process:
the first control unit collects acceleration information output by the first acceleration sensor at intervals or in real time and sends the acceleration information to the second antenna through the first radio frequency unit and the first antenna;
the second control unit acquires acceleration information output by the first acceleration sensor and acceleration information output by the second acceleration sensor through the second radio frequency unit and the second antenna, acquires a target adjustment frame rate of the capsule endoscope according to the method of claim 4 or 5, and sends the target adjustment frame rate to the first antenna through the second radio frequency unit and the second antenna;
the first control unit receives a target adjustment frame rate through the first radio frequency unit and the first antenna, and controls the image acquisition unit to shoot pictures according to the target adjustment frame rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911236744.2A CN110897595A (en) | 2019-12-05 | 2019-12-05 | Motion detection method, frame rate adjustment method, capsule endoscope, recorder and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911236744.2A CN110897595A (en) | 2019-12-05 | 2019-12-05 | Motion detection method, frame rate adjustment method, capsule endoscope, recorder and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110897595A true CN110897595A (en) | 2020-03-24 |
Family
ID=69823218
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911236744.2A Pending CN110897595A (en) | 2019-12-05 | 2019-12-05 | Motion detection method, frame rate adjustment method, capsule endoscope, recorder and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110897595A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110996009A (en) * | 2019-12-20 | 2020-04-10 | 安翰科技(武汉)股份有限公司 | Capsule endoscope system, automatic frame rate adjustment method thereof, and computer-readable storage medium |
| CN111798387A (en) * | 2020-06-24 | 2020-10-20 | 海南大学 | Image processing method and system for confocal endoscope |
| CN111932586A (en) * | 2020-08-03 | 2020-11-13 | 深圳市资福医疗技术有限公司 | System and method for adjusting frame rate of capsule endoscope |
| CN112365417A (en) * | 2020-11-10 | 2021-02-12 | 华中科技大学鄂州工业技术研究院 | Confocal endoscope image correction splicing method and device and readable storage medium |
| CN112472009A (en) * | 2020-12-04 | 2021-03-12 | 深圳市资福医疗技术有限公司 | Detection system and method of capsule endoscope |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04241832A (en) * | 1991-01-11 | 1992-08-28 | Fuji Photo Optical Co Ltd | Electronic endoscope device |
| CN101658423A (en) * | 2003-11-30 | 2010-03-03 | 沃尔沃技术公司 | Method of identifying and/or detecting human workload |
| CN101031803B (en) * | 2004-08-12 | 2012-09-05 | 旭化成电子材料元件株式会社 | Acceleration measuring device |
| JP2013085593A (en) * | 2011-10-14 | 2013-05-13 | Toshiba Corp | Medical image display apparatus |
| CN106618456A (en) * | 2016-12-21 | 2017-05-10 | 重庆金山医疗器械有限公司 | Capsule endoscope control system |
| CN106922121A (en) * | 2014-11-20 | 2017-07-04 | 奥林巴斯株式会社 | Capsule endoscope system, capsule endoscope, the wireless communications method of capsule endoscope and program |
| CN107669236A (en) * | 2017-10-19 | 2018-02-09 | 安翰光电技术（武汉）有限公司 | The adaptive wireless capsule endoscope system of image frame per second and frame per second adaptive approach |
| CN108663044A (en) * | 2017-03-31 | 2018-10-16 | 高德信息技术有限公司 | A kind of localization method and device |
-
2019
- 2019-12-05 CN CN201911236744.2A patent/CN110897595A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04241832A (en) * | 1991-01-11 | 1992-08-28 | Fuji Photo Optical Co Ltd | Electronic endoscope device |
| CN101658423A (en) * | 2003-11-30 | 2010-03-03 | 沃尔沃技术公司 | Method of identifying and/or detecting human workload |
| CN101031803B (en) * | 2004-08-12 | 2012-09-05 | 旭化成电子材料元件株式会社 | Acceleration measuring device |
| JP2013085593A (en) * | 2011-10-14 | 2013-05-13 | Toshiba Corp | Medical image display apparatus |
| CN106922121A (en) * | 2014-11-20 | 2017-07-04 | 奥林巴斯株式会社 | Capsule endoscope system, capsule endoscope, the wireless communications method of capsule endoscope and program |
| CN106618456A (en) * | 2016-12-21 | 2017-05-10 | 重庆金山医疗器械有限公司 | Capsule endoscope control system |
| CN108663044A (en) * | 2017-03-31 | 2018-10-16 | 高德信息技术有限公司 | A kind of localization method and device |
| CN107669236A (en) * | 2017-10-19 | 2018-02-09 | 安翰光电技术（武汉）有限公司 | The adaptive wireless capsule endoscope system of image frame per second and frame per second adaptive approach |
Non-Patent Citations (1)
| Title |
|---|
| 余学飞，叶继伦: "《现代医学电子仪器原理与设计（第四版）》", 31 August 2018, 华南理工大学出版社 * |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110996009A (en) * | 2019-12-20 | 2020-04-10 | 安翰科技(武汉)股份有限公司 | Capsule endoscope system, automatic frame rate adjustment method thereof, and computer-readable storage medium |
| CN110996009B (en) * | 2019-12-20 | 2021-07-23 | 安翰科技(武汉)股份有限公司 | Capsule endoscope system, automatic frame rate adjustment method thereof, and computer-readable storage medium |
| US11311182B2 (en) | 2019-12-20 | 2022-04-26 | Ankon Technologies Co., Ltd | Capsule endoscope system, automatic frame rate adjustment method thereof and computer readable storage medium |
| CN111798387A (en) * | 2020-06-24 | 2020-10-20 | 海南大学 | Image processing method and system for confocal endoscope |
| CN111932586A (en) * | 2020-08-03 | 2020-11-13 | 深圳市资福医疗技术有限公司 | System and method for adjusting frame rate of capsule endoscope |
| CN112365417A (en) * | 2020-11-10 | 2021-02-12 | 华中科技大学鄂州工业技术研究院 | Confocal endoscope image correction splicing method and device and readable storage medium |
| CN112472009A (en) * | 2020-12-04 | 2021-03-12 | 深圳市资福医疗技术有限公司 | Detection system and method of capsule endoscope |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110897595A (en) | Motion detection method, frame rate adjustment method, capsule endoscope, recorder and system | |
| JP3952777B2 (en) | System for controlling the capture rate and display rate of an in vivo camera | |
| CN108363946B (en) | Face tracking system and method based on unmanned aerial vehicle | |
| CN108784637B (en) | Self-adaptive image frame rate adjusting method and system for medical capsule endoscope | |
| US20130002842A1 (en) | Systems and Methods for Motion and Distance Measurement in Gastrointestinal Endoscopy | |
| JP6425931B2 (en) | Capsule type endoscope and endoscope system | |
| JP2006280792A (en) | Image displaying device | |
| CN111345772B (en) | Method for adjusting image acquisition frame rate and capsule endoscope system | |
| CN105636497A (en) | Extracorporeal terminal, capsule endoscope system, capsule-endoscope control method, and program | |
| JP2009195271A (en) | Capsule endoscope system | |
| CN103733131B (en) | Shake amount detecting device, camera head and amount of jitter detection method | |
| US20180008131A1 (en) | Guidance apparatus and capsule medical apparatus guidance system | |
| CN109044249B (en) | Capsule endoscope attitude detection and calibration method and system | |
| CN110811497A (en) | Control method of capsule endoscope and capsule endoscope using control method | |
| JP5977907B1 (en) | Capsule endoscope and capsule endoscope system | |
| US11311182B2 (en) | Capsule endoscope system, automatic frame rate adjustment method thereof and computer readable storage medium | |
| CN106060536B (en) | Shoot processing method, device and terminal device | |
| US20190117049A1 (en) | System and method for wireless capsule endoscope with adaptive frame rate | |
| CN107945166B (en) | Binocular vision-based method for measuring three-dimensional vibration track of object to be measured | |
| JP6499993B2 (en) | Information processing apparatus, information processing system, and information processing method | |
| CN116503540A (en) | Human body motion capturing, positioning and environment mapping method based on sparse sensor | |
| CN113435364B (en) | Head rotation detection method, electronic device, and storage medium | |
| CN108616744A (en) | A kind of bionical binocular vision calibration system and calibration method | |
| WO2018025444A1 (en) | Image-processing device, capsule-type endoscope system, method for operating image-processing device, and program for operating image-processing device | |
| WO2021030936A1 (en) | Method for dynamically controlling video encoding rate, and intelligent device and motion camera |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200324 |