CN112331327B - Anti-collision method for endoscope detection - Google Patents
Anti-collision method for endoscope detection Download PDFInfo
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- CN112331327B CN112331327B CN201910717617.8A CN201910717617A CN112331327B CN 112331327 B CN112331327 B CN 112331327B CN 201910717617 A CN201910717617 A CN 201910717617A CN 112331327 B CN112331327 B CN 112331327B
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- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000001514 detection method Methods 0.000 title claims abstract description 22
- 230000008859 change Effects 0.000 claims abstract description 20
- 238000005516 engineering process Methods 0.000 claims description 5
- 238000001839 endoscopy Methods 0.000 claims 1
- 238000004590 computer program Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000005055 memory storage Effects 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
Abstract
The invention discloses an anti-collision method, a storage medium and a system for endoscope detection, when an endoscope encounters an obstacle, a lens of the endoscope touches a pipe wall, a pressure ring (1) is arranged at the top end of the endoscope, the pressure ring (1) is connected with a signal processor (2), when the pressure ring (1) is extruded by external force, the change of the resistance value of the pressure ring (1) is caused, after the signal processor (2) captures the change of the signal, the resistance value is converted into a voltage signal, after the voltage is acquired, the coordinate signal of collision is output according to the relation between the voltage and the circumference of the pressure ring (1). According to the anti-collision method for endoscope detection, when the endoscope lens bumps against an obstacle, the position of the pressure point can be calculated through the pressure resistance value, the positioning is accurately performed on the image coordinate system, a user is prompted, misoperation of the user is prevented, and damage to the endoscope lens is avoided.
Description
Technical Field
The invention relates to an anti-collision method for endoscope detection, belonging to the field of endoscopes such as industry, medical treatment and the like.
Background
Endoscopes are widely used in medical fields, industrial fields, and the like. During the non-destructive testing, the operator cannot see through the display whether the front end of the endoscope has hit the wall of the tube. If the front end touches the pipe wall, and the operator does not know the condition, the rocker is continuously rocked towards the pipe arm direction, so that the lens is easily damaged and the steel wire is easily broken. After the endoscope goes deep into the pipeline, the endoscope enters a positioning blind area, the coordinate of an image cannot be judged from a display, and then the direction of a rocker cannot be accurately judged by an operator under the condition that the lens collides with the wall, so that the lens is damaged and a tension mechanism is damaged, the operation complexity is increased, and difficulty is brought to field detection personnel. Particularly in military equipment, field detection is often carried out in a complex environment of a battlefield, the difficulty in detection is high due to the characteristics of the equipment, and the real-time requirement is poor. At present, domestic and military endoscopes and industrial endoscopes are difficult to meet the requirements.
Disclosure of Invention
In order to solve the above problems, the present invention provides an anti-collision method for endoscope detection, comprising:
when the endoscope encounters an obstacle, the lens of the endoscope touches the pipe wall, the top end of the endoscope is provided with a pressure ring, the pressure ring is connected with a signal processor, when the pressure ring is extruded by external force, the pressure ring can cause the change of the resistance value, the signal processor captures the change of the signal, converts the resistance value into a voltage signal, and after the voltage is acquired, the collided coordinate signal is calculated and output according to the following formula according to the relation between the voltage and the circumference of the pressure ring;
S＝L/360
X＝U/(S*V)
X＝(U*360)/(L*V)
wherein U is voltage, L is perimeter, V is voltage of unit length, X is for coordinate information, and S is step length of 1 degree per rotation.
Preferably, the anti-collision method specifically includes:
step one, when the endoscope is in collision, the pressure ring is extruded by external force, so that the resistance value of the pressure ring (1) is changed, if the resistance value pressure change value is larger than a threshold value, the step six is directly carried out;
step two, after the signal processor obtains the resistance change in the step one, converting the resistance into a voltage signal;
step three, after the voltage signal is acquired, calculating according to the following formula:
S＝L/360
X＝U/(S*V)
X＝(U*360)/(L*V)
wherein U is voltage, L is perimeter, V is voltage of unit length, X is for coordinate information, and S is step length of 1 degree per rotation.
According to the relation between the voltage and the circumference of the pressure ring, calculating to obtain a coordinate signal of collision;
transmitting the coordinate signals obtained in the third step to a display screen, and judging and adjusting the operation direction by a user according to the coordinate signals;
step five, when the operation direction is adjusted according to the step four, if collision occurs, returning to the step one again;
and step six, accumulating the time when the resistance pressure change value in the step one is larger than a certain value, if the accumulated time exceeds a certain threshold value, directly locking the endoscope and prompting the user that the operation cannot be performed.
Preferably, the pressure ring adopts a special resistance band technology, and when the pressure ring is extruded by external force, the pressure ring can output different resistance values.
Preferably, the signal processor converts the resistance value output by the resistor strip into alarm information.
Preferably, 360 in the above formula represents 360 ° of rotation.
Preferably, in the sixth step, the time when the resistance pressure change value in the first step is greater than 200 ohms is accumulated, for example, the accumulated time exceeds 60 seconds, so that the endoscope is directly locked and the user is prompted to be inoperable.
A readable computer storage medium implementing the above-described anti-collision method for endoscopic detection.
An anti-collision system for endoscopic detection includes a processor, a memory, and a storage medium as described above.
According to the anti-collision method for endoscope detection, when the endoscope lens bumps against an obstacle, the position of the pressure point can be calculated through the pressure resistance value, the positioning is accurately performed on the image coordinate system, a user is prompted, misoperation of the user is prevented, and damage to the endoscope lens is avoided.
Drawings
Fig. 1 is a schematic diagram of an anti-collision method for endoscope detection according to the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely configured to illustrate the invention and are not configured to limit the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the invention by showing examples of the invention.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
The embodiment provides an anti-collision method for endoscope detection, when an endoscope encounters an obstacle, a lens of the endoscope touches a pipe wall, a pressure ring 1 is arranged at the top end of the endoscope, the pressure ring 1 adopts a special resistance band technology, and when external force is extruded, the pressure ring 1 outputs different resistance values; the pressure ring 1 is connected with a signal processor 2, and converts the resistance value output by the resistance belt into alarm information. When the pressure ring 1 is extruded by external force, the change of the resistance value of the pressure ring 1 is caused, the signal processor 2 captures the change of the signal and converts the resistance value into a voltage signal, and after the voltage is acquired, a coordinate signal of collision is output according to the relation between the voltage and the circumference of the pressure ring 1.
The voltage is denoted by U, the circumference is denoted by L, the voltage per unit length is denoted by V, the coordinate information is denoted by X, and the step length per 1 DEG rotation is denoted by S.
S=l/360, since one revolution is 360 °.
X=u/(s×v), i.e., x= (u×360)/(l×v).
In some embodiments, as shown in fig. 1, specifically includes:
step one, when the endoscope is in collision, the pressure ring 1 is extruded by external force, so that the resistance value of the pressure ring 1 is changed, if the resistance value pressure change value is larger than a threshold value, the step six is directly carried out;
step two, after the signal processor 2 obtains the resistance change in the step one, the resistance is converted into a voltage signal;
step three, after the voltage signal is acquired, calculating according to the following formula:
according to the relation between the voltage and the circumference of the pressure ring 1, calculating to obtain the coordinate signal of collision
The voltage is denoted by U, the circumference is denoted by L, the voltage per unit length is denoted by V, the coordinate information is denoted by X, and the step length per 1 DEG rotation is denoted by S.
S=l/360, since one revolution is 360 °.
X=u/(s×v), i.e., x= (u×360)/(l×v).
Transmitting the coordinate signals obtained in the third step to a display screen, and judging and adjusting the operation direction by a user according to the coordinate signals;
step five, when the operation direction is adjusted according to the step four, if collision occurs, returning to the step one again;
and step six, accumulating the time with the resistance pressure change value larger than 200 ohms in the step one, if the accumulated time exceeds 60 seconds, directly locking the endoscope and prompting the user that the operation cannot be performed.
According to the anti-collision method for endoscope detection, when the endoscope lens bumps against an obstacle, the position of the pressure point can be calculated through the pressure resistance value, the positioning is accurately performed on the image coordinate system, a user is prompted, misoperation of the user is prevented, and damage to the endoscope lens is avoided.
For convenience of description, the above devices are described as being functionally divided into various units, respectively. Of course, the functions of each element may be implemented in one or more software and/or hardware elements when implemented in the present application.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The application may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The application may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may be implemented in any method or technology for information storage. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.
In this specification, each embodiment is described in a progressive manner, and similar parts of each embodiment are referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations will be apparent to those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (8)
1. An anti-collision method for endoscope detection, which is characterized in that: when the endoscope encounters an obstacle, a lens of the endoscope touches a pipe wall, a pressure ring (1) is arranged at the top end of the endoscope, the pressure ring (1) is connected with a signal processor (2), when the pressure ring (1) is extruded by external force, the change of the resistance value of the pressure ring (1) is caused, after the signal processor (2) captures the change of the signal, the resistance value is converted into a voltage signal, after the voltage is acquired, a coordinate signal of collision is calculated and output according to the following formula according to the relation between the voltage and the circumference of the pressure ring (1);
S＝L/360
X＝U/(S*V)
X＝(U*360)/(L*V)
wherein U is voltage, L is perimeter, V is voltage of unit length, X is for coordinate information, and S is step length of 1 degree per rotation.
2. The anti-collision method for endoscopic detection according to claim 1, wherein: the anti-collision method specifically comprises the following steps:
step one, when the endoscope is in collision, the pressure ring (1) is extruded by external force, so that the resistance value of the pressure ring (1) is changed, if the resistance value pressure change value is larger than a threshold value, the step six is directly carried out;
step two, after the signal processor (2) obtains the resistance change in the step one, the resistance is converted into a voltage signal;
step three, after the voltage signal is acquired, calculating according to the following formula:
S＝L/360
X＝U/(S*V)
X＝(U*360)/(L*V)
wherein U is voltage, L is perimeter, V is voltage of unit length, X is for coordinate information, S is step length of 1 degree per rotation,
according to the relation between the voltage and the circumference of the pressure ring (1), calculating to obtain a coordinate signal of collision;
transmitting the coordinate signals obtained in the third step to a display screen, and judging and adjusting the operation direction by a user according to the coordinate signals;
step five, when the operation direction is adjusted according to the step four, if collision occurs, returning to the step one again;
and step six, accumulating the time when the resistance pressure change value in the step one is larger than a certain value, if the accumulated time exceeds a certain threshold value, directly locking the endoscope and prompting the user that the operation cannot be performed.
3. The anti-collision method for endoscopic detection according to claim 1, wherein: the pressure ring (1) adopts a special resistance band technology, and when external force is extruded, the pressure ring (1) can output different resistance values.
4. The anti-collision method for endoscopic detection according to claim 1, wherein: and the signal processor (2) converts the resistance value output by the resistor band into alarm information.
5. The anti-collision method for endoscopic detection according to claim 1 or 2, wherein: 360 in the formula represents a rotation of 360 °.
6. The anti-collision method for endoscopic detection according to claim 2, wherein: and step six, namely accumulating the time when the resistance pressure change value in the step one is more than 200 ohms, if the accumulated time exceeds 60 seconds, directly locking the endoscope and prompting the user that the operation cannot be performed.
7. A readable computer storage medium embodying the anti-collision method for endoscopy according to any of the preceding claims 1-6.
8. An anti-collision system for endoscopic detection, characterized by: the system comprising a processor, a memory, and a storage medium as recited in claim 7.
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| CN113838052B (en) * | 2021-11-25 | 2022-02-18 | 极限人工智能有限公司 | Collision warning device, electronic apparatus, storage medium, and endoscopic video system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02234737A (en) * | 1989-03-08 | 1990-09-17 | Olympus Optical Co Ltd | Electronic endoscope device |
| JP2011200515A (en) * | 2010-03-26 | 2011-10-13 | Hoya Corp | Electron endoscope equipped with tactile sensor, and electron endoscopic system |
| JP2017083351A (en) * | 2015-10-29 | 2017-05-18 | 国立大学法人鳥取大学 | Pressure sensor, surgical instrument, and surgical device |
| CN206610297U (en) * | 2017-03-31 | 2017-11-03 | 自贡市第一人民医院 | Stroke risk calculates disk and stroke risk computing system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9730760B2 (en) * | 2015-09-30 | 2017-08-15 | Steven M Hacker | Electromagnetic resonant surgical scalpel handle and electromagnetic sensor system apparatus thereof |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02234737A (en) * | 1989-03-08 | 1990-09-17 | Olympus Optical Co Ltd | Electronic endoscope device |
| JP2011200515A (en) * | 2010-03-26 | 2011-10-13 | Hoya Corp | Electron endoscope equipped with tactile sensor, and electron endoscopic system |
| JP2017083351A (en) * | 2015-10-29 | 2017-05-18 | 国立大学法人鳥取大学 | Pressure sensor, surgical instrument, and surgical device |
| CN206610297U (en) * | 2017-03-31 | 2017-11-03 | 自贡市第一人民医院 | Stroke risk calculates disk and stroke risk computing system |
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