CN113724125A - Method and device for automatically acquiring endoscope frozen image - Google Patents

Method and device for automatically acquiring endoscope frozen image Download PDF

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CN113724125A
CN113724125A CN202111033826.4A CN202111033826A CN113724125A CN 113724125 A CN113724125 A CN 113724125A CN 202111033826 A CN202111033826 A CN 202111033826A CN 113724125 A CN113724125 A CN 113724125A
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endoscope
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郭必那
郑德雁
潘杰
麻元兴
史正旭
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Zhejiang Keyi Intelligent Medical Technology Co ltd
Wenzhou Central Hospital
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    • G06—COMPUTING; CALCULATING OR COUNTING
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    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
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    • G06T2207/10—Image acquisition modality
    • G06T2207/10068—Endoscopic image
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Abstract

The invention discloses a device for automatically acquiring an endoscope frozen image, which has the technical scheme that the device comprises an image acquisition module, a data conversion module, a frame calculation module and a frame storage module; the image acquisition module is used for acquiring image data acquired by the endoscope equipment; the data conversion module is electrically connected with the image acquisition module and is used for converting endoscope image data into RGB image data and separating 3 channels of the RGB image data to form 3 groups of single-channel data; the frame calculation module is respectively electrically connected with the image acquisition module and the data conversion module and is used for calculating the difference between frames and judging whether the previous frame and the next frame are the same frame; the frame storage module is electrically connected with the frame calculation module and used for counting the same frame within a specified time and storing the current frame under the condition of meeting the freezing judgment and storage conditions.

Description

Method and device for automatically acquiring endoscope frozen image
Technical Field
The invention relates to the technical field of image processing, in particular to a method and a device for automatically acquiring an endoscope frozen image.
Background
With the development of modern medical technology, endoscopes can be used as extensions of eyes and hands of doctors, can diagnose pathological changes occurring in digestive tracts, liver, gallbladder, pancreatic duct systems and abdominal organs, and help doctors to accurately judge the illness state of patients. In the process of endoscope, doctors need to continuously acquire still endoscope images of patients through endoscope workstations to prepare for subsequent compiling of image-text reports and image storage.
At present, a conventional mode for acquiring a still patient endoscope image is that a doctor enables a work station picture to be in a frozen state through a freezing button on an endoscope handle, and then drives acquisition equipment of an endoscope work station to store the image by using equipment such as a foot switch and the like. The acquisition mode has more steps and enables a doctor to acquire images in a mode of simultaneously using hands and feet, so that the doctor is in a working state with uncoordinated body, and the work fatigue degree of the doctor can be greatly increased after long-term work.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a device for automatically acquiring an endoscope frozen image, which can automatically acquire the endoscope image after a doctor presses a frozen button on an endoscope handle, does not need extra operation of the doctor and simplifies the operation steps of endoscope acquisition.
In order to achieve the purpose, the invention provides the following technical scheme: a method for automatically collecting frozen images of an endoscope comprises the steps of S1, acquiring image data of a multi-frame endoscope within a specified time;
s2, collecting front and back two frames of images in the image data, and acquiring a difference result of the front and back two frames of images;
and S3, presetting a minimum deviation threshold, judging whether the difference result meets the minimum deviation threshold, if so, saving the current frame image, and if not, re-acquiring the two different front and rear frame images to enter S2.
The invention is further configured to: step S2 specifically includes:
s21, converting the front and rear frames into RGB data, and recording the data matrix as I1，I2；
S22, separating the image matrix RGB channel into I1r,I1g,I1b,I2r,I2g,I2b；
S23, an image difference Δ I ═ abs (I) is calculated1-I2) Obtaining the RGB difference absolute value matrix delta Ir,ΔIg,ΔIbThe three matrices are added to obtain Δ Is＝ΔIr+ΔIg+ΔIb；
S24, counting the difference absolute value matrix delta IsThe number of points with the median value not being 0 is recorded as m, and the total ratio of the difference values is calculated
Figure BDA0003246340930000021
Where rows and cols are the pixel height and pixel width of the image data.
The invention is further configured to: the step S3 specifically includes:
s31, presetting a minimum deviation threshold value alpha%;
s32, judgment
Figure BDA0003246340930000022
In relation to alpha%, when
Figure BDA0003246340930000023
Then, the next step is carried out when
Figure BDA0003246340930000024
In this case, the frame sequence is cleared, the subsequent frame image is taken as the previous frame, the one frame image is newly acquired as the subsequent frame, and S32 is newly performed.
The invention is further configured to: the step S1 further includes:
s11, initializing frame sequences, wherein the frame sequences are sequences for storing the currently judged same frames, the initialization is null, and the pointer of the currently judged frame sequence position is marked as PtrsAnd is initialized to null.
The invention is further configured to: step S4, judging whether the frame sequence is completely traversed;
s41, if the traversal is finished, the next step is carried out;
s42, not traversing: s421, when PtrsPointing to a frame of the sequence of frames, PtrsPointing to the previous frame;
s422, otherwise PtrsPointing to the end frame of the frame sequence.
S43, converting PtrsThe pointing frame is marked as the previous frame, and step S4 is performed.
The invention is further configured to: the method also comprises a step S5 of adding the later frame into the frame sequence, recording the frame time T, counting all the frame difference absolute value matrixes delta I in the frame sequencesForming a coordinate lattice sequence by coordinate values with the middle value not being 0, calculating a minimum external rectangle of the coordinate sequence, calculating the Area of the rectangle and recording the Area as AreaI；
S6, judging AreaIIn relation to alpha%, when AreaI< α%, proceed to the next step, otherwise clear the frame sequence, take the next frame image as the previous frame, retrieve one frame image as the next frame, and re-execute step S6.
The invention is further configured to: further comprising a step S7 of presetting the time interval T of automatic acquisitionmin；
S71, calculating the time difference T between the end frame and the first frame as Tlast-Tfirst；
S72, judging whether the time difference T accords with the preset time interval Tmin；
S721, when T > TminIf yes, the current frame image is saved, and the retrieval is ended;
s722, when T is less than or equal to TminThe next frame image is taken as the preceding frame, the one frame image is newly acquired as the next frame, and step S7 is newly performed.
An endoscope frozen image automatic acquisition device comprises an image acquisition module, a data conversion module, a frame calculation module and a frame storage module;
the image acquisition module is used for acquiring image data acquired by the endoscope equipment;
the data conversion module is electrically connected with the image acquisition module and is used for converting endoscope image data into RGB image data and separating 3 channels of the RGB image data to form 3 groups of single-channel data;
the frame calculation module is respectively electrically connected with the image acquisition module and the data conversion module and is used for calculating the difference between frames and judging whether the previous frame and the next frame are the same frame;
the frame storage module is electrically connected with the frame calculation module and is used for counting the same frame within a specified time and storing the current frame under the condition of meeting freezing judgment and storage.
The invention is further configured to: the image data acquired by the endoscope equipment is in a YUV format or an RGB format or an RGBA format.
In conclusion, the invention has the following beneficial effects: the method comprises the steps of firstly collecting internal multi-frame image data through endoscope equipment, then converting the obtained multi-frame image into RGB data through a data conversion module for calculation, and when judging whether the multi-frame image changes or not, adapting to partial equipment to still have partial dynamic window conditions under a freezing windowsill through a preset dynamic pixel point threshold value.
The difference calculation is completed by subtracting two image matrixes by using an openMP technology and calculating the absolute value of each point of each image matrix, whether a multi-frame image changes or not is judged (a preset minimum deviation threshold value is set, the image is considered to be unchanged when the change degree is smaller than the minimum deviation threshold value, and the image is considered to be changed when the change degree is larger than the minimum deviation threshold value), if not, the image is stored, and if so, other images are reselected. Therefore, the design of the invention can automatically collect the endoscope image after the doctor presses the freezing button on the endoscope handle, and the doctor does not need to collect the image by using hands and feet together, thereby simplifying the operation steps of the endoscope collection and achieving the effect of facilitating the operation of the doctor.
Drawings
FIG. 1 is a schematic block diagram of an apparatus for automatic acquisition of frozen images of an endoscope;
FIG. 2 is a schematic flow chart of a method for automatically acquiring an endoscope frozen image;
FIG. 3 is a graph of the difference results of the moving images;
fig. 4 is a diagram of frozen image difference results.
Reference numerals: 1. an image acquisition module; 2. a data conversion module; 3. a frame calculation module; 4. and a frame storage module.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "bottom" and "top," "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.
Referring to fig. 1 to 4, in order to achieve the above object, the present invention provides the following technical solutions: a method for automatically collecting frozen images of an endoscope comprises the steps of S1, acquiring image data of a multi-frame endoscope within a specified time;
s2, collecting front and back two frames of images in the image data, and acquiring a difference result of the front and back two frames of images;
and S3, presetting a minimum deviation threshold, judging whether the difference result meets the minimum deviation threshold, if so, saving the current frame image, and if not, re-acquiring the two different front and rear frame images to enter S2.
An endoscope frozen image automatic acquisition device comprises an image acquisition module 1, a data conversion module 2, a frame calculation module 3 and a frame storage module 4;
the image acquisition module 1 is used for acquiring image data acquired by endoscope equipment;
the data conversion module 2 is electrically connected with the image acquisition module 1 and is used for converting endoscope image data into RGB image data and separating 3 channels of the RGB image data to form 3 groups of single-channel data;
the frame calculation module 3 is respectively electrically connected with the image acquisition module 1 and the data conversion module 2 and is used for calculating the difference between frames and judging whether the previous frame and the next frame are the same frame;
the frame storage module 4 is electrically connected with the frame calculation module 3 and is used for counting the same frame within a specified time and storing the current frame under the condition of meeting the freezing judgment and storage conditions.
The design of the invention comprises the steps of firstly collecting internal multi-frame image data through the endoscope equipment, then converting the obtained multi-frame image into RGB data through the data conversion module for calculation, and adapting partial equipment to still have partial dynamic window conditions under the freezing windowsill by presetting dynamic pixel point thresholds when judging whether the multi-frame image changes.
The difference calculation is completed by subtracting two image matrixes by using an openMP technology and calculating the absolute value of each point of each image matrix, whether a multi-frame image changes or not is judged (a preset minimum deviation threshold value is set, the image is considered to be unchanged when the change degree is smaller than the minimum deviation threshold value, and the image is considered to be changed when the change degree is larger than the minimum deviation threshold value), if the image is not changed, the image is stored, and if the image is changed, other images are reselected. Therefore, the design of the invention can automatically collect the endoscope image after the doctor presses the freezing button on the endoscope handle, and the doctor does not need to collect the image by using hands and feet together, thereby simplifying the operation steps of the endoscope collection and achieving the effect of facilitating the operation of the doctor.
Step S2 specifically includes:
s21, converting the front and rear frames into RGB data, and recording the data matrix as I1，I2；
S22, separating the image matrix RGB channel into I1r,I1g,I1b,I2r,I2g,I2b；
S23, an image difference Δ I ═ abs (I) is calculated1-I2) Obtaining the RGB difference absolute value matrix delta Ir,ΔIg,ΔIbThe three matrices are added to obtain Δ Is＝ΔIr+ΔIg+ΔIb(ii) a The moving image difference result is shown in fig. 3, and the frozen image difference result is shown in fig. 4.
S24, counting the difference absolute value matrix delta IsThe number of points with the median value not being 0 is recorded as m, and the total ratio of the difference values is calculated
Figure BDA0003246340930000061
Where rows and cols are the pixel height and pixel width of the image data.
Step S3 specifically includes:
s31, presetting a minimum deviation threshold value alpha%;
s32, judgment
Figure BDA0003246340930000062
In relation to alpha%, when
Figure BDA0003246340930000063
Then, the next step is carried out when
Figure BDA0003246340930000064
In this case, the frame sequence is cleared, the subsequent frame image is taken as the previous frame, the one frame image is newly acquired as the subsequent frame, and S32 is newly performed. This embodiment a is 10 when the non-static window exists in the frozen state of the device, and is 0 when the frozen state window of the device is completely static.
Step S1 further includes:
s11, initializing frame sequences, wherein the frame sequences are sequences for storing the currently judged same frames, the initialization is null, and the pointer of the currently judged frame sequence position is marked as PtrsAnd is initialized to null.
Step S4, judging whether the frame sequence is completely traversed;
s41, if the traversal is finished, the next step is carried out;
s42, not traversing: s421, when PtrsPointing to a frame of the sequence of frames, PtrsPointing to the previous frame;
s422, otherwise PtrsPointing to the end frame of the frame sequence.
S43, converting PtrsPointing frame marked as frontFrame, perform step S4.
The method also comprises a step S5 of adding the later frame into the frame sequence, recording the frame time T, counting all the frame difference absolute value matrixes delta I in the frame sequencesForming a coordinate lattice sequence by coordinate values with the middle value not being 0, calculating a minimum external rectangle of the coordinate sequence, calculating the Area of the rectangle and recording the Area as AreaI；
S6, judging AreaIIn relation to alpha%, when AreaI< α%, proceed to the next step, otherwise clear the frame sequence, take the next frame image as the previous frame, retrieve one frame image as the next frame, and re-execute step S6.
Further comprising a step S7 of presetting the time interval T of automatic acquisitionmin；
S71, calculating the time difference T between the end frame and the first frame as Tlast-Tfirst；
S72, judging whether the time difference T accords with the preset time interval Tmin；
S721, when T > TminIf yes, the current frame image is saved, and the retrieval is ended;
s722, when T is less than or equal to TminThe next frame image is taken as the preceding frame, the one frame image is newly acquired as the next frame, and step S7 is newly performed. When T isminAll images are stored once if they are the same within a certain time, and in order to ensure that non-frozen images are stored without misjudgment, T needs to be satisfied in this embodimentmin> 5 x 1000/FPS, wherein FPS is the acquisition frame rate.
The steps S4, S5, S6, and S7 are designed to avoid the occurrence of erroneous judgment of the non-frozen image stored by performing a detection operation on the image data satisfying the difference result.
The image data acquired by the endoscope equipment is in YUV format or RGB format or RGBA format.
In the second embodiment, a deletion deviation threshold β% may be preset, the deletion deviation threshold is equal to the minimum deviation threshold α%, and when the last saved image is not the image desired by the doctor, the doctor may press the capture button of the inner diameter device and slightly shake the device, so that the obtained difference result is determined
Figure BDA0003246340930000071
In relation to beta%, when
Figure BDA0003246340930000072
And when the image data is larger than beta%, deleting the last saved image data, thereby ensuring that the subsequently stored image is the final scheme of the client and facilitating the subsequent direct uploading and storage.
The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above-mentioned embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.

Claims (9)

1. An automatic acquisition method of an endoscope frozen image is characterized by comprising the following steps: the method comprises the steps of S1, acquiring image data of a multi-frame endoscope within a specified time;
s2, collecting front and back two frames of images in the image data, and acquiring a difference result of the front and back two frames of images;
and S3, presetting a minimum deviation threshold, judging whether the difference result meets the minimum deviation threshold, if so, saving the current frame image, and if not, re-acquiring the two different front and rear frame images to enter S2.
2. The method for automatically acquiring the endoscope frozen image according to the claim 1, which is characterized in that: step S2 specifically includes:
s21, converting the front and rear frames into RGB data, and recording the data matrix as I1，I2；
S22, separating the image matrix RGB channel into I1r,I1g,I1b,I2r,I2g,I2b；
S23, an image difference Δ I ═ abs (I) is calculated1-I2) Obtaining the RGB difference absolute value matrix delta Ir,ΔIg,ΔIbThe three matrices are added to obtain Δ Is＝ΔIr+ΔIg+ΔIb；
S24, counting the difference absolute value matrix delta IsThe number of points with the median value not being 0 is recorded as m, and the total ratio of the difference values is calculated
Figure FDA0003246340920000011
Where rows and cols are the pixel height and pixel width of the image data.
3. The method for automatically acquiring the endoscope frozen image according to the claim 2, which is characterized in that: the step S3 specifically includes:
s31, presetting a minimum deviation threshold value alpha%;
s32, judgment
Figure FDA0003246340920000012
In relation to alpha%, when
Figure FDA0003246340920000013
Then, the next step is carried out when
Figure FDA0003246340920000014
In this case, the frame sequence is cleared, the subsequent frame image is taken as the previous frame, the one frame image is newly acquired as the subsequent frame, and S32 is newly performed.
4. The method for automatically acquiring the endoscope frozen image according to the claim 3, which is characterized in that: the step S1 further includes:
s11, initializing frame sequences, wherein the frame sequences are sequences for storing the currently judged same frames, the initialization is null, and the pointer of the currently judged frame sequence position is marked as PtrsAnd is initialized to null.
5. The method for automatically acquiring the endoscope frozen image according to the claim 4, which is characterized in that: step S4, judging whether the frame sequence is completely traversed;
s41, if the traversal is finished, the next step is carried out;
s42, not traversing: s421, when PtrsPointing to a frame of the sequence of frames, PtrsPointing to the previous frame;
s422, otherwise PtrsPointing to the end frame of the frame sequence.
S43, converting PtrsThe pointing frame is marked as the previous frame, and step S4 is performed.
6. The method for automatically acquiring the endoscope frozen image according to the claim 5, which is characterized in that: the method also comprises a step S5 of adding the later frame into the frame sequence, recording the frame time T, counting all the frame difference absolute value matrixes delta I in the frame sequencesForming a coordinate lattice sequence by coordinate values with the middle value not being 0, calculating a minimum external rectangle of the coordinate sequence, calculating the Area of the rectangle and recording the Area as AreaI；
S6, judging AreaIIn relation to alpha%, when AreaI< α%, proceed to the next step, otherwise clear the frame sequence, take the next frame image as the previous frame, retrieve one frame image as the next frame, and re-execute step S6.
7. The method for automatically acquiring the endoscope frozen image according to the claim 6, which is characterized in that: further comprising a step S7 of presetting the time interval T of automatic acquisitionmin；
S71, calculating the time difference T between the end frame and the first frame as Tlast-Tfirst；
S72, judging whether the time difference T accords with the preset time interval Tmin；
S721, when T > TminIf yes, the current frame image is saved, and the retrieval is ended;
s722, when T is less than or equal to TminThe next frame image is taken as the preceding frame, the one frame image is newly acquired as the next frame, and step S7 is newly performed.
8. The utility model provides a device that scope freezes image automatic acquisition, characterized by: the device comprises an image acquisition module (1), a data conversion module (2), a frame calculation module (3) and a frame storage module (4);
the image acquisition module (1) is used for acquiring image data acquired by endoscope equipment;
the data conversion module (2) is electrically connected with the image acquisition module (1) and is used for converting endoscope image data into RGB image data and separating 3 channels of the RGB image data to form 3 groups of single-channel data;
the frame calculation module (3) is respectively electrically connected with the image acquisition module (1) and the data conversion module (2) and is used for calculating the difference between frames and judging whether the previous frame and the next frame are the same frame;
the frame storage module (4) is electrically connected with the frame calculation module (3) and is used for counting the same frame within a specified time and storing the current frame under the condition of meeting the freezing judgment and storage conditions.
9. The device for automatically acquiring the frozen image of the endoscope according to claim 8, wherein: the image data acquired by the endoscope equipment is in a YUV format or an RGB format or an RGBA format.
CN202111033826.4A 2021-09-03 2021-09-03 Method and device for automatically acquiring endoscope frozen image Pending CN113724125A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116258700A (en) * 2023-02-28 2023-06-13 南京索图科技有限公司 Method for detecting freezing state of endoscope

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116258700A (en) * 2023-02-28 2023-06-13 南京索图科技有限公司 Method for detecting freezing state of endoscope
CN116258700B (en) * 2023-02-28 2024-04-26 南京索图科技有限公司 Method for detecting freezing state of endoscope

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