CN114010129A - Image detection system and method - Google Patents

Abstract

The application discloses an image detection system and method, and the system generates a three-dimensional model containing a real-time position of an endoscope lens in real time through a terahertz signal acquisition device; and by acquiring an endoscope detection image of endoscope real-time detection, the display of the three-dimensional model containing the real-time position and the endoscope detection image on the display is controlled, and the picture in the endoscope detection object body and the three-dimensional view of the position of the endoscope in the endoscope detection object body, which are acquired by the endoscope lens, can be intuitively displayed. This application is based on a plurality of terahertz signals of the outside different angles of scope object are gathered in real time to terahertz signal collection system now, acquires the inside scope of scope detection object health simultaneously and detects the image, has improved the accuracy that scope detected the image and detected the position demonstration, and the operator of being convenient for operates based on the view of two kinds of modals, improves scope and detects the degree of accuracy and the efficiency that the position is confirmed.

Description

Image detection system and method

Technical Field

The application relates to the technical field of intelligent medical treatment, in particular to an image detection system and method.

Background

Endoscopes, as a medical device, may enter the body through natural orifices in the body, or through small surgical incisions. When in use, the endoscope is introduced into the organ to be examined, and the target part can be directly observed. In the related art, in order to obtain positioning information of an endoscope, it is generally required to position a lens of the endoscope by at least using a magnetic field sensor to obtain the positioning information of the endoscope. Specifically, a magnetic field sensor is integrated inside the endoscope, an external magnetic field is provided at a position corresponding to the endoscope outside the endoscope detection object, and the direction of the external magnetic field and the magnetic field sensor of the endoscope need to be kept at a certain angle. However, during an endoscopic examination, the direction of the endoscope needs to be changed, which easily causes the acquired endoscope positioning information and the actual endoscope positioning error to be larger. Meanwhile, the endoscope is positioned only according to the magnetic field sensor, only the positioning information of the endoscope can be obtained, and the position of the endoscope in a human body cannot be visually reflected.

Disclosure of Invention

In order to solve the above technical problems, the present application discloses an image detection system and method, which can at least solve the problem that it is impossible to determine in real time that an image detected by an endoscope is a specific position in a human body.

According to a first aspect of the present application, there is provided an image detection system, the system comprising:

the terahertz signal acquisition device is respectively connected with the surrounding bracket and the data processing module, and is used for acquiring a plurality of terahertz signals at different angles outside the endoscope detection object in real time and sending the plurality of terahertz signals to the data processing module;

the endoscope device is connected with the surrounding bracket and used for acquiring an endoscope detection image in the endoscope detection object in real time and sending the endoscope detection image to the data processing module;

the encircling support is used for connecting the terahertz signal acquisition device, enabling the terahertz signal acquisition device to rotate on the encircling support by taking the endoscope detection object as an encircling axis, and fixing one end of the endoscope device;

and the data processing module is used for generating a plurality of terahertz section diagrams based on the plurality of terahertz signals, performing three-dimensional integration processing on the plurality of terahertz section diagrams, generating a real-time three-dimensional model, wherein the three-dimensional model comprises the real-time position of an endoscope lens, acquiring the endoscope detection image acquired by the endoscope device in real time, and sending the three-dimensional model and the endoscope detection image to a display so that the display displays the three-dimensional model comprising the real-time position of the endoscope lens and the endoscope detection image in real time.

In some embodiments, the surrounding support comprises an axial fixed end, a rotating arm and a driving motor;

terahertz signal collection system with the swinging boom is connected, driving motor is used for the drive the swinging boom is based on the axle center stiff end rotates.

In some embodiments, the encircling support comprises a sliding track, a drive chain and a drive motor; the terahertz acquisition module is provided with a plurality of pulleys on two sides in contact with the sliding track, and the driving motor is used for driving the transmission chain to provide power for the terahertz acquisition module so that the terahertz acquisition module rotates on the surrounding support by taking the endoscope detection object as a surrounding axis.

In some embodiments, the terahertz signal acquisition device includes: a terahertz signal transmitting unit and a terahertz signal receiving unit;

the terahertz signal transmitting unit is used for transmitting a terahertz signal to the terahertz signal receiving unit;

the terahertz signal receiving unit is used for receiving a terahertz signal passing through the endoscope detection object.

In some embodiments, the terahertz signal emitting unit includes a plurality of terahertz signal emitting arrays; in each terahertz signal transmitting array, a plurality of terahertz signal transmitting points are arranged in a first direction; the plurality of terahertz signal emitting arrays are arranged in a second direction, and the second direction is perpendicular to the first direction.

In some embodiments, the terahertz signal transmitting unit comprises a terahertz signal transmitting array; in the terahertz signal transmitting array, a plurality of terahertz signal transmitting points are arranged in a first direction;

the fixed end of the axis of the surrounding bracket is of a telescopic structure;

the terahertz signal acquisition device is also used for spirally rotating the encircling support by taking the endoscope detection object as the encircling axis.

In some embodiments, the terahertz signal transmitting unit comprises a terahertz signal transmitting array; in the terahertz signal transmitting array, a plurality of terahertz signal transmitting points are arranged in a first direction;

the sliding track is spiral.

In some embodiments, one end of the endoscopic device is fixed to the axial fixation end.

According to a second aspect of the present application, there is provided an image detection method, the method comprising:

acquiring a plurality of terahertz signals of different angles outside an endoscope detection object in real time;

generating a plurality of terahertz profiles based on the plurality of terahertz signals;

performing three-dimensional integration processing on the terahertz section diagrams to generate a real-time three-dimensional model, wherein the three-dimensional model comprises the real-time position of an endoscope lens;

acquiring an endoscope detection image acquired in real time;

and sending the three-dimensional model and the endoscope detection image to a display in real time so that the display displays the three-dimensional model containing the real-time position of the endoscope lens and the endoscope detection image in real time.

In some embodiments, the generating a plurality of terahertz profiles based on the plurality of terahertz signals comprises:

determining a plurality of terahertz signals corresponding to the same layer from the plurality of terahertz signals;

and generating a terahertz section diagram corresponding to each layer according to the plurality of terahertz signals corresponding to each layer.

The embodiment of the application has the following beneficial effects:

according to the method, a plurality of terahertz signals of different angles outside an endoscope detection object are rotationally collected in real time by utilizing a terahertz signal collecting device, a plurality of terahertz section diagrams are generated based on the plurality of terahertz signals, the plurality of terahertz section diagrams are superposed, and a real-time three-dimensional model is generated, comprises the real-time position of an endoscope lens, and can provide data support for real-time display of the endoscope detection object three-dimensional model; and by acquiring an endoscope detection image of endoscope real-time detection, the display of the three-dimensional model containing the real-time position and the endoscope detection image on the display is controlled, and the picture in the endoscope detection object body and the three-dimensional view of the position of the endoscope in the endoscope detection object body, which are acquired by the endoscope lens, can be intuitively displayed. This application is based on a plurality of terahertz signals of the outside different angles of scope object are gathered in real time to terahertz signal collection system now, acquires the inside scope of scope detection object health simultaneously and detects the image, has improved the accuracy that scope detected the image and detected the position demonstration, and the operator of being convenient for operates based on the view of two kinds of modals, improves scope and detects the degree of accuracy and the efficiency that the position is confirmed.

Drawings

In order to more clearly illustrate the endoscope collision detection method, apparatus, device and storage medium described in the present application, the drawings required for the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort from these drawings.

Fig. 1 is a schematic diagram of an image detection system according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a surrounding bracket according to an embodiment of the present application.

Fig. 3 is a schematic structural diagram of a wrap around stent according to another embodiment of the present application.

Fig. 4 is a schematic structural diagram of a terahertz signal acquisition device provided in the embodiment of the present application.

Fig. 5 is a schematic structural diagram of a terahertz signal acquisition device provided in the embodiment of the present application.

Fig. 6 is a schematic view of a fixing structure of an endoscope apparatus according to an embodiment of the present disclosure.

Fig. 7 is a flowchart of an image detection method according to an embodiment of the present application.

Fig. 8 is a flowchart of generating a plurality of terahertz cross-sectional views based on a plurality of terahertz signals according to an embodiment of the present application.

Fig. 9 is a schematic diagram of an image detection apparatus according to an embodiment of the present application.

Fig. 10 is a schematic structural diagram of an image detection apparatus according to an embodiment of the present application.

Wherein the reference numerals in fig. 1 correspond to: 11-terahertz signal acquisition device, 12-surrounding support. 13-endoscope device, 14-data processing module, 121-axis fixed end, rotating arm 123, driving motor 125, sliding track 122, transmission chain 124, driving motor 126, 111-terahertz signal transmitting unit, 112-terahertz signal receiving unit and 113-terahertz signal transmitting array.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Before further detailed description of the embodiments of the present application, terms and expressions referred to in the embodiments of the present application will be described, and the terms and expressions referred to in the embodiments of the present application will be used for the following explanation.

Please refer to fig. 1, which is a schematic diagram of an image detection system according to an embodiment of the present disclosure. Specifically, the system may include:

the terahertz signal acquisition device comprises a terahertz signal acquisition device 11, a surrounding bracket 12, an endoscope device 13 and a data processing module 14.

Specifically, the terahertz signal acquisition device 11 can be connected with the surrounding bracket 12 and the data processing module 14 respectively, the endoscope device 13 is fixed on the surrounding bracket 12, the endoscope device 13 is connected with the data processing module 14, and the data processing module 14 is connected with the display 106. The terahertz wave conversion module 13 and the endoscope device 13 can be connected with the data processing module 14 in a wired or wireless manner.

In the embodiment of the present disclosure, the terahertz collecting module 11 can be configured to rotate on the surrounding bracket around the endoscope detection object as a surrounding axis, and collect a plurality of terahertz signals at different angles outside the endoscope detection object in real time. Specifically, the terahertz wave refers to electromagnetic radiation with a frequency of 0.1THz to 10THz, is in a transition region from microwave to infrared, and has characteristics of both microwave and optics. According to the method, the inner scope detection object is imaged by the terahertz waves, so that the terahertz waves can penetrate through the inner scope detection object at different transmittances, and the internal structure of the inner scope detection object can be clearly displayed; the terahertz waves release very little energy and hardly damage a human body, and a plurality of terahertz signals at different angles outside the endoscope detection object are continuously acquired for a long time without harming health.

In the embodiment of the present specification, the endoscope apparatus 13 can enter the stomach through the oral cavity or enter the body through other natural orifices, or enter the body through a small incision made by surgery, and will not cause too large wound to the body. The endoscope device 13 may have an image sensor, an endoscope lens, a light source illumination, a mechanical device, etc., and may go deep into the human body to detect an image of the inside of the human body by using the endoscope device. It should be noted that the endoscope device 13 in the embodiment of the present disclosure may be a handheld endoscope device, and may also be an endoscope robot that performs movement control of an endoscope lens according to a movement navigation instruction, which is not limited in the present disclosure.

In the embodiment of the present specification, the surrounding bracket 12 can support the terahertz signal acquisition device to rotate around the surrounding axis, and can fix one end of the endoscope device 13 to support the endoscope device 13.

In this embodiment, the data processing module 13 may be configured to generate a plurality of terahertz cross-sectional views based on a plurality of terahertz signals, perform three-dimensional integration processing on the plurality of terahertz cross-sectional views, and generate a real-time three-dimensional model, where it is to be noted that the three-dimensional model includes a real-time position of an endoscope lens, and acquires an endoscope detection image acquired in real time.

In practical application, the data processing module 13 can perform wired or wireless communication with a display outside the system, and the data processing module 13 can send the three-dimensional model containing the position of the endoscope lens and the endoscope detection image to the display in real time, so that the display can display the three-dimensional model containing the real-time position of the endoscope lens and the endoscope detection image in real time.

The terahertz signal acquisition device 11 is respectively connected with the surrounding bracket 12 and the data processing module 14, acquires a plurality of terahertz signals of different angles outside the endoscope detection object in real time, and sends the plurality of terahertz signals to the data processing module 14; the endoscope device 13 is connected with the surrounding bracket 12, acquires an endoscope detection image in an endoscope detection object in real time, and sends the endoscope detection image to the data processing module 13; the encircling support 12 is used for connecting the terahertz signal acquisition device 11, enabling the terahertz signal acquisition device 11 to rotate on the encircling support 12 by taking an endoscope detection object as an encircling axis, and fixing one end of the endoscope device 13; the data processing module is used for generating a plurality of terahertz section diagrams based on a plurality of terahertz signals, carrying out three-dimensional integration processing on the terahertz section diagrams, generating a real-time three-dimensional model, wherein the three-dimensional model contains the real-time position of an endoscope lens, acquiring an endoscope detection object acquired by an endoscope device 13 in real time, sending the three-dimensional model and an endoscope detection image to an external display, improving the accuracy of the display of the detection position of the endoscope detection image, facilitating the operation of an operator based on the views of two modes, and improving the accuracy and the efficiency of the determination of the endoscope detection position.

Optionally, when the endoscope device 13 is an endoscope robot performing the endoscope lens motion control according to the motion navigation instruction, the data processing module 13 may further be configured to perform trajectory analysis and trajectory prediction according to a three-dimensional model including a real-time position of the endoscope lens and an endoscope detection image, generate trajectory prediction data of the endoscope lens, and control the endoscope lens to move inside the endoscope detection object according to the trajectory control data.

In some embodiments, as shown in FIG. 2, the encircling support 12 may comprise an axial fixed end 121, a rotating arm 123 and a drive motor 125. Specifically, the axis fixing end 121 may be connected to the driving motor 125, and the axis fixing end 121 may be used to fix a rotation axis of the rotation arm 123, and in practical applications, the rotation axis may be an endoscope detection object. The driving motor 125 can drive the rotation arm 123 to rotate around the rotation axis. The terahertz signal collecting device 11 may be connected to the rotary arm 123. Specifically, when the driving motor 125 drives the rotating arm 123 to rotate around the endoscope detection object, the terahertz signal collecting device 11 can rotate along with the rotating arm 123, so as to collect a plurality of terahertz signals at different angles of the endoscope detection object.

In some embodiments, as shown in fig. 3, the wrap around bracket 12 may include a sliding track 122, a drive chain 124, and a drive motor 126. The two surfaces of the terahertz acquisition module 11, which are in contact with the sliding rail 122, may be provided with a plurality of pulleys 128, and the driving motor 126 is configured to drive the transmission chain to provide power for the terahertz acquisition module 11, so that the terahertz acquisition module 11 rotates on the surrounding support 12 around the endoscope detection object as a surrounding axis.

By arranging the sliding track 122, the transmission chain 124 and the driving motor 126 in the surrounding bracket 12, the driving motor 126 can be used for driving the transmission chain 124, so that the terahertz signal acquisition device 11 rotates along the sliding track 122, and the terahertz signal acquisition device 11 can acquire a plurality of terahertz signals at different angles outside the endoscope detection object in real time.

Optionally, the surrounding frame 12 may be directly fixed to the ground, or may be fixed to a detection platform, where the detection platform is a platform for placing an endoscope detection object.

In some embodiments, the terahertz signal acquisition device 11 as shown in fig. 4 may include: a terahertz signal transmitting unit 111 and a terahertz signal receiving unit 112. The terahertz signal transmitting unit 111 is used to transmit a terahertz signal to the terahertz signal receiving unit 112. Specifically, the terahertz signal emitting unit 111 may be a free electron laser, a gas laser, or a semiconductor laser. The terahertz signal receiving unit 112 is configured to receive a terahertz signal that has passed through an endoscope inspection object. Specifically, the terahertz signal receiving unit 112 may be a receiving unit based on a thermal effect, an optical effect, or an electronic effect. The terahertz signal transmitting unit 111 can transmit terahertz wave light to a substantial region of the endoscope detection object including the endoscope lens, the terahertz wave light can transmit through the endoscope detection object and then be received by the terahertz signal receiving unit 112, and therefore electric field intensity distribution of the substantial region of the endoscope lens of the endoscope detection object is obtained.

The terahertz signal transmitting unit 111 transmits terahertz waves to the endoscope detection object, and the terahertz signal receiving unit 112 receives the terahertz waves transmitted through the endoscope detection object, so that harmless, rapid and non-contact terahertz signal detection can be performed on the endoscope detection object.

In some embodiments, as shown in fig. 5, the terahertz-signal transmitting unit 111 may include a plurality of terahertz-signal transmitting arrays 113. In each terahertz signal emitting array, a plurality of terahertz signal emitting points are arranged in a first direction, and a plurality of terahertz signal emitting arrays are arranged in a second direction, wherein the second direction is perpendicular to the first direction. In practical applications, the first direction may be a moving direction, and the moving direction refers to a moving direction when the terahertz signal acquisition device 11 rotates.

By collecting a plurality of terahertz signals at different angles outside the endoscope detection object through each terahertz signal transmitting array 113, a plurality of terahertz signals required by three-dimensional integration processing can be provided for the data processing module 14.

In some embodiments, the terahertz-signal transmitting unit 111 may include a terahertz-signal transmitting array in which a plurality of terahertz-signal transmitting points are arranged in a first direction. The fixing end of the axis of the surrounding support shown in fig. 2 can be of a telescopic structure, and the terahertz signal collecting device 11 can also be used for spirally rotating the surrounding support around the axis of the endoscope detection object.

By setting the surrounding support to be a telescopic structure, the terahertz signal acquisition device 11 can perform spiral rotation on the surrounding support by taking an endoscope detection object as a surrounding axis, so as to acquire a plurality of terahertz signals forming different layers of terahertz section diagrams.

In some embodiments, the terahertz signal transmitting unit 111 may include a terahertz signal transmitting array in which a plurality of terahertz signal transmitting points are arranged in a first direction, and the sliding track based on fig. 3 is spiral, so that the terahertz signal transmitting array may rotate along the spiral sliding track with a rotation axis for a plurality of times, and after each rotation, the terahertz signal collecting module 11 may collect a plurality of terahertz signals corresponding to one layer of the endoscopic detection object.

In some embodiments, as shown in figures 6a and 6b, one end of the endoscopic device 13 is affixed to an axial fixed end 121. Fig. 6a shows a schematic view of the encircling frame according to fig. 2 with an endoscope device 13 fixed thereto, wherein the endoscope device 13 can be fixed to the axial fixing end 121. Fig. 6b is a schematic diagram of the surrounding bracket shown in fig. 3, in which an endoscope device 13 is fixed on the surrounding bracket, wherein the endoscope device 13 can be fixed on the surrounding bracket 12, and a mechanical device in the endoscope device 13 is not located on a straight line perpendicular to the surrounding axis formed in the terahertz signal acquisition device 11 and the endoscope detection object, so as to avoid the influence of the mechanical device of the endoscope device 13 on image detection and improve the display definition of the three-dimensional model including the endoscope lens. An image detection method provided by the embodiment of the present application is described below.

Fig. 7 is a flowchart illustrating an image detection method according to an embodiment of the present application, and the present specification provides the method steps according to the embodiment or the flowchart, which are based on the conventional method; or the inventive process may include additional or fewer steps. The sequence of steps recited in the embodiments is only one of many steps in execution sequence and does not represent a unique order of execution, and in actual system or product execution, the steps may be executed sequentially or in parallel according to the method shown in the embodiments or figures (e.g., in the context of parallel processors or multi-threaded processing). Specifically, as shown in fig. 7, the method may include:

in step S701, a plurality of terahertz signals at different angles outside an endoscope detection object are acquired in real time.

In the embodiment of the present specification, the plurality of terahertz signals at different angles outside the endoscope detection object may be a plurality of terahertz signals corresponding to different layers obtained by rotating around an axis by 360 degrees around the axis. The 360 degrees can be divided into a plurality of equally divided angles, for example, 360 equally divided angles can be divided, when 360 equally divided angles are divided, terahertz signals of 360 angles outside the endoscope detection object can be acquired, and also 3600 equally divided angles can be divided, and when 3600 equally divided angles are divided, terahertz signals of 3600 angles outside the endoscope detection object can be acquired. It should be noted that, in the embodiment of the present specification, an angle division higher than or lower than 360 equal divisions may also be set, and when the set angle division is finer and the number of terahertz signals collected within 360 degrees is greater, the definition and accuracy of a subsequent terahertz cross-sectional view may be improved. The number of terahertz signals is not limited in the application. In the embodiment of the present specification, the plurality of terahertz signals may also be terahertz signals of a plurality of cross-sectional views and a plurality of angles.

In step S702, a plurality of terahertz cross-sectional views are generated based on the plurality of terahertz signals.

In this embodiment of the present description, based on the central slice theorem, fourier transform processing may be performed on a plurality of terahertz signals corresponding to one layer, so as to obtain a cross-sectional view corresponding to the plurality of terahertz signals on one layer; further, a plurality of terahertz signals corresponding to each layer can be subjected to fourier transform processing, so that a plurality of terahertz cross-sectional views are obtained.

In this embodiment, the terahertz signal corresponding to each layer may be obtained according to the received terahertz signals emitted by the plurality of parallel terahertz signal emitting arrays, or may be obtained according to the received terahertz signals emitted by the spirally rotating terahertz signal emitting array. The present disclosure is not limited thereto.

In step S703, a plurality of terahertz sectional views are three-dimensionally integrated to generate a real-time three-dimensional model including a real-time position of the endoscope lens.

In the embodiment of the specification, a plurality of terahertz cross-sectional diagrams at different levels can be superimposed, and specifically, terahertz cross-sectional diagrams at different levels can be superimposed according to a level sequence, so that a real-time three-dimensional model is generated. The endoscope device is fixed around the support, the terahertz signal is acquired when the endoscope device works in the endoscope detection object, the real-time position of the endoscope lens can be contained in the real-time three-dimensional model, and the specific position of the endoscope lens in the endoscope detection object can be accurately reflected.

In step S704, an endoscopic examination image acquired in real time is acquired.

In the embodiment of the present specification, the endoscope detection image acquired in real time may be an internal image of an endoscope detection object captured by an endoscope lens in real time. The endoscopic images may include both lesion images and non-lesion images

In step S705, the three-dimensional model and the endoscope inspection image are transmitted to the display in real time, so that the display displays the three-dimensional model including the real-time position of the endoscope lens and the endoscope inspection image in real time.

In practical application, the three-dimensional model and the endoscope detection image can be sent to the display in real time in a wired or wireless communication mode, so that the display can display the three-dimensional model containing the real-time position of the endoscope lens and the endoscope detection image in real time.

In the embodiment of the description, the terahertz signal acquisition device can rotate in the back-and-forth direction, that is, the driving motor in the terahertz signal acquisition device can be driven forward first, and when the terahertz signal acquisition device reaches the target position of one rotation, the terahertz signal acquisition device is driven in the reverse direction, and the terahertz signal acquisition device is controlled to rotate back and forth continuously, so that terahertz signals are continuously acquired. By continuously collecting terahertz signals, a three-dimensional model containing the position of an endoscope lens can be continuously refreshed; meanwhile, the endoscope device collects the endoscope detection image in the endoscope detection object in real time, so that a video stream corresponding to the three-dimensional model and the endoscope detection image can be generated. Therefore, the accuracy of displaying the detection position of the endoscope detection image can be improved, an operator can conveniently operate based on the views of the two modes, and the accuracy and the efficiency of determining the detection position of the endoscope are improved.

In some embodiments, as shown in fig. 8, the step of generating a plurality of terahertz profiles based on a plurality of terahertz signals may include:

in step S801, a plurality of terahertz signals corresponding to the same plane are determined from the plurality of terahertz signals.

In this embodiment, a plurality of terahertz signals corresponding to each layer can be determined according to the position of the terahertz signal acquired by the terahertz signal acquisition device. For example, the terahertz signals 1 to 360 are the terahertz signals emitted by the first row of terahertz signal emitting arrays, and it can be determined that the terahertz signals 1 to 360 belong to the layer 1, the terahertz signals 361 to 720 are the terahertz signals emitted by the second row of terahertz signal emitting arrays, and it can be determined that the terahertz signals 361 to 720 belong to the layer 2.

In step S802, a terahertz cross-sectional view corresponding to each slice is generated from a plurality of terahertz signals corresponding to each slice.

In this embodiment, when a plurality of terahertz signals corresponding to a plurality of layers are determined, a terahertz cross-sectional diagram corresponding to each layer can be sequentially determined according to the position information of each layer. Specifically, the terahertz section diagram corresponding to each layer can carry layer information, for example, the terahertz signal 1-the terahertz signal 360 belongs to layer 1, the terahertz signal 361-the terahertz signal 720 belongs to layer 2, the terahertz section diagram 1 corresponding to layer 1 can be obtained according to the terahertz signal 1-the terahertz signal 360, and the terahertz section diagram 2 corresponding to layer 2 can be obtained according to the terahertz signal 361-the terahertz signal 720.

The terahertz section diagram corresponding to each layer is generated according to the plurality of terahertz signals corresponding to each layer, so that data support can be provided for generating a three-dimensional model containing the position of the endoscope lens in real time, and the accuracy and the generation efficiency of the three-dimensional model are improved.

Another aspect of the present application further provides a schematic diagram of an image detecting apparatus, as shown in fig. 9, the apparatus may include:

the signal acquisition module 901 is used for acquiring a plurality of terahertz signals at different angles outside an endoscope detection object in real time;

a profile generation module 902 for generating a plurality of terahertz profiles based on the plurality of terahertz signals;

the three-dimensional model generation module 903 is used for performing three-dimensional integration processing on the terahertz section maps to generate a real-time three-dimensional model, and the three-dimensional model comprises a real-time position of an endoscope lens;

an endoscope detection image acquisition module 904 for acquiring an endoscope detection image acquired in real time;

and the information sending module 905 is configured to send the three-dimensional model and the endoscope detection image to the display in real time, so that the display displays the three-dimensional model and the endoscope detection image including the real-time position of the endoscope lens in real time.

The method comprises the steps that a three-dimensional model containing the real-time position of an endoscope lens is generated in real time through a terahertz signal acquisition device; and by acquiring an endoscope detection image of endoscope real-time detection, the display of the three-dimensional model containing the real-time position and the endoscope detection image on the display is controlled, and the picture in the endoscope detection object body and the three-dimensional view of the position of the endoscope in the endoscope detection object body, which are acquired by the endoscope lens, can be intuitively displayed. This application is based on a plurality of terahertz signals of the outside different angles of scope object are gathered in real time to terahertz signal collection system now, acquires the inside scope of scope detection object health simultaneously and detects the image, has improved the accuracy that scope detected the image and detected the position demonstration, and the operator of being convenient for operates based on the view of two kinds of modals, improves scope and detects the degree of accuracy and the efficiency that the position is confirmed.

In some embodiments, the profile generation module 902 may include:

the same-layer signal determining unit is used for determining a plurality of terahertz signals corresponding to the same layer from the plurality of terahertz signals;

and the section generating unit is used for generating the terahertz section corresponding to each layer according to the plurality of terahertz signals corresponding to each layer.

The embodiment of the present application provides an image detection apparatus, which may include a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the image detection method according to the above method embodiment.

The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to use of the device, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.

Fig. 10 is a schematic structural diagram of an image detection apparatus provided in an embodiment of the present application, where the internal configuration of the image detection apparatus may include, but is not limited to: the system comprises a processor, a network interface and a memory, wherein the processor, the network interface and the memory in the multi-image detection device can be connected through a bus or in other ways, and the connection through the bus is taken as an example in fig. 10 shown in the embodiment of the present specification.

The processor (or CPU) is a computing core and a control core of the image detection apparatus. The network interface may optionally include a standard wired interface, a wireless interface (e.g., WI-FI, mobile communication interface, etc.). A Memory (Memory) is a Memory device in the image sensing apparatus for storing programs and data. It is understood that the memory herein may be a high-speed RAM storage device, or may be a non-volatile storage device (non-volatile memory), such as at least one magnetic disk storage device; optionally, at least one memory device located remotely from the processor. The memory provides a storage space storing an operating system of the image detection device for multiple focal points, which may include, but is not limited to: windows system (an operating system), Linux (an operating system), etc., which are not limited in this application; also, one or more instructions, which may be one or more computer programs (including program code), are stored in the memory space and are adapted to be loaded and executed by the processor. In the embodiment of the present application, the processor loads and executes one or more instructions stored in the memory to implement the image detection method provided in the embodiment of the foregoing method.

Embodiments of the present application further provide a computer-readable storage medium, which may be disposed in an image detection apparatus to store at least one instruction, at least one program, a code set, or a set of instructions related to implementing one of the method embodiments, where the at least one instruction, the at least one program, the code set, or the set of instructions may be loaded and executed by a processor of an electronic device to implement the image detection method provided by the above-mentioned method embodiments.

Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

According to an aspect of the application, a computer program product or computer program is provided, comprising computer instructions, the computer instructions being stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various alternative implementations described above.

The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, as for the device and server embodiments, since they are substantially similar to the method embodiments, the description is simple, and the relevant points can be referred to the partial description of the method embodiments.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The above disclosure is only one preferred embodiment of the present application, and certainly does not limit the scope of the present application, which is therefore intended to cover all modifications and equivalents of the claims.

Claims (10)

1. An image inspection system, the system comprising:

the terahertz signal acquisition device is respectively connected with the surrounding bracket and the data processing module, and is used for acquiring a plurality of terahertz signals at different angles outside the endoscope detection object in real time and sending the plurality of terahertz signals to the data processing module;

the endoscope device is connected with the surrounding bracket and used for acquiring an endoscope detection image in the endoscope detection object in real time and sending the endoscope detection image to the data processing module;

the encircling support is used for connecting the terahertz signal acquisition device, enabling the terahertz signal acquisition device to rotate on the encircling support by taking the endoscope detection object as an encircling axis, and fixing one end of the endoscope device;

and the data processing module is used for generating a plurality of terahertz section diagrams based on the plurality of terahertz signals, performing three-dimensional integration processing on the plurality of terahertz section diagrams, generating a real-time three-dimensional model, wherein the three-dimensional model comprises the real-time position of an endoscope lens, acquiring the endoscope detection image acquired by the endoscope device in real time, and sending the three-dimensional model and the endoscope detection image to a display so that the display displays the three-dimensional model comprising the real-time position of the endoscope lens and the endoscope detection image in real time.

2. The system of claim 1, wherein the surrounding support comprises an axial fixed end, a rotating arm, and a drive motor;

terahertz signal collection system with the swinging boom is connected, driving motor is used for the drive the swinging boom is based on the axle center stiff end rotates.

3. The system of claim 1, wherein the encircling support comprises a sliding track, a drive chain, and a drive motor; the terahertz acquisition module is provided with a plurality of pulleys on two sides in contact with the sliding track, and the driving motor is used for driving the transmission chain to provide power for the terahertz acquisition module so that the terahertz acquisition module rotates on the surrounding support by taking the endoscope detection object as a surrounding axis.

4. The system of claim 1, wherein the terahertz signal acquisition device comprises: a terahertz signal transmitting unit and a terahertz signal receiving unit;

the terahertz signal transmitting unit is used for transmitting a terahertz signal to the terahertz signal receiving unit;

the terahertz signal receiving unit is used for receiving a terahertz signal passing through the endoscope detection object.

5. The system of claim 4, wherein the terahertz signal transmitting unit comprises a plurality of terahertz signal transmitting arrays; in each terahertz signal transmitting array, a plurality of terahertz signal transmitting points are arranged in a first direction; the plurality of terahertz signal emitting arrays are arranged in a second direction, and the second direction is perpendicular to the first direction.

6. The system of claim 4, wherein the terahertz signal transmitting unit comprises a terahertz signal transmitting array; in the terahertz signal transmitting array, a plurality of terahertz signal transmitting points are arranged in a first direction;

the fixed end of the axis of the surrounding bracket is of a telescopic structure;

the terahertz signal acquisition device is also used for spirally rotating the encircling support by taking the endoscope detection object as the encircling axis.

7. The system of claim 4, wherein the terahertz signal transmitting unit comprises a terahertz signal transmitting array; in the terahertz signal transmitting array, a plurality of terahertz signal transmitting points are arranged in a first direction;

the sliding track is spiral.

8. The system of claim 2, wherein one end of the endoscopic device is secured to the fixed end of the hub.

9. An image detection method, characterized in that the method comprises:

acquiring a plurality of terahertz signals of different angles outside an endoscope detection object in real time;

generating a plurality of terahertz profiles based on the plurality of terahertz signals;

performing three-dimensional integration processing on the terahertz section diagrams to generate a real-time three-dimensional model, wherein the three-dimensional model comprises the real-time position of an endoscope lens;

acquiring an endoscope detection image acquired in real time;

and sending the three-dimensional model and the endoscope detection image to a display in real time so that the display displays the three-dimensional model containing the real-time position of the endoscope lens and the endoscope detection image in real time.

10. The method of claim 9, wherein the generating a plurality of terahertz profiles based on the plurality of terahertz signals comprises:

determining a plurality of terahertz signals corresponding to the same layer from the plurality of terahertz signals;

and generating a terahertz section diagram corresponding to each layer according to the plurality of terahertz signals corresponding to each layer.

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