CN114518215A - Endoscope detection automatic calibration device and method - Google Patents
Endoscope detection automatic calibration device and method Download PDFInfo
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- CN114518215A CN114518215A CN202111313909.9A CN202111313909A CN114518215A CN 114518215 A CN114518215 A CN 114518215A CN 202111313909 A CN202111313909 A CN 202111313909A CN 114518215 A CN114518215 A CN 114518215A
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- 238000001514 detection method Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims description 16
- 238000010191 image analysis Methods 0.000 claims description 24
- 238000012360 testing method Methods 0.000 claims description 12
- 238000000926 separation method Methods 0.000 claims description 9
- 230000000903 blocking effect Effects 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000007689 inspection Methods 0.000 claims description 2
- 238000001839 endoscopy Methods 0.000 claims 7
- 238000010586 diagram Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses an endoscope detection automatic calibration device, which comprises: the calibration side mark has a side mark image printed on the surface; the three-axis linear sliding table is arranged on one side of the calibration side mark; the three-axis rotating sliding table is arranged at the upper end of the three-axis linear sliding table and is used for controlling the three-axis rotating sliding table to linearly move in the XYZ axis direction; the clamping assembly is arranged at the upper end of the three-axis rotating sliding table, the three-axis rotating sliding table is used for controlling the clamping assembly to rotate and move in the XYZ axis direction, and the clamping assembly is used for clamping an endoscope; the endoscope supporting assembly is fixed to the bottom of the endoscope supporting assembly on the Z-axis linear sliding table of the three-axis linear sliding table, the endoscope supporting assembly comprises a supporting frame and a supporting frame sliding block arranged at the upper end of the supporting frame in a sliding mode, and a groove for placing an endoscope is formed in the surface of the supporting frame sliding block.
Description
Technical Field
The invention relates to the technical field of endoscope testing, in particular to an endoscope detection automatic calibration device and method.
Background
Before the medical endoscope is detected, the endoscope needs to be clamped and calibrated. So as to ensure that the visual axis of the endoscope is vertical to the tested target, and the display center of the lens is coincided with the center of the test target. The existing calibration scheme is generally to calibrate the position and angle of three axes of an endoscope through a manual sliding table, or to manually adjust the position of a measuring target. Whether the effect of vertical centering is achieved or not is judged by means of visual observation of testers. The current calibration scheme suffers from the following several disadvantages: firstly, the testing efficiency is low due to the fact that different sliding table knobs are manually calibrated and adjusted; secondly, the test result is influenced by the precision difference of manual adjustment; thirdly, the identification error is easy to be generated by the visual observation of the tester.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an endoscope detection automatic calibration device and method.
The invention is realized by the following technical scheme:
an endoscopic detection auto-calibration device comprising:
the calibration side mark has a side mark image printed on the surface;
the three-axis linear sliding table is arranged on one side of the calibration side mark;
the three-axis rotating sliding table is arranged at the upper end of the three-axis linear sliding table and is used for controlling the three-axis rotating sliding table to linearly move in the XYZ axis direction;
the clamping assembly is arranged at the upper end of the three-axis rotating sliding table and used for controlling the clamping assembly to rotate and move in the XYZ axis direction, and the clamping assembly is used for clamping an endoscope;
the endoscope supporting assembly is fixed at the bottom of the endoscope supporting assembly on the Z-axis linear sliding table of the three-axis linear sliding table, the endoscope supporting assembly comprises a supporting frame and a supporting frame sliding block arranged at the upper end of the supporting frame in a sliding mode, and a groove for placing an endoscope is formed in the surface of the supporting frame sliding block.
The invention is further configured as follows: the three-axis linear sliding table is sequentially provided with a Y-axis linear sliding table, a Z-axis linear sliding table and an X-axis linear sliding table from bottom to top.
The invention is further provided with: the three-axis rotating sliding table is sequentially provided with an X-axis rotating sliding table, a Y-axis rotating sliding table and a Z-axis rotating sliding table from bottom to top, and the clamping assembly is fixed on the Z-axis rotating sliding table.
The invention is further provided with: the clamping subassembly includes:
the fixed base is detachably fixed on the Z-axis rotating sliding table, and a V-shaped groove is formed in the surface of the fixed base;
the sliding block is connected with the fixed base in a sliding mode and can move up and down relative to the fixed base, and clamping holes are formed in the lower portion of the sliding block and are triangular;
the endoscope blocking piece is arranged on the rear side of the fixed base in a sliding mode;
the endoscope is placed in the V-shaped groove, penetrates through the clamping hole and is limited by the endoscope blocking piece.
The invention is further provided with: the fixed base is of an L-shaped structure and comprises a horizontal section a and a vertical section b, and a sliding groove for the sliding block to move up and down is formed in the vertical section b;
springs are arranged on two sides of the interior of the vertical section b, and the tops of the springs are in contact with the top end of the interior of the vertical section b; push plates protrude from both sides of the bottom of the sliding block, and the bottom of the spring is in contact with the push plates;
the upper end of the sliding block is fastened with a pull ring through a screw;
threaded holes are formed in the two sides of the horizontal section a;
the endoscope separation blade is of a convex structure, and the upper part of the endoscope separation blade is used for limiting the endoscope; the lower part of the endoscope separation blade is provided with two sliding through holes, and the bolt penetrates through the sliding through holes and is fixedly connected with the fixed base.
The invention is further provided with: the support frame includes two supporting seats a, and the top of two supporting seats a is fixed with the slide, the slide is the arc structure, the slide surface is concave to be equipped with the arc recess, the both sides of slide all are provided with the stopper.
The invention is further provided with: the endoscope detection automatic calibration device further comprises a detection calibration system, and the detection calibration system is used for analyzing the side mark images shot by the endoscope and realizing image analysis, so that motion data are fed back to the three-axis linear sliding table and the three-axis rotary sliding table for calibration.
The invention is further provided with: the detection and calibration system comprises an image acquisition module, an image analysis and identification module and a motor sliding table control module, wherein the image acquisition module is electrically connected with the image analysis and identification module, the image analysis and identification module is electrically connected with the motor sliding table control module, the image acquisition module is also electrically connected with the endoscope, and the motor sliding table control module is also electrically connected with the three-axis linear sliding table and the three-axis rotating sliding table;
the detection and calibration system is also electrically connected with the display screen and is used for displaying the calibration progress in real time through the display screen; the image analysis and identification module analyzes the side mark images acquired and shot by the image acquisition module to calibrate the side marks, and calculates the position distance and the angle of the endoscope deviation according to the side mark images; and the motor sliding table control module is used for adjusting the three-axis linear sliding table and the three-axis rotary sliding table according to the displacement angle data calculated by the image analysis and identification module.
A direct endoscope detection automatic calibration method comprises the following steps:
s1, endoscope clamping: firstly, placing an endoscope in a V-shaped groove of a fixed base, enabling the other end of the endoscope to be located in a groove of a sliding block of a support frame, manually pushing the endoscope to move towards the direction of the sliding block, manually pulling up a pull ring 9 to enable the endoscope to penetrate through a clamping hole in the sliding block, completing clamping of the endoscope when the endoscope moves to be in contact with a separation blade of the endoscope, loosening the pull ring 9 at the moment, and automatically pressing the endoscope by the pull ring 9 under the action of a spring;
s2, endoscope calibration: after the endoscope is clamped, a testing distance is set firstly, after the distance is tested, the motor sliding table control module controls the Y-axis linear sliding table to work so as to enable the endoscope to move to the set testing distance, then an image acquisition module acquires the side mark image shot by the endoscope, an image analysis and identification module analyzes the acquired side mark image, the position offset of X, Y, Z axis and the angle offset of X, Y, Z axis are calculated, then displacement data are sent to the motor sliding table control module, the motor sliding table control module controls the X-axis rotary sliding table, the Y-axis rotary sliding table and the Z-axis rotary sliding table to move in sequence according to the offset data, firstly, the X, Y, Z three-axis angle is calibrated, the visual axis of the endoscope is perpendicular to the calibrated side mark, and then the motor sliding table control module controls the X-axis linear sliding table and the Z-axis linear sliding table to move, and finally, the image analysis and identification module analyzes according to the currently shot side mark image of the calibration side mark, judges whether the image center is overlapped with the center of the calibration side mark and whether the left scale, the right scale, the upper scale and the lower scale are consistent, completes calibration if the two items of judgment are passed, otherwise, performs a round of calibration adjustment again if any item of judgment is not passed.
The invention discloses an endoscope detection automatic calibration device and method, compared with the prior art:
the invention realizes the automation of the manual calibration operation of the original endoscope detection, simplifies the operation process, improves the detection efficiency of the endoscope and avoids the error caused by the calibration;
according to the invention, the three-axis linear sliding table is matched with the three-axis rotary sliding table, and each sliding table is controlled by an independent motor, so that the calibration accuracy is greatly improved;
the endoscope supporting assembly can be used for supporting a longer endoscope, improves the adaptability and can be used for calibrating the endoscope with the view direction angle not parallel to the endoscope main shaft;
the clamping assembly adopted by the invention can clamp endoscopes with different diameters, and the adaptability is greatly enhanced.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
FIG. 2 is a schematic view of an image of a side mark on the calibration side mark of the present invention.
Fig. 3 is a schematic structural view of a three-axis linear sliding table and a three-axis rotary sliding table according to the present invention.
Figure 4 is a first perspective view of the clamping assembly of the present invention.
Figure 5 is a second perspective view of the clamping assembly of the present invention.
Figure 6 is a cross-sectional view of the clamping assembly of the present invention.
Fig. 7 is a schematic structural diagram of the fixing base of the present invention.
FIG. 8 is a first view of the present invention clamping endoscopes of different diameters.
Fig. 9 is a second schematic view of the present invention for clamping endoscopes with different diameters.
FIG. 10 is a schematic structural view of an endoscope support assembly of the present invention.
FIG. 11 is a schematic diagram of a detection calibration system according to the present invention.
Fig. 12 is a flow chart illustrating the endoscope detection automatic calibration method of the present invention.
The corresponding part names indicated by the numbers and letters in the drawings:
wherein: 100. calibrating a side mark; 200. a three-axis linear sliding table; 300. a three-axis rotating sliding table; 400. clamping the assembly; 500. an endoscope; 600. an endoscope support assembly; 201. a Z-axis linear sliding table; 202. a Y-axis linear sliding table; 203. an X-axis linear sliding table; 301. an X-axis rotary sliding table; 302. a Y-axis rotating sliding table; 303. a Z-axis rotating sliding table; 401. a fixed base; 401a, a horizontal segment; 401b, a vertical section; 402. a V-shaped groove; 403. a slider; 404. clamping holes; 405. an endoscope baffle plate; 406. a chute 407, a spring; 408. pushing the plate; 409. a pull ring; 410. a threaded hole; 411. a slide through hole; 412. a bolt; 601. a support frame; 601a, a supporting seat; 602. a support frame slide block; 603. a slideway; 604. an arc-shaped groove; 605. a limiting block; 606. and (4) a groove.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; for a better explanation of the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the referred device or element must have a specific orientation, be constructed in a specific orientation and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and the specific meanings of the terms may be understood by those skilled in the art according to specific situations.
Referring to fig. 1 to 10, an endoscope inspection automatic calibration device includes:
the calibration side mark 100 is printed with a side mark image on the surface of the calibration side mark 100, wherein the calibration side mark 100 is a rectangular plate, and the calibration side mark 100 is printed with a side mark image composed of a plurality of circular rings and scale lines in a field range shot by the endoscope 500 and used as a basis for calibrating the endoscope 500;
the three-axis linear sliding table 200 is arranged on one side of the calibration side mark 100;
the three-axis rotating sliding table 300 is arranged at the upper end of the three-axis linear sliding table 200, and the three-axis linear sliding table 200 is used for controlling the three-axis rotating sliding table 200 to linearly move in the directions of XYZ axes, wherein the three-axis linear sliding table 200 is an XYZ three-axis linear sliding table, and as the three-axis rotating sliding table 300 is arranged at the upper end of the three-axis linear sliding table 200, namely the three-axis linear sliding table 200 can control the three-axis rotating sliding table 300 to move in the directions of XYZ axes;
the clamping assembly 400 is arranged at the upper end of the three-axis rotating sliding table 300, the three-axis rotating sliding table 300 is used for controlling the clamping assembly 400 to rotate and move in the XYZ axis direction, the clamping assembly 400 is used for clamping the endoscope 500, the clamping assembly 400 is fixed at the upper end of the three-axis rotating sliding table 300, and the three-axis rotating sliding table 300 is an XYZ three-axis rotating sliding table, namely the three-axis rotating sliding table 300 can control the clamping assembly 400 to rotate in the XYZ three-axis direction; the adjustment of the spatial position and the angle of the endoscope 500 can be realized by the movement or the rotation of the three-axis linear sliding table 200 and the three-axis rotary sliding table 300;
In the technical proposal, the device comprises a base,
referring to fig. 3, the three-axis linear sliding table 200 is sequentially provided with a Y-axis linear sliding table 202, a Z-axis linear sliding table 201 and an X-axis linear sliding table 203 from bottom to top; wherein, Y axle sharp slip table 202, Z axle sharp slip table 201 and X axle sharp slip table 203 are by independent sharp slip table motor control, the steerable Z axle sharp slip table 201 of Y axle sharp slip table 202 and X axle sharp slip table 203 move in Y axle direction, the steerable X axle sharp slip table 203 of Z axle sharp slip table 201 moves in Z axle direction, and it is worth noting that the triaxial sharp slip table 200 that this technical scheme adopted is prior art, and technical staff in the field can choose for use according to actual demand.
It should be noted that the three-axis linear slide 200 and the three-axis rotary slide 300 used in the present invention may also be referred to as six-axis slides.
Referring to fig. 3, the three-axis rotating sliding table 300 includes, from bottom to top, an X-axis rotating sliding table 301, a Y-axis rotating sliding table 302, and a Z-axis rotating sliding table 303, and the clamping assembly 400 is fixed to the Z-axis rotating sliding table 303; the X-axis rotary sliding table 301, the Y-axis rotary sliding table 302 and the Z-axis rotary sliding table 303 are controlled by independent rotary sliding table motors, and the X-axis linear sliding table 203 can control the three-axis rotary sliding table 300 to move in the Z-axis direction; meanwhile, the rotation of X axle direction is carried out to rotatory slip table 302 of Y axle and the rotation of Z axle rotation slip table 303 that X axle rotation slip table 301 can be controlled to rotatory slip table 302 of X axle, rotatory slip table 302 of Y axle can control the rotation of Z axle rotation slip table 303 of Y axle direction, it is worth noting, the rotatory slip table 300 of triaxial that this technical scheme adopted is prior art, technical personnel in the field can choose for use according to the actual demand, in addition, lie in the top in this rotatory slip table 300 of triaxial for the rotatory slip table 303 of Z axle, be fixed with clamping subassembly 400 on this rotatory slip table 303 of Z axle, this rotatory slip table 303 of Z axle can control clamping subassembly 400 to carry out the rotation of Z axle direction promptly.
Referring to fig. 4 to 9, the clamping assembly 400 includes:
the fixed base 401 is detachably fixed on the Z-axis rotating sliding table 303, and a V-shaped groove 402 is formed in the surface of the fixed base 401;
the sliding block 403 is slidably connected with the fixed base 401, the sliding block 403 can move up and down relative to the fixed base 401, the lower part of the sliding block 403 is also provided with a clamping hole 404, and the clamping hole 404 is triangular;
an endoscope stopper 405, the endoscope stopper 405 being slidably provided on the rear side of the fixed base 401;
the endoscope 500 is placed in the V-shaped groove 402, passes through the clamping hole 404 and is limited by the endoscope baffle plate 405;
the fixed base 401 is an L-shaped structure, the fixed base 401 includes a horizontal section 401a and a vertical section 401b, and a sliding groove 406 for the sliding block 403 to move up and down is arranged at the vertical section 401 b;
the upper end of the sliding block 403 is fastened with a pull ring 409 through a screw;
threaded holes 410 are formed in the two sides of the horizontal section 401 a;
the endoscope separation blade 405 is of a convex structure, and the upper part of the endoscope separation blade 405 is used for limiting the endoscope 500; the lower part of the endoscope baffle plate 405 is provided with two sliding through holes 411, and the bolt 412 passes through the sliding through holes 411 and is fixedly connected with the fixed base 401.
In the technical scheme, the endoscope 500 is firstly placed in the V-shaped groove 402, then the endoscope 500 is manually pushed to move towards the direction of the sliding block 403, the sliding block 403 is manually pulled up to enable the endoscope 500 to penetrate through the clamping hole 404 at the sliding block 403, when the endoscope 500 moves to be in contact with the endoscope retaining sheet 405, the endoscope 500 is fixed, and after the endoscope 500 is fixed, the endoscope retaining sheet 405 is moved away to facilitate the subsequent test of the endoscope 500; it should be noted that the sliding block 403 has a rectangular plate-shaped structure, and the clamping hole 404 has a triangular shape, preferably, the clamping hole 404 has an isosceles triangle shape; the fixed base 401 is an L-shaped structure, the fixed base 401 includes a horizontal section 401a and a vertical section 401b, and a sliding groove 406 for the sliding block 403 to move up and down is arranged at the vertical section 401 b; springs 407 are arranged on two sides of the interior of the vertical section 401b, and the tops of the springs 407 are in contact with the top end of the interior of the vertical section 401 b; push plates 408 protrude from both sides of the bottom of the sliding block 403, and the bottom of the spring 407 is in contact with the push plates 408; the slide block 403 moves up and down in the slide groove 406, the two sides of the bottom of the slide block 403 protrude the push plate 408, the upper end of the push plate 408 is in contact with the spring 407, the spring 407 is also in contact with the top end of the inside of the vertical section 401b of the fixing base 401, at the moment, the spring 407 is in a normal state, when the slide block 403 is pulled up, the spring 407 is compressed, then the endoscope 500 passes through the clamping hole 404 and is positioned subsequently, when the positioning is completed, the slide block 403 is released, the slide block 403 descends through the elasticity of the spring 407, and the endoscope 500 is fixed through the V-shaped groove 402 and the clamping hole 404; it is noted that the middle of the vertical section 401b has a longitudinal opening, and the opening is communicated with the V-shaped groove 402; it is noted that, as shown in fig. 6, the lower end of the sliding groove 406 of the vertical section 401b is hollowed out, so that the push plate 408 can extend into the vertical section 401b and the push plate 408 can move up and down, and the push plate 408 is also limited to a certain extent; the pull ring 409 is arranged to facilitate pulling, the threaded hole 410 at the horizontal section 401a is used for fixing the whole fixing device, the endoscope baffle plate 405 is in a structure in a shape like a Chinese character 'tu', and the upper part of the endoscope baffle plate 405 is used for limiting the endoscope 500; the lower part of the endoscope baffle plate 405 is provided with two sliding through holes 411, and a bolt 412 passes through the sliding through holes 411 and is fixedly connected with the fixed base 401; the upper protruding part of the endoscope blocking piece 405 is used for limiting the endoscope 500, namely the endoscope is fixed after the pull ring is loosened when the endoscope is contacted with the upper protruding part, the sliding through hole 411 is a rectangular through hole, and after the fixing is finished, the endoscope blocking piece 405 can be moved away by taking the sliding through hole 411 as a track; it is noted that, as for the portion of the gripper assembly 400, reference is made to "a fixture suitable for endoscopes of different diameters" disclosed in patent No. 202120601969.X ".
Referring to fig. 10, the supporting frame 601 includes two supporting seats 601a, a sliding way 603 is fixed on the top of the two supporting seats 601a, the sliding way 603 is an arc-shaped structure, an arc-shaped groove 604 is concavely provided on the surface of the sliding way 603, and two sides of the sliding way 603 are provided with a limiting block 605. The bottom of the supporting seat 601a is fixed on the Z-axis linear sliding table 201, the supporting frame sliding block 602 can slide on the sliding way 603, and the limiting block 605 can prevent the supporting frame 602 from separating from the sliding way 603.
Referring to fig. 11, the endoscope detection automatic calibration device further includes a detection calibration system, and the detection calibration system is configured to analyze the side mark image captured by the endoscope 500 and implement image analysis, so as to feed back motion data to the three-axis linear sliding table 200 and the three-axis rotary sliding table 300 for calibration.
The detection and calibration system comprises an image acquisition module, an image analysis and identification module and a motor sliding table control module, wherein the image acquisition module is electrically connected with the image analysis and identification module, the image analysis and identification module is electrically connected with the motor sliding table control module, the image acquisition module is also electrically connected with the endoscope 500 (the endoscope 500 is electrically connected with the image acquisition module, actually, the imaging center of the endoscope 500 is connected with the detection and calibration system through the image acquisition module), and the motor sliding table control module is also electrically connected with the three-axis linear sliding table 200 and the three-axis rotary sliding table 300;
the detection and calibration system is also electrically connected with the display screen and is used for displaying the calibration progress in real time through the display screen; the image analysis and identification module analyzes the side mark images of the shooting calibration side mark 100 collected by the image collection module, and calculates the position distance and the angle of the deviation of the endoscope 500 according to the side mark images; the motor sliding table control module is used for adjusting the three-axis linear sliding table 200 and the three-axis rotary sliding table 300 according to the displacement angle data calculated by the image analysis and recognition module.
An endoscope detection automatic calibration method comprises the following steps:
s1, endoscope clamping: firstly, the endoscope 500 is placed in the V-shaped groove 402 of the fixed base 401, the other end of the endoscope 500 is positioned in the groove 606 of the support frame sliding block 602, then the endoscope 500 is manually pushed to move towards the direction of the sliding block 403, the pull ring 409 is manually pulled up, so that the endoscope 500 can pass through the clamping hole 404 at the sliding block 403, when the endoscope 500 moves to be in contact with the endoscope baffle plate 405, the clamping of the endoscope 500 is completed, at the moment, the pull ring 409 is released, and the pull ring 409 automatically compresses the endoscope 500 under the action of the spring 407;
s2, endoscope calibration: after the endoscope 500 is clamped, a testing distance is set firstly, after the distance is tested, the motor sliding table control module controls the Y-axis linear sliding table 202 to work, so that the endoscope 500 moves to the set testing distance, then the image acquisition module acquires the side mark image shot by the endoscope 500, the image analysis and identification module analyzes the acquired side mark image, calculates the position offset of X, Y, Z axis and the angle offset of X, Y, Z axis, then transmits the displacement data to the motor sliding table control module, the motor sliding table control module controls the X-axis rotary sliding table 301, the Y-axis rotary sliding table 302 and the Z-axis rotary sliding table 303 to move in sequence according to the offset data, firstly, the X, Y, Z three-axis angle is calibrated, so that the visual axis of the endoscope 500 is perpendicular to the calibrated side mark 100, and then the motor sliding table control module controls the X-axis linear sliding table 203 and the Z-axis linear sliding table 201 to move, the imaging center of the image shot by the endoscope 500 is coincided with the center of the calibration side mark 100, finally, the image analysis and identification module analyzes according to the currently shot side mark image of the calibration side mark 100, whether the image center is coincided with the center of the calibration side mark 100 and whether the left scale, the right scale, the upper scale and the lower scale are consistent or not are judged, if the two judgment items are passed, the calibration is finished, otherwise, one round of calibration adjustment is carried out again if any item is not passed.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical scope of the present invention and the equivalent alternatives or modifications according to the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be 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. Also, 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 an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (9)
1. An endoscopic testing auto-calibration device, comprising:
the calibration side mark (100), the surface of the calibration side mark (100) is printed with a side mark image;
the three-axis linear sliding table (200) is arranged on one side of the calibration side mark (100);
the three-axis rotary sliding table (300) is arranged at the upper end of the three-axis linear sliding table (200), and the three-axis linear sliding table (200) is used for controlling the three-axis rotary sliding table (200) to linearly move in the XYZ axis direction;
the clamping assembly (400) is arranged at the upper end of the three-axis rotating sliding table (300), the three-axis rotating sliding table (300) is used for controlling the clamping assembly (400) to rotate and move in the XYZ axis direction, and the clamping assembly (400) is used for clamping the endoscope (500);
endoscope supporting component (600), its bottom is fixed in on Z axle straight line slip table (201) of triaxial straight line slip table (200), endoscope supporting component (600) including support frame (601) and slide set up in support frame slider (602) of support frame (601) upper end, the surface of support frame slider (602) has recess (606) that supply endoscope (500) to place.
2. An endoscopy examination auto-calibration apparatus according to claim 1, further comprising: the three-axis linear sliding table (200) is sequentially provided with a Y-axis linear sliding table (202), a Z-axis linear sliding table (201) and an X-axis linear sliding table (203) from bottom to top.
3. An endoscopy automatic calibration device according to claim 2, characterized in that: rotatory slip table of triaxial (300) are rotatory slip table of X axle (301), rotatory slip table of Y axle (302) and rotatory slip table of Z axle (303) from bottom to top in proper order, clamping subassembly (400) are fixed in on the rotatory slip table of Z axle (303).
4. An endoscopy examination auto-calibration device according to claim 3, wherein the clamping assembly (400) comprises:
the fixed base (401) is detachably fixed on the Z-axis rotating sliding table (303), and a V-shaped groove (402) is formed in the surface of the fixed base (401);
the sliding block (403) is connected with the fixed base (401) in a sliding mode, the sliding block (403) can move up and down relative to the fixed base (401), the lower portion of the sliding block (403) is further provided with a clamping hole (404), and the clamping hole (404) is triangular;
an endoscope blocking piece (405), wherein the endoscope blocking piece (405) is arranged on the rear side of the fixed base (401) in a sliding mode;
the endoscope (500) is placed in the V-shaped groove (402) and passes through the clamping hole (404) and is limited by the endoscope baffle plate (405).
5. An endoscopy automatic calibration device according to claim 4, wherein: the fixed base (401) is of an L-shaped structure, the fixed base (401) comprises a horizontal section (401a) and a vertical section (401b), and a sliding groove (406) for the sliding block (403) to move up and down is formed in the vertical section (401 b);
springs (407) are arranged on two sides of the interior of the vertical section (401b), and the tops of the springs (407) are in contact with the top end of the interior of the vertical section (410 b); push plates (408) are protruded from two sides of the bottom of the sliding block (403), and the bottom of the spring (407) is in contact with the push plates (408);
the upper end of the sliding block (403) is fastened with a pull ring (409) through a screw;
threaded holes (410) are formed in the two sides of the horizontal section (401 a);
the endoscope separation blade (405) is of a convex structure, and the upper part of the endoscope separation blade (405) is used for limiting the endoscope (500); the lower part of the endoscope baffle plate (405) is provided with two sliding through holes (411), and a bolt (412) penetrates through the sliding through holes (411) and is fixedly connected with the fixed base (401).
6. An endoscopy examination auto-calibration apparatus according to claim 5, further comprising: the supporting frame (601) comprises two supporting seats (601a), a slide way (603) is fixed at the tops of the two supporting seats (601a), the slide way (603) is of an arc-shaped structure, an arc-shaped groove (604) is concavely arranged on the surface of the slide way (603), and limiting blocks (605) are arranged on two sides of the slide way (603).
7. An endoscopy automatic calibration device according to claim 6, characterised in that: the endoscope detection automatic calibration device further comprises a detection calibration system, and the detection calibration system is used for analyzing the side mark images shot by the endoscope (500) and realizing image analysis, so that motion data are fed back to the three-axis linear sliding table (200) and the three-axis rotary sliding table (300) for calibration.
8. An endoscopy examination auto-calibration apparatus according to claim 7, further comprising: the detection and calibration system comprises an image acquisition module, an image analysis and identification module and a motor sliding table control module, wherein the image acquisition module is electrically connected with the image analysis and identification module, the image analysis and identification module is electrically connected with the motor sliding table control module, the image acquisition module is also electrically connected with the endoscope (500), and the motor sliding table control module is also electrically connected with the three-axis linear sliding table (200) and the three-axis rotary sliding table (300);
the detection and calibration system is also electrically connected with the display screen and is used for displaying the calibration progress in real time through the display screen; the image analysis and identification module analyzes the side mark image of the shooting calibration side mark (100) collected by the image collection module, and calculates the position distance and the angle of the deviation of the endoscope (500) according to the side mark image; the motor sliding table control module is used for adjusting the three-axis linear sliding table (200) and the three-axis rotary sliding table (300) according to the displacement angle data calculated by the image analysis and recognition module.
9. The method for calibrating an automatic endoscope inspection calibration device according to claim 8, characterized by comprising the steps of:
s1, endoscope clamping: firstly, an endoscope (500) is placed in a V-shaped groove (402) of a fixing base (401), the other end of the endoscope (500) is located in a groove (606) of a sliding block (602) of a support frame, then the endoscope (500) is manually pushed to move towards the direction of the sliding block (403), a pull ring (409) is manually pulled up, so that the endoscope (500) can pass through a clamping hole (404) in the position of the sliding block (403), when the endoscope (500) moves to be in contact with an endoscope separation blade (405), clamping on the endoscope (500) is completed, the pull ring (409) is loosened, and the pull ring (409) automatically compresses the endoscope (500) under the action of a spring (407);
s2, endoscope calibration: after the endoscope (500) is clamped, a testing distance is set firstly, after the distance is tested, the motor sliding table control module controls the Y-axis linear sliding table (202) to work, so that the endoscope (500) moves to the set testing distance, then the image acquisition module acquires the side mark image shot by the endoscope (500), the image analysis and identification module analyzes the acquired side mark image, the position offset of X, Y, Z axis and the angle offset of X, Y, Z axis are calculated, then the displacement data are sent to the motor sliding table control module, the motor sliding table control module controls the X-axis rotary sliding table (301), the Y-axis rotary sliding table (302) and the Z-axis rotary sliding table (303) to move in sequence according to the offset data, the X, Y, Z three-axis angle is calibrated firstly, so that the visual axis of the endoscope (500) is perpendicular to the calibrated side mark (100), and then the motor sliding table control module controls the X-axis linear sliding table (203) and the Z-axis linear sliding table (201) to move, so that the imaging center of the image shot by the endoscope (500) is coincided with the center of the calibration side mark (100), finally, the image analysis and identification module analyzes according to the currently shot side mark image of the calibration side mark (100), whether the image center is coincided with the center of the calibration side mark (100) is judged, whether the left scale, the right scale, the upper scale and the lower scale are consistent or not is judged, if both judgment items are passed, the calibration is completed, and if any item is not passed, one round of calibration adjustment is carried out again.
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