CN114916898A - Automatic control inspection method, system, equipment and medium for magnetic control capsule - Google Patents
Automatic control inspection method, system, equipment and medium for magnetic control capsule Download PDFInfo
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
- A61B1/000094—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope extracting biological structures
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- A61B1/00002—Operational features of endoscopes
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- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
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Abstract
The invention discloses an automatic control inspection method, system, equipment and storage medium of a magnetic control capsule, wherein the method comprises the following steps: acquiring image information fed back by the capsule endoscope, positioning the position of the capsule endoscope on the stomach based on the image information, and judging whether the capsule endoscope is matched with the magnetic control equipment or not through image dynamic information; and when the capsule endoscope is judged to be matched with the magnetic control equipment, controlling the magnetic control equipment to drive the capsule endoscope to move and shoot along the automatically constructed examination route, and carrying out image screening analysis on image information obtained by shooting in the moving process of the capsule endoscope to generate a detection result. The capsule endoscope can automatically position the stomach position, automatically match with the magnetic control equipment for positioning, automatically plan the examination route, realize automatic examination, meet the requirement of automatic examination, improve the accuracy and efficiency of examination and reduce the workload of medical personnel.
Description
Technical Field
The invention relates to the technical field of medical instruments and image recognition, in particular to an automatic control inspection method, system, equipment and storage medium for a magnetic control capsule.
Background
At the present stage, the magnetic control capsule endoscope system mainly realizes the examination of the stomach of a patient by shooting a stomach image; most of the existing magnetic control capsule endoscopes determine the position of the capsule endoscope in the stomach through electromagnetic induction of a built-in antenna of the capsule, or judge the current position of the capsule endoscope in the stomach through observing videos or pictures shot by the capsule endoscope by a doctor, but the judging method depends on clinical experience and subjective judgment of the doctor, has low efficiency and is easy to cause work fatigue of the doctor; in addition, in the detection process of the capsule endoscope, medical staff are required to manually control the magnetic control device in the whole process to drive the capsule endoscope to move in the stomach, the posture of the capsule endoscope in the stomach is influenced by the control of the magnetic control device, and if the matching degree of the magnetic control device and the capsule endoscope is poor or the moving route of the capsule endoscope is not reasonable, a shooting blind area is easily caused, and the detection accuracy is reduced.
Disclosure of Invention
In order to overcome the defects of the prior art, one of the purposes of the present invention is to provide an automatic control inspection method for a magnetic control capsule, which can automatically position the stomach position of a capsule endoscope, automatically match the capsule endoscope with a magnetic control device for positioning, automatically plan an inspection route, realize automatic inspection, improve the accuracy and efficiency of inspection while satisfying the requirement of automatic inspection, and reduce the workload of medical care personnel.
The second purpose of the invention is to provide an automatic control inspection system of the magnetic control capsule.
It is another object of the present invention to provide an electronic device.
It is a further object of the present invention to provide a computer readable storage medium.
One of the purposes of the invention is realized by adopting the following technical scheme:
an automatic control inspection method of a magnetic control capsule comprises the following steps:
acquiring image information fed back by the capsule endoscope, positioning the position of the capsule endoscope on the stomach based on the image information, and judging whether the capsule endoscope is matched with the magnetic control equipment or not through image dynamic information;
and when the capsule endoscope is judged to be matched with the magnetic control equipment, controlling the magnetic control equipment to drive the capsule endoscope to move and shoot along the automatically constructed examination route, and carrying out image screening analysis on image information obtained by shooting in the moving process of the capsule endoscope so as to generate a detection result.
Further, the method for positioning the position of the capsule endoscope in the stomach comprises the following steps:
and comparing the image information with stomach images marked with stomach features in an image database, identifying the stomach features contained in the image information, and determining the position of the current capsule endoscope in the stomach according to the stomach features.
Further, the method for judging whether the capsule endoscope is matched with the magnetic control device comprises the following steps:
controlling the magnetic control equipment to magnetically attract the capsule endoscope so as to drive the capsule endoscope to move and rotate in the stomach;
when image information collected by the capsule endoscope in real time changes in the magnetic attraction process, the real-time motion attitude of the capsule endoscope is calculated through an acceleration gyroscope in the capsule endoscope, whether the real-time motion attitude of the capsule endoscope is consistent with the motion attitude of a magnetic ball of the magnetic control equipment or not is judged, and if the real-time motion attitude of the capsule endoscope is consistent with the motion attitude of the magnetic ball of the magnetic control equipment, the capsule endoscope is judged to be matched with the magnetic control equipment.
Further, the construction method of the inspection route comprises the following steps:
acquiring a stomach image, and identifying a stomach characteristic point in the stomach image;
acquiring stomach case data, counting according to the stomach case data and marking lesion points;
the stomach characteristic points and the lesion points are jointly built into check points which need to be traversed during the examination, and the check points are virtually connected to obtain the examination route.
Further, the method for screening and analyzing the image comprises the following steps:
identifying stomach characteristic points in image information shot in real time in the moving process of the capsule endoscope so as to determine the current stomach position of the capsule endoscope;
the method comprises the steps of calling a stomach image corresponding to a current stomach position in an image database, wherein the stomach image is marked with abnormal features in advance;
and comparing the image information shot in real time with the stomach image in the image database, finding out a suspected lesion area which accords with abnormal characteristics and a suspicious area which cannot be distinguished, and adding corresponding label information to the suspected lesion area and the suspicious area, wherein the label information comprises an area name and a disease name.
Further, after the image screening analysis, the method further comprises:
and updating and storing the confirmed suspected lesion area, the image information of the suspected lesion area and the label information of the suspected lesion area into the image database.
Further, still include:
and acquiring the patient information to establish a corresponding storage space, and storing all the shot image information and the label information thereof into the storage space for storage.
The second purpose of the invention is realized by adopting the following technical scheme:
an automatic control inspection system of a magnetic control capsule comprises a capsule endoscope, a magnetic control device, an image recorder and a central controller; the capsule endoscope is provided with a lens recording module and an image transmission module and is used for acquiring image information of the stomach; the magnetic control equipment is used for magnetically attracting the capsule endoscope to move in the stomach according to the line control instruction and checking according to a planned route; the image recorder is used for receiving the image information fed back by the capsule endoscope and forwarding the image information to the central controller; the central controller executes the automatic control inspection method of the magnetic control capsule and controls the operation of the magnetic control equipment.
The third purpose of the invention is realized by adopting the following technical scheme:
an electronic device comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the processor implementing the method for automatically controlling inspection of a magnetically controlled capsule as described above when executing the computer program.
The fourth purpose of the invention is realized by adopting the following technical scheme:
a computer-readable storage medium having stored thereon a computer program which, when executed, implements the automatically controlled inspection method of a magnetically controlled capsule as described above.
Compared with the prior art, the invention has the beneficial effects that:
the capsule endoscope is judged in the stomach according to the image information, the position and the posture of the capsule endoscope in the stomach are positioned and detected by the magnetic control equipment, an examination line for comprehensive examination is automatically constructed, and the magnetic control equipment is automatically controlled to magnetically attract the capsule endoscope to move along the examination line in the stomach, so that a blind area is avoided in the examination process; the stomach is inspected according to the real-time image shot by the capsule endoscope, so that the automatic inspection effect is realized, the inspection efficiency and accuracy are improved, and the workload of medical personnel is reduced.
Drawings
FIG. 1 is a schematic flow chart of the automatic control inspection method of the magnetic capsule of the present invention;
FIG. 2 is a schematic view of the structure of the magnetic control device of the present invention;
FIG. 3 is a block diagram of an automatic control inspection system for magnetically controlled capsules according to the present invention.
Detailed Description
The present invention is further described with reference to the accompanying drawings and the detailed description, and it should be noted that, in the case of no conflict, any combination between the embodiments or technical features described below may form a new embodiment.
Example one
The embodiment discloses an automatic control inspection method of a magnetic control capsule, which can automatically control the motion of a capsule endoscope, realize the effect of automatic inspection, reduce manual operation, improve inspection efficiency and accuracy and reduce the workload of medical staff.
Referring to fig. 1 and 3, the automatic control inspection method of the magnetic control capsule specifically includes the following steps:
step S1: acquiring image information fed back by the capsule endoscope, and positioning the position of the capsule endoscope on the stomach based on the image information;
step S2: judging whether the capsule endoscope is matched with the magnetic control equipment or not based on the image dynamic information, and controlling the magnetic control equipment to drive the capsule endoscope to move and shoot along an automatically constructed examination route when the capsule endoscope is judged to be matched with the magnetic control equipment;
step S3: and carrying out image screening analysis on image information obtained by shooting in the moving process of the capsule endoscope so as to generate a detection result.
Before the capsule endoscope is used for examining the stomach, an image database is required to be established in advance, a large number of stomach images are prestored in the image database, and the stomach images are obtained by shooting the stomach images through the capsule or other endoscopes; the stomach image is marked with stomach features in advance, the stomach features comprise characteristic information such as texture, color, structure and the like of parts such as cardia, fundus, greater curvature, lesser curvature, pylorus, gastric angle, antrum and the like in normal and abnormal states, wherein the abnormal states can be understood as abnormal features of unhealthy lesions such as inflammation, polyp, bleeding and the like in the stomach.
In the embodiment, the capsule endoscope is magnetically attracted by the magnetic control equipment, so that the capsule endoscope is driven to move in the stomach. As shown in fig. 2, the magnetic control device has 4 translation axes (X1, X2, Y and Z axes) and 2 rotation axes (U axis and W axis), and under the driving of system task instructions, each axis of the magnetic control device drives a magnetic ball, so that the movement in 4 directions and the 360-degree arbitrary rotation in 2 directions can be realized, and further, the change of the position and direction of the magnetic field is achieved.
Correspondingly, the capsule endoscope is internally provided with a magnetic element, and the position and the angle of the capsule endoscope in the stomach can be changed by changing the position and the direction of the magnetic field of the external magnetic field under the condition of external magnetic field attraction, so that the stomach can be inspected.
When a patient swallows the capsule endoscope, the patient lies on the examination bed flatly, and when the capsule endoscope reaches the stomach, the image information of the stomach fed back by the capsule endoscope is obtained. Wherein, capsule endoscope is from taking the camera module, utilizes the camera module can shoot and record a video formation image information in the stomach by oneself. The capsule endoscope is also internally provided with a transmission antenna, the transmission antenna can transmit the shot image information to an image recorder outside the body through a radio frequency signal, and the image recorder receives the pictures and videos shot by the capsule endoscope and transmits the pictures and videos to the central controller for processing.
After a patient swallows the capsule endoscope, the position of the capsule endoscope in the stomach is random, in order to accurately position the capsule endoscope, the system acquires image information uploaded by the capsule endoscope and shot in the stomach, compares the image information with a pre-established image database through an image AI technology, identifies the characteristics of the stomach in the image information, and determines the position of the capsule endoscope in the stomach according to the identified characteristics of the stomach.
At the moment, the system automatically moves the magnetic ball of the magnetic control device to the position right facing the capsule endoscope according to the position of the capsule endoscope in the stomach, sends a motion instruction to each shaft of the magnetic control device, magnetically attracts the capsule endoscope and drives the capsule endoscope to the specified position of the stomach of a human body, wherein the specified position can be above the stomach space, so that the capsule endoscope can be sequentially moved and inspected from top to bottom in the stomach in the follow-up process, and the inspection comprehensiveness is improved.
And then, the magnetic control equipment controls the magnetic ball to slowly move downwards, controls the magnetic ball to properly rotate in the downward moving process, and judges whether the image information shot by the capsule endoscope changes in real time. If the image information shot by the capsule endoscope is not changed greatly or the image information is not changed at all, the capsule endoscope does not play a role in controlling the attraction of the magnetic ball; if the front image and the rear image are compared, when the difference between the rear image and the front image is obvious, the magnetic ball attraction capsule endoscope starts to function; at this time, in order to further determine the matching program of the magnetic control device and the capsule endoscope, the real-time motion attitude of the capsule endoscope needs to be calculated through an acceleration gyroscope in the capsule endoscope, when the motion attitude of the capsule endoscope is basically consistent with the motion attitude of the magnetic ball, the capsule endoscope is locked and controlled by the magnetic force of the magnetic ball, and the positions of the magnetic ball and the capsule endoscope are successfully matched. If the capsule endoscope and the magnetic ball are not matched, the capsule endoscope can be connected by increasing a magnetic field or other modes until the capsule endoscope and the magnetic ball are successfully matched, and then the subsequent examination operation is carried out.
According to the image information shot in the last step and the position information of the capsule endoscope in the stomach, the image AI system can automatically construct a virtual stomach model and a 3D theoretical physical model of the capsule endoscope, and visually display the stomach condition and the position and the angle of the capsule endoscope in the stomach.
Meanwhile, the system automatically establishes an examination route, and controls the magnetic control equipment to drive the capsule endoscope to move and shoot along the automatically established examination route. The construction method of the inspection route comprises the following steps: acquiring a stomach image from an image database in advance, identifying stomach characteristic points in the stomach image, and marking each stomach characteristic point in a virtual model; acquiring a large amount of stomach case data, counting lesion points which are easy to occur from the stomach case data and marking the lesion points in the virtual model; the system establishes check points which need to be traversed during examination according to the stomach characteristic points and the lesion points, virtually connects the check points according to the position sequence to obtain an examination route, so that the capsule endoscope can shoot the stomach characteristic points and the points which are easy to cause lesions when moving along the examination route, and the examination comprehensiveness is improved; meanwhile, when the examination route is generated, the route connection can be carried out according to the principle that the route is shortest, the repeated condition of the route can be reduced, and the stay time of the capsule endoscope in the stomach is shortened.
The capsule endoscope shoots stomach images along the way in the moving process, the shot image information is uploaded to the system to be stored in real time, the system identifies the stomach characteristic points in the image information shot in real time, the current stomach position of the capsule endoscope is determined and is calibrated with the theoretical physical model of the stomach, and the position of the check point and the check route are corrected in real time to ensure the data accuracy.
After the capsule endoscope finishes the examination along the examination route, the system stores all the received image information into the storage space corresponding to the patient, namely, the system acquires the patient information in advance to establish the storage space corresponding to the patient information, stores all the shot image information and the label information thereof into the storage space, and stores the shot image information and the label information thereof in a file directory named by the name of the patient in the storage space.
Then, the system calls the image information in the storage space, compares the image information with the stomach image in the image database, finds out whether a suspected lesion area which is in accordance with abnormal features exists in the image information, marks the area if the suspected lesion area exists, and adds label information such as area name (such as pylorus), disease name (such as inflammation and polyp) and the like to the area. Meanwhile, if there is a suspicious region which cannot be resolved in the image information, it means that an abnormal condition which is not recorded in the image database occurs in the stomach, and at this time, the suspicious region is also marked as the suspicious region which cannot be resolved in the image, and corresponding label information is added to the suspicious region, wherein the disease name of the suspicious region may not be recognized by the system, so that the disease name may be written into an "unknown" label.
The disease identification process can be performed uniformly after the route inspection is finished, or the real-time taken picture or video can be identified in real time in the moving and shooting process of the capsule endoscope, namely, after the position of the current capsule endoscope in the stomach is identified, the stomach image corresponding to the current stomach position in the image database is called, the real-time taken image information is compared with the stomach image in the image database, the suspected pathological change area which is in line with abnormal characteristics and the suspect area which is not resolved are found out, and corresponding label information is added to the suspected pathological change area and the suspect area.
When a suspected lesion area which accords with abnormal characteristics and a suspicious area which cannot be distinguished are found, the system displays the suspected lesion area, the suspicious area and label information of each area, a doctor can confirm the marked image information one by one, and meanwhile, the doctor can automatically call and display the area marked with the unknown label, and the doctor is emphatically prompted to check the area; during the period, doctors can input corresponding treatment suggestions to different lesion areas; in addition, the system may also call up a corresponding treatment plan pre-stored in the database for reference by the physician according to the characteristics of the lesion.
If a diagnosis error occurs in the process of confirming the information by the doctor, the doctor can manually modify the label information; and after all the information is confirmed, the system sorts the label information and provides a corresponding examination report by combining with the doctor's suggestion. Meanwhile, the system can update and store the confirmed suspected lesion area, the image information of the suspected lesion area and the label information of the suspected lesion area into the image database, and the image database automatically adds case models according to the difference information of the actually labeled samples.
Example two
The present embodiment provides an automatic control inspection system for a magnetic control capsule, as shown in fig. 3, the system includes a capsule endoscope, a magnetic control device, an image recorder, and a central controller; the capsule endoscope is provided with a lens recording module and an image transmission module and is used for acquiring image information of the stomach; the magnetic control equipment is used for magnetically attracting the capsule endoscope to move in the stomach according to the circuit control instruction and checking according to a planned route; the image recorder is used for receiving the image information fed back by the capsule endoscope and forwarding the image information to the central controller.
The central controller is the brain center of the whole system and executes the automatic control inspection method of the magnetic control capsule in the embodiment I. The central controller is provided with magnetic control equipment motion control software, real-time film reading software, image AI software and the like, wherein the magnetic control equipment motion control software is mainly used for operation control of magnetic control equipment, the real-time film reading software is used for checking real-time image information in the gastroscopy process of a patient, the image AI software is an intelligent system with the functions of receiving, identifying, judging, processing and the like of the image information, the motion control function is performed on the operation of the magnetic control equipment in the check process, and the image AI system receives the image information in the capsule positioning process and identifies the position of the capsule endoscope in the stomach in all image databases of the stomach. The image AI software identifies and judges whether the received image information has change or not and judges whether the change rule is consistent with the expected change of the magnetic control equipment or not in the positioning process of the magnetic control equipment, so that the matching of the magnetic control equipment and the capsule endoscope is judged in real time, and the inspection accuracy is improved; the image AI software automatically compares image information points in the automatic inspection process, automatically corrects an inspection route, and automatically identifies suspicious image information in the image screening process, so that the whole inspection process is automated, manual participation is reduced, and the inspection efficiency is improved.
In some embodiments, there is also provided an electronic device comprising a processor, a memory, and a computer program stored on the memory and executable on the processor, the processor implementing the method of automatically controlling inspection of a magnetron capsule of embodiment one when executing the computer program; in addition, in some embodiments, there is also provided a computer readable storage medium having stored thereon a computer program which, when executed, implements the above-described method of automatically controlling inspection of a magnetically controlled capsule.
The system, the device and the storage medium in this embodiment are based on multiple aspects of the same inventive concept, and the method implementation process has been described in detail in the foregoing, so that those skilled in the art can clearly understand the structure and implementation process of the system, the device and the storage medium in this embodiment according to the foregoing description, and for the sake of brevity of the description, no further description is provided here.
The above embodiments are only preferred embodiments of the present invention, and the scope of the present invention should not be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are intended to be covered by the claims.
Claims (10)
1. An automatic control inspection method of a magnetic control capsule is characterized by comprising the following steps:
acquiring image information fed back by the capsule endoscope, positioning the position of the capsule endoscope on the stomach based on the image information, and judging whether the capsule endoscope is matched with the magnetic control equipment or not through image dynamic information;
and when the capsule endoscope is judged to be matched with the magnetic control equipment, controlling the magnetic control equipment to drive the capsule endoscope to move and shoot along the automatically constructed examination route, and carrying out image screening analysis on image information obtained by shooting in the moving process of the capsule endoscope to generate a detection result.
2. The method of claim 1, wherein the capsule endoscope is positioned in the stomach by:
and comparing the image information with stomach images marked with stomach features in an image database, identifying the stomach features contained in the image information, and determining the position of the current capsule endoscope in the stomach according to the stomach features.
3. The method of claim 1, wherein the method of determining whether the capsule endoscope matches the magnetron device comprises:
controlling the magnetic control equipment to magnetically attract the capsule endoscope so as to drive the capsule endoscope to move and rotate in the stomach;
when image information collected by the capsule endoscope in real time changes in the magnetic attraction process, the real-time motion attitude of the capsule endoscope is calculated through an acceleration gyroscope in the capsule endoscope, whether the real-time motion attitude of the capsule endoscope is consistent with the motion attitude of a magnetic ball of the magnetic control equipment or not is judged, and if the real-time motion attitude of the capsule endoscope is consistent with the motion attitude of the magnetic ball of the magnetic control equipment, the capsule endoscope is judged to be matched with the magnetic control equipment.
4. The automatic control inspection method of a magnetron capsule as claimed in claim 1, wherein the inspection route is constructed by:
acquiring a stomach image, and identifying a stomach characteristic point in the stomach image;
acquiring stomach case data, counting according to the stomach case data and marking lesion points;
and jointly assembling the stomach characteristic points and the lesion points into check points which need to be traversed during the examination, and virtually connecting the check points to obtain the examination route.
5. The method for automatically controlling and inspecting a magnetron capsule as claimed in claim 1, wherein the method for image screening and analyzing is as follows:
identifying stomach characteristic points in image information shot in real time in the moving process of the capsule endoscope so as to determine the current stomach position of the capsule endoscope;
the method comprises the steps of calling a stomach image corresponding to a current stomach position in an image database, wherein the stomach image is marked with abnormal features in advance;
and comparing the image information shot in real time with the stomach image in the image database, finding out a suspected lesion area which accords with abnormal characteristics and a suspicious area which cannot be distinguished, and adding corresponding label information to the suspected lesion area and the suspicious area, wherein the label information comprises an area name and a disease name.
6. The method of claim 5, further comprising, after the image screening analysis:
and updating and storing the confirmed suspected lesion area, the image information of the suspected lesion area and the label information of the suspected lesion area into the image database.
7. The method of claim 1, further comprising:
and acquiring the patient information to establish a corresponding storage space, and storing all the shot image information and the label information thereof into the storage space for storage.
8. An automatic control inspection system of a magnetic control capsule is characterized by comprising a capsule endoscope, a magnetic control device, an image recorder and a central controller; the magnetic control equipment is used for magnetically attracting the capsule endoscope to move in the stomach according to the line control instruction; the image recorder is used for receiving the image information fed back by the capsule endoscope and forwarding the image information to the central controller; the central controller executes the automatic control inspection method of the magnetron capsule as claimed in any one of claims 1 to 7.
9. An electronic device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for automatically controlling and inspecting a magnetron capsule according to any one of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium having stored thereon a computer program which, when executed, implements the method for automatically controlling inspection of a magnetically controlled capsule according to any one of claims 1 to 7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115607284A (en) * | 2022-12-05 | 2023-01-17 | 珠海视新医用科技有限公司 | Intraoperative navigation control method and device for endoscope, equipment and storage medium |
| CN116076995A (en) * | 2023-02-03 | 2023-05-09 | 浙江势通机器人科技有限公司 | Scanning control method and scanning control system for capsule endoscope |
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