CN115239641A - Method and device for measuring size of focus based on digestive endoscopy - Google Patents
Method and device for measuring size of focus based on digestive endoscopy Download PDFInfo
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- 230000001079 digestive effect Effects 0.000 title claims abstract description 17
- 238000001839 endoscopy Methods 0.000 title claims description 7
- 230000003902 lesion Effects 0.000 claims abstract description 20
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- 238000012545 processing Methods 0.000 claims description 23
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Abstract
The invention discloses a method for measuring the size of a focus based on a digestive endoscope, which mainly solves the problems of larger measurement error and more complex measurement process in the prior art; on the basis of the existing endoscope host system and the endoscope, the distance between a target object and the front end of the endoscope is measured through a distance meter, a correlation formula for calculating the size of the object based on the distance between the endoscope camera and the target object and the pixel value of the object is obtained by combining the real diameter of the target object and the pixel value of the target object obtained by the endoscope camera through an in vitro experiment, and finally the real size of the object to be measured is obtained; the method can measure the size of digestive tract lesion under endoscope more simply and effectively, and reduce measurement error.
Description
Technical Field
The invention relates to the field of image processing, in particular to a method and a device for measuring the size of a focus based on a digestive endoscopy.
Background
At present, endoscopes are only used for diagnosis and treatment of digestive tract lesions, methods and devices for measuring the sizes of lesions are lacked, and the sizes of the lesions are evaluated and recorded only by subjective feelings of doctors, so that the evaluation influences the judgment of the real sizes of the lesions, and influences of different degrees are caused to the formulation of later treatment schemes of the lesions.
The existing method for measuring the size of a focus by calculating the crossing width of a reference object and a digestive tract mucosa is to obtain the corresponding relation between image pixels and the actual size through the size of the junction of the reference object and the digestive tract mucosa obtained by a real experiment; and extracting a focus area contained in the digestive tract endoscope image, and obtaining the actual size of the focus according to the corresponding relation between the image pixel and the actual size. The measuring method has the disadvantages of large measuring error and complex measuring process.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a method for measuring the size of a lesion based on a digestive endoscope, which comprises the following steps:
s1, placing a target object with a known size C at a plurality of different distances D in front of a lens of an endoscopic camera, shooting target images at different distances D by using the endoscopic camera, and calculating a pixel size W of the target object through a plurality of groups of target images;
s2, shooting a plurality of target objects with different known sizes C at a known distance D, and respectively obtaining a plurality of pixel sizes W according to the step S1, thereby obtaining a plurality of groups (C) i ，W i ) Data, coefficient K, C obtained by function fitting method i ＝K×W i ；
S3, setting a plurality of different distances D, and respectively repeating the step S2 to obtain a plurality of coefficients K i (ii) a Thereby obtaining a plurality of groups (D) i ，K i ) Data, obtaining a polynomial function K by a polynomial function fitting method i ＝f(D i )；
S4, measuring the distance D between the object to be measured and the endoscope lens s By the polynomial function K of step S3 i ＝f(D i ) To obtain the coefficient K s ；
S5, shooting an image to be measured of the object to be measured by the endoscope camera, and measuring the pixel size W of the image to be measured after the image to be measured is subjected to distortion removal processing s ；
S6, coefficient K of the step S4 s And the pixel size W of step S5 s Obtaining the dimension C of the object to be measured s ；
S7, repeating the steps S4 to S6 for multiple times to obtain the sizes C of the multiple objects to be measured s And then averaging to obtain the real size of the object to be measured.
Further, before the step S1, the optical adjusting frame is used to fix the distal end lens of the endoscopic camera and then keep still, and the optical focal length and the electronic zoom parameter of the endoscopic camera lens are kept unchanged.
Further, the specific process of calculating the pixel size W of the target from the plurality of sets of target images in step S1 is as follows: the target image is subjected to a distortion removal process and then the pixel size W of the target image is calculated using an interactive image processing system or an automatic image processing system.
Further, the specific procedure of the distortion removal processing in step S1 and step S5 is as follows:
s101, placing a calibration plate in different directions within the depth of field range of an endoscope camera, and shooting an image of the calibration plate in each direction;
s102, extracting pixel coordinates p of each characteristic point from the calibration plate image in the step S101 through an image processing algorithm i (x,y i )；
S103, a plurality of known characteristic point pairs (P) of step S102 i ,p i ) Calculating the intrinsic parameters (f) of the camera by various camera distortion calibration methods x 、f y 、c x 、c y 、k 1 、k 2 、k 3 、p 1 、p 2 ) Wherein: f. of x Is the equivalent focal length in the horizontal direction of the image, f y Is the equivalent focal length in the vertical direction of the image, c x Is the x-coordinate of the intersection of the lens axis and the image sensor, c y Is the y coordinate, k, of the intersection of the lens optical axis and the image sensor 1 、k 2 、k 3 Is the radial distortion coefficient, p 1 、p 2 Is a tangential distortion parameter;
s104, carrying out distortion removal processing on the calibration board image in the step S101 through the camera distortion imaging model according to the internal parameters in the step S103;
in the step S1, the target image is subjected to distortion removal processing through the internal parameters of the step S103 and the camera distortion imaging model of the step S104; in step S5, the detected image is subjected to distortion removal processing on the target image through the internal parameters in step S103 and the camera distortion imaging model in step S104.
Further, the number of calibration board images of different orientations acquired in step S101 is 10 or more.
Further, in the steps S1, S3 and S4, any one of an ultrasonic range finder, a microwave range finder, a time-of-flight range finder, a triangular range finder and a structured light range finder is selected for ranging.
An apparatus for measuring lesion size based on a digestive endoscope includes a memory: for storing executable instructions; a processor: the device is used for executing the executable instructions stored in the memory to realize a method for measuring the size of the focus based on the digestive endoscope.
The beneficial effects of the invention are: a simple and effective digestive endoscopy-based method and a device for measuring the size of a focus are designed through in-vitro experiments and in-vivo experiments, the distance from a target object to the front end of an endoscope is measured through a range finder, a correlation formula for calculating the size of the object based on the distance between the endoscope camera and the target object and the pixel value of the object is obtained through the in-vitro experiments by combining the real diameter size of the target object and the pixel value of the target object obtained by the endoscope camera, and finally the real size of the object to be measured is obtained; the method can measure the size of digestive tract lesion under endoscope more simply and effectively, and reduce measurement error.
Drawings
FIG. 1 is a schematic flow chart of a method for measuring lesion size based on a digestive endoscope;
FIG. 2 shows the function K in example 1 i ＝f(D i ) Graph of the function of (a);
FIG. 3 is a schematic view of a calibration plate
FIG. 4 is another schematic illustration of a calibration plate;
FIG. 5 is another schematic illustration of a calibration plate;
figure 6 is an image of a calibration plate taken by an endoscopic camera in a plurality of different orientations.
Detailed Description
The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention. It is noted that 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 phrases "comprising a" \8230; "does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element.
The features and properties of the present invention are described in further detail below with reference to examples.
Example 1
As shown in fig. 1, a method for measuring the size of a lesion based on a digestive endoscope, comprising the steps of fixing a lens at the far end of an endoscope camera by an optical adjusting frame and keeping the lens still, wherein the optical focal length and the electronic zooming parameters of the lens of the endoscope camera are kept unchanged; then the following steps are carried out:
1.1, placing a target object with known size C at a plurality of different distances D in front of a lens of an endoscopic camera, shooting target images at different distances D by the endoscopic camera, then carrying out distortion removal processing on the target images, and finally calculating the pixel size W of the target images by using an interactive image processing system or an automatic image processing system;
the different distances D selected in this embodiment are D1=13mm, D1=20mm, D1=35mm, and D1=45mm, respectively;
1.2, shooting a plurality of target objects with different known sizes C at a known distance D, and respectively obtaining a plurality of pixel sizes W according to the step S1, thereby obtaining a plurality of groups (C) i ，W i ) Data, obtaining coefficients K, C by a function fitting method i ＝K×W i ；
1.3, setting a plurality of different distances D, and respectively repeating the step S2 to obtain a plurality of coefficients K i (ii) a Thereby obtaining a plurality of groups (D) i ，K i ) Data, obtaining a polynomial function K by a polynomial function fitting method i ＝f(D i ) (ii) a As shown in figure 2 of the drawings, in which,
1.4, measuring the distance D between the object to be measured and the endoscope lens s By the polynomial function K of step S3 i ＝f(D i ) To obtain the coefficient K s ；
1.5, shooting an image to be detected of an object to be detected by an endoscope camera, and measuring the pixel size W of the image to be detected after the image to be detected is subjected to distortion removal treatment s ；
1.6 coefficient K by step S4 s And the pixel size W of step S5 s Obtaining the dimension C of the object to be measured s ；
1.7, repeating the steps S4 to S6 for multiple times to obtain the sizes C of a plurality of objects to be measured s And then averaging to obtain the real size of the object to be measured.
And 1.1, 1.3 and 1.4, selecting any one of an ultrasonic range finder, a microwave range finder, a time-of-flight range finder, a triangular range finder and a structured light range finder for ranging.
Example 2
On the basis of the embodiment 1, the specific process of the distortion removal treatment is as follows:
placing the calibration board in FIG. 3 at different positions within the depth of field range of a camera, and shooting images of the calibration board at each position by using an endoscope camera, wherein the total number of the images of the calibration board is more than 10; the calibration plate is not limited to the black and white pattern of fig. 1, and other calibration patterns, such as those of fig. 4 or 5, may be selected.
The calibration plate is characterized in that: a plurality of feature points P on the pattern i The positions of the feature points such as the corner points and the circle centers of the rectangles on the calibration plate are known and are all on one plane; if a three-dimensional coordinate system is defined on the calibration plate, the origin is on any one characteristic point, and the x coordinate axis and the y coordinate axis are on the plane of the calibration plate, the z coordinate of all the characteristic points is 0. Three-dimensional coordinate representation of feature point is P i (X i ,Y i ,0)。
When the calibration plate is placed at different orientations, the calibration plate has different positions in distance or orientation relative to the lens of the stationary endoscopic camera, and images of the calibration plate at different orientations captured by the lens of the endoscopic camera are shown in fig. 6.
Because the lens of the endoscopic camera has obvious distortion on imaging, in order to accurately calculate distortion model parameters, more than 10 calibration plate images in different directions need to be collected, and an image processing algorithm is adopted to automatically extract the pixel coordinate p of each characteristic point from the shot calibration image 6 i (x,y i )。
Multiple pairs of characteristic points (P) on a known calibration plate i ,p i ) The internal parameters (f) of the camera can be calculated by adopting the existing various camera distortion calibration methods x 、f y 、c x 、c y 、k 1 、k 2 、k 3 、p 1 、p 2 ) Wherein: f. of x Is the equivalent focal length in the horizontal direction of the image, f y Is the equivalent focal length in the vertical direction of the image, c x Is the x-coordinate of the intersection of the lens axis and the image sensor, c y Is the y coordinate, k, of the intersection of the lens axis and the image sensor 1 、k 2 、k 3 Is the radial distortion coefficient, p 1 、p 2 Is the tangential distortion parameter.
Distortion removal processing is carried out on an image of an object shot by an endoscope
After the internal parameters of the endoscope camera are obtained according to the method, each image shot by the endoscope can be subjected to distortion removal processing by using a camera distortion imaging model on the premise that the optical focal length of the endoscope and the related parameters of the electronic zoom are not changed; 1.1, carrying out distortion removal treatment on the target image through the internal parameters and a camera distortion imaging model of the target image; and S1.5, the measured image carries out distortion removal processing on the target image through the internal parameters and the camera distortion imaging model.
Acquiring a distortion corrected real object image by using an image shot by an endoscope with the model A at different distances from the same object; the actual size of the real object is 25mm; with the method of the present embodiment, the size measured by taking an image at a distance of 20mm is 24.15mm, and the size measured by taking an image at a distance of 35mm is 25.44mm.
Acquiring an image of a real object after distortion correction by using an endoscope with the model B in the alimentary canal model at different distances from the same object; the actual size of the object is 19mm; with the method of the present embodiment, the size measured by taking an image at a distance of 26.5 is 18.99mm, and the size measured by taking an image at a distance of 46.5mm is 18.99mm.
Example 3
An apparatus for measuring lesion size based on a digestive endoscope includes a memory: for storing executable instructions; a processor: and the executable instructions stored in the memory are executed to realize a method for measuring the size of the focus based on the digestive endoscopy.
On the basis of the existing endoscope host system and the endoscope, the distance between a target object and the front end of the endoscope is measured through a distance meter, a correlation formula for calculating the size of the object based on the distance between the endoscope camera and the target object and the pixel value of the object is obtained by combining the real diameter of the target object and the pixel value of the target object obtained by the endoscope camera through an in vitro experiment, and finally the real size of the object to be measured is obtained; the method can measure the size of digestive tract lesion under endoscope more simply and effectively and reduce measurement error.
The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. A method for measuring the size of a lesion based on a digestive endoscope is characterized by comprising the following steps:
s1, placing a target object with a known size C at a plurality of different distances D in front of a lens of an endoscopic camera, shooting target images at different distances D by using the endoscopic camera, and calculating a pixel size W of the target object through a plurality of groups of target images;
s2, shooting a plurality of target objects with different known sizes C at a known distance D, and respectively obtaining a plurality of pixel sizes W according to the step S1, thereby obtaining a plurality of groups (C) i ，W i ) Data, coefficient K, C obtained by function fitting method i ＝K×W i ；
S3, setting a plurality of different distances D, and respectively repeating the step S2 to obtain a plurality of coefficients K i (ii) a Thereby obtaining a plurality of groups (D) i ，K i ) Data, generalObtaining a polynomial function K by a fitting method of an excessive polynomial function i ＝f(D i )；
S4, measuring the distance D between the object to be measured and the endoscope lens s By the polynomial function K of step S3 i ＝f(D i ) To obtain the coefficient K s ；
S5, shooting an image to be detected of the object to be detected by the endoscope camera, and measuring the pixel size W of the image to be detected after the image to be detected is subjected to distortion removal processing s ；
S6, coefficient K of the step S4 s And the pixel size W of step S5 s Obtaining the dimension C of the object to be measured s ；
S7, repeating the steps S4 to S6 for multiple times to obtain the sizes C of the multiple objects to be measured s And then averaging to obtain the real size of the object to be measured.
2. The method for measuring the lesion size based on the digestive endoscope as claimed in claim 1, wherein before the step S1, the distal lens of the endoscopic camera is fixed by an optical adjusting frame and then kept still, and the optical focal length and the electronic zooming parameters of the lens of the endoscopic camera are kept unchanged.
3. The method for measuring lesion size based on the endoscope for digestion according to claim 1, wherein the specific process of calculating the pixel size W of the target from the plurality of sets of target images in step S1 is as follows: the target image is subjected to a distortion removal process and then the pixel size W of the target image is calculated using an interactive image processing system or an automatic image processing system.
4. The method for measuring lesion size based on digestive endoscopy of claim 3, wherein the distortion removal process of step S1 and step S5 comprises the following steps:
s101, placing a calibration plate in different directions within the depth of field range of an endoscope camera, and shooting an image of the calibration plate in each direction;
s102, extracting each characteristic from the calibration plate image in the step S101 through an image processing algorithmPixel coordinate p of a point i (x,y i )；
S103, multiple known characteristic point pairs (P) of step S102 i ,p i ) Calculating intrinsic parameters (f) of the camera by various camera distortion calibration methods x 、f y 、c x 、c y 、k 1 、k 2 、k 3 、p 1 、p 2 ) Wherein: f. of x Is the equivalent focal length in the horizontal direction of the image, f y Is the equivalent focal length in the vertical direction of the image, c x Is the x-coordinate of the intersection of the lens optical axis and the image sensor, c y Is the y coordinate, k, of the intersection of the lens optical axis and the image sensor 1 、k 2 、k 3 Is the radial distortion coefficient, p 1 、p 2 Is a tangential distortion parameter;
s104, performing distortion removal processing on the calibration board image in the step S101 through the camera distortion imaging model through the internal parameters in the step S103;
in the step S1, the target image is subjected to distortion removal processing through the internal parameters of the step S103 and the camera distortion imaging model of the step S104; in step S5, the measured image is subjected to distortion removal processing on the target image through the internal parameters of step S103 and the camera distortion imaging model of step S104.
5. The method for measuring the size of a lesion based on the endoscope for digestion according to claim 4, wherein the number of calibration plate images of different orientations collected in step S101 is more than 10.
6. The method for measuring the lesion size based on the digestive endoscopy of claim 5, wherein the steps S1, S3 and S4 are performed to measure distance and select any one of an ultrasonic distance meter, a microwave distance meter, a time-of-flight distance meter, a triangulation distance meter and a structured light distance meter.
7. A device for measuring the size of a focus based on a digestive endoscope is characterized by comprising
A memory: for storing executable instructions;
a processor: for executing the executable instructions stored in the memory to implement a method for measuring lesion size based on an endoscope according to any one of claims 1-6.
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