CN116138715A - Internal cavity mirror system with adjustable fluorescence shooting angle - Google Patents
Internal cavity mirror system with adjustable fluorescence shooting angle Download PDFInfo
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- CN116138715A CN116138715A CN202310390142.2A CN202310390142A CN116138715A CN 116138715 A CN116138715 A CN 116138715A CN 202310390142 A CN202310390142 A CN 202310390142A CN 116138715 A CN116138715 A CN 116138715A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B1/043—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 for fluorescence imaging
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B1/00163—Optical arrangements
- A61B1/00174—Optical arrangements characterised by the viewing angles
- A61B1/00183—Optical arrangements characterised by the viewing angles for variable viewing angles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B1/012—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 characterised by internal passages or accessories therefor
- A61B1/018—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 characterised by internal passages or accessories therefor for receiving instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
Abstract
The invention discloses an in-vivo endoscope system with an adjustable fluorescence shooting angle, which relates to the field of image communication, and comprises a shooting subsystem and a data processing subsystem, wherein the shooting subsystem comprises a camera capable of adjusting the shooting angle and a transmission pipeline, the data processing subsystem comprises a data acquisition port, a data analysis port, a data control port and an instruction execution port, the data acquisition port is used for acquiring data sent by ultrasonic waves, carrying out ultrasonic imaging and generating images in a body cavity, the data analysis port is used for analyzing pushing and backing to block and plan a real-time route, automatically guiding the endoscope to operate, reducing uncertainty caused by manual operation, monitoring the area where the endoscope passes through by the camera with the adjustable shooting angle, comprehensively observing the condition in the body cavity, and effectively guaranteeing the safety of the cavity after the endoscope passes through.
Description
Technical Field
The invention relates to the field of image communication, in particular to an internal cavity mirror system with an adjustable fluorescence shooting angle.
Background
Endoscopic surgery is a newly developed minimally invasive surgical method, and is a necessary trend for the development of future surgical methods. Along with the rapid progress of industrial manufacturing technology, the fusion of relevant disciplines lays a firm foundation for developing new technology and new method for endoscopic surgery, the wound and scar caused by endoscopic surgery are small, the surgery is accurate and direct entry, the damage to surrounding tissues is reduced to the minimum, the possibility of adhesion after surgery is reduced, the pain of wounds after surgery of patients is obviously reduced, the number of hospitalization days is less, and thus the burden cost of patients is greatly reduced, the turnover rate of hospital beds is accelerated, and the endoscopic system is widely used for various surgeries.
For example, chinese patent publication No. CN101267569a discloses an image communication display device and an image communication method thereof, including: an imaging unit that picks up and processes an image signal of an object; a voice input unit that receives a voice signal of an object; an encoder which receives and encodes the image and voice signals and generates information about the object; a decoder decoding the encoded image and voice signals and the encoded external signal; a network transceiver that transmits the encoded image and voice signals and information about the object; a controller controlling the encoder, the decoder, and the network transceiver, and outputting a voice guidance command signal based on information about a remote party received through the network transceiver; a display unit that displays the decoded image signal; and a voice output unit that outputs the decoded voice signal and outputs a voice guidance notification based on the voice guidance instruction signal.
For example, chinese patent publication No. CN103997520a discloses a remote pathological diagnosis slice digital image processing and transmission technology, which is suitable for use between a slice scanning terminal, a WEB server and a client, which are remotely connected to each other through a network, and includes the steps of: s1, the slice scanning terminal acquires a current digital pathological slice image through scanning; s2, under the condition of emergency, the slice scanning terminal receives the request of the client and directly sends the digital pathological slice image acquired by current scanning to the client; and S3, under the condition of no urgent need, the slice scanning terminal uploads the digital pathological slice image backup obtained by scanning to the WEB server, and then the WEB server receives the request of the client and sends the requested digital pathological slice image to the client. The invention can effectively solve the problem that the report sending requirement in the limited time of emergency treatment cannot be met due to the overlong uploading time of the remote pathological diagnosis section to the network server in the prior art.
The above patents all have the following disadvantages: because there often will be protruding focus in human pipeline, in the in-process that stretches into at the camera, the camera probably can take place the friction with protruding focus, causes the aggravation of loss lead to the focus, and prior art can't carry out effective discernment to protruding focus to avoid the camera probably can take place the friction with protruding focus and cause the aggravation of loss lead to the focus.
Disclosure of Invention
The invention mainly aims to provide an internal cavity mirror system with an adjustable fluorescence shooting angle, which can effectively solve the problems in the background technology: because there often will be protruding focus in human pipeline, in the in-process that stretches into at the camera, the camera probably can take place the friction with protruding focus, causes the aggravation of loss lead to the focus, and prior art can't carry out effective discernment to protruding focus to avoid the camera probably can take place the friction with protruding focus and cause the aggravation of loss lead to the focus.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an in vivo endoscope system with adjustable photographing angle is used in minimally invasive surgery of various cavities in a human body, the endoscope system comprises a photographing subsystem and a data processing subsystem, the photographing subsystem comprises a camera and a transmission pipeline, the photographing angle can be adjusted, the data processing subsystem comprises a data acquisition and model construction port, a data analysis processing port, a data control port and an instruction execution port, the data acquisition port is used for acquiring data sent by ultrasonic waves, performing ultrasonic imaging and human body cavity model construction, the data analysis port is used for analyzing pushing and backing and planning real-time routes, the data control port is used for feeding instructions back to the system according to the planned routes, guiding the endoscope to pass in the pushing and backing processes, and bypassing when the endoscope cannot pass, and the instruction execution port is used for pushing and backing the endoscope.
The data acquisition port comprises a data collection module, an ultrasonic imaging module, a human body cavity image generation module and a data transmission module, wherein the data collection module is used for collecting real-time data information monitored by ultrasonic waves and cavity mirror data, and comprises an intra-cavity diameter
Endoscope diameter->
Height of the bump in the cavity->
Inner convex radius +.>
Maximum stress that the bulge can withstand +.>
Gravity ∈of endoscope>
Support force of cavity wall to endoscope>
The system comprises a body cavity image generation module, a data transmission module and a projection feature information acquisition module, wherein the body cavity image generation module is used for generating a body cavity image according to the real-time ultrasonic imaging condition, the projection feature information is used for imaging through the collected real-time ultrasonic data, and the data transmission module is used for transmitting data among the modules.
The data analysis port comprises a first data acquisition and storage module, a bulge analysis module, a route planning module and a first data transmission module, wherein the first data acquisition and storage module is used for acquiring and storing data of the data acquisition port, the bulge analysis module is used for analyzing bulge characteristic information acquired by the data acquisition and storage module to distinguish bulge types, the route planning module is used for taking the data acquired by the data acquisition and storage module into a cavity mirror crossing strategy to calculate whether the cavity mirror can cross the bulge, if the data cannot cross the bulge, the data is taken into the cavity mirror to bypass the strategy to calculate whether the cavity mirror can bypass the bulge, and the first data transmission module is used for data transmission among the modules.
The data control port comprises a second data acquisition and storage module, an instruction generation module, an instruction sending module and a second data transmission module, wherein the second data acquisition and storage module is used for acquiring and storing data of the data analysis port, the instruction generation module is used for generating an operation instruction of the endoscope through the data acquired by the data acquisition and storage module, the instruction sending module is used for sending the instruction generated by the instruction generation module, and the second data transmission module is used for data transmission among the modules.
The instruction execution port comprises a third data acquisition and storage module, an instruction execution module and a third data transmission module, wherein the third data acquisition and storage module is used for acquiring and storing data of the data control port, the instruction execution module is used for executing the acquired data of the data control port, and the third data transmission module is used for data transmission among the modules.
The camera shooting subsystem comprises a camera capable of adjusting the camera shooting angle and a transmission pipeline, wherein the camera capable of adjusting the camera shooting angle adopts a 4K camera and is used for monitoring the environment in the cavity, the transmission pipeline comprises a camera shooting angle adjusting module and an image receiving module, the camera shooting angle adjusting module is used for manually inputting the camera shooting angle on a computer by an operator and manually selecting a direction to adjust the camera shooting angle, and the image receiving module is used for receiving and displaying a scene monitored by the camera.
The invention further improves that the protrusion analysis module analyzes according to the known characteristics of various focuses, and calculates whether the endoscope can pass through the protrusion when the endoscope is analyzed to be normal protrusion in the cavity according to the characteristics that the endoscope stops pushing and retreating when the endoscope is analyzed to be a focus of a certain type, and calculates whether the endoscope can bypass the protrusion when the endoscope cannot pass through the protrusion.
The invention further improves that the cavity mirror crossing strategy is as follows: when (when)
When the raised surface has only body fluid friction +.>
The endoscope can pass over the protrusion; when->
When the raised surface has only body fluid friction +.>
The endoscope can pass over the protrusion; when->
The surface of the bulge has humoral friction force +.>
Friction force with endoscope->
，/>
Due to
，/>
So that the convex surface only has a body fluid friction force +.>
The endoscope can pass over the protrusion; when (when)
If the projections are subjected to a total stress +.>
Then the endoscope can pass over the bulge, if the bulge is subjected to total stress +.>
Then the endoscope cannot pass over the protrusion, wherein
Is the height of the bulge in the cavity, +.>
For the friction of body fluids in the cavity +.>
Is the diameter of the cavity>
Is the diameter of the endoscope>
For the friction force of the endoscope, < >>
For the pressure between the endoscope and the bulge, +.>
Is the friction coefficient between the endoscope and the bulge, < ->
Is the maximum stress that the protrusion can withstand.
The invention further improves that the endoscope bypass strategy is as follows: substituting the cavity outline, the bulge outline and the cavity mirror outline into simulation software matlab, calculating the tangential lines and tangential points between the cavity mirror and the bulge, between the cavity mirror and the cavity wall and the intersection point of the two tangential lines and the gravity of the cavity mirror, and calculating to obtain the included angle between the gravity and the tangential lines between the cavity mirror and the bulge
And the angle between the cavity wall supporting force against the cavity mirror and the tangent between the cavity mirror and the cavity wall +.>
When->
And the projections are subjected to total stress during crossing
If the diameter of the endoscope is->
Then the endoscope can bypass the bulge when the endoscope diameter +.>
When the cavity mirror generates pressure to the bulge, the pressure is +.>
Friction force of endoscope->
If the projections are subjected to total stress
The endoscope can bypass the bulge, if the bulge is subjected to total stress +.>
Then the endoscope cannot bypass the bulge, wherein +.>
Is the height of the bulge in the cavity, +.>
For the friction of body fluids in the cavity +.>
Is the diameter of the cavity>
Is the diameter of the endoscope>
For the friction force of the endoscope, < >>
For the pressure between the endoscope and the bulge, +.>
Is the friction coefficient between the endoscope and the bulge, < ->
For maximum stress that the bump can withstand, +.>
Is the convex radius of the cavity +.>
Is the gravity of the endoscope, +.>
For the holding force of the cavity wall against the cavity mirror, < >>
Is the angle between gravity and the tangent between the endoscope and the protrusion +.>
Is the angle between the cavity wall supporting force and the tangent line between the cavity mirror and the cavity wall.
Compared with the prior art, the invention has the following beneficial effects:
1. the camera with adjustable shooting angle monitors the area of the endoscope passing through, so that the condition of the human body cavity can be comprehensively observed, and the safety of the cavity after the endoscope passes through is effectively ensured.
2. By judging the type of the bulge, whether the endoscope can pass over the bulge in the cavity or not is calculated, if the endoscope cannot pass over the bulge in the cavity, whether the endoscope can pass over the bulge in the cavity or not is calculated, and the endoscope is automatically guided to carry out operation planning paths, so that uncertainty caused by manual operation is reduced, and meanwhile, the damage to tissues in a human body is avoided.
Drawings
Fig. 1 is a schematic diagram of the principle framework of an internal cavity mirror system with adjustable fluorescence imaging angle.
Detailed Description
The orientations and positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and are not intended to indicate or imply specific orientations of the devices and elements referred to, and therefore should not be construed as limiting the present invention, and the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments.
Example 1
The invention monitors the passing area of a cavity mirror through a camera with adjustable camera angles, can comprehensively observe the condition of the cavity of a human body, and effectively ensures the safety of the cavity after the cavity mirror passes, and the invention has the specific scheme that as shown in figure 1, the internal cavity mirror system with adjustable camera angles is an internal cavity mirror system with adjustable fluorescence camera angles, the system is used in minimally invasive surgery of each cavity in the human body, the cavity mirror system comprises a shooting subsystem and a data processing subsystem, the shooting subsystem comprises a camera and a transmission pipeline which can adjust the camera angles, the data processing subsystem comprises a data acquisition and model construction port, a data analysis processing port, a data control port and an instruction execution port, the data acquisition port is used for acquiring data sent by ultrasonic waves, carrying out ultrasonic imaging and model construction in the cavity of the human body, the data analysis port is used for analyzing pushing and backing-off obstruction and real-time route, the instruction is fed back to the system according to a planned route, and the instruction is used for bypassing the pushing and backing-off of the cavity mirror when the instruction cannot pass;
the data acquisition port comprises a data collection module, an ultrasonic imaging module and a human body cavity image generation moduleThe data collection module is used for collecting real-time data information monitored by ultrasonic waves and cavity mirror data, and comprises an inner cavity diameter
Endoscope diameter->
Height of the bump in the cavity->
Inner convex radius +.>
Maximum stress that the bulge can withstand +.>
Gravity ∈of endoscope>
Support force of cavity wall to endoscope>
The system comprises an ultrasonic imaging module, a human body cavity image generation module, a data transmission module and a display module, wherein the ultrasonic imaging module is used for imaging through collected real-time data of ultrasonic waves, the human body cavity image generation module is used for generating an internal human body cavity image according to the real-time imaging condition of the ultrasonic waves, and the data transmission module is used for transmitting data among the modules;
the data analysis port comprises a first data acquisition and storage module, a bulge analysis module, a route planning module and a first data transmission module, wherein the first data acquisition and storage module is used for acquiring and storing data of the data acquisition port, the bulge analysis module is used for analyzing according to bulge characteristic information acquired by the data acquisition and storage module, distinguishing types of bulges, the route planning module is used for bringing the data acquired by the data acquisition and storage module into a cavity mirror crossing strategy, calculating whether the cavity mirror can cross the bulges, if the data cannot cross the bulges, bringing the data into the cavity mirror bypassing strategy, and calculating whether the cavity mirror can bypass the bulges, and the first data transmission module is used for data transmission among the modules;
the data control port comprises a second data acquisition and storage module, an instruction generation module, an instruction sending module and a second data transmission module, wherein the second data acquisition and storage module is used for acquiring and storing data of the data analysis port, the instruction generation module is used for generating an operation instruction of the endoscope through the data acquired by the data acquisition and storage module, the instruction sending module is used for sending the instruction generated by the instruction generation module, and the second data transmission module is used for data transmission among the modules;
the instruction execution port comprises a third data acquisition and storage module, an instruction execution module and a third data transmission module, wherein the third data acquisition and storage module is used for acquiring and storing data of the data control port, the instruction execution module is used for executing the acquired data of the data control port, and the third data transmission module is used for data transmission among the modules;
in this embodiment, the photographic subsystem includes camera and transmission pipeline that can adjust the angle of making a video recording, and the camera that can adjust the angle of making a video recording adopts 4K camera for the control intracavity environment, transmission pipeline include angle of making a video recording adjustment module and image receiving module, and angle of making a video recording adjustment module is used for adjusting the angle of making a video recording through manual input angle of making a video recording, manual selection direction on the computer of operating personnel, and image receiving module is used for receiving and shows the scene that the camera monitored.
Example 2
According to the invention, by judging the type of the bulge, calculating whether the endoscope can pass over the bulge in the cavity, if the endoscope cannot pass over, calculating whether the endoscope can pass over the bulge in the cavity, automatically guiding the endoscope to operate, reducing uncertainty caused by manual operation and avoiding damage to internal tissues of a human body;
the data acquisition port comprises a data collection module, an ultrasonic imaging module, a human body cavity image generation module and a data transmission module, wherein the data collection module is used for collecting real-time data information monitored by ultrasonic waves and cavity mirror data, and comprises an intra-cavity diameter
Endoscope diameter->
Height of the bump in the cavity->
Inner convex radius +.>
Maximum stress that the bulge can withstand +.>
Gravity ∈of endoscope>
Support force of cavity wall to endoscope>
The system comprises an ultrasonic imaging module, a human body cavity image generation module, a data transmission module and a display module, wherein the ultrasonic imaging module is used for imaging through collected real-time data of ultrasonic waves, the human body cavity image generation module is used for generating an internal human body cavity image according to the real-time imaging condition of the ultrasonic waves, and the data transmission module is used for transmitting data among the modules;
the data analysis port comprises a first data acquisition and storage module, a bulge analysis module, a route planning module and a first data transmission module, wherein the first data acquisition and storage module is used for acquiring and storing data of the data acquisition port, the bulge analysis module is used for analyzing according to bulge characteristic information acquired by the data acquisition and storage module, distinguishing types of bulges, the route planning module is used for bringing the data acquired by the data acquisition and storage module into a cavity mirror crossing strategy, calculating whether the cavity mirror can cross the bulges, if the data cannot cross the bulges, bringing the data into the cavity mirror bypassing strategy, calculating whether the cavity mirror can bypass the bulges, and the first data transmission module is used for data transmission among the modules;
the data control port comprises a second data acquisition and storage module, an instruction generation module, an instruction sending module and a second data transmission module, wherein the second data acquisition and storage module is used for acquiring and storing data of the data analysis port, the instruction generation module is used for generating an operation instruction of the endoscope through the data acquired by the data acquisition and storage module, the instruction sending module is used for sending the instruction generated by the instruction generation module, and the second data transmission module is used for data transmission among the modules;
the instruction execution port comprises a third data acquisition and storage module, an instruction execution module and a third data transmission module, wherein the third data acquisition and storage module is used for acquiring and storing data of the data control port, the instruction execution module is used for executing the acquired data of the data control port, and the third data transmission module is used for data transmission among the modules;
in this embodiment, the photographing subsystem includes a camera capable of adjusting a photographing angle and a transmission pipeline, the camera capable of adjusting the photographing angle adopts a 4K camera for monitoring an intra-cavity environment, the transmission pipeline includes a photographing angle adjusting module for manually inputting the photographing angle on a computer by an operator and manually selecting a direction to adjust the photographing angle, and an image receiving module for receiving and displaying a scene monitored by the camera;
in this embodiment, the protrusion analysis module analyzes according to the known characteristics of various lesions, and calculates whether the endoscope can pass the protrusion when the endoscope is analyzed to be normal protrusion in the cavity when the endoscope stops pushing and retreating according to the characteristics of a certain type of lesions, and calculates whether the endoscope can bypass the protrusion when the endoscope cannot pass the protrusion.
In this embodiment, the endoscope override strategy is: when (when)
When the raised surface has only body fluid friction +.>
The endoscope can pass over the protrusion; when->
When the raised surface has only body fluid friction +.>
The endoscope can pass over the protrusion; when->
The surface of the bulge has humoral friction force +.>
Friction force with endoscope->
，/>
Due to
，/>
So that the convex surface only has a body fluid friction force +.>
The endoscope can pass over the protrusion; when (when)
If the projections are subjected to a total stress +.>
Then the endoscope can pass over the bulge, if the bulge is subjected to total stress +.>
Then the endoscope cannot pass over the protrusion, wherein
Is the height of the bulge in the cavity, +.>
For the friction of body fluids in the cavity +.>
Is the diameter of the cavity>
Is the diameter of the endoscope>
For the friction force of the endoscope, < >>
For the pressure between the endoscope and the bulge, +.>
Is the friction coefficient between the endoscope and the bulge, < ->
Is the maximum stress that the protrusion can withstand.
In this embodiment, the endoscope bypass strategy is: substituting the cavity outline, the bulge outline and the cavity mirror outline into simulation software matlab, calculating the tangential lines and tangential points between the cavity mirror and the bulge, between the cavity mirror and the cavity wall and the intersection point of the two tangential lines and the gravity of the cavity mirror, and calculating to obtain the included angle between the gravity and the tangential lines between the cavity mirror and the bulge
And the angle between the cavity wall supporting force against the cavity mirror and the tangent between the cavity mirror and the cavity wall +.>
When->
And the projections are subjected to total stress during crossing
If the diameter of the endoscope is->
Then the endoscope can bypass the bulge when the endoscope diameter +.>
When the cavity mirror generates pressure on the bulge, the pressure is
Friction force of endoscope->
If the projections are subjected to a total stress +.>
The endoscope can bypass the protrusion if the protrusion is subjected to total stress
Then the endoscope cannot bypass the bulge, wherein +.>
Is the height of the bulge in the cavity, +.>
For the friction of body fluids in the cavity +.>
Is the diameter of the cavity>
Is the diameter of the cavity lens, and the diameter of the cavity lens is the diameter of the cavity lens,
for the friction force of the endoscope, < >>
For the pressure between the endoscope and the bulge, +.>
Is the friction coefficient between the endoscope and the bulge, < ->
For maximum stress that the bump can withstand, +.>
Is the convex radius of the cavity +.>
Is the gravity of the endoscope, +.>
For the holding force of the cavity wall against the cavity mirror, < >>
Is the angle between gravity and the tangent between the endoscope and the protrusion +.>
Is the angle between the cavity wall supporting force and the tangent line between the cavity mirror and the cavity wall.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. An internal cavity mirror system with adjustable fluorescence shooting angle is characterized in that: the endoscope system comprises a photographing subsystem and a data processing subsystem,
the photographing subsystem comprises a camera capable of adjusting a photographing angle and a transmission pipeline,
the data processing subsystem comprises a data acquisition port, a data analysis port, a data control port and an instruction execution port, wherein the data acquisition port is used for acquiring data sent by ultrasonic waves, performing ultrasonic imaging and generating images in a human body cavity, the data analysis port is used for analyzing pushing and backing obstruction and planning a real-time route, the data control port is used for feeding instructions back to the system according to the planned route, and the instruction execution port is used for pushing and backing a cavity mirror.
2. The adjustable fluorescence imaging angle endo-endoscopic system of claim 1, wherein: the data acquisition port comprises a data collection module, an ultrasonic imaging module, a human body cavity image generation module and a data transmission module, wherein the data collection module is used for collecting real-time data information monitored by ultrasonic waves and cavity mirror data, and comprises an intra-cavity diameter
Endoscope diameter->
Height of the bump in the cavity->
Inner convex radius +.>
Maximum stress that the bulge can withstand +.>
Gravity ∈of endoscope>
Support force of cavity wall to endoscope>
The system comprises a body cavity image generation module, a data transmission module and a projection feature information acquisition module, wherein the body cavity image generation module is used for generating a body cavity image according to the real-time ultrasonic imaging condition, the projection feature information is used for imaging through the collected real-time ultrasonic data, and the data transmission module is used for transmitting data among the modules.
3. The adjustable fluorescence imaging angle endo-endoscopic system of claim 2, wherein: the data analysis port comprises a first data acquisition and storage module, a bulge analysis module, a route planning module and a first data transmission module, wherein the first data acquisition and storage module is used for acquiring and storing data of the data acquisition port, the bulge analysis module is used for analyzing bulge characteristic information acquired by the data acquisition and storage module to distinguish bulge types, the route planning module is used for taking the data acquired by the data acquisition and storage module into a cavity mirror crossing strategy to calculate whether the cavity mirror can cross the bulge, if the data cannot cross the bulge, the data is taken into the cavity mirror to bypass the strategy to calculate whether the cavity mirror can bypass the bulge, and the first data transmission module is used for data transmission among the modules.
4. An adjustable fluorescence imaging angle endo-scope system as set forth in claim 3 wherein: the data control port comprises a second data acquisition and storage module, an instruction generation module, an instruction sending module and a second data transmission module, wherein the second data acquisition and storage module is used for acquiring and storing data of the data analysis port, the instruction generation module is used for generating an operation instruction of the endoscope through the data acquired by the data acquisition and storage module, the instruction sending module is used for sending the instruction generated by the instruction generation module, and the second data transmission module is used for data transmission among the modules.
5. The adjustable fluorescence imaging angle endo-scope system of claim 4, wherein: the instruction execution port comprises a third data acquisition and storage module, an instruction execution module and a third data transmission module, wherein the third data acquisition and storage module is used for acquiring and storing data of the data control port, the instruction execution module is used for executing the acquired data of the data control port, and the third data transmission module is used for data transmission among the modules.
6. The adjustable fluorescence imaging angle endo-scope system of claim 5, wherein: the camera subsystem comprises a camera capable of adjusting a camera angle and a transmission pipeline, the camera capable of adjusting the camera angle adopts a 4K camera and is used for monitoring the environment in a cavity, the transmission pipeline comprises a camera angle adjusting module and an image receiving module, the camera angle adjusting module is used for manually inputting the camera angle and manually selecting a direction on a computer by an operator to adjust the camera angle, and the image receiving module is used for receiving and displaying a scene monitored by the camera.
7. The adjustable fluorescence imaging angle endo-scope system of claim 6, wherein: the convex analysis module analyzes according to the known characteristics of various focuses, and compares the convex focus picture with the known characteristics of various focuses to obtain the specific type of the convex focus.
8. The adjustable fluorescence imaging angle endo-endoscopic system of claim 7, wherein: the endoscope crossing strategy is as follows: when (when)
When the raised surface has only body fluid friction +.>
The endoscope can pass over the protrusion; when (when)
When the raised surface has only body fluid friction +.>
The endoscope can pass over the protrusion; when->
The surface of the bulge has humoral friction force +.>
Friction force with endoscope->
，/>
Due to->
，/>
So that the convex surface only has a body fluid friction force +.>
The endoscope can pass over the protrusion; when->
If the projections are subjected to a total stress +.>
The endoscope can pass over the protrusions if the protrusions are subjected to total stress
Then the endoscope cannot pass over the bulge, wherein +.>
Is the height of the protrusion in the cavity,
for the friction of body fluids in the cavity +.>
Is the diameter of the cavity>
Is the diameter of the endoscope>
For the friction force of the endoscope, < >>
For the pressure between the endoscope and the bulge, +.>
Is the friction coefficient between the endoscope and the bulge, < ->
Is the maximum stress that the protrusion can withstand.
9. The adjustable fluorescence imaging angle endo-endoscopic system of claim 8, wherein: the endoscope bypass strategy is as follows: substituting the cavity outline, the bulge outline and the cavity mirror outline into simulation software matlab, calculating the tangential lines and tangential points between the cavity mirror and the bulge, between the cavity mirror and the cavity wall and the intersection point of the two tangential lines and the gravity of the cavity mirror, and calculating to obtain the included angle between the gravity and the tangential lines between the cavity mirror and the bulge
And the angle between the cavity wall supporting force against the cavity mirror and the tangent between the cavity mirror and the cavity wall +.>
When->
And the total stress to which the protrusions are subjected during crossing +.>
If the diameter of the endoscope is->
Then the endoscope can bypass the bulge when the endoscope diameter +.>
When the cavity mirror generates pressure to the bulge, the pressure is +.>
Friction force of endoscope->
If the projections are subjected to a total stress +.>
The endoscope can bypass the protrusion if the protrusion is subjected to total stress
Then the endoscope cannot bypass the bulge, wherein +.>
Is the height of the bulge in the cavity, +.>
For the friction of body fluids in the cavity +.>
Is the diameter of the cavity>
Is the diameter of the endoscope>
For the friction force of the endoscope, < >>
For the pressure between the endoscope and the bulge, +.>
Is the friction coefficient between the endoscope and the bulge, < ->
For maximum stress that the bump can withstand, +.>
Is the convex radius of the cavity +.>
Is the gravity of the endoscope, +.>
For the holding force of the cavity wall against the cavity mirror, < >>
Is the angle between gravity and the tangent between the endoscope and the protrusion +.>
Is the angle between the cavity wall supporting force and the tangent line between the cavity mirror and the cavity wall. />
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| CN115590452A (en) * | 2022-11-30 | 2023-01-13 | 珠海视新医用科技有限公司（Cn） | Anti-collision alarm method for endoscope |
| CN115670352A (en) * | 2023-01-05 | 2023-02-03 | 珠海视新医用科技有限公司 | Endoscope anti-collision alarm method and device |
| CN115778289A (en) * | 2022-11-18 | 2023-03-14 | 珠海视新医用科技有限公司 | Automatic control method and device for endoscope |
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Patent Citations (6)
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| CN105208958A (en) * | 2013-03-15 | 2015-12-30 | 圣纳普医疗(巴巴多斯)公司 | Systems and methods for navigation and simulation of minimally invasive therapy |
| WO2022048601A1 (en) * | 2020-09-02 | 2022-03-10 | 上海联影医疗科技股份有限公司 | Path planning method, and method, apparatus and system for determining operation guidance information |
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