CN116195953A - Capsule endoscope field angle measuring device, method, equipment and storage medium - Google Patents
Capsule endoscope field angle measuring device, method, equipment and storage medium Download PDFInfo
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- CN116195953A CN116195953A CN202310490205.1A CN202310490205A CN116195953A CN 116195953 A CN116195953 A CN 116195953A CN 202310490205 A CN202310490205 A CN 202310490205A CN 116195953 A CN116195953 A CN 116195953A
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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
- A61B1/00002—Operational features of endoscopes
- A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
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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
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- A—HUMAN NECESSITIES
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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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Abstract
The invention discloses a capsule endoscope field angle measuring device, which comprises a box body, a test computer, a capsule moving device, a measuring plate device and a display touch screen, wherein the box body is used for bearing the capsule endoscope field angle measuring device; testing a computer; the capsule moving device is used for placing the capsule to be detected and moving the capsule to perform forward and backward movement; a measuring plate device; the device is used for placing the measuring plate and controlling the measuring plate to adjust the distance along the left-right direction and the up-down direction; and the display touch screen is used for inputting, displaying and controlling the moving distance of the capsule moving device. According to the capsule endoscope field angle measuring method provided by the invention, the distances between the capsule endoscope and the measuring plate are automatically adjusted aiming at different capsules, so that the capsule endoscope can accurately shoot the measuring plate, and the shot pictures are automatically captured and analyzed to calculate the vertex field angle and the entrance pupil field angle of the capsule endoscope.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a capsule endoscope field angle measuring device, a capsule endoscope field angle measuring method, capsule endoscope field angle measuring equipment and a capsule endoscope field angle storage medium.
Background
The existing capsule angle of view test mode is to test by using a mechanical tool and manual cooperation, and comprises the following specific steps: an operator sits before a mechanical tool table, and controls the distance between the capsule and a measuring plate by manually measuring and moving the capsule, then displays the current shot image of the capsule by software, and measures 1 of the lower limit of the measured value of the measuring plate in the image: 1 circle judges whether the resolution of the capsule is qualified or not through human eye recognition, and the accurate angle of view parameter of the capsule cannot be calculated; and the tool for testing the entrance pupil angle and the vertex angle is independently arranged, the existing mechanical tool is matched with a manual detection mode, measurement cannot be combined, the efficiency is poor, and the precision is low.
The chinese patent application No. 2018108970184 discloses a capsule endoscope view angle detection fixture, and the technical solution of the fixture cannot measure the entrance pupil view angle and the vertex view angle at the same time, and the technical solution of the patent is not clearly expressed, and does not conform to the specification of clause 3 of the patent law, the specification of which only gives an inventive concept, and it is not clear to a person of ordinary skill in the art how to reproduce the technical solution of the invention.
Therefore, it is necessary to develop a device capable of measuring the entrance pupil angle and the vertex angle of the capsule endoscope at the same time, and the measurement accuracy is high, the device is convenient and quick, and the efficiency is high.
Disclosure of Invention
In a first aspect, the present invention provides a capsule endoscope viewing angle measurement apparatus, including a box body, a test computer, a capsule moving apparatus, a measurement board apparatus, and a display touch screen, wherein:
the box body is used for bearing a capsule endoscope visual angle measuring device;
the test computer is respectively connected with the USB line and the capsule receiving plate of the box body through the network cable;
the capsule moving device is used for placing the capsule to be detected and moving the capsule to perform forward and backward movement;
a measuring plate device; the device is used for placing the measuring plate and controlling the measuring plate to adjust the distance along the left-right direction and the up-down direction;
and the display touch screen is used for inputting, displaying and controlling the moving distance of the capsule moving device.
Further, capsule mobile device includes motor, lead screw assembly, capsule place seat, preceding sensor, well sensor and back sensor, wherein:
the motor, the screw rod assembly, the front sensor, the middle sensor and the rear sensor are all fixed on the box body, the motor is connected with the screw rod assembly, the capsule placement seat is fixed on the screw rod assembly, and the motor is any one of a servo motor or a stepping motor.
Further, the motor is any one of a servo motor and a stepping motor.
Further, the measuring plate device mainly comprises a measuring plate, a measuring plate device fixing frame body, a backlight source and an XY axis fine adjustment platform, wherein the XY axis fine adjustment platform is fixed on the box body, the measuring plate device fixing frame body is fixed on the XY axis fine adjustment platform, and the measuring plate and the backlight source are fixed in the measuring plate device fixing frame body.
Furthermore, the test board is made of glass or PMMA.
In a second aspect, the present invention provides a method for measuring a vertex angle of view of a capsule endoscope, comprising:
step 101: the view angle measuring device and the capsule endoscope enter a standby state;
step 102: entering a vertex angle of view mode and setting a working distance;
step 103: filtering, reducing noise and dividing the image shot by the capsule endoscope;
step 104: calculating the number of black squares according to the segmentation threshold;
step 105: and calculating inscribed circle parameters so as to obtain vertex field angle parameters.
In a third aspect, a method for measuring an entrance pupil angle of a capsule endoscope includes:
step 201: the view angle measuring device and the capsule endoscope enter a standby state;
step 202: entering an entrance pupil field angle mode and setting a working distance;
step 203: filtering, reducing noise and dividing the image shot by the capsule endoscope;
step 204: calculating the number of black squares according to the segmentation threshold;
step 205: calculating a first inscribed circle parameter so as to obtain an entrance pupil field angle parameter, wherein the diameter of the first inscribed circle is 50mm;
step 206: filtering, noise reduction and segmentation are carried out on the capsule endoscope shooting image, and a segmentation threshold value is obtained;
step 207: and calculating a second inscribed circle parameter so as to acquire an entrance pupil field angle parameter, wherein the diameter of the second inscribed circle is 25mm.
In a fourth aspect, the present invention provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method for measuring the angle of field of view of the apex of a capsule endoscope according to the second aspect.
In a fifth aspect, the present invention provides a computer readable storage medium storing a computer program which, when executed by a processor, implements the steps of the method for measuring an entrance pupil angle of a capsule endoscope according to the third aspect.
In a fifth aspect, the present invention provides a capsule endoscope angle of view measuring apparatus comprising:
one or more processors;
a memory; and
one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, which when executing the computer programs, implement the method of measuring a vertex angle of view of the capsule endoscope of the second aspect or the method of measuring an entrance pupil angle of view of the capsule endoscope of the third aspect.
According to the capsule endoscope field angle measuring method provided by the invention, the distances between the capsule endoscope and the measuring plate are automatically adjusted aiming at different capsules, so that the capsule endoscope can accurately shoot the measuring plate, and the shot pictures are automatically captured and analyzed to calculate the vertex field angle and the entrance pupil field angle of the capsule endoscope.
Drawings
Fig. 1: the view angle measuring device constitutes a schematic diagram.
Fig. 2: the capsule moving device is composed of a schematic diagram.
Fig. 3: the measuring plate device is composed of a schematic diagram.
Fig. 4: an imaging schematic diagram of the view angle measuring device.
Fig. 5: the view angle measuring method is shown in the first schematic diagram.
Fig. 6: the second schematic diagram of the field angle measurement method.
Fig. 7: vertex field angle measurement flow chart.
Fig. 8: such as pupil angle measurement flow charts.
Fig. 9: the view angle measuring device constitutes a schematic diagram.
Description of the drawings: the device comprises a box body 01, a test computer 02, a capsule moving device 03, a measuring plate device 04, a display touch screen 05, a motor 0301, a screw rod assembly 0302, a capsule placing seat 0303, a front sensor 0304, a middle sensor 0305, a rear sensor 0306, a test plate 0401, a measuring plate device fixing frame 0402, a backlight source 0403, an XY axis fine adjustment platform 0404, a view angle measuring device 10, a memory 20 and a processor 30.
Description of the embodiments
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples, it being understood that the specific examples described herein are only for explaining the present invention and are not intended to limit the present invention.
For simplicity of description, hereinafter, the capsule and the capsule endoscope are referred to as a capsule endoscope.
Referring to fig. 1, which is a schematic diagram of a view angle measuring device, the invention provides a view angle measuring device of a capsule endoscope, so as to realize the automatic view angle detection of the capsule endoscope under different distances, wherein the view angle measuring device mainly comprises a box body 01, a test computer 02, a capsule moving device 03, a measuring plate device 04 and a display touch screen 05, wherein:
the box body 01 is used for fixing all other components, fixing the position relation among all the components, storing other control components in the box body 01, and setting a start button for starting the whole measuring device;
the test computer 02 is used for installing test software, the test software is written by adopting open source programming software, the test computer 02 is connected with a USB line and a capsule receiving board of the box body 01 through a network cable and is used for displaying images shot by a capsule endoscope, meanwhile, the test computer 02 is provided with a PCI-to-RS-232 serial port card in a PCI slot in advance, and the test computer 02 is connected with the display touch screen 05 and a servo controller through the PCI-to-RS-232 serial port card and a DB9 serial port line;
a capsule moving device 03 for placing the capsule and moving the capsule to perform a back-and-forth motion;
measuring plate means 04; the device is used for placing the measuring plate and controlling the measuring plate to finely adjust along the left-right direction and the up-down direction;
a touch screen 05 is displayed for controlling the moving distance of the capsule moving means 03.
With further reference to fig. 2, the capsule displacement device is shown schematically as 03 comprising a motor 0301, a screw assembly 0302, a capsule placement block 0303, a front sensor 0304, a middle sensor 0305 and a rear sensor 0306.
The motor 0301, the screw rod assembly 0302, the front sensor 0304, the middle sensor 0305 and the rear sensor 0306 are all fixed on the box body 01, the motor 0301 is connected with the screw rod assembly 0302, the capsule placement seat 0303 is fixed on the screw rod assembly 0302, the motor 0301 is any one of a servo motor or a stepping motor, and a servo controller (not shown in the figure) matched with the motor 0301 is arranged in the box body 01.
When the servo controller receives the signal, the motor 0301 is controlled to rotate so as to drive the screw rod of the screw rod assembly 0302 to rotate, so that the capsule placing seat 0303 is driven to advance or retreat, the capsule moves synchronously along with the screw rod, when the capsule placing seat 0303 rotates to the limit position, the front sensor 0304 is triggered, the front sensor 0304 sends a signal to the servo controller, and the servo controller controls the motor 0301 to stop rotating and outputs the signal to the display touch screen 05 popup window for reminding.
When the capsule placing seat 0303 rotates to the middle position, the middle sensor 0305 is triggered, the middle sensor 0305 triggers and sends a signal to the servo controller, and the servo controller receives the signal and then carries out self-correction, so that the accuracy of the position moving precision is ensured.
When the capsule placing seat 0303 rotates to the initial position, the rear sensor 0306 is triggered, signals are further sent to the servo controller, and the servo controller controls the motor 0301 to stop rotating, the trigger signals are transmitted to the display touch screen 05, the popup window is reminded to return to the original point, and the next step of instructions is waited.
With further reference to fig. 3, the measuring board device 04 mainly includes a measuring board 0401, a measuring board device fixing frame 0402, a backlight source 0403 and an XY axis fine adjustment platform 0404, the XY axis fine adjustment platform 0404 is fixed on the box body 01, the measuring board device fixing frame 0402 is fixed on the XY axis fine adjustment platform 0404, and the measuring board 0401 and the backlight source 0403 are fixed in the measuring board device fixing frame 0402.
With further reference to the imaging schematic diagram of the view angle measuring device in fig. 4, the first schematic diagram of the view angle measuring method in fig. 5, and the second schematic diagram of the view angle measuring method in fig. 6, in the process of measuring the view angle, after the capsule to be measured is placed in the capsule placement seat 0303, the capsule to be measured faces the measuring plate device 04 and photographs the testing plate 0401, the testing plate 0401 is made of glass or PMMA, and standard test squares are laser engraved on the surface of the testing plate 0401, the testing squares are made of 1mm squares, the backlight source 0403 is placed at the rear part of the testing plate 0401 and is used for illuminating the pattern of the testing plate 0401 and imaging the pattern in the capsule endoscope, and the XY axis fine tuning platform 0404 is used for fine tuning the position of the testing plate 0401 when the imaging center of the capsule to be measured photographs the testing plate 0401 does not coincide with the center of the testing plate 0401, so that the center of the testing plate 0401 coincides with the center of the capsule to be measured.
With further reference to fig. 7, a vertex field angle measurement flow chart includes the steps of:
step 101: the field angle measuring device and the capsule endoscope enter a standby state, and specifically comprises the following steps: connecting a 220V alternating current power supply with a test computer and a visual angle measuring device, logging in a computer system to open test software, and then activating a capsule to be tested placed in a capsule placing seat 0303;
step 102: entering a vertex angle of view mode, setting a working distance, selecting the vertex angle of view mode on the display touch screen 05, and inputting the working distance;
step 103: according to working distance mobile capsule mobile device, display touch-sensitive screen 05 transmits the signal transmission of working distance to the server, and the server obtains the number of turns that the motor needs to rotate based on working distance to send signal control motor rotation appointed number of turns, specifically:
assuming that the length of the capsule to be measured is x=27 mm, the size from the top of the capsule to be measured to the test plate 0401 is y=150 mm, and the working distance l1=5 mm, the distance l2=y-X-l1=150-27-5=118 mm that the capsule placement seat 0303 needs to move can be calculated, the screw pitch p=4 mm, the motor pulse is z=400, the motor controllable angle β=360 °/400=0.9° is calculated by angle subdivision, the distance l3=p/400=0.01 mm that one pulse capsule placement seat 0303 of the motor is calculated by pulse movement distance, the pulse number of the motor required for calculating the distance L2 of the capsule placement seat 0303 is calculated to be α=118/(P/400) =11800,
the motor rotation angle required to calculate the resolution pattern 07010101 to move L2 distance is q=11800×0.9° =10620°.
Step 104: filtering, noise reduction and segmentation are carried out on the image shot by the capsule endoscope, when the capsule placement seat 0303 reaches a designated position, a server transmits a finishing signal to a display touch screen 05 and flickers a window to reach the designated position, then test software on a test computer 02 is opened, the test software is connected to a receiving plate of the capsule through a network cable and a USB cable and is displayed on a test software interface, meanwhile, the test software carries out Gaussian filtering and noise reduction on the received image in real time after receiving the image and segments the image by adopting a segmentation algorithm, the segmentation algorithm calculates a proper segmentation threshold v according to the gray level condition of the whole image, and the segmentation algorithm adopts a conventional segmentation algorithm of a person skilled in the art and is not repeated.
The number of black squares is calculated according to the segmentation threshold value, specifically: traversing all pixel points of the image, dividing a black area in the image through an algorithm, further calculating the number of black squares, cutting at least 3 black squares on the outermost periphery through the same dividing algorithm again, and obtaining the diameter of an inscribed circle according to the number of squares formed by black lines on the outer periphery of the 3 black squares.
Step 105: calculating inscribed circle parameters to obtain vertex field angle parameters, wherein the method specifically comprises the following steps: the size of an inscribed circle shot by the capsule is calculated through an algorithm, so that the delta size of the vertex field angle is obtained, the size D of a visible maximum inscribed circle of the capsule at the working distance D is calculated through an image algorithm, and the angle number of the vertex field angle delta is calculated through a trigonometric function formula D=2dtan (delta/2) and an inverse trigonometric function conversion delta=2arctan (D/2D).
With further reference to fig. 8, the entrance pupil angle measurement flow chart of the present invention comprises the following steps:
step 201: the field angle measuring device and the capsule endoscope enter a standby state, and specifically comprises the following steps: and switching on a 220V alternating current power supply for the test computer and the visual angle detection tool, logging in a computer system, opening test software and activating the capsule to be tested.
Step 202: entering an entrance pupil field angle mode and setting a working distance, wherein the method specifically comprises the following steps: the capsule to be tested is placed on the capsule placement nest 0303 and the entrance pupil angle mode is selected on the 05 display touch screen.
Step 203: filtering, noise reduction and segmentation are carried out on the capsule endoscope shooting image, specifically: the display touch screen 05 transmits a test signal for starting to perform entrance pupil view angle to the server, the server controls the capsule placement seat 0303 to slowly rotate at a specified rotating speed, so that the capsule placement seat 0303 is driven to move, after the test software reaches a specified position, a picture shot by the capsule is displayed on a test software interface, the test software receives an image, performs Gaussian filtering and noise reduction on the received image in real time, then performs segmentation on the image by adopting a segmentation algorithm, and calculates a proper segmentation threshold v according to the gray level condition of the whole image.
Step 204: the number of black squares is calculated according to the segmentation threshold value, specifically: traversing all pixel points of the image, dividing a black area in the image by an algorithm, and calculating the number of black squares.
Step 205: calculating a first inscribed circle parameter to further obtain an entrance pupil field angle parameter, wherein the method specifically comprises the following steps: calculating the size of an inscribed circle of a square formed by the black area at the outermost periphery through an algorithm, cutting out at least 3 black squares at the outermost periphery through the same segmentation algorithm again, and obtaining the diameter of the inscribed circle according to the number of squares formed by black lines at the outer periphery of the 3 black squares, thereby obtaining the size of the field angle of the entrance pupil.
The specific implementation steps are as follows: when the diameter of the shot inscribed circle is calculated to be 50mm by the test software, the signal is transmitted to the server, the server records the rotation number from the origin to the time of receiving the signal after receiving the signal, then the current moving distance is calculated, the distance d2 between the capsule and the test board when the diameter of the inscribed circle is calculated to be 50mm according to the distance from the origin with a known structure, the data signal is transmitted back to the test software after the server operation is completed, the value of the distance d2 is recorded by the test software and displayed on the interface, meanwhile, the server continuously controls the motor 0301 to rotate so as to drive the capsule placement seat 0303 to continuously move, the test software continuously receives the image, then the received image is subjected to Gaussian filtering and noise reduction in real time, then the image is segmented, the appropriate segmentation threshold v is calculated according to the gray condition of the whole image, all pixel points of the image are traversed, the black area in the image is segmented through an algorithm, the number of black squares is calculated, at least 3 black squares at the outermost periphery are segmented through the same segmentation algorithm, and the number of the inner circles of the diameter of squares formed by black lines at the periphery of the 3 black squares is obtained.
Step 206: filtering, noise reduction, segmentation and segmentation threshold acquisition are carried out on the capsule endoscope shooting image, specifically: when the algorithm of the test software calculates that the diameter of the shot inscribed circle is 25mm, the test software transmits a signal to the server, the server controls the motor 0301 to stop rotating after receiving the signal, records the number of rotations from an origin to the time when the signal of 25mm is received, calculates the current moving distance through a formula by the known number of rotations, calculates the distance d3 of the capsule from the test board when the diameter of the inscribed circle is 25mm according to the distance from the origin to the test board with a known structure, and further transmits a data signal back to the test software and displays the value of the distance d3 on an interface, and the test software calculates the size of the angle theta of the entrance pupil through the algorithm formula and displays the size on the interface of the test software after receiving the values of d2 and d 3.
Step 207: calculating a second inscribed circle parameter to further obtain an entrance pupil field angle parameter, wherein the second inscribed circle parameter is specifically as follows: assuming that the lens entrance pupil center to the transparent cover top distance a, tan (θ/2) =12.5/(a+d3) =25/(a+d2) can be calculated by a trigonometric function, thereby calculating a=d2-2 d3, tan (θ/2) =12.5/(d 2-d 3), and θ=2 arctan (12.5/(d 2-d 3)) can be calculated by an inverse trigonometric function.
Referring to fig. 9, which is a schematic view of the view angle measuring device, the present invention further provides a view angle measuring device and a storage medium, the view angle measuring device 10 includes one or more processors 30 and a memory 20, wherein the one or more computer programs are stored in the memory 20 and configured to be executed by the one or more processors 30, and the processor 30 implements the steps of the view angle measuring method when executing the computer programs.
Those of ordinary skill in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be implemented by a program to instruct related hardware, the program may be stored in a computer readable storage medium, and the storage medium may include: read Only Memory (ROM), random access Memory (RAM, random Access Memory), magnetic or optical disk, and the like.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. The utility model provides a capsule endoscope angle of view measuring device which characterized in that includes box body, test computer, capsule mobile device, measurement board device and display touch-sensitive screen, wherein:
the box body is used for bearing a capsule endoscope visual angle measuring device;
the test computer is respectively connected with the USB line and the capsule receiving plate of the box body through the network cable;
the capsule moving device is used for placing the capsule to be detected and moving the capsule to perform forward and backward movement;
a measuring plate device; the device is used for placing the measuring plate and controlling the measuring plate to adjust the distance along the left-right direction and the up-down direction;
and the display touch screen is used for inputting, displaying and controlling the moving distance of the capsule moving device.
2. The capsule endoscopic view angle measurement device of claim 1, wherein the capsule moving device comprises a motor, a screw assembly, a capsule placement seat, a front sensor, a middle sensor, and a rear sensor, wherein:
the motor, the screw rod assembly, the front sensor, the middle sensor and the rear sensor are all fixed on the box body, the motor is connected with the screw rod assembly, the capsule placement seat is fixed on the screw rod assembly, and the motor is any one of a servo motor or a stepping motor.
3. The capsule endoscopic view angle measurement device of claim 2, wherein said motor is any one of a servo motor or a stepper motor.
4. The capsule endoscope angle of view measuring device of claim 1, wherein the measuring plate device mainly comprises a test plate, a measuring plate device fixing frame, a backlight source and an XY axis fine adjustment platform, wherein the XY axis fine adjustment platform is fixed on the box body, the measuring plate device fixing frame is fixed on the XY axis fine adjustment platform, and the test plate and the backlight source are fixed in the measuring plate device fixing frame.
5. The capsule endoscope angle of view measuring device of claim 4, wherein the test plate is made of glass or PMMA.
6. A method for measuring the zenith angle of view of a capsule endoscope, comprising:
step 101: the view angle measuring device and the capsule endoscope enter a standby state;
step 102: entering a vertex angle of view mode and setting a working distance;
step 103: filtering, reducing noise and dividing the image shot by the capsule endoscope;
step 104: calculating the number of black squares according to the segmentation threshold;
step 105: and calculating inscribed circle parameters so as to obtain vertex field angle parameters.
7. A method for measuring an entrance pupil angle of a capsule endoscope, comprising:
step 201: the view angle measuring device and the capsule endoscope enter a standby state;
step 202: entering an entrance pupil field angle mode and setting a working distance;
step 203: filtering, reducing noise and dividing the image shot by the capsule endoscope;
step 204: calculating the number of black squares according to the segmentation threshold;
step 205: calculating a first inscribed circle parameter so as to obtain an entrance pupil field angle parameter, wherein the diameter of the first inscribed circle is 50mm;
step 206: filtering, noise reduction and segmentation are carried out on the capsule endoscope shooting image, and a segmentation threshold value is obtained;
step 207: and calculating a second inscribed circle parameter so as to acquire an entrance pupil field angle parameter, wherein the diameter of the second inscribed circle is 25mm.
8. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the steps of the method for measuring the angle of field of view of the apex of a capsule endoscope according to claim 6.
9. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the entrance pupil angle measurement method of a capsule endoscope as claimed in claim 7.
10. A capsule endoscopic field angle measurement apparatus comprising:
one or more processors;
a memory; and
one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, characterized in that the processor, when executing the computer programs, implements the method of measuring the apex angle of view of the capsule endoscope of claim 6 or the steps of any of the methods of measuring the entrance pupil angle of view of the capsule endoscope of claim 7.
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