CN117243700B - Method and related device for detecting endoscope conveying length - Google Patents
Method and related device for detecting endoscope conveying length Download PDFInfo
- Publication number
- CN117243700B CN117243700B CN202311545263.6A CN202311545263A CN117243700B CN 117243700 B CN117243700 B CN 117243700B CN 202311545263 A CN202311545263 A CN 202311545263A CN 117243700 B CN117243700 B CN 117243700B
- Authority
- CN
- China
- Prior art keywords
- length
- endoscope
- target
- conveying
- color
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 72
- 230000008569 process Effects 0.000 claims abstract description 35
- 238000001514 detection method Methods 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims description 12
- 239000003086 colorant Substances 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 7
- 238000001914 filtration Methods 0.000 claims description 7
- 238000003708 edge detection Methods 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 9
- 230000009471 action Effects 0.000 description 6
- 210000003811 finger Anatomy 0.000 description 4
- 238000001839 endoscopy Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000243 solution Substances 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000004247 hand Anatomy 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000314 lubricant Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 210000002345 respiratory system Anatomy 0.000 description 1
- 230000028327 secretion Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 210000003813 thumb Anatomy 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- A61B34/30—Surgical robots
-
- 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
- A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
-
- 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
- A61B1/00059—Operational features of endoscopes provided with identification means for the endoscope
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
-
- 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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
-
- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
Abstract
The application discloses a method and a related device for detecting the conveying length of an endoscope, wherein the outside of the endoscope comprises a plurality of length marks, and different length marks are used for marking different positions of the endoscope so as to determine the conveying length of the endoscope through the length marks. Specifically, an initial length identification corresponding to the endoscope before delivery, i.e., the position at which the endoscope has not started to move, is determined. In the process of delivering the endoscope, the target length mark is acquired through the camera device. The distance between the camera device and the target fixed position is kept unchanged through a target fixed position in the process of conveying the endoscope, so that the camera device can collect the target length mark of the endoscope passing through the target fixed position continuously, and the conveying length of the endoscope is determined according to the target length mark and the initial length mark. Therefore, the conveying length of the endoscope is not detected through the driven wheel encoder, and the problem of inaccurate detection results caused by the slipping of the driven wheel is avoided.
Description
Technical Field
The invention relates to the technical field of medical treatment, in particular to a method and a related device for detecting the conveying length of an endoscope.
Background
The natural cavity tract such as the alimentary canal, the respiratory tract and the like is a good part of human common diseases, and the focus is positioned in the natural cavity tract of the human body, so that the examination or the operation treatment is required by a soft endoscope. Traditional soft endoscopy or operation requires the actions of a person to complete the operation process by matching the actions of holding the endoscope body, operating the knob, manually conveying the endoscope body and the like with both hands; some examinations or operations are conducted under the guidance of radioactive rays, medical staff needs to wear heavy lead protective clothing and the like to manually operate the soft endoscope for a long time, so that the medical staff has great influence on the diagnosis and treatment operation quality, physical strength and health, and particularly the medical staff has great restriction on the elderly or female medical staff with abundant experience, and even is forced to abandon the endoscope work.
With the development of robot auxiliary technology, doctors can operate the robot system through the soft endoscope, the conveying length and the gesture of the soft endoscope can be adjusted by adjusting the handle switch and the button of the robot system, physical strength and manual operation fatigue of the doctors can be greatly reduced, operation requirements of operations are reduced, radiation to medical staff is reduced, and interaction between the medical staff and images can be improved.
The soft endoscope control robot system needs to detect the conveying length of the endoscope in real time in the use process so as to enable the robot mechanical arm to move in a coordinated manner, and the situation of pulling and pushing the soft endoscope is avoided. In the related art, the endoscope conveying length is detected by a driven wheel encoder, but the detection result is inaccurate.
Disclosure of Invention
Aiming at the problems, the application provides a method and a related device for detecting the endoscope conveying length, which are used for avoiding the problem of inaccurate detection results caused by the slipping of a driven wheel.
Based on this, the embodiment of the application discloses the following technical scheme:
in one aspect, an embodiment of the present application provides a method for detecting a delivery length of an endoscope, where an outside of the endoscope includes a plurality of length identifiers, and different length identifiers are used to identify different positions of the endoscope, and the method includes:
determining an initial length mark corresponding to the endoscope before delivery, wherein the initial length mark is one of the plurality of length marks;
in the process of conveying the endoscope, acquiring a target length mark through a camera device, wherein the distance between the camera device and a target fixed position is kept unchanged, the target fixed position is a fixed position which can pass through in the process of conveying the endoscope, and the target length mark is a length mark corresponding to the endoscope at the target fixed position;
and determining the conveying length of the endoscope according to the target length mark and the initial length mark.
Optionally, the length mark includes stripes with first color and second color being alternate, the second color stripes are used for spacing the first color stripes, the first color stripes and the second color stripes are stripes with different colors, and the lengths of the first color stripes and the second color stripes are fixed.
Optionally, the determining the initial length identifier corresponding to the endoscope before delivery includes:
shooting a second picture through the image pickup device, wherein the second picture comprises the initial position and one second color stripe;
determining a number of pixels between the initial position and the second color stripe;
and determining an initial length mark corresponding to the endoscope before conveying according to the ratio of the pixels to the actual distance and the number of pixels between the initial position and the second color stripes.
Optionally, the length of the first color stripe is a first preset length, and the method further includes:
shooting a first picture through the image pickup device, wherein the first picture comprises a complete first color stripe;
determining a number of pixels occupied by the first color stripe in the first picture;
and determining the ratio of the pixels to the actual distance according to the number of the pixels and the first preset length.
Optionally, the sum of the lengths of the first color stripe and the second color stripe is a second preset length, and in the process of conveying the endoscope, acquiring the target length mark through the image capturing device includes:
acquiring the number of second color stripes passing through the target fixed position and the real-time position by the camera device in the process of conveying the endoscope, wherein the real-time position is the number of pixels included between the target fixed position and the last second color stripe position passing through by the endoscope;
and determining the target length mark according to the number of the second color stripes, the second preset length, the real-time position and the ratio of the pixel to the actual distance.
Optionally, the capturing, by the image capturing device, the number and the real-time positions of the second color stripes passing through the target fixed position includes:
continuously acquiring a plurality of third pictures through the image pickup device, wherein the third pictures comprise the second color stripes;
aiming at a target third picture in the plurality of third pictures, carrying out gray level processing, filtering processing, edge detection and straight line detection on the target third picture to obtain the position of the second color stripe in the target third picture;
respectively taking the plurality of third pictures as the target third pictures to obtain positions of the second color stripes respectively in the plurality of third pictures;
and determining the number and real-time positions of the second color stripes passing through the target fixed positions according to the positions of the second color stripes in the plurality of third pictures.
Optionally, the method further comprises:
acquiring a checking conveying length, wherein the checking conveying length is the conveyed length of the endoscope recorded by a driven wheel encoder;
and if the difference between the check conveying length and the conveying length of the endoscope is larger than a preset threshold value, sending out alarm information.
In another aspect, the present application provides a device for detecting a delivery length of an endoscope, the endoscope including a plurality of length markers outside thereof, different length markers for identifying different positions of the endoscope, the device comprising: the device comprises a first determining unit, an acquisition unit and a second determining unit;
the first determining unit is used for determining an initial length identifier corresponding to the endoscope before delivery, wherein the initial length identifier is one of the plurality of length identifiers;
the acquisition unit is used for acquiring a target length mark through the camera device in the process of conveying the endoscope, wherein the distance between the camera device and a target fixed position is kept unchanged, the target fixed position is a fixed position which can pass through in the process of conveying the endoscope, and the target length mark is a length mark of the endoscope corresponding to the target fixed position;
the second determining unit is used for determining the conveying length of the endoscope according to the target length identifier and the initial length identifier.
Optionally, the length mark includes stripes with first color and second color being alternate, the second color stripes are used for spacing the first color stripes, the first color stripes and the second color stripes are stripes with different colors, and the lengths of the first color stripes and the second color stripes are fixed.
Optionally, the first determining unit is specifically configured to:
shooting a second picture through the image pickup device, wherein the second picture comprises the initial position and one second color stripe;
determining a number of pixels between the initial position and the second color stripe;
and determining an initial length mark corresponding to the endoscope before conveying according to the ratio of the pixels to the actual distance and the number of pixels between the initial position and the second color stripes.
Optionally, the length of the first color stripe is a first preset length, and the device further includes a third determining unit, configured to:
shooting a first picture through the image pickup device, wherein the first picture comprises a complete first color stripe;
determining a number of pixels occupied by the first color stripe in the first picture;
and determining the ratio of the pixels to the actual distance according to the number of the pixels and the first preset length.
Optionally, the sum of the length of the first color stripe and the length of the second color stripe is a second preset length, and the collecting unit is specifically configured to:
acquiring the number of second color stripes passing through the target fixed position and the real-time position by the camera device in the process of conveying the endoscope, wherein the real-time position is the number of pixels included between the target fixed position and the last second color stripe position passing through by the endoscope;
and determining the target length mark according to the number of the second color stripes, the second preset length, the real-time position and the ratio of the pixel to the actual distance.
Optionally, the collecting unit is specifically configured to:
continuously acquiring a plurality of third pictures through the image pickup device, wherein the third pictures comprise the second color stripes;
aiming at a target third picture in the plurality of third pictures, carrying out gray level processing, filtering processing, edge detection and straight line detection on the target third picture to obtain the position of the second color stripe in the target third picture;
respectively taking the plurality of third pictures as the target third pictures to obtain positions of the second color stripes respectively in the plurality of third pictures;
and determining the number and real-time positions of the second color stripes passing through the target fixed positions according to the positions of the second color stripes in the plurality of third pictures.
Optionally, the device further comprises a detection unit for:
acquiring a checking conveying length, wherein the checking conveying length is the conveyed length of the endoscope recorded by a driven wheel encoder;
and if the difference between the check conveying length and the conveying length of the endoscope is larger than a preset threshold value, sending out alarm information.
In another aspect, the present application provides a computer device comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to perform the method of the above aspect according to instructions in the program code.
In another aspect, the present application provides a computer readable storage medium for storing a computer program for performing the method of the above aspect.
In another aspect, embodiments of the present application provide a computer program product or computer program comprising computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the method described in the above aspect.
The technical scheme has the advantages that:
the endoscope exterior comprises a plurality of length markers, different length markers being used to identify different positions of the endoscope in order to determine the delivery length of the endoscope by the length markers. Specifically, an initial length identification corresponding to the endoscope before delivery, i.e., the position at which the endoscope has not started to move, is determined. In the process of delivering the endoscope, the target length mark is acquired through the camera device. The distance between the camera device and the target fixed position is kept unchanged through a target fixed position in the process of conveying the endoscope, so that the camera device can collect the target length mark of the endoscope passing through the target fixed position continuously, and the conveying length of the endoscope is determined according to the target length mark and the initial length mark. Therefore, the conveying length of the endoscope is not detected through the driven wheel encoder, the target length mark is acquired through the fixed-position camera device after the length mark is arranged outside the endoscope, the conveying length of the endoscope is determined according to the target length mark, and the problem of inaccurate detection results caused by slipping of the driven wheel is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a conventional soft endoscope according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a soft endoscope operation robot system according to an embodiment of the present disclosure;
fig. 3 is a flowchart of a method for detecting an endoscope conveying length according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a length indicator according to an embodiment of the present application;
fig. 5 is a schematic diagram of a conveying device according to an embodiment of the present disclosure;
fig. 6 is a schematic diagram of an endoscope conveying length detection device according to an embodiment of the present application;
fig. 7 is a block diagram of a computer device according to an embodiment of the present application.
Detailed Description
In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
Traditional soft endoscopy or operation requires the actions of a person to match with the lens holding body, the operation knob, the manual lens conveying body and the like to finish the operation process. Referring to fig. 1, a schematic diagram of a conventional soft endoscope according to an embodiment of the present application is shown. Taking a digestion soft endoscope as an example, a doctor holds the front end of the soft endoscope with the right hand, places the left hand soft endoscope operation part in front of the chest, adjusts the size knob by the thumb, the middle finger and the ring finger, controls the air injection and the water injection by the middle finger, and controls the suction button by the index finger. When controlling the forward and backward movement of the soft endoscope, the endoscope body needs to be rotated, and a good visual field is always maintained. Reaching the focus or needing biopsy, the corresponding instrument passes through the instrument channel inside the insertion part from the instrument channel to the head end. And the corresponding operation is completed under the cooperation of the visual field under the mirror.
Some examinations or operations are conducted under the guidance of radioactive rays, medical staff needs to wear heavy lead protective clothing and the like to manually operate the soft endoscope for a long time, so that the medical staff has great influence on the diagnosis and treatment operation quality, physical strength and health, and particularly the medical staff has great restriction on the elderly or female medical staff with abundant experience, and even is forced to abandon the endoscope work.
With the development of robot-assisted technology, doctors can perform soft endoscopy or surgery by manipulating a robot system through a soft endoscope. In the use process of the soft endoscope control robot system, the conveying length of the endoscope needs to be detected in real time so that the robot mechanical arm moves in a coordinated manner, and the situation that the soft endoscope is pulled and pushed is avoided. In the related art, in the soft endoscope control robot system, as the conveying length of the endoscope increases, the driven wheel can rotate with the driven wheel encoder, so that the conveying length of the endoscope is obtained through the rotating angle of the driven wheel encoder. However, due to the fact that secretions and lubricants are adhered to the surface of the endoscope, slipping is easy to occur, the driven wheel cannot accurately drive the driven wheel encoder to rotate, detection feedback of the conveying length of the endoscope is affected, and the detection result is inaccurate.
Based on the above, the embodiment of the application provides an endoscope conveying length detection method and a related device, wherein the endoscope comprises a plurality of length marks, and different length marks are used for marking different positions of the endoscope so as to determine the conveying length of the endoscope through the length marks. Specifically, an initial length identification corresponding to the endoscope before delivery, i.e., the position at which the endoscope has not started to move, is determined. In the process of delivering the endoscope, the target length mark is acquired through the camera device. The distance between the camera device and the target fixed position is kept unchanged through a target fixed position in the process of conveying the endoscope, so that the camera device can collect the target length mark of the endoscope passing through the target fixed position continuously, and the conveying length of the endoscope is determined according to the target length mark and the initial length mark. Therefore, the conveying length of the endoscope is not detected through the driven wheel encoder, the target length mark is acquired through the fixed-position camera device after the length mark is arranged outside the endoscope, the conveying length of the endoscope is determined according to the target length mark, and the problem of inaccurate detection results caused by slipping of the driven wheel is avoided.
Before introducing the method for detecting the endoscope conveying length, a soft endoscope operation robot system for executing the method is described.
Referring to fig. 2, a schematic diagram of a soft endoscope operation robot system according to an embodiment of the present application is shown. In fig. 2, the soft endoscope operation robot system includes a robot dolly 201, two multi-free mechanical arms 202 and 203, a conveying device 204 and an operation device 205, a doctor end console and a matched workstation 206. In the master-slave control mode, the operation command of the doctor is converted into the movement of the robotic arms 202 and 203 to control the movement of the delivery device 204 and the operation device 205. Wherein, the operation device 205 operates the bending of the soft endoscope, the conveying device 204 controls the length of the soft endoscope entering the human body, and the two devices simultaneously control the rotation of the soft endoscope, and the other device can also be independently controlled and the other device can follow.
Next, referring to fig. 3, a method for detecting a delivery length of an endoscope according to an embodiment of the present application will be described. Referring to fig. 3, a flowchart of a method for detecting an endoscope delivery length according to an embodiment of the present application may include S301-S303.
S301: and determining the corresponding initial length mark of the endoscope before delivery.
As shown in FIG. 1, the endoscope resembles a hose, including a head end, an insertion portion, and the like. In the application, a plurality of length marks are arranged outside the endoscope, and different length marks are used for marking different positions of the endoscope. For example, the graduations are wrapped outside the endoscope for reading by being used as a length indicator of the endoscope by graduations similar to a tape measure.
As one possible implementation, the length indicator includes stripes of alternating first and second colors, the second color stripes being used to space the first color stripes, the first and second color stripes being stripes of different colors. A first color stripe and a second color stripe may form a set of stripes to determine the delivery length of the endoscope, for example, white stripes having a length of 1 millimeter and black stripes having a length of 49 millimeters, the sum of the two lengths being 50 millimeters, as shown in fig. 4, to deliver a set of black and white stripes, and the endoscope delivering 50 millimeters. Because the endoscope is generally in a circular tube shape, stripes with alternate first colors and second colors are used as length marks, compared with the definition of the stripes with numbers as the length marks, the endoscope has higher definition, and the numbers cannot be invisible or invisible due to twisting and the like.
As a possible implementation manner, the endoscope can be directly placed at a certain second color stripe, the second color stripe is used as an initial length mark of the endoscope, and the initial length mark is 0, so that the conveying length of the endoscope is determined by the number of the second color stripes passing through the target fixed positions, and the method is convenient and quick.
As a possible implementation manner, the endoscope may be placed at any position of a certain first color stripe, the initial length identifier is determined by means of shooting by the camera device, the distance between the camera device and the target fixed position is kept unchanged, the target fixed position is a fixed position through which the endoscope can pass in the process of conveying the endoscope, for example, the endoscope enters a human body through a natural cavity, and the target fixed position may be a position before entering the natural cavity. As another example, referring to fig. 5, a schematic diagram of a conveying device according to an embodiment of the present application is shown. In fig. 5, the distance between the imaging device 501 and the target fixed position 502 remains unchanged, and the endoscope enters the human body through the target fixed position 502. It will be appreciated that in FIG. 5, the endoscope passing through the target fixation location 502 is not labeled with the first color stripe and the second color stripe.
Based on this, the second picture may be taken by the image capturing device such that the second picture includes an initial position of the endoscope, which is a position of the endoscope at the target fixed position before the endoscope is delivered to the human body, and one second color stripe. And determining the number of pixels between the initial position and the second color stripe, and determining the corresponding initial length mark of the endoscope before conveying according to the ratio of the pixels to the actual distance and the number of pixels between the initial position and the second color stripe.
The ratio of the pixel to the actual distance can identify the difference between one pixel and the actual distance, and the initial length identification of the endoscope is determined according to the ratio of the pixel to the actual distance and the number of pixels between the initial position and the second color stripe.
The ratio of the determined pixel to the actual distance is described below.
And shooting a first picture by the image shooting device, wherein the first picture comprises a complete first color stripe, determining the number of pixels occupied by the first color stripe in the first picture, and determining the ratio of the pixels to the actual distance according to the number of the pixels and a first preset length. Wherein the first preset length is the length of one first color stripe.
S302: in the process of delivering the endoscope, the target length mark is acquired through the camera device.
The target length mark is a length mark corresponding to the endoscope at the target fixed position. If the length mark is a scale, the scale corresponding to the fixed position of the endoscope at the target can be directly read to obtain the target length mark.
As a possible implementation manner, the endoscope in the initial position starts to move, that is, the endoscope starts to move from the target fixed position and is input into the human body, after a certain length is conveyed, the target length identifier corresponding to the endoscope in the target fixed position can be photographed by the photographing device, and then the conveying length is determined.
As a possible implementation manner, during the process of delivering the endoscope, acquiring the number of second color stripes passing through the target fixed positions and the real-time positions through the image capturing device, wherein the number of the second color stripes passing through the target fixed positions can be determined by adopting a motion detection technology based on background modeling and the like, if the endoscope enters a human body from left to right through the target fixed positions, the second color stripes pass through the target fixed positions from left, and the number of the second color stripes is increased by 1; the second color stripe passes the target fixed position from the right, the second color stripe number being reduced by 1. Then after the endoscope has stopped, the number of pixels comprised between the second color stripe it last passed and the position where it is currently located is determined. And determining the target length mark according to the number of the second color stripes, the second preset length, the real-time position and the ratio of the pixels to the actual distance.
For example, if the second preset length is 50mm, the number of second color stripes passing through the target fixing location is 10, and the corresponding length is 500mm. And determining that the actual distance corresponding to the real-time position is 15mm according to the ratio of the pixel to the actual distance, and marking the target length as 515mm.
As a possible implementation manner, a plurality of third pictures can be continuously collected through the image capturing device, wherein the third pictures comprise second color stripes; and aiming at a target third picture in the plurality of third pictures, carrying out gray processing, filtering processing, edge detection and straight line detection on the target third picture to obtain the position of the second color stripe in the target third picture, for example, converting the target third picture into a gray image through gray processing, enhancing image characteristics, obtaining a smooth image through filtering processing modes such as Gaussian filtering and the like to obtain an obvious characteristic image, detecting the edge of the stripe through an edge detection algorithm, and finally obtaining the position of the second color stripe in the target third picture through straight line detection modes such as Hough change detection straight line and the like.
Finally, respectively taking the plurality of third pictures as target third pictures to obtain positions of second color stripes respectively in the plurality of third pictures; and determining the number and real-time positions of the second color stripes passing through the target fixed positions according to the positions of the second color stripes in the plurality of third pictures.
Thus, by taking a third picture in real time, the number of second color stripes passing through the target fixed location and its real time location are determined.
S303: and determining the conveying length of the endoscope according to the target length mark and the initial length mark.
If the target length is identified as 515mm and the initial length is identified as 0mm, the endoscope is delivered 515mm in length. If the target length is identified as 515mm and the initial length is identified as 15mm, the endoscope is delivered 500mm long.
As a possible implementation manner, a checking and conveying length is obtained, wherein the checking and conveying length is the conveyed length of the endoscope recorded by the driven wheel encoder, and if the difference between the checking and conveying length and the conveying length of the endoscope is greater than a preset threshold value, an alarm message is sent out to quickly adjust if slipping of the driven wheel occurs or image recognition is problematic.
According to the technical scheme, the endoscope comprises a plurality of length marks outside, and different length marks are used for marking different positions of the endoscope, so that the conveying length of the endoscope can be determined through the length marks. Specifically, an initial length identification corresponding to the endoscope before delivery, i.e., the position at which the endoscope has not started to move, is determined. In the process of delivering the endoscope, the target length mark is acquired through the camera device. The distance between the camera device and the target fixed position is kept unchanged through a target fixed position in the process of conveying the endoscope, so that the camera device can collect the target length mark of the endoscope passing through the target fixed position continuously, and the conveying length of the endoscope is determined according to the target length mark and the initial length mark. Therefore, the conveying length of the endoscope is not detected through the driven wheel encoder, the target length mark is acquired through the fixed-position camera device after the length mark is arranged outside the endoscope, the conveying length of the endoscope is determined according to the target length mark, and the problem of inaccurate detection results caused by slipping of the driven wheel is avoided.
In addition to the method for detecting the endoscope conveying length, the embodiment of the application further provides a device for detecting the endoscope conveying length, wherein the outside of the endoscope comprises a plurality of length marks, and different length marks are used for marking different positions of the endoscope, as shown in fig. 6, and the device comprises: a first determination unit 601, an acquisition unit 602, and a second determination unit 603;
the first determining unit 601 is configured to determine an initial length identifier corresponding to the endoscope before delivery, where the initial length identifier is one of the plurality of length identifiers;
the collecting unit 602 is configured to collect, during the process of delivering the endoscope, a target length identifier by using a camera device, where a distance between the camera device and a target fixed position is kept unchanged, the target fixed position is a fixed position that can be passed through during the process of delivering the endoscope, and the target length identifier is a length identifier corresponding to the endoscope at the target fixed position;
the second determining unit 603 is configured to determine a delivery length of the endoscope according to the target length identifier and the initial length identifier.
According to the technical scheme, the endoscope comprises a plurality of length marks outside, and different length marks are used for marking different positions of the endoscope, so that the conveying length of the endoscope can be determined through the length marks. Specifically, an initial length identification corresponding to the endoscope before delivery, i.e., the position at which the endoscope has not started to move, is determined. In the process of delivering the endoscope, the target length mark is acquired through the camera device. The distance between the camera device and the target fixed position is kept unchanged through a target fixed position in the process of conveying the endoscope, so that the camera device can collect the target length mark of the endoscope passing through the target fixed position continuously, and the conveying length of the endoscope is determined according to the target length mark and the initial length mark. Therefore, the conveying length of the endoscope is not detected through the driven wheel encoder, the target length mark is acquired through the fixed-position camera device after the length mark is arranged outside the endoscope, the conveying length of the endoscope is determined according to the target length mark, and the problem of inaccurate detection results caused by slipping of the driven wheel is avoided.
As a possible implementation manner, the length mark includes stripes with first color and second color which are alternately arranged, the second color stripes are used for spacing the first color stripes, the first color stripes and the second color stripes are stripes with different colors, and the lengths of the first color stripes and the second color stripes are fixed.
As a possible implementation manner, the first determining unit 601 is specifically configured to:
shooting a second picture through the image pickup device, wherein the second picture comprises the initial position and one second color stripe;
determining a number of pixels between the initial position and the second color stripe;
and determining an initial length mark corresponding to the endoscope before conveying according to the ratio of the pixels to the actual distance and the number of pixels between the initial position and the second color stripes.
As a possible implementation manner, the sum of the length of the first color stripe and the length of the second color stripe is a second preset length, and the apparatus further includes a third determining unit, configured to:
shooting a first picture through the image pickup device, wherein the first picture comprises a complete first color stripe;
determining a number of pixels occupied by the first color stripe in the first picture;
and determining the ratio of the pixels to the actual distance according to the number of the pixels and the first preset length.
As a possible implementation manner, the sum of the length of the first color stripe and the length of the second color stripe is a second preset length, and the collecting unit 602 is specifically configured to:
acquiring the number of second color stripes passing through the target fixed position and the real-time position by the camera device in the process of conveying the endoscope, wherein the real-time position is the number of pixels included between the target fixed position and the last second color stripe position passing through by the endoscope;
and determining the target length mark according to the number of the second color stripes, the second preset length, the real-time position and the ratio of the pixel to the actual distance.
As a possible implementation manner, the collecting unit 602 is specifically configured to:
continuously acquiring a plurality of third pictures through the image pickup device, wherein the third pictures comprise the second color stripes;
aiming at a target third picture in the plurality of third pictures, carrying out gray level processing, filtering processing, edge detection and straight line detection on the target third picture to obtain the position of the second color stripe in the target third picture;
respectively taking the plurality of third pictures as the target third pictures to obtain positions of the second color stripes respectively in the plurality of third pictures;
and determining the number and real-time positions of the second color stripes passing through the target fixed positions according to the positions of the second color stripes in the plurality of third pictures.
As a possible implementation manner, the apparatus further includes a detection unit, configured to:
acquiring a checking conveying length, wherein the checking conveying length is the conveyed length of the endoscope recorded by a driven wheel encoder;
and if the difference between the check conveying length and the conveying length of the endoscope is larger than a preset threshold value, sending out alarm information.
The embodiment of the present application further provides a computer device, referring to fig. 7, which shows a structural diagram of the computer device provided in the embodiment of the present application, as shown in fig. 7, where the device includes a memory 710 and a processor 720:
the memory 710 is used for storing program codes and transmitting the program codes to the processor;
the processor 720 is configured to execute any of the methods for detecting an endoscope delivery length provided in the foregoing embodiments according to instructions in the program code.
An embodiment of the present application provides a computer readable storage medium storing a computer program for executing any one of the methods for detecting an endoscopic delivery length provided in the above embodiment.
Embodiments of the present application also provide a computer program product or computer program comprising computer instructions stored in a computer-readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method of detecting the endoscope delivery length provided in various alternative implementations of the above aspects.
It should be noted that, in the present description, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system or device disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and the relevant points refer to the description of the method section.
It should be understood that in this application, "at least one" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
It is further noted that relational terms such as first and second, and the like are 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. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software modules may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A method for detecting a delivery length of an endoscope, wherein an outside of the endoscope includes a plurality of length markers, different length markers are used for marking different positions of the endoscope, the length markers include stripes with first colors and second colors being alternate, the second color stripes are used for spacing the first color stripes, the first color stripes and the second color stripes are stripes with different colors, and the lengths of the first color stripes and the second color stripes are fixed, the method comprises:
determining an initial length mark corresponding to the endoscope before delivery, wherein the initial length mark is one of the plurality of length marks;
in the process of conveying the endoscope, acquiring a target length mark through a camera device, wherein the distance between the camera device and a target fixed position is kept unchanged, the target fixed position is a fixed position which can pass through in the process of conveying the endoscope, and the target length mark is a length mark corresponding to the endoscope at the target fixed position;
determining the conveying length of the endoscope according to the target length mark and the initial length mark;
the determining the initial length mark corresponding to the endoscope before delivery comprises the following steps:
shooting a second picture through the image pickup device, wherein the second picture comprises an initial position and one second color stripe;
determining a number of pixels between the initial position and the second color stripe;
determining an initial length mark corresponding to the endoscope before conveying according to the ratio of the pixels to the actual distance and the number of pixels between the initial position and the second color stripes;
the method further comprises the steps of:
acquiring a checking conveying length, wherein the checking conveying length is the conveyed length of the endoscope recorded by a driven wheel encoder;
and if the difference between the check conveying length and the conveying length of the endoscope is larger than a preset threshold value, sending out alarm information.
2. The method of claim 1, wherein the first color stripe has a length of a first predetermined length, the method further comprising:
shooting a first picture through the image pickup device, wherein the first picture comprises a complete first color stripe;
determining a number of pixels occupied by the first color stripe in the first picture;
and determining the ratio of the pixels to the actual distance according to the number of the pixels and the first preset length.
3. The method of claim 1, wherein the sum of the length of the first color stripe and the length of the second color stripe is a second preset length, and wherein the capturing the target length mark by the imaging device during the delivering of the endoscope comprises:
acquiring the number of second color stripes passing through the target fixed position and the real-time position by the camera device in the process of conveying the endoscope, wherein the real-time position is the number of pixels included between the target fixed position and the last second color stripe position passing through by the endoscope;
and determining the target length mark according to the number of the second color stripes, the second preset length, the real-time position and the ratio of the pixel to the actual distance.
4. A method according to claim 3, wherein said capturing, by said camera, the number and real-time position of said second color stripe through said target fixed location comprises:
continuously acquiring a plurality of third pictures through the image pickup device, wherein the third pictures comprise the second color stripes;
aiming at a target third picture in the plurality of third pictures, carrying out gray level processing, filtering processing, edge detection and straight line detection on the target third picture to obtain the position of the second color stripe in the target third picture;
respectively taking the plurality of third pictures as the target third pictures to obtain positions of the second color stripes respectively in the plurality of third pictures;
and determining the number and real-time positions of the second color stripes passing through the target fixed positions according to the positions of the second color stripes in the plurality of third pictures.
5. The utility model provides a detection device of length is carried to scope, its characterized in that includes a plurality of length marks outward, and different length marks are used for the sign the different positions of scope, length marks include the alternate stripe of first colour and second colour, and the second colour stripe is used for spacing first colour stripe, first colour stripe with the second colour stripe is the stripe of different colours, first colour stripe with the length of second colour stripe is fixed, the device includes: the device comprises a first determining unit, an acquisition unit and a second determining unit;
the first determining unit is used for determining an initial length identifier corresponding to the endoscope before delivery, wherein the initial length identifier is one of the plurality of length identifiers;
the acquisition unit is used for acquiring a target length mark through the camera device in the process of conveying the endoscope, wherein the distance between the camera device and a target fixed position is kept unchanged, the target fixed position is a fixed position which can pass through in the process of conveying the endoscope, and the target length mark is a length mark of the endoscope corresponding to the target fixed position;
the second determining unit is used for determining the conveying length of the endoscope according to the target length identifier and the initial length identifier;
the first determining unit is specifically configured to:
shooting a second picture through the image pickup device, wherein the second picture comprises an initial position and one second color stripe;
determining a number of pixels between the initial position and the second color stripe;
determining an initial length mark corresponding to the endoscope before conveying according to the ratio of the pixels to the actual distance and the number of pixels between the initial position and the second color stripes;
the device further comprises a detection unit for:
acquiring a checking conveying length, wherein the checking conveying length is the conveyed length of the endoscope recorded by a driven wheel encoder;
and if the difference between the check conveying length and the conveying length of the endoscope is larger than a preset threshold value, sending out alarm information.
6. A computer device, the device comprising a processor and a memory:
the memory is used for storing program codes and transmitting the program codes to the processor;
the processor is configured to perform the method of any of claims 1-4 according to instructions in the program code.
7. A computer readable storage medium, characterized in that the computer readable storage medium is adapted to store a computer program adapted to perform the method of any of claims 1-4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311545263.6A CN117243700B (en) | 2023-11-20 | 2023-11-20 | Method and related device for detecting endoscope conveying length |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311545263.6A CN117243700B (en) | 2023-11-20 | 2023-11-20 | Method and related device for detecting endoscope conveying length |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117243700A CN117243700A (en) | 2023-12-19 |
| CN117243700B true CN117243700B (en) | 2024-03-08 |
Family
ID=89126909
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311545263.6A Active CN117243700B (en) | 2023-11-20 | 2023-11-20 | Method and related device for detecting endoscope conveying length |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117243700B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001275955A (en) * | 2000-03-31 | 2001-10-09 | Fuji Photo Optical Co Ltd | Electronic endoscopic instrument |
| CN201375516Y (en) * | 2009-04-27 | 2010-01-06 | 中国人民解放军南京军区南京总医院 | Endoscope object distance measuring device employing virtual internal standards |
| CN205598007U (en) * | 2016-01-27 | 2016-09-28 | 天津理工大学 | Blood vessel is intervene surgery robot owner and is held power feedback device |
| WO2018005842A1 (en) * | 2016-06-30 | 2018-01-04 | Intuitive Surgical Operations, Inc. | Graphical user interface for displaying guidance information in a plurality of modes during an image-guided procedure |
| CN108175504A (en) * | 2017-11-27 | 2018-06-19 | 北京理工大学 | Blood vessel interventional operation conduit/seal wire axial direction operative position moves detection device and method |
| CN209033480U (en) * | 2017-10-11 | 2019-06-28 | 郑明友 | Superslide zebra guide wire with scale |
| CN215017013U (en) * | 2021-07-29 | 2021-12-07 | 重庆医科大学附属第二医院 | Digestive endoscope special accessory with length mark |
| CN216602870U (en) * | 2021-12-02 | 2022-05-27 | 北京大学深圳医院 | Rotatable tape measure of endoscope |
| WO2022184154A1 (en) * | 2021-03-05 | 2022-09-09 | 深圳英美达医疗技术有限公司 | Method and system for recognizing extension length of miniature endoscopic ultrasonography probe, and storage medium |
| CN115661103A (en) * | 2022-10-31 | 2023-01-31 | 武汉楚精灵医疗科技有限公司 | Method and device for detecting leakage position of endoscope hose |
| CN115708658A (en) * | 2021-08-23 | 2023-02-24 | 山东威高宏瑞医学科技有限公司 | Panoramic endoscope and image processing method thereof |
| CN219354105U (en) * | 2022-03-01 | 2023-07-18 | 杭州安杰思医学科技股份有限公司 | Injection needle for endoscope |
| CN219398649U (en) * | 2023-03-30 | 2023-07-25 | 北京万思医疗科技有限公司 | Interventional operation robot and guide wire, consumable component and guide wire position identification device thereof |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20230218831A1 (en) * | 2020-06-18 | 2023-07-13 | Sanofi | Electronic system for a drug delivery device and drug delivery device |
-
2023
- 2023-11-20 CN CN202311545263.6A patent/CN117243700B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001275955A (en) * | 2000-03-31 | 2001-10-09 | Fuji Photo Optical Co Ltd | Electronic endoscopic instrument |
| CN201375516Y (en) * | 2009-04-27 | 2010-01-06 | 中国人民解放军南京军区南京总医院 | Endoscope object distance measuring device employing virtual internal standards |
| CN205598007U (en) * | 2016-01-27 | 2016-09-28 | 天津理工大学 | Blood vessel is intervene surgery robot owner and is held power feedback device |
| WO2018005842A1 (en) * | 2016-06-30 | 2018-01-04 | Intuitive Surgical Operations, Inc. | Graphical user interface for displaying guidance information in a plurality of modes during an image-guided procedure |
| CN209033480U (en) * | 2017-10-11 | 2019-06-28 | 郑明友 | Superslide zebra guide wire with scale |
| CN108175504A (en) * | 2017-11-27 | 2018-06-19 | 北京理工大学 | Blood vessel interventional operation conduit/seal wire axial direction operative position moves detection device and method |
| WO2022184154A1 (en) * | 2021-03-05 | 2022-09-09 | 深圳英美达医疗技术有限公司 | Method and system for recognizing extension length of miniature endoscopic ultrasonography probe, and storage medium |
| CN215017013U (en) * | 2021-07-29 | 2021-12-07 | 重庆医科大学附属第二医院 | Digestive endoscope special accessory with length mark |
| CN115708658A (en) * | 2021-08-23 | 2023-02-24 | 山东威高宏瑞医学科技有限公司 | Panoramic endoscope and image processing method thereof |
| CN216602870U (en) * | 2021-12-02 | 2022-05-27 | 北京大学深圳医院 | Rotatable tape measure of endoscope |
| CN219354105U (en) * | 2022-03-01 | 2023-07-18 | 杭州安杰思医学科技股份有限公司 | Injection needle for endoscope |
| CN115661103A (en) * | 2022-10-31 | 2023-01-31 | 武汉楚精灵医疗科技有限公司 | Method and device for detecting leakage position of endoscope hose |
| CN219398649U (en) * | 2023-03-30 | 2023-07-25 | 北京万思医疗科技有限公司 | Interventional operation robot and guide wire, consumable component and guide wire position identification device thereof |
Non-Patent Citations (1)
| Title |
|---|
| 金小慧 ; 项剑铮 ; 金徐徐 ; 俞静 ; .软式内镜临床应用追溯系统的设计与构建.医院管理论坛.2020,(07),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117243700A (en) | 2023-12-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11529197B2 (en) | Device and method for tracking the position of an endoscope within a patient's body | |
| JP5676058B1 (en) | Endoscope system and method for operating endoscope system | |
| JP6371729B2 (en) | Endoscopy support apparatus, operation method of endoscopy support apparatus, and endoscope support program | |
| JP5771757B2 (en) | Endoscope system and method for operating endoscope system | |
| Helferty et al. | Computer-based system for the virtual-endoscopic guidance of bronchoscopy | |
| US20150313445A1 (en) | System and Method of Scanning a Body Cavity Using a Multiple Viewing Elements Endoscope | |
| US20120130171A1 (en) | Endoscope guidance based on image matching | |
| JP5750669B2 (en) | Endoscope system | |
| US11074690B2 (en) | Method for enhancing the visibility of blood vessels in color images and visualization systems implementing the method | |
| US9824445B2 (en) | Endoscope system | |
| US20210361142A1 (en) | Image recording device, image recording method, and recording medium | |
| CN116261416A (en) | System and method for hybrid imaging and navigation | |
| CN115919472B (en) | Mechanical arm positioning method and related system, device, equipment and medium | |
| CN105902253A (en) | Endoscope insertion control method and system | |
| JP7323647B2 (en) | Endoscopy support device, operating method and program for endoscopy support device | |
| CN117243700B (en) | Method and related device for detecting endoscope conveying length | |
| EP4190270A1 (en) | Endoscope image processing device | |
| EP4191527A1 (en) | An endoscope image processing device | |
| CN117257467B (en) | Endoscope operation force determination device, computer device and readable storage medium | |
| EP4190271A1 (en) | Endoscope image processing device | |
| CN117953043A (en) | Area measurement method and device based on endoscopic image and storage medium | |
| JP6335839B2 (en) | Medical device, medical image generation method, and medical image generation program | |
| CN117942170A (en) | Control method, equipment and storage medium for instrument conveying length | |
| CN116849593A (en) | Visual laryngoscope system with organ identification function and organ identification method | |
| Dressel et al. | Direct co-calibration of endobronchial ultrasound and video |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |