CN117378987A - Quantitative control method, system and storage medium for first visual angle of capsule endoscope - Google Patents

Quantitative control method, system and storage medium for first visual angle of capsule endoscope Download PDF

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Publication number
CN117378987A
CN117378987A CN202210787142.1A CN202210787142A CN117378987A CN 117378987 A CN117378987 A CN 117378987A CN 202210787142 A CN202210787142 A CN 202210787142A CN 117378987 A CN117378987 A CN 117378987A
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CN
China
Prior art keywords
capsule endoscope
angle
offset
data
yaw
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Pending
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CN202210787142.1A
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Chinese (zh)
Inventor
黄志威
张行
袁文金
张皓
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Ankon Technologies Co Ltd
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Ankon Technologies Co Ltd
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Priority to CN202210787142.1A priority Critical patent/CN117378987A/en
Priority to PCT/CN2023/105552 priority patent/WO2024008042A1/en
Publication of CN117378987A publication Critical patent/CN117378987A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/041—Capsule endoscopes for imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/045—Control thereof
    • 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
    • A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • 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
    • A61B1/273—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
    • A61B1/2736—Gastroscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/07—Endoradiosondes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/07—Endoradiosondes
    • A61B5/073—Intestinal transmitters

Abstract

The invention discloses a method, a system and a storage medium for quantitatively controlling a first visual angle of a capsule endoscope, wherein the method comprises the following steps: acquiring a view field offset of the capsule endoscope at a first view angle; calculating attitude calibration data under an inertial system according to the view field offset; and adjusting the capsule endoscope to a calibration pose state according to the pose calibration data. The first visual angle quantitative control method of the capsule endoscope can reduce blindness of control actions, reduce technical difficulty of magnetic control operation, optimize shooting angle and distance of the capsule endoscope, improve efficiency of digestive tract examination, improve image quality of digestive tract examination, and is suitable for popularization and application in a large scale.

Description

Quantitative control method, system and storage medium for first visual angle of capsule endoscope
Technical Field
The invention relates to the technical field of medical equipment, in particular to a first visual angle quantitative control method, a first visual angle quantitative control system and a storage medium of a capsule endoscope.
Background
The magnetic control capsule endoscope system performs remote non-contact control on a capsule endoscope swallowed into a body or arranged in a cavity such as a simulated stomach, an intestinal tract and the like through an external control magnet (for example, a permanent magnet or an electromagnet), so that certain parameters in the body or the cavity can be acquired as an intermediate result, and further the examination of the digestive tract is assisted, and medical staff is assisted in diagnosing and treating diseases or performing simulation experiments.
The capsule endoscope generally adopts an approximately cylindrical magnet with axial magnetization, the magnetic field distribution has the characteristic of approximately axial symmetry, and an external control magnet with 5-DOF (Degree of Freedom ) cannot effectively quantitatively control the spin angle of the 6-DOF capsule endoscope to keep stable. The random spin of the capsule causes synchronous rotation change of the visual field direction of the shot image, and the human brain and human eyes have difficulty in establishing a simple mapping relation between the shot image and the actual direction control action of the capsule in real time. In the prior art, a bystander third visual angle control mode is generally adopted to control the capsule endoscope, a doctor or an operator of the capsule endoscope cannot intuitively adjust the angles of the up-down visual field, the left-right visual field and the forward and backward positions of the capsule according to visual habits according to capsule image feedback, and conveniently controls the distance between the capsule endoscope and a target position, aims at a target central area and scans and shoots the wall of the digestive tract at fixed points.
Therefore, it is necessary to develop a quantitative control method and a quantitative control system based on the first visual angle of the capsule endoscope image, which meet the visual perception of an operator, strengthen the purpose of capsule endoscope examination, reduce blindness of operation, reduce the technical difficulty of magnetic control operation, improve the convenience of capsule operation, and realize the position and posture control of the capsule endoscope which is similar to what you see is what you get. Therefore, targeted scanning inspection of the key target area can be performed, nonsensical repeated area shooting is reduced, and the efficiency of the digestive tract inspection is improved; the shooting angle and distance of the capsule endoscope are further optimized, the optimal performance of the imaging hardware system of the capsule endoscope is brought into play, and the image quality of the digestive tract examination is improved.
Disclosure of Invention
The invention aims to provide a quantitative control method for a first visual angle of a capsule endoscope, which aims to solve the technical problems that in the prior art, the visual field angle of the capsule endoscope is difficult to properly adjust through external equipment, the process of collecting target position data is tedious, the time consumption is long and the user experience is poor.
One of the purposes of the present invention is to provide a quantitative control system for a first viewing angle of a capsule endoscope.
It is an object of the present invention to provide a storage medium.
In order to achieve one of the above objects, an embodiment of the present invention provides a method for quantitatively controlling a first viewing angle of a capsule endoscope, including: acquiring a view field offset of the capsule endoscope at a first view angle; calculating attitude calibration data under an inertial system according to the view field offset; and adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
As a further improvement of an embodiment of the present invention, the field of view offset includes a yaw angle offset and a pitch angle offset.
As a further improvement of an embodiment of the present invention, the method specifically includes: and according to the posture calibration data, adjusting the posture of the capsule endoscope according to a preset angle step length until the capsule endoscope reaches the calibration posture state.
As a further improvement of an embodiment of the present invention, the method specifically includes: determining an external offset under an inertial system according to the field of view offset; fitting an external rotation matrix under the inertial frame according to the external offset; and calculating attitude calibration data under the inertial frame according to the external rotation matrix.
As a further refinement of an embodiment of the invention, the attitude calibration data comprises yaw offset data; the method specifically comprises the following steps: projecting the external rotation matrix to a yaw adjustment plane under the inertia system to obtain a first direction parameter and a second direction parameter, and executing arctangent transformation processing on the first direction parameter and the second direction parameter to obtain target yaw data; the target yaw data is used as the yaw offset data.
As a further improvement of an embodiment of the present invention, the method specifically includes: extracting data of a first position and data of a second position in the external rotation matrix, and correspondingly obtaining the first direction parameter and the second direction parameter; wherein the data of the first position characterizes a position change condition of the capsule endoscope in a first direction when performing yaw adjustment, and the data of the second position characterizes a position change condition of the capsule endoscope in a second direction when performing yaw adjustment.
As a further improvement of an embodiment of the present invention, the attitude calibration data includes pitch calibration data; the method specifically comprises the following steps: projecting the external rotation matrix to a pitching adjustment shaft under the inertia system to obtain a third direction parameter, and performing inverse cosine transform on the third direction parameter to obtain target pitching data; and calculating the pitching calibration data according to the target pitching data and the current tilting data.
As a further improvement of an embodiment of the present invention, the method specifically includes: extracting data of a third position in the external rotation matrix, and correspondingly obtaining the third direction parameter; wherein the data of the third position characterizes a change in position of the capsule endoscope when performing pitch adjustment.
As a further improvement of an embodiment of the present invention, the method specifically includes: determining a value of a roll angle corresponding to the field of view offset, and constructing the inertial system by taking the roll angle as a reference; fitting the external rotation matrix according to the external offset under the inertial frame; the external rotation matrix characterizes the rotation change condition of the position of the capsule endoscope relative to the original position after the capsule endoscope rotates sequentially in a preset spin axis sequence.
As a further improvement of an embodiment of the present invention, the method specifically includes: calculating a yaw Euler angle and a pitch Euler angle corresponding to the external offset; fitting the external rotation matrix according to trigonometric values of the roll angle, the yaw euler angle and the pitch euler angle.
As a further improvement of an embodiment of the present invention, the field of view offset includes a yaw angle offset and a pitch angle offset, and the external offset includes a yaw offset corresponding to the yaw angle offset and a pitch offset corresponding to the pitch angle offset; the method specifically comprises the following steps: calculating the yaw Euler angle according to the yaw offset and the current inclination data; and calculating the pitching Euler angle according to the pitching offset.
As a further improvement of an embodiment of the present invention, the method specifically includes: respectively obtaining a roll rotation matrix, a yaw rotation matrix and a pitch rotation matrix according to trigonometric function values of the roll angle, the yaw Euler angle and the pitch Euler angle through corresponding calculation; and sequentially performing dot multiplication on the yaw rotation matrix, the pitch rotation matrix and the roll rotation matrix to obtain the external rotation matrix through calculation.
As a further improvement of an embodiment of the present invention, the method specifically includes: constructing a coordinate transformation matrix according to a preset deviation phase angle; and determining the external offset under the inertial system according to the coordinate transformation matrix and the field of view offset.
As a further improvement of an embodiment of the present invention, the method further includes: and adjusting the distance between the capsule endoscope and the part to be detected according to the calibration pose state.
As a further improvement of an embodiment of the present invention, the method specifically includes: and fixing, calculating current azimuth data according to yaw offset data in the attitude calibration data, determining a distance adjustment direction for the data according to the current direction, and continuously outputting a distance adjustment signal until the duty ratio of the object to be detected in the detection image meets the preset requirement.
As a further improvement of an embodiment of the present invention, the method specifically includes: acquiring real-time pose information and target pose information of the capsule endoscope; calculating current azimuth data according to yaw offset data in the gesture calibration data, and calculating a target gesture range and a current motion track according to the real-time gesture information, the target gesture information and the current azimuth data; and controlling the capsule endoscope to move along the current movement track.
As a further improvement of an embodiment of the present invention, the method specifically includes: the current azimuth data of the capsule endoscope are redetermined according to the horizontal azimuth data, and the forward and backward distance adjusting direction of the capsule endoscope is determined according to the current azimuth data; and determining forward and backward distance adjustment variables of the capsule endoscope according to preset distance step length and the current azimuth data, and calculating the target pose range and the current motion trail according to the distance adjustment variables, the real-time pose information and the target pose information.
As a further improvement of an embodiment of the present invention, the method further includes: fusing and calibrating pose data of a control device and a capsule endoscope which are matched with each other under an inertial system, and moving the control device to an initialization position corresponding to the capsule endoscope; and receiving and correcting the display state of the output detection image of the capsule endoscope according to the initial posture data of the capsule endoscope.
In order to achieve one of the above objects, an embodiment of the present invention provides a quantitative control system for a first view angle of a capsule endoscope, which includes a capsule endoscope and a quantitative control device that are matched with each other, wherein the quantitative control device is configured to execute the quantitative control method for the first view angle of the capsule endoscope according to any one of the above technical aspects.
In order to achieve one of the above objects, an embodiment of the present invention provides a storage medium having stored thereon an application program which, when executed, implements the steps of the method for quantitatively controlling a first angle of view of a capsule endoscope according to any one of the above aspects.
Compared with the prior art, the method and the device have the advantages that the view field offset is obtained and quantized into the data on one side of the external equipment through inertial system conversion, the view field attitude angle of the capsule endoscope is calibrated according to the obtained attitude calibration data, and finally the capsule endoscope is adjusted to the calibration attitude state, so that a medical worker can be conveniently assisted in obtaining more accurate parameters under the expected view field attitude, the accuracy of capsule endoscope attitude control is improved, the control process of collecting target position data is simplified, the experience of a subject is optimized, and the method and the device are suitable for large-scale popularization and application.
Compared with the prior art, the invention has the beneficial effects that: the first visual angle quantitative control method and the first visual angle quantitative control system of the capsule endoscope accord with visual perception of an operator are provided, and quantitative position and gesture control of the capsule endoscope which is based on feedback of the photographed image and is obtained by approximate view is realized; the purpose of capsule endoscopy is enhanced, the blindness of control actions is reduced, the technical difficulty of magnetic control operation is reduced, and the convenience of capsule control is improved; the targeted scanning inspection of the key target area can be performed, nonsensical repeated area shooting is reduced, and the efficiency of the digestive tract inspection is improved; the shooting angle and distance of the capsule endoscope are further optimized, the optimal performance of the imaging hardware system of the capsule endoscope is brought into play, and the image quality of the digestive tract examination is improved.
Drawings
Fig. 1 is a schematic structural diagram of a first view angle quantitative control system of a capsule endoscope in an embodiment of the present invention.
Fig. 2 is a schematic diagram showing steps of a method for quantitatively controlling a first view angle of a capsule endoscope in an embodiment of the present invention.
FIG. 3 is a schematic diagram of different detection images generated during the process of implementing the method for quantitatively controlling the first visual angle of the capsule endoscope in an embodiment of the present invention.
Fig. 4 is a schematic view showing a state of the capsule endoscope in an inertial system when the method for quantitatively controlling the first view angle of the capsule endoscope is performed in an embodiment of the present invention.
Fig. 5 is a schematic view showing a state of a detection image generated when the method for quantitatively controlling the first viewing angle of the capsule endoscope is performed in accordance with an embodiment of the present invention.
Fig. 6 is a schematic step diagram of a method for quantitatively controlling a first viewing angle of a capsule endoscope in accordance with another embodiment of the present invention.
Fig. 7 is a schematic view showing part of steps of a first example of a method for quantitatively controlling a first angle of view of a capsule endoscope in accordance with another embodiment of the present invention.
Fig. 8 is a partial step schematic diagram of a second example of a method for quantitatively controlling a first viewing angle of a capsule endoscope in another embodiment of the present invention.
Fig. 9 is a schematic view showing a state of the capsule endoscope in an inertial system when the method for quantitatively controlling the first angle of view of the capsule endoscope is performed in accordance with still another embodiment of the present invention.
Fig. 10 is a schematic diagram showing steps of a method for quantitatively controlling a first viewing angle of a capsule endoscope in accordance with still another embodiment of the present invention.
Fig. 11 is a schematic view showing a state of a detection image generated during the process of implementing the first view angle quantitative control method of the capsule endoscope in accordance with still another embodiment of the present invention.
Fig. 12 is a schematic step diagram of a method for quantitatively controlling a first viewing angle of a capsule endoscope in accordance with still another embodiment of the present invention.
Fig. 13 is a partial step diagram showing a specific example of a method for quantitatively controlling a first angle of view of a capsule endoscope in still another embodiment of the present invention.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the invention and structural, methodological, or functional modifications of these embodiments that may be made by one of ordinary skill in the art are included within the scope of the invention.
It should be noted that the term "comprises," "comprising," or any other variation thereof is 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. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
An embodiment of the present invention provides a storage medium, on which an application program is stored, and when the application program is executed, a method for quantitatively controlling a first view angle of a capsule endoscope is implemented, and attitude calibration data is obtained by determining a view field offset and converting a special coordinate system, so that the control of the view angle of the capsule endoscope is implemented according to the attitude calibration data, and if necessary, the capsule endoscope is controlled to be far from or near from a target area by advancing and retreating actions, so that control accuracy can be improved, the data amount requirement of operation can be reduced, and experience of a subject can be optimized, thereby being suitable for large-scale popularization and application.
The storage medium may be any available medium that can access data, or may be a storage device such as a server, data center, etc. that contains an integration of one or more available media. Usable media may be magnetic media such as floppy disks, hard disks, magnetic tapes, or optical media such as DVDs (Digital Video Disc, high-density digital video discs), or semiconductor media such as SSDs (Solid State disks).
As shown in fig. 1, an embodiment of the present invention provides a first view angle quantitative control system 100 for a capsule endoscope, which includes a capsule endoscope 11 and a quantitative control device 12 that are matched with each other, where the quantitative control device 12 is configured to perform a first view angle quantitative control method for a capsule endoscope, so that control of a view angle direction of the capsule endoscope 11 can be implemented, so that the view angle direction of the capsule endoscope 11 is accurately aligned to a portion to be detected, and preferably, a control process can be simplified, experience sense can be optimized, and the system is suitable for wide popularization and application. Specifically, the quantitative control device 12 may be provided with the storage medium to achieve the above technical effects, and of course, the above technical effects may also be achieved together by mutually matching various modules provided inside the quantitative control device 12. Wherein the capsule endoscope 11 may be preferably configured to have a capsule-like appearance.
An embodiment of the present invention provides a method for quantitatively controlling a first viewing angle of a capsule endoscope as shown in fig. 2. The program or instructions corresponding to the method may be loaded on the storage medium, or the method may be loaded in the first view angle quantitative control system of the capsule endoscope in a program, instructions or other forms. The method for quantitatively controlling the first visual angle of the capsule endoscope specifically comprises the following steps.
Step 21, obtaining the field of view offset of the capsule endoscope at the first view angle.
And step 22, calculating attitude calibration data under an inertial system according to the field of view offset.
And step 23, adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
Therefore, the view angle deviation of the capsule endoscope can be determined according to the view angle deviation amount, and the view angle deviation amount is used for indicating the deviation of the relative position relation between the capsule endoscope and the part to be detected at the first view angle of the capsule endoscope, so that the view angle deviation amount can be converted into posture calibration data which can be adjusted by an external system through inertial system conversion, the posture of the capsule endoscope can be adjusted accordingly, the deviation of the view angle is corrected, and the center of the view is aligned with the target area. In other preferred embodiments, it may further comprise: if necessary, the capsule endoscope is controlled to be far from or near from the target area by the forward and backward actions. Therefore, the method can finally realize the up-down, left-right view field angle adjustment and forward and backward position control of the capsule endoscope according to shot image feedback, so as to realize more accurate and effective acquisition of data such as target position area images and the like and improve the technical effect of user experience.
Wherein the calibration pose state characterizes a capsule endoscope pose state sufficient to enable the capsule endoscope to be aligned with the site to be detected.
The field of view offset characterizes the extent to which the pose of the capsule endoscope (in particular its orientation) deviates from the site to be detected. The measurement of the deviation degree may be to determine a vertical distance difference between a center point of the portion to be detected and an orientation of the capsule endoscope, determine whether distribution of the portion to be detected in the detection image is uniform, or determine whether display of the portion to be detected in the detection image is complete. The content of the field of view offset may include the direction of the angle of view offset, for example in the pitch direction or in the yaw (or yaw) direction, and may include how much of the angle of view offset, for example a length indicator, or in a particular embodiment, the distance of the capsule endoscope from the site to be detected may be quantified, which may also be an angle indicator. The field offset may be input after manual judgment, or may be automatically calculated by a quantitative control device.
The inertial system refers to a world coordinate system established with the earth as a reference, and since the quantitative control device disposed outside the capsule endoscope generally remains relatively stationary with respect to the earth, the inertial system may also be defined as an external coordinate system established with the quantitative control device as a reference. Therefore, the visual field offset of the capsule endoscope is converted into posture calibration data under the inertial system layer, and a medical worker can be assisted to conveniently adjust the visual angle of the capsule endoscope, so that a more accurate calibration detection image is obtained.
In a preferred embodiment of the present invention, the field of view offset includes a yaw angle offset and a pitch angle offset. The yaw angle offset represents the offset of a detected image on a yaw angle layer, the yaw angle offset represents the projection of the length extending direction of the capsule endoscope on a horizontal plane, and the difference between the angle and the projection of a preset target pointing direction on the horizontal plane, namely represents the left-right swinging degree of the capsule endoscope; the pitch angle offset represents the projection of the length extending direction of the capsule endoscope on the vertical surface and the angle difference between the projection of the preset target pointing on the vertical surface, namely the degree of lifting and falling of the capsule endoscope. In this way, the relationship between the object coordinate system of the capsule endoscope and the inertial system can be established by using the field-of-view offset as an intermediate amount, and the effect of adjusting the movement of the object coordinate system from the inertial system side can be achieved.
Specifically, five images in fig. 3 show the detection image 30 in different states, one of the five images may be a detection image taken by the capsule endoscope in the initial pose state, and the other may be a detection image taken by the capsule endoscope in the calibration pose state. In a preferred embodiment, the middle image in fig. 3 may be taken as a detection image obtained by the capsule endoscope in the calibration pose state, and the capsule endoscope can be aligned with the center position of the to-be-detected part, so that a more complete, comprehensive, clear and accurate picture is taken, however, when the capsule endoscope has a pitch angle offset such as ±dv in the initial pose state, two detection images 30 in the upper image or the lower image in fig. 3 are respectively generated as corresponding detection images, and correspondingly, when the capsule endoscope has a yaw angle offset such as ±dh in the initial pose state, two detection images 30 in the right image or the left image in fig. 3 are respectively generated as corresponding detection images. Therefore, the first visual angle quantitative control method of the capsule endoscope provided by the invention can effectively and pertinently eliminate the pitch angle offset and the yaw angle offset aiming at the capsule endoscope.
Regarding the difference between the object coordinate system and the inertial system, as further shown in fig. 4, when the capsule endoscope 11 performs pose adjustment in the inertial system 300, the corresponding detection image 30 formed is correspondingly adjusted in the longitudinal direction V and the lateral direction H (movement toward the relatively upper side of the current detection image 30 may be defined as forward direction v+ movement in the longitudinal direction as shown in the drawing, and movement toward the relatively right side of the current detection image 30 may be defined as forward direction h+ movement in the lateral direction H as shown in the drawing). Assuming that the capsule endoscope 11 is subjected to infinite number of position adjustments, the coverage areas of the respective detection images 30 can be formed with a spherical shell as shown in fig. 4, so that the positional movement of the detection images 30 on the object coordinate system does not strictly follow the proportional change of the pitch angle offset amount or the proportional change of the yaw angle offset amount with respect to the inertial system 300. By utilizing the technical scheme provided by the invention, the problem of mismatching of movement conditions between coordinate systems can be effectively solved, and the adjustment of the position movement data under the object coordinate system can be completed by adjusting the position movement data under the inertial system.
In one embodiment, taking into account the nature of the imaging of the capsule endoscope itself, while using a fisheye lens to generate a detected image, with the advantage of a large field angle such as 140 °, as shown in fig. 5, a spherical scene is compressively mapped to a plane, resulting in a detected image that is not in a straight linear distribution, but rather that is distorted to some extent as the angle from the central axis of the field of view increases. To ensure that a more excellent imaging effect is achieved under the influence of such properties, the control of step 23 may be further improved to form a new step 23' comprising: and according to the posture calibration data, adjusting the posture of the capsule endoscope according to a preset angle step length until the capsule endoscope reaches a calibration posture state. The angle step may be a step on any level of the attitude calibration data, and may be, for example, an angle step adjusted in the yaw angle offset direction (lateral direction H) or an angle step adjusted in the pitch angle offset direction (longitudinal direction V).
The angle step length considers that 50% of the front and rear moment image area is reserved in the center area of the detection image, and/or the visual field image is shifted by about 1/4 scale, so that the continuity of the front and rear moment images in the adjustment process can be effectively enhanced, the jelly effect is reduced as far as possible, and the angle step length can be set to be at least one of 20-30 degrees.
In another embodiment of the present invention, a method for quantitatively controlling a first viewing angle of a capsule endoscope is provided, as shown in fig. 6, and specifically includes the following steps.
Step 21, obtaining the field of view offset of the capsule endoscope at the first view angle.
And step 22, calculating attitude calibration data under an inertial system according to the field of view offset. Wherein, step 22 specifically includes the following steps:
step 221, determining an external offset under an inertial system according to the field offset;
step 222, fitting an external rotation matrix under an inertial frame according to the external offset;
step 223, calculating attitude calibration data under the inertial frame according to the external rotation matrix.
And step 23, adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
Therefore, the visual field offset can be firstly converted from the object coordinate system to the inertial system, and then the visual field offset under the inertial system is further converted into posture calibration data through the operation of an external rotation matrix, so that a medical worker or a control system can calibrate the visual angle orientation of the capsule endoscope by directly utilizing the posture calibration data. The whole process enables data to sequentially pass through an object coordinate system and an inertia system, realizes data conversion between the two coordinate systems, and simplifies control logic on the basis of not losing control accuracy.
Wherein the external offset is an offset degree of the field of view offset under the inertial frame corresponding to the field of view offset; the external rotation matrix is a matrix generated from the external offset that includes angle data characterizing the degree of offset.
On the basis of the above-mentioned another embodiment, the present invention further provides a first example based on this embodiment, as shown in fig. 6 and 7, specifically including the following steps.
Step 21, obtaining the field of view offset of the capsule endoscope at the first view angle.
Step 221, determining the external offset under the inertial frame according to the field offset.
Step 222, fitting the external rotation matrix under the inertial frame according to the external offset.
In step 2231, the external rotation matrix is projected onto a yaw adjustment plane under the inertial frame to obtain a first direction parameter and a second direction parameter, and an arctangent transformation process is performed on the first direction parameter and the second direction parameter to obtain target yaw data.
Step 2232 takes the target yaw data as yaw offset data.
And step 23, adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
Wherein the attitude calibration data includes yaw offset data. In this way, by using the trigonometric function relationship in the inertial system, the external rotation matrix, which is compounded with the external offset amounts of multiple dimensions and has a complex data content, can be concentrated on the yaw adjustment plane, and the control of the capsule endoscope can be divided into at least the hierarchical control logic including the branch of yaw adjustment, so that the offset of the capsule endoscope at least on the yaw adjustment plane can be more accurately and rapidly adjusted.
Specifically, a capsule endoscope is defined having a first rotation axis, a second rotation axis and a third rotation axis. When the capsule endoscope rotates according to a first rotating shaft, the posture of a spin angle or roll angle layer can be adjusted, and the first rotating shaft extends along the length extending direction of the capsule endoscope or is positioned in a symmetrical plane of the capsule endoscope and extends in a direction parallel to the design axis of the capsule endoscope and pointing to the top; the attitude adjustment of the yaw angle level occurs when the capsule endoscope rotates according to a second rotation axis that extends perpendicular to the first rotation axis and parallel to the direction of gravity when the first rotation axis is arranged horizontally perpendicular to the direction of gravity; the attitude adjustment of the pitch angle level occurs when the capsule endoscope rotates according to a third axis of rotation, which is perpendicular to the plane formed by the first and second axes of rotation.
When the capsule endoscope has an offset of the yaw angle plane, it is considered that the capsule endoscope rotates about the second rotation axis in the object coordinate system, which corresponds to two components formed on the plane on which the first rotation axis and the third rotation axis lie, and the first direction parameter and the second direction parameter are generated in correspondence after the offset is converted into angle data in the external rotation matrix in the inertial system. Therefore, the two direction parameters are combined, target yaw data can be calculated and obtained to serve as yaw offset data, and further the visual angle orientation of the capsule endoscope on the yaw layer is controlled.
For the projection mode, the external rotation matrix can be subjected to inverse operation to obtain an external yaw matrix R only containing yaw conditions x In one embodiment, the external yaw matrix R x At least can satisfy:
wherein c 2 ≡cos(θ 2 )，s 2 ≡sin(θ 2 )，θ 2 Is the euler angle corresponding to the degree of yaw offset.
Preferably, the projection manner may further directly extract data at the corresponding position according to connotations of data at different positions in the external rotation matrix, so as to directly obtain the first direction parameter and the second direction parameter. For example, in one embodiment, defining the external rotation matrix as R, it may at least satisfy:
wherein c 0 ≡cos(θ 0 )，s 0 ≡sin(θ 0 )，θ 0 C is the Euler angle corresponding to the degree of roll or spin offset 1 ≡cos(θ 1 )，s 1 ≡sin(θ 1 )，θ 1 Is the euler angle corresponding to the degree of pitch offset. Specifically, the step 2231 may specifically include: and extracting data of a first position and data of a second position in the external rotation matrix, and correspondingly obtaining a first direction parameter and a second direction parameter. Wherein the data of the first position characterizes a position change condition of the capsule endoscope in a first direction when performing yaw adjustment, and the data of the second position characterizes a position change condition of the capsule endoscope in a second direction when performing yaw adjustment. In combination with the foregoing, the first direction may be a direction in which one of the first rotation axis or the third rotation axis is directed, and the second direction may be a direction in which the other of the first rotation axis or the third rotation axis is directed.
Preferably, the first position may be R in the external rotation matrix R 20 Where the second position may be R in the outer rotation matrix R 21 Where it is located. Based on this, the first direction parameter is (c) 0 s 1 c 2 +s 0 s 2 ) The second direction parameter is(s) 0 s 1 c 2 -c 0 s 2 )。
Further, the arctangent transformation is preferably a four-quadrant arctangent transformation, specifically, coordinates are formed by using the first direction parameter and the second direction parameter as basic parameters, radian angle transformation is performed on data after the four-quadrant arctangent transformation, and finally the target yaw data is obtained through processing. Wherein the target yaw data is defined as A h Defining the yaw offset data as rh, it may at least satisfy:
fig. 6 and 7 provide other steps in addition to the steps described above, which may be supplemented in the steps described above as another part of the first embodiment, or may be formed as a new embodiment independently of the embodiments formed in the steps described above. In respect of the latter, the invention provides an example based on the above-described further embodiment, comprising in particular the following steps.
Step 21, obtaining the field of view offset of the capsule endoscope at the first view angle.
Step 221, determining the external offset under the inertial frame according to the field offset.
Step 222, fitting the external rotation matrix under the inertial frame according to the external offset.
And step 2233, projecting the external rotation matrix to a pitch adjustment axis under the inertial frame to obtain a third direction parameter, and performing inverse cosine transform on the third direction parameter to obtain target pitch data.
In step 2234, pitch calibration data is calculated based on the target pitch data and the current pitch data.
And step 23, adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
Wherein the attitude calibration data comprises pitch calibration data. In this way, by using the trigonometric function relationship in the inertial system, the external rotation matrix, which is compounded with the external offset amounts of multiple dimensions and has a complex data content, can be concentrated on the pitch adjustment level, and the control of the capsule endoscope can be divided into at least the hierarchical control logic including the branch of the pitch adjustment, so that the offset of the capsule endoscope at least on the pitch adjustment level can be more accurately and rapidly adjusted.
Along the definition of the three rotation axes, when the capsule endoscope has the offset of the pitching layer, the capsule endoscope can be considered to rotate according to the third rotation axis under the object coordinate system, which is equivalent to forming two components on the plane of the first rotation axis and the second rotation axis, and the two components can jointly form a third direction parameter, so that the third direction parameter is processed, the target pitching data can be obtained through calculation to further calculate pitching calibration data, and the control of the visual angle orientation of the capsule endoscope on the pitching layer is completed.
For the projection mode, the inverse operation can be performed on the external rotation matrix to obtain an external pitching matrix R only containing pitching conditions y In one embodiment, the external pitch matrix R y At least can satisfy:
preferably, the projection mode may further directly extract data at a corresponding position according to connotations of data at different positions in the external rotation matrix, so as to directly obtain the third direction parameter. For example, in one embodiment, the step 2233 may specifically include: and extracting data of a third position in the external rotation matrix, and correspondingly obtaining a third direction parameter. Wherein the data of the third position characterizes a change in position of the capsule endoscope when performing pitch adjustment.
Preferably, the third position may be R in the external rotation matrix R 22 Where, based on this, the third direction parameter isIs (c) 1 c 2 ). Further, after performing the inverse cosine transform, the radian angle conversion may also be performed on the obtained data, and the target pitch data may be finally obtained by processing. Wherein the target pitch data is defined as A v Defining the current inclination data as C v Defining the pitch calibration data as rv, it may at least satisfy:
Wherein the current inclination data C v The inclination angle degrees of the current posture of the capsule endoscope relative to the gravity direction under an inertial coordinate system are represented. The current tilt data C when the first rotational axis or length extension direction of the capsule endoscope is arranged in the gravitational direction v =0. The current inclination data C v The method can be obtained by using a control system matched with the capsule endoscope to implement a pose calibration method of the capsule endoscope control system. Of course, the current inclination data C v Can be only used as one degree of freedom of the pose state of the capsule endoscope, and the pose state can comprise six degrees of freedom in total and can be a pose state data sequence [ C ] x ,C y ,C z C h ,C v ,C s ]. Wherein, [ C x ,C y ,C z ]Representing coordinates of the capsule endoscope with respect to the third direction X, the fourth direction Y, and the fifth direction Z under an inertial system, [ C ] h ,C v ,C s ]The posture adjustment conditions of the capsule endoscope at the pitch level, the swing or yaw level and the spin or roll level are represented. As a complement, C h Can be correspondingly defined as current azimuth data, C s May be correspondingly defined as current rotation data. Preferably, the position state sequence [ C x ,C y ,C z ]Can have the precision of 5mm and the pose state [ C ] h ,C v ,C s ]May have an accuracy of 5.
Preferably, the combination of the above steps is defined as a first example of another embodiment of the present invention, and the preferred first example may have the following steps as shown in fig. 6 and 7.
Step 21, obtaining the field of view offset of the capsule endoscope at the first view angle.
Step 221, determining the external offset under the inertial frame according to the field offset.
Step 222, fitting the external rotation matrix under the inertial frame according to the external offset.
In step 2231, the external rotation matrix is projected onto a yaw adjustment plane under the inertial frame to obtain a first direction parameter and a second direction parameter, and an arctangent transformation process is performed on the first direction parameter and the second direction parameter to obtain target yaw data.
Step 2232 takes the target yaw data as yaw offset data.
And step 2233, projecting the external rotation matrix to a pitch adjustment axis under the inertial frame to obtain a third direction parameter, and performing inverse cosine transform on the third direction parameter to obtain target pitch data.
In step 2234, pitch calibration data is calculated based on the target pitch data and the current pitch data.
And step 23, adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
In contrast, the present invention provides a second embodiment based on the other embodiment for the step 222, which may be combined with the first embodiment described above to form a new embodiment that is superior, or may be implemented independently. As shown in fig. 6 and 8, the second embodiment may specifically include the following steps.
Step 21, obtaining the field of view offset of the capsule endoscope at the first view angle.
Step 221, determining the external offset under the inertial frame according to the field offset.
Step 2221, determining a value of a roll angle corresponding to the field of view offset, and constructing the inertia system based on the roll angle.
Step 2222 fits the external rotation matrix based on the external offset under the inertial frame.
Step 223, calculating attitude calibration data under the inertial frame according to the external rotation matrix.
And step 23, adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
The external rotation matrix characterizes the rotation change condition of the position of the capsule endoscope relative to the original position after the capsule endoscope rotates sequentially in a preset spin axis sequence.
The establishment of the inertia system needs to be established based on a certain parameter of the capsule endoscope, and preferably, the certain parameter can be selected and realized by a parameter which is difficult to adjust by a control system, so that the defect of parameter control is overcome. For example, the control system or in particular the quantitative control device therein may be provided with an external control magnet for realizing [ C ] corresponding to the capsule endoscope x ,C y ,C z ]Three degrees of freedom position control, which may be based on a position control sequence [ M ] x ,M y ,M z ]The method comprises the steps of carrying out a first treatment on the surface of the The external control magnet is also used for realizing the data C corresponding to the current azimuth h And current inclination data C v The gesture control may be in accordance with a gesture control sequence [ M ] h ,M v ]. Based on this, the external control magnet may control the data sequence [ M ] based on a pose x ,M y ,M z M h ,M v ]The adjustment and control of the pose of the capsule endoscope are realized, and the capsule endoscope preferably has the position control precision of 1mm and the pose control precision of 1 degree. The adjustment and control mode can be to execute a device and a method for controlling the motion of the capsule endoscope in the alimentary canal of a human body and/or a pose calibration representation method for controlling a magnetic control capsule endoscope system.
Continuing, the foregoing definition of θ 0 For Euler angles corresponding to the degree of roll or spin offset, i.e., by setting roll angle (or roll Euler angle) θ 0 Is of a fixed value and takes the roll angle theta 0 An inertial system is built for reference, thereby simplifying operation and achieving the same technical effect. Preferably, the roll angle is definedThe definition of the yaw offset data rh and the pitch calibration data rv described above may be reduced to at least satisfy: / >
Wherein, for the fitting process of the external rotation matrix, specifically, the invention provides a specific example based on the second embodiment, which comprises the following steps.
Step 21, obtaining the field of view offset of the capsule endoscope at the first view angle.
Step 221, determining the external offset under the inertial frame according to the field offset.
Step 2221, determining a value of a roll angle corresponding to the field of view offset, and constructing the inertia system based on the roll angle.
Step 22221, calculating a yaw euler angle and a pitch euler angle corresponding to the external offset.
Step 22222 fits the external rotation matrix based on the trigonometric values of roll, yaw and pitch euler angles.
Step 223, calculating attitude calibration data under the inertial frame according to the external rotation matrix.
And step 23, adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
Thus, the external rotation matrix can be comprehensively generated from the three layers of the yaw euler angle, the pitch euler angle and the roll angle, so that when the step 223 and the derivative step thereof are executed later, the corresponding technical effect can be realized by extracting the data of the corresponding position or executing the inverse operation.
Specifically, the external rotation matrix R may be generated by filling the trigonometric function values based on a preset model, or may be generated by generating matrices corresponding to the yaw euler angle, the pitch euler angle, and the roll angle, respectivelyAnd (3) according to the definition operation of the external rotation matrix. Wherein the matrix corresponding to the yaw euler angle may be the external yaw matrix R as defined above x The matrix corresponding to the pitch euler angles may be the external pitch matrix R as defined above y While the matrix corresponding to roll angle or roll Euler angle may be an outer roll matrix R z It may at least satisfy:
based on this, step 22222 may be refined to include the steps of: respectively obtaining a roll rotation matrix, a yaw rotation matrix and a pitch rotation matrix according to trigonometric function values of the roll angle, the yaw Euler angle and the pitch Euler angle through corresponding calculation; and sequentially performing dot multiplication on the yaw rotation matrix, the pitch rotation matrix and the roll rotation matrix to obtain the external rotation matrix through calculation.
Thus, at the roll angleIn this case, the fitting and simplifying process of the external rotation matrix R may be specifically:
whereas for yaw euler angle θ 2 And a pitch Euler angle θ 1 The specific calculation process of (1) is calculated according to the field of view offset and further according to the external offset. In a preferred embodiment, the field of view offset includes a yaw angle offset dh and a pitch angle offset dv, and the external offset includes a yaw offset dh corresponding to the yaw angle offset dh 1 And a pitch offset dv corresponding to the pitch offset dv 1 . Then, the step 22221 may further include the steps of: according to the yaw offset and the current inclination data C v Calculating the yaw euler angle; and calculating the pitching Euler angle according to the pitching offset. In combination with the previously described pair roll angle theta 0 At least the three euler angles mentioned above may satisfy:
therefore, the external rotation matrix can be combined with the external offset, particularly the view field offset, so that the subsequent targeted adjustment and control of the view angle are facilitated.
The conversion relationship between the field of view offset and the external offset may be established and implemented by a preset offset phase angle, i.e. the step 221 may specifically further include the following steps.
Step 2211, constructing a coordinate transformation matrix according to the preset deviation phase angle.
Step 2212, determining an external offset under the inertial system according to the coordinate transformation matrix and the field of view offset.
Specifically, the offset phase angle is defined asThe offset of the field of view is [ dh, dv]The external offset is [ dh ] 1 ,dv 1 ]At least the following are satisfied:
of course, since the field of view offset does not include only the yaw angle offset and the pitch angle offset in other embodiments, the field of view offset, the external offset, and the order of the coordinate transformation matrix are not necessarily 2 x 2 orders, with the actual order adaptively generated following the number of specific offsets in the field of view offset. It is clear that the coordinate transformation matrix is constructed from trigonometric values of the offset phase angles.
The technical scheme provided by the above is that the degree of freedom established between the external control magnet and the capsule endoscope cannot be matched, the correction of the capsule endoscope on the spin angle or roll angle level is abandoned, and the correction is assigned to a preset value, so that good control efficiency is achieved. As shown in fig. 9, when the capsule endoscope at the position C is not corrected at the roll angle Φ, a certain offset is generated with respect to the coordinate system, and when the medical worker adjusts the yaw angle hc level at the position C or adjusts the pitch angle vc level at the position C, the capsule endoscope is distinguished from the control logic of the first view angle of the capsule endoscope itself, which makes it difficult to read the images and input an accurate instruction to the system. Based on this, in order to accommodate the lack of the control of the spin angle or roll angle layer viewing angle, a pre-step may be further provided before step 21, and the display state of the detection image output by the capsule endoscope may be adjusted by correcting the image processing layer, so that not only the step provided above may be adapted, but also the display direction (or viewing angle direction) at the time of outputting the detection image may be kept uniform, so that the condition of dizziness occurring at the time of reading a film by a medical worker may be prevented, and the medical worker may be assisted in outputting an accurate control instruction.
Based on this, still another embodiment provided by the present invention specifically includes the following steps as shown in fig. 10.
And step 201, fusing and calibrating pose data of the control equipment and the capsule endoscope which are matched with each other under an inertial system, and moving the control equipment to an initialization position corresponding to the capsule endoscope.
Step 202, receiving and correcting the display state of the output detection image of the capsule endoscope according to the initial posture data of the capsule endoscope.
Step 21, obtaining the field of view offset of the capsule endoscope at the first view angle.
And step 22, calculating attitude calibration data under an inertial system according to the field of view offset.
And step 23, adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
In this way, as shown in fig. 9 and 11, the above-mentioned azimuth difference due to the roll angle Φ can be compensated, the shortage of control over the roll angle Φ can be compensated from the image processing level, and a more efficient technical solution is formed, so that the longitudinal normal phase v+ in fig. 11 can correspond to the normal phase Vw in the pitch angle direction under the inertial system, and the transverse normal phase h+ can correspond to the normal phase Hw in the yaw angle direction under the inertial system. Further, the position a pitch angle direction va at the position a in fig. 9 is aligned with the inertial system hull pitch angle direction, and the position a yaw angle direction ha is aligned with the inertial system hull yaw angle direction, and the position B pitch angle direction vb at the position B in fig. 9 is aligned with the inertial system hull pitch angle direction, and the position B yaw direction hb is aligned with the inertial system hull yaw angle direction.
Of course, in other embodiments, as shown in fig. 9, a technical solution for controlling the centrifugal direction ra at the position a, the centrifugal direction rb at the position B, or the centrifugal direction rc at the position C may be designed, so as to add a new degree of freedom to the pose adjustment of the capsule endoscope. The term "centrifugal" refers to the center of sphere O that is either far from or near the inertial-based spherical shell.
Wherein, for step 201, the control device may be the external control magnet. The "fusion calibration" part in step 201 may further execute a pose calibration representation method of the magnetic control capsule endoscope system, and execute the following steps: acquiring first coordinate information of an external control magnet in a first object coordinate system; acquiring second coordinate information of the capsule endoscope in a second object coordinate system; establishing an inertia system; correcting the first coordinate information to position information and/or attitude information of an external control magnet in the inertial frame, and explicitly representing five-degree-of-freedom (5-DOF) state information as a pose control data sequence [ M ] x ,M y ,M z M h ,M v ]The method comprises the steps of carrying out a first treatment on the surface of the Correcting the second coordinate information to position information and/or attitude information of the capsule endoscope in the inertial frame, and explicitly representing six-degree-of-freedom (6-DOF) state information as a pose state data sequence [ C ] x ,C y ,C z C h ,C v ,C s ]。
The "move control device to … … initialization position" section in step 201 may specifically be: controlling the external control magnet to move until the pose control data sequence [ M x ,M y ,M z M h ,M v ]Mid-plane position control data [ M ] x ,M y ]And pose state data sequence [ C ] x ,C y ,C z C h ,C v ,C s ]Mid-plane position status data [ C x ,C y ]Equal; controlling the external control magnet to move until the pose control data sequence [ M x ,M y ,M z M h ,M v ]Middle vertical position control data M z And pose state data sequence [ C ] x ,C y ,C z C h ,C v ,C s ]Middle vertical position status data C z The difference dz satisfies a predetermined height difference value.
For step 202, a method for correcting the detected image by using the capsule endoscope image may be further performed, for example, the method may specifically include the steps of: acquiring a current detection image and an acceleration information sequence corresponding to the current detection image; calculating an image correction factor corresponding to the current detection image according to the acceleration information sequence to obtain the current correction factor, and judging whether the current posture information of the capsule endoscope is contained in an acceleration detection dead zone range or not; if not, correcting the current detection image according to the current correction factor; if yes, correcting the current detection image according to a pre-correction factor of the forward gesture corresponding to the current gesture of the capsule endoscope. Therefore, the correction of the observation view angle direction of the detection image can be completed by using a simple acceleration information sequence, so that the detection image is always output according to the same proper observation direction. At this time, the roll angle is defined as a constant value, that is, the roll angle is defined
The above provides the pose control of the capsule endoscope in terms of yaw angle, pitch angle, roll angle and the like, and in yet another embodiment provided by the invention, a method for quantitatively controlling the first view angle of the capsule endoscope is provided, which is added with a new step 24, so that the capsule endoscope can adjust the distance between the capsule endoscope and the actual position represented by the corresponding detection image along a certain direction, and position adjustment in more degrees of freedom is realized. As shown in fig. 12, this further embodiment may include the following steps.
Step 21, obtaining the field of view offset of the capsule endoscope at the first view angle.
And step 22, calculating attitude calibration data under an inertial system according to the field of view offset.
And step 23, adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
And step 24, adjusting the distance between the capsule endoscope and the part to be detected according to the calibration pose state.
The adjustment of the distance may be performed by adjusting the plane position control data [ M ] x ,M y ]To influence the plane position status data [ C ] x ,C y ]To realize the method. In one embodiment, the distance adjustment may be performed according to the direction determined by the yaw offset data, so as to conform to the control logic of the first view angle, intuitively based on the detected image, selectively control the capsule endoscope to approach or separate from the to-be-detected position, and adjust the distance between the capsule endoscope and the to-be-detected position.
In another embodiment, the "jump-out loop" condition of the distance adjustment process may be that the frame ratio of the object to be measured in the detected image already meets the preset requirement, for example, the area of the object to be measured is 50% of the area of the detected image, so that the distortion effect can be balanced, and a better visual observation effect is obtained. Based on this, the step 24 may further specifically include: fix and calculate current position data (i.e., the current position data C) from yaw offset data in the attitude calibration data h ) Determining a distance adjustment direction according to the current azimuth data, and continuously outputting a distance adjustment signal until the distance adjustment signal is to be measuredThe duty ratio of the object in the detection image meets the preset requirement.
Specifically, the technical solution of distance adjustment may include the following steps as shown in fig. 12 and 13 in a specific example of this further embodiment.
Step 21, obtaining the field of view offset of the capsule endoscope at the first view angle.
And step 22, calculating attitude calibration data under an inertial system according to the field of view offset.
And step 23, adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
And step 24, adjusting the distance between the capsule endoscope and the part to be detected according to the calibration pose state. Step 24 may further comprise:
Step 241, acquiring real-time pose information and target pose information of the capsule endoscope;
step 242, calculating current azimuth data according to yaw offset data in the gesture calibration data, and calculating a target gesture range and a current motion track according to real-time gesture information, target gesture information and current azimuth data;
step 243, controlling the capsule endoscope to move along the current movement track.
The real-time pose information characterizes pose information corresponding to different formed poses in the process of continuing to move by following the control of a quantitative control device, an external control magnet or other external equipment after the pose calibration of the steps 21 to 23. The real-time pose information may include calibration pose information corresponding to the calibration pose state. The current azimuth data and the above C h Equivalent explanations can be made.
Therefore, a motion control route can be automatically planned according to the yaw offset data and the set target pose information, and the capsule endoscope after the first visual angle correction is controlled to move until the capsule endoscope is in a pose state pointed by the target pose information. Effectively compounding attitude control in at least two degrees of freedom (e.g., pitch and yaw, and preferably also roll) to And at least two degrees of freedom (e.g., plane position control data M x ,M y ]Preferably, vertical position control data M may also be included z ) The lower position control is convenient for medical workers to easily and efficiently control the capsule endoscope.
Of course, the above control scheme formed by the control device and the external control magnet thereof on the capsule endoscope is not limited to the above, and more refined embodiments based on the above scheme or other embodiments formed after the above scheme is conceived can be generated according to different scene requirements. For example, the manner in which the control device controls the movement of the capsule endoscope may be drag, tumble, jump. Wherein the drag translation is applied to a flatter bottom or top region of the alimentary tract; the tumbling motion is applied to the smaller crumple and gentle slope areas; jumping movement is then applied to the crossing of larger obstructions, steeper slope regions, and valley regions (e.g., fundus, antrum). Under three different control modes, the stability and efficiency of control can be enhanced by adjusting the difference dz to enable the capsule endoscope to be at a proper height.
For the drag scheme, the capsule endoscope translation distance dL (dL >0 forward, dL <0 backward) is generally set to a fixed typical value (e.g., 30 mm), or to a variable value that can embody feedback of the input force. After the dragging and translation actions are completed, the visual field of the capsule endoscope is approximately kept unchanged, and the distance from the object to be measured is changed in dL. At this time, the real-time pose information corresponds to real-time position information, the target pose information corresponds to target position information, and the current motion track corresponds to the current motion track.
Before performing the drag, the capsule endoscope may be adjusted to a state vertical with respect to the inertial system, e.g. in a submerged state, the attitude control sequence [ M h ,M v ]M in (2) v =0, while in the state of the capsule endoscope in the suction-up state, the attitude control sequence [ M ] is adjusted h ,M v ]M in (2) v =180. Further, the dragging process may be embodied as a drag processThe quantitative closed-loop control method of the magnetic control capsule endoscope system can be realized and comprises the following steps: continuously acquiring real-time position information of the capsule endoscope; acquiring target position information of the capsule endoscope; determining a target position range according to the target position information; calculating the current moving track of the external control magnet according to the real-time position information and the target position information; controlling the external control magnet to move along the current moving track; if the real-time position information is out of the target position range until the control magnet stops moving, repeating the step of calculating the current moving track of the external control magnet according to the real-time position information and the target position information; and controlling the external control magnet to move along the current moving track until the real-time position information is in the target position range.
Specifically, the generation process of the current movement track may be further refined as follows: calculating a target pose range and a capsule endoscope moving track according to the real-time position information, the target position information and the yaw offset data; and calculating the current movement track according to the movement track of the capsule endoscope. Thereby, the conversion from the capsule endoscope side to the control device side control scheme is completed.
In a preferred embodiment, the above calculation process may also be refined to include the following steps.
Step 2421, re-determining current azimuth data of the capsule endoscope according to the yaw offset data, and determining a distance adjustment direction of the capsule endoscope according to the current azimuth data;
step 2422, determining a distance adjustment variable of the capsule endoscope according to a preset distance step length and the current azimuth data, and calculating the target pose range and the current motion trail according to the distance adjustment variable, the real-time pose information and the target pose information.
In the dragging scheme, the distance step may be specifically defined as the translation distance dL, and the current motion trajectory may include a current motion trajectory. Based on this, the first and second light sources, The capsule endoscope can be dragged to the target position [ C x1 ,C y1 ]Where it is located. Wherein the target position [ C x1 ,C y1 ]At least can satisfy:
wherein Ch characterizes current position data redetermined from yaw offset data rh, and the product of translation distance dL and trigonometric function of current position data Ch together form the distance adjustment variableAndwhereby the current motion profile (i.e., the current motion profile) is formed from the calculation plan.
For a roll-over protocol, the distance step may be specifically defined as a roll-over distance dL, which may generally be defined as the long-axis circumference of the capsule endoscope, such as dl= ±67mm in one embodiment. Correspondingly, the real-time pose information corresponds to real-time pose information, the target pose information corresponds to target pose information, and the current motion track corresponds to the current motion track.
Further, the rolling process can be realized by specifically executing a quantitative closed-loop control method of the magnetic control capsule endoscope system, and the method can comprise the following steps: continuously acquiring real-time attitude information of the capsule endoscope; acquiring target attitude information of a capsule endoscope; calculating a target gesture range and a current rotating track of an external control magnet according to the target gesture information; controlling the external control magnet to move along the current rotating track; if the real-time attitude information is out of the target attitude range until the external control magnet stops moving, repeating the step of calculating the target attitude range and the current rotating track of the external control magnet according to the target attitude information; controlling the external control magnet along the axis Current rotation track motion "until the real-time gesture information is within the target gesture range. In addition, since the pose information of the capsule endoscope is affected after the tumbling, the capsule endoscope can be further restored to the original pose information (i.e., at least the pose state data sequence [ C ] after the capsule endoscope is moved to the target position x ,C y ,C z C h ,C v ,C s ]In [ C ] h ,C v ]Part(s).
In summary, the invention provides a method and a system for quantitatively controlling a first visual angle of a capsule endoscope, which accord with visual perception of an operator, and realize quantitative position and posture control of the capsule endoscope, which are based on feedback of photographed images and are obtained by approaching the eyes; the purpose of capsule endoscopy is enhanced, the blindness of control actions is reduced, the technical difficulty of magnetic control operation is reduced, and the convenience of capsule control is improved; the targeted scanning inspection of the key target area can be performed, nonsensical repeated area shooting is reduced, and the efficiency of the digestive tract inspection is improved; the shooting angle and distance of the capsule endoscope are further optimized, the optimal performance of the imaging hardware system of the capsule endoscope is brought into play, and the image quality of the digestive tract examination is improved.
It should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is for clarity only, and that the skilled artisan should recognize that the embodiments may be combined as appropriate to form other embodiments that will be understood by those skilled in the art.
The above list of detailed descriptions is only specific to practical embodiments of the present invention, and they are not intended to limit the scope of the present invention, and all equivalent embodiments or modifications that do not depart from the spirit of the present invention should be included in the scope of the present invention.

Claims (20)

1. A method for quantitatively controlling a first viewing angle of a capsule endoscope, comprising:
acquiring a view field offset of the capsule endoscope at a first view angle;
calculating attitude calibration data under an inertial system according to the view field offset;
and adjusting the capsule endoscope to a calibration pose state according to the pose calibration data.
2. The method of claim 1, wherein the field of view offset comprises a yaw angle offset and a pitch angle offset.
3. The method for quantitatively controlling a first viewing angle of a capsule endoscope according to claim 1, characterized in that said method specifically comprises:
and according to the posture calibration data, adjusting the posture of the capsule endoscope according to a preset angle step length until the capsule endoscope reaches the calibration posture state.
4. The method for quantitatively controlling a first viewing angle of a capsule endoscope according to claim 1, characterized in that said method specifically comprises:
determining an external offset under an inertial system according to the field of view offset;
fitting an external rotation matrix under the inertial frame according to the external offset;
and calculating attitude calibration data under the inertial frame according to the external rotation matrix.
5. The method of claim 4, wherein the attitude calibration data comprises yaw offset data; the method specifically comprises the following steps:
projecting the external rotation matrix to a yaw adjustment plane under the inertia system to obtain a first direction parameter and a second direction parameter, and executing arctangent transformation processing on the first direction parameter and the second direction parameter to obtain target yaw data;
the target yaw data is used as the yaw offset data.
6. The method for quantitatively controlling the first viewing angle of a capsule endoscope according to claim 5, wherein the method specifically comprises:
extracting data of a first position and data of a second position in the external rotation matrix, and correspondingly obtaining the first direction parameter and the second direction parameter; wherein the data of the first position characterizes a position change condition of the capsule endoscope in a first direction when performing yaw adjustment, and the data of the second position characterizes a position change condition of the capsule endoscope in a second direction when performing yaw adjustment.
7. The method of quantitative control of a first view angle of a capsule endoscope of claim 4, wherein the attitude calibration data comprises pitch calibration data; the method specifically comprises the following steps:
projecting the external rotation matrix to a pitching adjustment shaft under the inertia system to obtain a third direction parameter, and performing inverse cosine transform on the third direction parameter to obtain target pitching data;
and calculating the pitching calibration data according to the target pitching data and the current tilting data.
8. The method for quantitatively controlling a first viewing angle of a capsule endoscope according to claim 7, characterized in that said method specifically comprises:
extracting data of a third position in the external rotation matrix, and correspondingly obtaining the third direction parameter; wherein the data of the third position characterizes a change in position of the capsule endoscope when performing pitch adjustment.
9. The method for quantitatively controlling the first visual angle of a capsule endoscope according to claim 4, wherein the method specifically comprises:
determining a value of a roll angle corresponding to the field of view offset, and constructing the inertial system by taking the roll angle as a reference;
fitting the external rotation matrix according to the external offset under the inertial frame;
The external rotation matrix characterizes the rotation change condition of the position of the capsule endoscope relative to the original position after the capsule endoscope rotates sequentially in a preset spin axis sequence.
10. The method for quantitatively controlling a first viewing angle of a capsule endoscope according to claim 9, characterized in that said method specifically comprises:
calculating a yaw Euler angle and a pitch Euler angle corresponding to the external offset;
fitting the external rotation matrix according to trigonometric values of the roll angle, the yaw euler angle and the pitch euler angle.
11. The capsule endoscope first perspective quantitative control method of claim 10, wherein the field of view offset comprises a yaw angle offset and a pitch angle offset, the external offset comprises a yaw offset corresponding to the yaw angle offset, and a pitch offset corresponding to the pitch angle offset; the method specifically comprises the following steps:
calculating the yaw Euler angle according to the yaw offset and the current inclination data;
and calculating the pitching Euler angle according to the pitching offset.
12. The method for quantitatively controlling a first viewing angle of a capsule endoscope according to claim 10, characterized in that said method specifically comprises:
Respectively obtaining a roll rotation matrix, a yaw rotation matrix and a pitch rotation matrix according to trigonometric function values of the roll angle, the yaw Euler angle and the pitch Euler angle through corresponding calculation;
and sequentially performing dot multiplication on the yaw rotation matrix, the pitch rotation matrix and the roll rotation matrix to obtain the external rotation matrix through calculation.
13. The method for quantitatively controlling the first visual angle of a capsule endoscope according to claim 4, wherein the method specifically comprises:
constructing a coordinate transformation matrix according to a preset deviation phase angle;
and determining the external offset under the inertial system according to the coordinate transformation matrix and the field of view offset.
14. The method of quantitative control of a first view angle of a capsule endoscope according to claim 1, further comprising:
and adjusting the distance between the capsule endoscope and the part to be detected according to the calibration pose state.
15. The method for quantitatively controlling a first viewing angle of a capsule endoscope according to claim 14, characterized in that said method specifically comprises:
and fixing, calculating current azimuth data according to yaw offset data in the attitude calibration data, determining a distance adjustment direction according to the current azimuth data, and continuously outputting a distance adjustment signal until the duty ratio of the object to be detected in the detection image meets the preset requirement.
16. The method for quantitatively controlling a first viewing angle of a capsule endoscope according to claim 14, characterized in that said method specifically comprises:
acquiring real-time pose information and target pose information of the capsule endoscope;
calculating current azimuth data according to yaw offset data in the gesture calibration data, and calculating a target gesture range and a current motion track according to the real-time gesture information, the target gesture information and the current azimuth data;
and controlling the capsule endoscope to move along the current movement track.
17. The method for quantitatively controlling a first viewing angle of a capsule endoscope according to claim 16, characterized in that said method specifically comprises:
the current azimuth data of the capsule endoscope are redetermined according to the horizontal azimuth data, and the forward and backward distance adjusting direction of the capsule endoscope is determined according to the current azimuth data;
and determining forward and backward distance adjustment variables of the capsule endoscope according to preset distance step length and the current azimuth data, and calculating the target pose range and the current motion trail according to the distance adjustment variables, the real-time pose information and the target pose information.
18. The method of quantitative control of a first view angle of a capsule endoscope according to claim 1, further comprising:
fusing and calibrating pose data of a control device and a capsule endoscope which are matched with each other under an inertial system, and moving the control device to an initialization position corresponding to the capsule endoscope;
and receiving and correcting the display state of the output detection image of the capsule endoscope according to the initial posture data of the capsule endoscope.
19. A quantitative control system for a first view angle of a capsule endoscope, comprising a capsule endoscope and a quantitative control device which are matched with each other, wherein the quantitative control device is configured to execute the quantitative control method for the first view angle of the capsule endoscope according to any one of claims 1 to 18.
20. A storage medium having stored thereon an application program, wherein the application program, when executed, implements the steps of the method for quantitative control of a first view angle of a capsule endoscope as claimed in any one of claims 1 to 18.
CN202210787142.1A 2022-07-04 2022-07-04 Quantitative control method, system and storage medium for first visual angle of capsule endoscope Pending CN117378987A (en)

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JP5427036B2 (en) * 2007-08-13 2014-02-26 オリンパスメディカルシステムズ株式会社 In-vivo observation system and method of operating in-vivo observation system
WO2012117816A1 (en) * 2011-03-02 2012-09-07 オリンパスメディカルシステムズ株式会社 Device for detecting position of capsule-shaped endoscope, capsule-shaped endoscope system, and program for determining position of capsule-shaped endoscope
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