CN117796745B - Method for estimating advancing and retreating distance of digestive endoscope lens - Google Patents
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- 230000001079 digestive effect Effects 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 claims abstract description 38
- 230000003287 optical effect Effects 0.000 claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 8
- 238000004364 calculation method Methods 0.000 claims abstract description 5
- 238000001514 detection method Methods 0.000 claims description 6
- 238000012935 Averaging Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 abstract description 2
- 210000001035 gastrointestinal tract Anatomy 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000001839 endoscopy Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- NAWXUBYGYWOOIX-SFHVURJKSA-N (2s)-2-[[4-[2-(2,4-diaminoquinazolin-6-yl)ethyl]benzoyl]amino]-4-methylidenepentanedioic acid Chemical compound C1=CC2=NC(N)=NC(N)=C2C=C1CCC1=CC=C(C(=O)N[C@@H](CC(=C)C(O)=O)C(O)=O)C=C1 NAWXUBYGYWOOIX-SFHVURJKSA-N 0.000 description 1
- 241000764238 Isis Species 0.000 description 1
- 210000000436 anus Anatomy 0.000 description 1
- 210000002318 cardia Anatomy 0.000 description 1
- 238000013135 deep learning Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 210000003238 esophagus Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012015 optical character recognition Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 210000001187 pylorus Anatomy 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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Abstract
The invention provides a method for estimating the advancing and retreating distance of a digestive endoscope lens, which comprises the following steps: (1) Acquiring a camera position which takes 10mm as a minimum measurement unit and is output by a digestive endoscope with a positioning function; (2) Acquiring each frame of image of the digestive endoscope in real time by adopting screen video equipment; (3) Optionally selecting a frame of image as a current frame of image, and extracting feature points to be tracked; (4) calculating optical flow of the adjacent frame images using the L-K optical flow; (5) Calculating the ratio relation of the displacement of all frames between a starting frame and an ending frame of a section of endoscopic video; (6) Distributing and solving displacement according to the ratio relation obtained by calculation; (7) The advance and retreat amount of each frame can be obtained by performing the above operation on all frames. The invention realizes the accurate positioning of the displacement of the digestive endoscope lens based on the camera position output by the existing digestive endoscope with the positioning function and combines with the processing of algorithms such as L-K optical flow and the like, thereby providing accurate data support for accurate medical treatment.
Description
Technical Field
The invention relates to the field of digestive endoscopy positioning, in particular to a method for estimating the advancing and retreating distance of a digestive endoscopy lens.
Background
Precision medical treatment is already a current medical trend, and when using a digestive endoscope to perform an examination or operation on the digestive tract, other medical images (including CT, MRI, ultrasound, etc.) of the digestive tract need to be synchronously displayed according to the actual position of the digestive endoscope lens in the digestive tract, which needs to obtain the distance from the digestive endoscope lens to a certain fixed position (such as the top of esophagus, cardia, pylorus, anus, etc.). Currently, a digestive endoscope with a positioning function can display the advancing distance of the lens of the digestive endoscope in the digestive tract, but the minimum displayable distance is usually 10mm, that is, only a distance number is displayed every 10 mm. However, outputting the position information of one lens every 10mm cannot meet the requirements of personalized and accurate diagnosis and treatment of the endoscope, so that a method or device capable of accurately positioning the position of the digestive endoscope needs to be found.
Disclosure of Invention
The invention aims at: aiming at the problems in the prior art, the method for estimating the advancing and retreating distance of the digestive endoscope lens is provided, and the problem that the existing digestive endoscope position cannot be accurately positioned is solved.
The invention aims at realizing the following technical scheme:
a method of estimating the forward and backward distance of a digestive endoscope lens, the method comprising the steps of:
(1) Acquiring a camera position which takes 10mm as a minimum measurement unit and is output by a digestive endoscope with a positioning function;
(2) Acquiring each frame of image of the digestive endoscope in real time by adopting screen video equipment;
(3) Optionally selecting a frame of image as a current frame of image, and extracting feature points to be tracked;
(4) Calculating optical flow of the adjacent frame images using the L-K optical flow;
(5) Calculating the ratio relation of the displacement of all frames between a starting frame and an ending frame of a section of endoscopic video;
(6) Distributing and solving displacement according to the ratio relation obtained by calculation;
(7) The advance and retreat amount of each frame can be obtained by performing the above operation on all frames.
As a further technical scheme, the step (3) specifically comprises: and extracting a feature point set to be tracked by using a feature point detection algorithm on the current frame image.
As a further technical scheme, the step (5) specifically includes the steps of:
(51) The difference OF pixel coordinates OF projection points OF the same spatial point in two lens poses,
，
Wherein the method comprises the steps ofIs the rotation angle of the lens around the z-axis,/>For displacement of the lens along the z-axis,/>For the focal length of the camera lens in the x-direction,/>For the focal length of the camera lens in the y direction,/>Is the x component of the pixel coordinate of the principal point,/>The pixel coordinate y component of the principal point,/>Is the coordinates of the three-dimensional point in the lens coordinate system of the previous frame and is recorded
; In/>Is a notation for convenience of description, and has no practical meaning;
(52) The relation between the displacement of the endoscope lens on the z axis and the optical flow is obtained after simplifying the formula as follows: Wherein/> OF x and OF y are constant, the components OF the optical flow in the x and y directions, respectively;
(53) Obtaining the first according to the formula of the step (52) Ratio of individual feature points/>In the followingRepresenting the z-coordinate of the ith feature point in the first frame camera coordinate system,/>Is the z-direction displacement of the mth frame relative to the first frame, m represents the total number of frames in a minimum measurement unit of 10 mm; then combine all items with item 1/>Comparing to obtain; Averaging all the tracked characteristic points to obtain a set of weight of each frameWherein/>I.e. the ratio of the displacement of the 1 st to the m-th frame and the displacement of the 1 st to the 2 nd frame.
As a further technical scheme, the step (6) specifically includes the steps of: according to the formulaCalculating the displacement of all intermediate frames relative to the first frame, wherein/>Is the z-direction displacement of the m-th frame relative to the 1 st frame,/>Is the camera displacement in 10mm as the minimum unit of measure.
Compared with the prior art, the invention realizes the accurate positioning of the displacement of the lens of the digestive endoscope based on the camera position output by the existing digestive endoscope with the positioning function and combined with the processing of algorithms such as L-K optical flow and the like, and provides very accurate data support for accurate medical treatment.
Drawings
FIG. 1 is a definition of a coordinate system;
FIG. 2 is a definition of a lens coordinate system;
FIG. 3 is a view of lens positions (distance from the starting point) corresponding to frames of an endoscope video during the process of entering the endoscope estimated by the method;
FIG. 4 is a view of lens positions (distance from the starting point) corresponding to frames of an endoscope video during the lens withdrawal estimated by the method;
fig. 5 is a view showing an endoscopic image and a CT image synchronously displayed according to an estimated digestive endoscopic position.
Detailed Description
The invention will now be described in detail with reference to the drawings and specific examples.
The embodiment provides a method for estimating the advancing and retreating distance of a digestive endoscope lens, which adopts an optical flow method to estimate the advancing and retreating displacement of the digestive endoscope lens in a digestive tract. The method comprises the following specific steps:
1. And acquiring the camera position with the minimum measurement unit of 10mm of the digestive endoscope output with the positioning function.
The acquisition method can be directly output from the digestive endoscope host or adopt an optical character recognition technology to recognize the traveling distance of the displayed lens from the display screen of the digestive endoscope host in real time.
2. And acquiring each frame of image of the digestive endoscope in real time by adopting screen video equipment.
3. Optionally, taking a frame image as a current frame image, and extracting feature points to be tracked on the current frame image.
Extracting a feature point set to be tracked from a current frame image by using a feature point detection algorithm, wherein the feature point set is defined as. The feature point detection algorithm can select traditional feature point detection algorithms such as SIFT, ORB or SURF, and can also select feature point detection algorithms based on deep learning such as SuperPoint.
4. The L-K (Lucas-Kanade) optical flow is used for calculating the optical flow of the adjacent frame endoscopic images, and the specific calculation process is as follows:
based on the assumption that the luminance of the pixels of the target image in the scene remains constant between frames, we have the formula:
in the formula (i), Is the current frame image,/>Is the coordinates of a certain pixel in the current frame image,/>Is the current time of day and the time of day,Coordinates/>, respectivelyAnd time/>Is a derivative of (a).
Taylor expansion is carried out on the left side of the formula (1), and a first-order term is reserved, so that the following is obtained:
assuming a point on the inner wall of the digestive tract organ, the luminosity value remains unchanged in the endoscopic images of two adjacent frames, so that:
Wherein the method comprises the steps of For the speed of movement of the point in the x-axis, and/>The velocity of the movement of the points on the y-axis is denoted as/>. At the same timeFor the image at this point/>Gradient of direction, another term/>Then is at/>The gradient of the direction is denoted as/>。/>Is the derivative of I with respect to time t, noted as/>. Written in matrix form, there is:/>
Equation (5) has two unknowns, at least 2 equations are needed to solve. Based on the assumption that adjacent points of the same surface have similar motion, we consider a window/>, around the pixelThe pixel within has the same motion state as the pixel. Thus, it is possible to construct/>The equations, namely:
Based on least squares solution, we get:
in the formula (6) Representing the derivative of the kth point within the window with respect to time t.
5. And calculating the ratio relation of the displacement of all frames between the starting frame and the ending frame of one section of endoscopic video.
First defineThe axis direction is shown in fig. 1, and the lens coordinate system is shown in fig. 2:
Assume that Is the set of all frames of an endoscopic video, at the beginning frame/>The feature point set of time tracking is/>First/>The optical flow of each feature point in the frame is/>, respectively. According to the definition of the optical flow, the relation between the displacement of the lens of the endoscope and the optical flow can be obtained by deduction as follows:
Assuming that the camera only rotates about the z-axis, and only translates along the z-axis (i.e., advances and retreats), then optical flow is defined as the difference in pixel coordinates of the projected points of the same spatial point in both camera poses, i.e.,
In the method, in the process of the invention,Representing a projection function of a spatial point onto a pixel coordinate system,/>Representing the camera pose of two frames.
According to our hypothesis (camera only wrapped aroundThe amount of rotation and translation of the shaft), thus/>Is defined as shown in formula (11): /(I)
Wherein the method comprises the steps ofFor rotation angle around z-axis,/>Is a geometric internal reference matrix of the camera; substituting the formula (11) into the formula (10), and performing unfolding calculation to obtain/>As shown in formula (12):
to level displacement along the z-axis,/> For the focal length of the camera lens in the x-direction,/>For the focal length of the camera lens in the y direction,/>Is the x component of the pixel coordinate of the principal point,/>The pixel coordinate y component of the principal point,/>Is a constant describing camera properties, which can be obtained by camera calibration,/>Is the coordinates of the three-dimensional point in the camera coordinate system of the previous frame and is recorded
In the middle ofIs a notation for convenience of description and is not actually meant.
After the formula (12) is simplified, the relationship between the displacement of the endoscope lens on the z axis and the optical flow can be obtained as follows:
Due to Is constant, so we will camera z-axis displacement/>In connection with the optical flow OF the feature points, the ratio OF the optical flow OF the feature points (right side OF the expression) can be used to approximate the ratio OF the displacement amounts (left side OF the expression), OF x and OF y being components OF the optical flow in the x and y directions, respectively.
Obtaining the first using the above methodRatio of individual feature points/>In/>Representing the z coordinate of the ith feature point in the first frame camera coordinate system, and m represents the total number of frames in a minimum measurement unit of 10 mm; then combine all items with item 1/>Comparing to obtain/>; And then averaging all the tracked characteristic points to obtain a set/>, of each frame weightWherein/>I.e. the ratio of the displacement of the 1 st to the m-th frame and the displacement of the 1 st to the 2 nd frame.
6. And distributing and solving the displacement according to the calculated ratio relation.
In step 5, we note thatAnd/>，/>Is the camera displacement in the minimum measurement unit of 10mm, wherein/>Since the m-th frame is displaced in the z direction from the first frame, the/>And then the displacement of all intermediate frames relative to the first frame is obtained as shown in equation (14). /(I)
Wherein therein isIs the z-direction displacement of the mth frame relative to the 1 st frame.
7. The advance and retreat amount of each frame can be obtained by performing the above operation on all frames.
Fig. 3 and 4 are positions of the digestive endoscope estimated based on the method of the present invention, and fig. 3 corresponds to two cases of advancing and fig. 4 corresponds to retracting. The graph shows that the method can accurately and continuously determine the displacement of the lens of the digestive endoscope, and provides very accurate data support for accurate medical treatment.
Fig. 5 is an embodiment of an application of the method according to the present invention, in which the estimated digestive endoscope position is displayed simultaneously with the CT image, and the numeral 32.67439 indicates the position (distance from the starting point) of a certain frame shot calculated according to the method according to the present invention.
The foregoing description of the preferred embodiment of the invention is not intended to be limiting, but rather to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (3)
1. A method for estimating the forward and backward distance of a digestive endoscope lens, the method comprising the steps of:
(1) Acquiring a camera position which takes 10mm as a minimum measurement unit and is output by a digestive endoscope with a positioning function;
(2) Acquiring each frame of image of the digestive endoscope in real time by adopting screen video equipment;
(3) Optionally selecting a frame of image as a current frame of image, and extracting feature points to be tracked;
(4) Calculating optical flow of the adjacent frame images using the L-K optical flow;
(5) Calculating the ratio relation of the displacement of all frames between a starting frame and an ending frame of a section of endoscopic video;
(6) Distributing and solving displacement according to the ratio relation obtained by calculation;
(7) The operation is carried out on all frames, and the advance and retreat amount of each frame can be obtained;
the step (5) specifically comprises the steps of:
(51) The difference OF pixel coordinates OF projection points OF the same spatial point in two lens poses,
，
Wherein the method comprises the steps ofIs the rotation angle of the lens around the z-axis,/>For displacement of the lens along the z-axis,/>For the focal length of the camera lens in the x-direction,/>For the focal length of the camera lens in the y direction,/>Is the x component of the pixel coordinate of the principal point,/>The pixel coordinate y component of the principal point,Is the coordinates of the three-dimensional point in the lens coordinate system of the previous frame and is recorded
; In/>Is a notation for convenience of description, and has no practical meaning;
(52) The relation between the displacement of the endoscope lens on the z axis and the optical flow is obtained after simplifying the formula as follows:
Wherein/> OF x and OF y are constant, the components OF the optical flow in the x and y directions, respectively;
(53) Obtaining the first according to the formula of the step (52) Ratio of individual feature points/>In/>Representing the z-coordinate of the ith feature point in the first frame camera coordinate system,/>Is the z-direction displacement of the mth frame relative to the first frame, m represents the total number of frames in a minimum measurement unit of 10 mm; then combine all items with item 1/>Comparing to obtain; Averaging all the tracked characteristic points to obtain a set of weight of each frameWherein/>I.e. the ratio of the displacement of the 1 st to the m-th frame and the displacement of the 1 st to the 2 nd frame.
2. The method for estimating a distance of a digestive endoscope according to claim 1, wherein the step (3) is specifically: and extracting a feature point set to be tracked by using a feature point detection algorithm on the current frame image.
3. The method for estimating a distance of a digestive endoscope according to claim 1, wherein the step (6) specifically comprises the steps of: according to the formulaCalculating the displacement of all intermediate frames relative to the first frame, whereinIs the z-direction displacement of the m-th frame relative to the 1 st frame,/>Is the camera displacement in 10mm as the minimum unit of measure.
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