CN118141361A - Laser positioning scale and laser measurement system applied to detecting size of tumor by endoscope - Google Patents
Laser positioning scale and laser measurement system applied to detecting size of tumor by endoscope Download PDFInfo
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- A—HUMAN NECESSITIES
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- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
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- A61B1/018—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor characterised by internal passages or accessories therefor for receiving instruments
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Abstract
The invention discloses a laser positioning scale for detecting the size of a tumor by using an endoscope. The scale body is equipped with the cavity inner chamber that runs through the scale body, and laser light source locates the tail end of scale body, and the optical fiber is located cavity inner chamber, and one end and laser light source signal intercommunication, the other end is fixed in cavity inner chamber's first position. The light transmitting sheet is arranged at a second position of the hollow inner cavity, and the first position is positioned at the light incident side of the light transmitting sheet. Compared with the traditional endoscopic solid scale, the invention only needs to adjust the distance between the endoscope head end and the tumor so that the emitted light can be positioned at two boundaries of the tumor, does not need to additionally adjust the angle of the tumor, relieves the pain of a patient, does not need to fold the scale, does not influence the precision of the scale after long-term storage and repeated use, and is beneficial to more accurately measuring the size of the tumor under the endoscope.
Description
Technical Field
The invention relates to the technical field of medical equipment for measuring a tumor, in particular to a laser positioning scale and a laser measuring system applied to an endoscope for detecting the size of the tumor.
Background
The accurate evaluation of the size, boundary, involvement range and other conditions of the laryngeal tumor under the electronic laryngoscope is an important reference basis for the diagnosis stage and treatment scheme formulation of laryngeal tumors, especially malignant tumors. In conventional electronic laryngoscopy procedures, the operator typically relies on personal experience, or visual assessment of tumor size with reference to surrounding anatomy.
The measurement method reported in the prior art basically adopts a solid ruler, such as Wang Xiangqian, and the like to develop a 2-4cm solid ruler which is fed through a sleeve and can be unfolded under an endoscope; the method and the device for measuring the object distance of the endoscope can be developed and used for measuring the virtual internal standard, the virtual internal standard is established by shooting the standard plane diagrams of the endoscope at different distances, and the distance between the lens and the tumor is measured by combining biopsy forceps or guide wires with standard scales, so that the focus size is calculated.
In summary, the existing measurement method depends on experience or depends on a physical ruler, and the physical ruler needs to adjust angles, distances and the like under an endoscope to ensure accurate measurement of focus size, so that inspection time is prolonged to a certain extent, a laryngeal cavity space is narrow, the diameter of an endoscope pipeline is limited, if the ruler is too large, the endoscope pipeline is difficult to enter and expand, if the ruler is too small, a corresponding measurement range is sacrificed, and furthermore, the physical ruler is stored in a folded state for a long time, and deformation possibly occurs after multiple uses, so that accuracy is affected.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the application provides a laser positioning scale for detecting the size of a tumor by using an endoscope, compared with the traditional endoscopic solid scale, the application only needs to adjust the distance between the end of the endoscope and the tumor to enable the emitted light to be positioned at two boundaries of the tumor, does not need to additionally adjust the angle of the tumor, relieves the pain of a patient, does not need to fold the scale, does not influence the precision of the scale after long-term storage and repeated use, and is beneficial to more accurately measuring the size of the tumor under the endoscope.
To achieve the above and other related objects, a first aspect of the present application provides a laser positioning scale for detecting a tumor size by an endoscope, comprising a scale body, a laser light source, a light guide fiber and a light transmitting sheet. The scale body is provided with a hollow inner cavity penetrating through the scale body, and the laser light source is arranged at the tail end of the scale body; the optical guide fiber is arranged in the hollow inner cavity, one end of the optical guide fiber is in signal communication with the laser light source, and the other end of the optical guide fiber is fixed at a first position of the hollow inner cavity; the light-transmitting sheet is arranged at a second position of the hollow inner cavity, and the first position is positioned at the light-entering side of the light-transmitting sheet.
In some possible embodiments, the scale body is provided with a scale area and an adjusting card slidably arranged outside the scale area, the scale area is arranged close to the side of the laser light source, and the scale area is provided with scale marks.
In some possible embodiments, the second location is a head end of the hollow lumen.
In some possible embodiments, the method applied to endoscopically detect tumor size is the following steps:
1) A beam of colored visible light beam is generated by a laser light source (7), and at least two colored light rays with an included angle with the central line of the head end of the optical fiber (8) are dispersed from the inner lens end after passing through the optical fiber (8) and the light transmitting sheet (9);
Wherein, the light-emitting position of the light-transmitting sheet is kept flush with the entrance end of the imaging channel; the colored visible light beam is dispersed to emit 2N+1 colored light rays after passing through the light transmitting sheet, and the included angle between every two adjacent light rays is alpha, wherein alpha is 1-30 degrees; the middle light ray positioned in the middle of 2N+1 colored light rays is parallel to the imaging passage, the middle light ray coincides with the center of the head end of the light guide fiber, and N is an integer greater than or equal to 1;
2) The method comprises the steps of enabling at least two colored light rays to be respectively projected on a tumor to form light spots by adjusting the light emitting position of a light transmitting sheet and the distance between the entrance end of an imaging passage of an endoscope and the tumor, and forming a tumor image with the light spot groups by taking two light spots with the farthest distance as marker point groups, imaging the tumor through the imaging passage and an endoscope imaging system;
The method comprises the steps of keeping the relative positions of the light-emitting position of a light-transmitting sheet and an imaging passage entrance unchanged, enabling at least two colored light rays except for middle light rays to be projected on a tumor to form light spots by adjusting the distance between the light-emitting position of the light-transmitting sheet and the tumor, and taking the two light spots with the farthest distance as a mark point group respectively, wherein the mark point group comprises a first mark point and a second mark point, and meanwhile, the middle light rays form a middle mark point on the tumor; obtaining a tumor image with a first mark point imaging point, a second mark point imaging point and an intermediate mark point imaging point simultaneously by adopting an imaging system;
3) Calculating the distance between two light spots of the mark point group of the tumor after each adjustment of the distance according to the relative position of the light emitting position of the light transmitting sheet and the imaging path, the included angle between colored light rays forming the mark point group, the view angle of the endoscope imaging system and the geometric correspondence of the tumor image with the mark point group;
Calculating the distance between the first mark point and the second mark point in the tumor mark point group according to the following steps:
(1) On the first virtual plane, if the vertical projection of the first mark point and the vertical projection of the middle mark point are located on the same side of the vertical projection of the center of the imaging system, calculating the distance H 1 between the first virtual plane and the endoscope end by adopting a formula I:
Equation one:
if the first marker point and the middle marker point are located at two sides of the vertical projection of the center of the imaging system, calculating the distance H 1 between the first virtual plane and the endoscope head end by adopting a formula II:
Formula II:
Wherein, alpha 1 is the included angle between the colored light forming the first mark point on the tumor and the middle light;
W is the distance between the center of the light emergent position of the light-transmitting sheet and the center of the imaging passage;
r is the radius of the tumor image;
Beta is the view angle of the endoscopic imaging system;
d 1 is the distance from the imaging point of the first mark point on the tumor image to the center point of the tumor image;
(2) On the second virtual plane, if the vertical projection of the second mark point and the middle mark point are located on the same side of the vertical projection of the center of the imaging system, calculating the distance H 2 between the second virtual plane circle and the endoscope head end by adopting a formula III:
And (3) a formula III:
If the vertical projections of the second mark point and the middle mark point are located at two sides of the vertical projection of the center of the imaging system, calculating the distance H 2 between the second virtual plane circle and the endoscope end by adopting a formula IV:
Equation four:
Wherein, alpha 2 is the included angle between the colored light forming the second mark point on the tumor and the middle light;
d 2 is the distance from the imaging point of the second mark point on the tumor image to the center point of the tumor image;
(3) And calculating the actual space distance X between the first mark point and the second mark point in the mark point group by adopting a formula five:
Formula five:
To achieve the above and other related objects, a second aspect of the present application provides a laser measuring system for endoscopically detecting a size of a tumor, including an endoscope detector with an imaging system, the endoscope detector being provided with an imaging path and a biopsy tunnel; the laser positioning scale also comprises the laser positioning scale and a controller; in a use state, the laser positioning scale is arranged in the biopsy pore canal; the controller is electrically connected with the laser light source of the positioning scale and the image system of the endoscope detector.
As described above, the present application has the following advantageous effects:
1) Compared with the traditional endoscopic solid ruler, the invention only needs to adjust the distance between the endoscope head end and the tumor so that the emitted light can be positioned at two boundaries of the tumor, does not need to additionally perform angle adjustment, can finish the size measurement of the tumor by the original single-hand operation, greatly saves the examination time and reduces the pain of patients.
2) The laser measuring method designed by the invention does not need folding, can not influence the precision of the laser measuring method after long-term storage and repeated use, and is beneficial to more accurately measuring the size of the tumor under the endoscope.
Drawings
FIG. 1 is a schematic plan view showing the actual measurement of the laser measuring method for detecting the size of a tumor by using an endoscope;
FIG. 2 is a schematic view of a tumor image obtained by an imaging system according to the laser measurement method for detecting the size of a tumor by an endoscope of the present invention;
FIG. 3 is a schematic diagram showing the practical measurement of the laser measurement method for detecting the size of a tumor by using an endoscope;
FIG. 4 is a schematic view of a stereoscopic applied tumor image obtained by an imaging system according to the laser measurement method for endoscopically detecting tumor size of the present invention;
FIG. 5 is a schematic diagram of a laser measuring device for detecting the size of a tumor by an endoscope;
FIG. 6 is a schematic view of a laser measurement terminal for detecting the size of a tumor by using an endoscope;
FIG. 7 is a schematic view of the structure of the laser positioning scale of the present invention;
FIG. 8 is a schematic diagram of the positional relationship between the head end of the laser positioning scale, the light transmitting sheet and the optical guide fiber;
FIG. 9 is a schematic diagram of the position of the endoscope head and scale applied to the biopsy tunnel and imaging system path;
Fig. 10 is a flow chart of a laser measurement method for detecting the size of a tumor by using an endoscope according to the present invention.
The marks in the figure:
1. Endoscope
2. At least two colored light lines
21. Intermediate rays
22. First colored light
23. Second colored light
3. Imaging path
4. Biopsy duct
A first virtual plane
B second virtual plane
A1 First mark point
A2 Second mark point
A3 Intermediate mark point
A1' first mark point imaging point
A2' second mark point imaging point
A3' intermediate mark point imaging point
6. Scale body
61. Scale zone
62. Adjusting card
7. Laser light source
8. Optical fiber
9. Light transmitting sheet
C1 First position
C2 Second position
Detailed Description
Other advantages and effects of the present application will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present application with reference to specific examples. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
In order to solve the problems in the background art, the invention provides a laser measuring method applied to an endoscope for detecting the size of a tumor, a laser measuring device applied to the endoscope for detecting the size of the tumor, a computer readable storage medium, a terminal, a laser positioning scale applied to the endoscope for detecting the size of the tumor and a laser measuring system applied to the endoscope for detecting the size of the tumor. Meanwhile, in order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions in the embodiments of the present invention will be further described in detail by the following examples with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In a first aspect, the present invention provides a laser positioning scale for detecting a tumor size by using an endoscope, as shown in fig. 7-9, the laser positioning scale includes a scale body 6, a laser light source 7, a light guide fiber 8 and a light-transmitting sheet 9. The scale body 6 is provided with a hollow inner cavity penetrating through the scale body 6, and the laser light source 7 is arranged at the tail end of the scale body 6. The light guide fiber 8 is disposed in the hollow cavity, one end of the light guide fiber is in signal communication with the laser light source 7, and the other end of the light guide fiber is fixed at a first position c1 of the hollow cavity. The light-transmitting sheet 9 is disposed at a second position c2 of the hollow cavity, and the first position c1 is located at the light incident side of the light-transmitting sheet 4. The laser source 7 is a visible light laser source. The light-transmitting sheet 9 plays a role of dispersing light beams, for example, a grating formed by parallel slits with equal width and equal interval is adopted, the distance P from the tail end of the light-guiding fiber to the light-transmitting sheet is controlled, the length Q of the scale-like hollowed-out pattern on the light-transmitting sheet is controlled, and the proportion of P and Q is controlled to determine the included angle between the light rays.
Specifically, the scale body 6 is provided with a scale area 61 and an adjusting card 62 slidably arranged outside the scale area 61, the scale area 61 is arranged close to the side of the laser light source 7, and the scale area 61 is provided with scale marks; the second position c2 is a head end of the hollow cavity. When the staff gauge equipment enters through the biopsy hole channel of the endoscope, the adjusting bayonet can be used for calibration, so that the head end of the staff gauge and the lens of the endoscope are guaranteed to be positioned on the same plane, and calculation and measurement can be performed subsequently.
The laser positioning scale is applied to detecting the size of a tumor by an endoscope, and the specific method is as follows:
Fig. 1 is a schematic view of a close-up plan view of an actual measurement situation, and fig. 2 is a schematic view of a tumor image obtained by an imaging system. Referring to fig. 1 and 2, a laser measurement method applied to an endoscope for detecting a size of a tumor includes:
1) A beam of colored visible light beam is generated by a laser light source, and at least two colored light rays 2 with an included angle with the central line of the head end of the optical fiber are scattered and emitted from the head end of the endoscope 1 after passing through the optical fiber and the light transmitting sheet;
2) Forming light spots by respectively projecting at least two colored light rays 2 on the tumor by adjusting the light emitting position of the light transmitting sheet and the distance between the entrance end of the imaging passage 3 of the endoscope and the tumor, and forming a tumor image with the marking point groups (a 1', a 2') corresponding to the marking point groups (a 1, a 2) by imaging the tumor through the imaging passage and by the endoscope imaging system by taking the two light spots with the farthest distance as the marking point groups (a 1, a 2);
3) And calculating the distance between two light spots of the mark point group of the tumor after each adjustment distance according to the relative position of the light emitting position of the light transmitting sheet and the imaging path, the included angle between colored light rays forming the mark point group, the view angle of the endoscope imaging system and the geometric correspondence of the tumor image with the mark point group.
The test principle of the application is as follows: fig. 1 is a schematic view of a close-up plane in an actual measurement situation, i.e. a first virtual plane formed in the actual measurement situation, wherein two colored light rays are respectively projected on two boundaries of a tumor to form a group of mark point groups (a 1, a 2), the included angle of the two colored light rays is 2α, and 2α can be obtained or obtained according to the selection or calculation of a device in the prior art and is changed according to the distance between the light-emitting position of a light-transmitting sheet and the tumor; the field angle of the endoscopic imaging system is β (known and constant); and preferably the center of the light emitting position of the light transmitting sheet coincides with the center of the biopsy channel 4, and the center of the biopsy channel is at a distance W (known) from the center of the imaging path; the distance between the first virtual plane and the lens is H (unknown). Specifically, a circle in which a field of view of the endoscopic imaging system is located is referred to as a first virtual plane circle.
Fig. 2 is a schematic view of a tumor image obtained by an imaging system, wherein the tumor image is provided with mark point groups (a 1', a 2') on the tumor corresponding to mark point groups (a 1, a 2) in a real scene, the radius of a circle on the tumor image corresponding to a first virtual plane circle in the real scene is R (known to be obtained by measuring the tumor image), and the distances from the mark point groups (a 1', a 2') to the center point of the tumor image are d1, d2 (known to be obtained by measuring the tumor image).
The first virtual plane and the tumor image are known to have a geometric correspondence,
Since alpha, beta, W, R and d are all known, then
And calculating and obtaining the distance H between the first virtual plane and the lens through the geometric correspondence. By adjusting the distance H between the near-view plane and the lens, two colored light rays can be respectively projected on any two other boundaries of the tumor, and the stereoscopic application is performed according to the geometric corresponding relation.
In one embodiment, the light exit position of the light transmitting sheet is maintained flush with the entrance end of the imaging path.
In a specific embodiment, colored visible light beams are dispersed to emit 2N+1 colored light rays after passing through a light transmission sheet, the included angle between every two adjacent light rays is alpha, alpha is 1-30 degrees, the size of the included angle alpha is set through parameters of a laser light source and the light transmission sheet, the size of the included angle alpha is customized according to the needs, and 1-5 degrees, 5-10 degrees, 10-15 degrees, 15-20 degrees, 20-25 degrees and 25-30 degrees can be selected; an intermediate light ray 21 positioned in the middle of 2n+1 colored light rays is parallel to the imaging path 3, and the intermediate light ray 21 coincides with the center of the head end of the light guide fiber, N is an integer greater than or equal to 1, and N is generally 1 to 5.
In a specific embodiment, in step 2), the relative positions of the light emitting position of the light transmitting sheet and the entrance of the imaging path 3 are kept unchanged, the distance between the light emitting position of the light transmitting sheet and the tumor is adjusted, so that at least two light rays 2 and colored light rays except for the middle light ray 21 are projected on the tumor to form light spots, and the two light spots with the farthest distance are respectively used as a three-dimensional mark point group, wherein the three-dimensional mark point group comprises a first mark point a1 and a second mark point a2, and meanwhile, the middle light ray 21 forms a middle mark point a3 on the tumor; an imaging system is used to obtain an image of the tumor with both the first marker imaging point a1', the second marker imaging point a2' and the intermediate marker imaging point a3 '.
Fig. 3 is a schematic diagram of a three-dimensional application of the actual measurement situation, fig. 4 is a schematic diagram of an image of a tumor obtained by an imaging system, and in a specific embodiment, in step 3), a distance between a first marker point a1 and a second marker point a2 in a marker point set of the tumor is calculated according to the following steps:
1) On the first virtual plane a, if the vertical projections of the first mark point a1 and the middle mark point a3 are located on the same side of the vertical projection of the center of the imaging system, calculating the distance H 1 between the first virtual plane and the endoscope head end by adopting a formula one:
Equation one:
if the first mark point a1 and the middle mark point a3 are located at two sides of the vertical projection of the center of the imaging system, calculating the distance H 1 between the first virtual plane a and the inner lens end by adopting a formula two:
Formula II:
Wherein, alpha 1 is the included angle between the colored light forming the first mark point on the tumor and the middle light;
W is the distance between the center of the light emergent position of the light-transmitting sheet and the center of the imaging passage;
r is the radius of the tumor image;
Beta is the view angle of the endoscopic imaging system;
d 1 is the distance from the imaging point of the first mark point on the tumor image to the center point of the tumor image;
3) On the second virtual plane B, if the vertical projections of the second mark point a2 and the middle mark point a3 are located on the same side of the vertical projection of the center of the imaging system, calculating the distance H 2 between the second virtual plane circle and the endoscope head end by adopting the formula three:
If the vertical projections of the second mark point a2 and the middle mark point a3 are located at two sides of the vertical projection of the center of the imaging system, calculating the distance H 2 between the second virtual plane circle and the endoscope head end by adopting a formula four:
Wherein, alpha 2 is the included angle between the colored light forming the second mark point on the tumor and the middle colored light;
d 2 is the distance from the imaging point of the second mark point on the tumor image to the center point of the tumor image;
4) And calculating the actual space distance X between the first mark point and the second mark point in the mark point group by adopting a formula five:
Formula five:
In a specific embodiment, step 3) further comprises: taking the first obtained distance as the maximum diameter of the measured tumor; or calculating the distance between two light spots of the mark point group after each change based on the mark group generated by each change and the corresponding tumor image with the mark point group after the change of the light emitting position of the light transmitting sheet and the distance between the inlet end of the imaging passage of the endoscope and the tumor for a plurality of times, and taking the obtained maximum distance value as the maximum diameter of the measured tumor.
A second aspect of the embodiments of the present invention provides a laser measurement system for endoscopically detecting a size of a tumor, including an endoscope detector with an imaging system, the endoscope detector having an imaging path and a biopsy tunnel; a laser positioning scale and controller as also described above; in a use state, the laser positioning scale is arranged in the biopsy pore canal; the controller is electrically connected with the laser light source of the positioning scale and the image system of the endoscope detector. The controller may be a terminal for controlling the opening and closing of a circuit, processing or storing data, such as a mobile phone, a computer device, a tablet device, a personal digital processing device, a factory background processing device, etc. Preferably, in the use state, the light emergent position of the light-transmitting sheet is flush with the inlet end of the imaging passage.
Example 1
The laser positioning scale for detecting the size of the tumor by using the endoscope, referring to fig. 7, comprises a scale body 6, a laser light source 7, a light guide fiber 8 and a light transmission sheet 9. The scale body 6 is provided with a hollow inner cavity penetrating through the scale body, and the laser light source 7 is arranged at the tail end of the scale body 6. The light guide fiber 8 is arranged in the hollow cavity, one end of the light guide fiber is in signal communication with the laser light source 7, and the other end of the light guide fiber is fixed at a first position c1 of the hollow cavity. The light transmitting sheet 9 is disposed at a second position c2 of the hollow cavity, the first position c1 is located at the light incident side of the light transmitting sheet 9, and the second position c2 is the head end of the hollow cavity. The scale body is made of flexible hose.
More specifically, the scale body 6 is provided with a scale area 61 and an adjusting card 62 slidably arranged outside the scale area 61, the scale area 61 is arranged close to the laser light source 7, and the scale area 61 is provided with scale marks. The depth of the staff gauge body into the biopsy channel can be known through the adjusting card 62, so that the head end of the staff gauge and the endoscope lens are guaranteed to be positioned on the same plane, and calculation and measurement can be performed subsequently. In addition, a power supply 64 for supplying power to the laser light source and a switch 63 for controlling the on/off of the laser light source are provided.
Specifically, taking an electronic nasopharynx and throat endoscope of olympus ENF TYPE VT used at present as an example, the optical view angle beta=90°, the total diameter of the head end is 4.8mm, the diameter of the biopsy pore canal 4 is 2.0mm, and the actual distance W between the center of the biopsy pore canal (namely the center of the light emitting position of the light transmitting sheet after the laser positioning scale is placed) and the center of the imaging path 3 is 2.0mm; the image acquired by the acquisition system on the screen has a diameter of 1080 pixels, then r=540 pixels.
Referring to FIG. 6, a scale-like pattern is engraved on the light-transmitting sheet 9And controls the distance P from the tail end of the light guide fiber 8 to the light transmitting sheet 9 and the length Q of the scale-like hollowed-out pattern on the light transmitting sheet 9 to ensure that/>A laser positioning scale device capable of emitting 1 beam of intermediate light and 2 beams of angled marking light is obtained, wherein the included angle between the light beams is 30 degrees, namely alpha=30 degrees;
The laser positioning scale device is placed in a biopsy pore canal of a VT2 endoscope, and a tumor with the diameter of 10mm and three-dimensional growth to the side is measured. Referring to fig. 3, by adjusting the distance between the lens (i.e. the light-emitting position and the entrance end of the imaging path) and the tumor, the two marking lights on the outer side are respectively projected on two boundaries of the tumor to form a first marking point a1 and a second marking point a2. Referring to fig. 4, a tumor image with a first marker imaging point a1 'and a second marker imaging point a2' is acquired, as shown in fig. 3. Then, at this time, the included angle a 1＝a2 =α=30° between the outer two marker light rays and the middle light ray; the distances between the first mark point imaging point a1 'and the second mark point imaging point a2' and the center point (circle center) of the image are measured on the image respectively, d 1 =405 pixels and d 2 =216 pixels, and the calculation can be obtained according to the formula:
then, the measured maximum diameter of the tumor is:
In addition, referring to fig. 6, in the process of three-dimensional application, the data acquisition module is used for providing the geometrical correspondence of the light emitting position of the light transmitting sheet and the relative position of the imaging path, the included angle between the colored light lines forming the mark point group, the view angle of the endoscopic imaging system and the tumor image with the mark point group; the calculation module is used for realizing calculation. The measurement method is implemented by an algorithm as follows,
S1, providing a distance W between the center of the light emergent position of the light transmitting sheet and the center of the imaging channel; providing a field angle β of the endoscopic imaging system, y=0, i=0;
S2, obtaining an included angle alpha 1 between colored light forming a first mark point on the tumor and the middle light;
Obtaining an included angle alpha 2 between colored light forming a second mark point on the tumor and the middle light;
obtaining the distance d1 from the imaging point of the first mark point on the tumor image to the center point of the tumor image;
Obtaining the distance d2 from the imaging point of the second mark point on the tumor image to the center point of the tumor image;
Obtaining a radius R of a tumor image;
Obtaining the vertical projection relation between the vertical projection of the first mark point and the middle mark point and the center of the imaging system;
obtaining the vertical projection relation between the vertical projection of the second mark point and the middle mark point and the center of the imaging system;
S3, judging the vertical projection relation between the vertical projection of the first mark point and the middle mark point and the center of the imaging system,
If the same side adopts the formula I, if the two sides adopt the formula II;
S4, judging the vertical projection relation between the vertical projection of the second mark point and the middle mark point and the center of the imaging system,
If the same side adopts the formula III, and if the two sides adopt the formula IV;
S5, calculating the actual space distance X between the first mark point and the second mark point by adopting the formula five;
S6, judging whether X is larger than Y or not; 1) If X is greater than Y, S7, y=x, S8, i=i+1; s9, judging i
If the value is smaller than M (M is an artificially set integer value), returning to S2 again if the value i is smaller than M, and readjusting the position to obtain a new value; if i is not less than M, calculating to end outputting Y value;
2) If X is not greater than Y, S8, i=i+1;
s9, judging whether i is smaller than M (M is an artificially set integer value), if i is smaller than M, returning to S2 again,
Readjusting the position to obtain a new value; if i is not less than M, S10, calculating to end outputting Y value;
S11, ending.
Example 2
The laser measuring system applied to the endoscope for detecting the size of the tumor comprises an endoscope detector with an imaging system, wherein the endoscope detector is provided with an imaging passage 3 and a biopsy pore canal 4. The laser measurement system further includes the laser positioning scale and controller of embodiment 3. In the use state, the laser positioning scale is arranged in the biopsy pore canal 4, and the light emitting position of the light transmitting sheet is kept flush with the inlet end of the imaging passage. The controller is electrically connected with the laser light source of the positioning scale and the imaging system of the endoscope detector. The controller can control the on-off of the laser light source of the positioning scale, the controller can acquire the imaging of the imaging system, and the calculation method as described in the embodiments 1 and 2 can be performed according to the computer program and algorithm. The controller may be a terminal such as a mobile phone, a computer device, a tablet device, a personal digital processing device, a factory background processing device, or the like.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The term "comprising" an element defined by the term "comprising" does not exclude the presence of other identical elements in a process, method, article or apparatus that comprises the element.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The laser positioning scale for detecting the size of the tumor by using the endoscope is characterized by comprising a scale body (6), a laser light source (7), an optical fiber (8) and a light-transmitting sheet (9);
The scale body (6) is provided with a hollow inner cavity penetrating through the scale body (6), and the laser light source (7) is arranged at the tail end of the scale body (6);
the optical fiber (8) is arranged in the hollow inner cavity, one end of the optical fiber is in signal communication with the laser light source (7), and the other end of the optical fiber is fixed at a first position of the hollow inner cavity;
the light-transmitting sheet (9) is arranged at a second position of the hollow inner cavity, and the first position is positioned at the light incident side of the light-transmitting sheet (9).
2. The laser positioning scale for detecting the size of a tumor by using an endoscope according to claim 1, wherein the scale body (6) is provided with a scale area (61) and an adjusting card (62) which is slidably arranged outside the scale area (61), the scale area (61) is arranged close to the side of the laser light source (7) and the scale area (71) is provided with scale marks.
3. The laser positioning ruler for endoscopically detecting a tumor size according to claim 1 or 2, wherein the second position is a head end of the hollow lumen.
4. A laser positioning ruler for detecting the size of a tumor by using an endoscope according to claim 3, wherein the method for detecting the size of the tumor by using the endoscope comprises the following steps:
1) A beam of colored visible light beam is generated by a laser light source (7), and at least two colored light rays with an included angle with the central line of the head end of the optical fiber (8) are dispersed from the inner lens end after passing through the optical fiber (8) and the light transmitting sheet (9);
Wherein, the light-emitting position of the light-transmitting sheet is kept flush with the entrance end of the imaging channel; the colored visible light beam is dispersed to emit 2N+1 colored light rays after passing through the light transmitting sheet, and the included angle between every two adjacent light rays is alpha, wherein alpha is 1-30 degrees; the middle light ray positioned in the middle of 2N+1 colored light rays is parallel to the imaging passage, the middle light ray coincides with the center of the head end of the light guide fiber, and N is an integer greater than or equal to 1;
2) The method comprises the steps of enabling at least two colored light rays to be respectively projected on a tumor to form light spots by adjusting the light emitting position of a light transmitting sheet and the distance between the entrance end of an imaging passage of an endoscope and the tumor, and forming a tumor image with the light spot groups by taking two light spots with the farthest distance as marker point groups, imaging the tumor through the imaging passage and an endoscope imaging system;
The method comprises the steps of keeping the relative positions of the light-emitting position of a light-transmitting sheet and an imaging passage entrance unchanged, enabling at least two colored light rays except for middle light rays to be projected on a tumor to form light spots by adjusting the distance between the light-emitting position of the light-transmitting sheet and the tumor, and taking the two light spots with the farthest distance as a mark point group respectively, wherein the mark point group comprises a first mark point and a second mark point, and meanwhile, the middle light rays form a middle mark point on the tumor; obtaining a tumor image with a first mark point imaging point, a second mark point imaging point and an intermediate mark point imaging point simultaneously by adopting an imaging system;
3) Calculating the distance between two light spots of the mark point group of the tumor after each adjustment of the distance according to the relative position of the light emitting position of the light transmitting sheet and the imaging path, the included angle between colored light rays forming the mark point group, the view angle of the endoscope imaging system and the geometric correspondence of the tumor image with the mark point group;
Calculating the distance between the first mark point and the second mark point in the tumor mark point group according to the following steps:
(1) On the first virtual plane, if the vertical projection of the first mark point and the vertical projection of the middle mark point are located on the same side of the vertical projection of the center of the imaging system, calculating the distance H 1 between the first virtual plane and the endoscope end by adopting a formula I:
Equation one:
if the first marker point and the middle marker point are located at two sides of the vertical projection of the center of the imaging system, calculating the distance H 1 between the first virtual plane and the endoscope head end by adopting a formula II:
Formula II:
Wherein, alpha 1 is the included angle between the colored light forming the first mark point on the tumor and the middle light;
W is the distance between the center of the light emergent position of the light-transmitting sheet and the center of the imaging passage;
r is the radius of the tumor image;
Beta is the view angle of the endoscopic imaging system;
d 1 is the distance from the imaging point of the first mark point on the tumor image to the center point of the tumor image;
(2) On the second virtual plane, if the vertical projection of the second mark point and the middle mark point are located on the same side of the vertical projection of the center of the imaging system, calculating the distance H 2 between the second virtual plane circle and the endoscope head end by adopting a formula III:
And (3) a formula III:
If the vertical projections of the second mark point and the middle mark point are located at two sides of the vertical projection of the center of the imaging system, calculating the distance H 2 between the second virtual plane circle and the endoscope end by adopting a formula IV:
Equation four:
Wherein, alpha 2 is the included angle between the colored light forming the second mark point on the tumor and the middle light;
d 2 is the distance from the imaging point of the second mark point on the tumor image to the center point of the tumor image;
(3) And calculating the actual space distance X between the first mark point and the second mark point in the mark point group by adopting a formula five:
Formula five:
5. The laser positioning ruler for detecting tumor size applied to an endoscope according to claim 4, wherein step 3) further comprises:
Taking the first obtained distance as the maximum diameter of the measured tumor; or calculating the distance between two light spots of the mark point group after each change based on the mark group generated by each change and the corresponding tumor image with the mark point group after the change of the light emitting position of the light transmitting sheet and the distance between the inlet end of the imaging passage of the endoscope and the tumor for a plurality of times, and taking the obtained maximum distance value as the maximum diameter of the measured tumor.
6. A laser measurement system for detecting the size of a tumor by using an endoscope, which is characterized by comprising an endoscope detector with an imaging system, wherein the endoscope detector is provided with an imaging passage and a biopsy pore canal;
A laser positioning scale and controller as claimed in any one of claims 1 to 5;
in a use state, the laser positioning scale is arranged in the biopsy pore canal;
The controller is electrically connected with the laser light source of the positioning scale and the image system of the endoscope detector.
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