CN209059133U - Controlled capsule type endoscope diagnostic and examination system based on image recognition - Google Patents
Controlled capsule type endoscope diagnostic and examination system based on image recognition Download PDFInfo
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- CN209059133U CN209059133U CN201821442278.4U CN201821442278U CN209059133U CN 209059133 U CN209059133 U CN 209059133U CN 201821442278 U CN201821442278 U CN 201821442278U CN 209059133 U CN209059133 U CN 209059133U
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Abstract
The utility model proposes a kind of controlled capsule endoscope diagnostic and examination system based on image recognition, the mobile mechanical arm of capsule endoscopic, control unit and control capsule endoscope including being equipped with magnet, control unit includes information receiving module, picture recognition module and magnetic control module；Information receiving module receives image data information and capsule posture information transmitted by capsule endoscopic, the image data information output end of information receiving module connects picture recognition module input terminal, picture recognition module identifies the position of capsule endoscopic according to image data information, and output end is connected to the location information input terminal of magnetic control module；The capsule posture information output end of information receiving module connects magnetic control module, and magnetic control module control output end connects mechanical arm and drives end.The controlled capsule endoscope diagnostic and examination system structure is simple, can accurately carry out position positioning to capsule endoscopic, facilitates the more accurate comprehensive acquisition image information of capsule endoscopic.
Description
Technical field
The utility model relates to medical instruments fields, and in particular to a kind of controlled capsule endoscope based on image recognition is examined
Look into system.
Background technique
Controlled capsule type endoscopic system is made of controllable type capsule endoscope, field controller and image recorder,
Controllable type capsule endoscope is by optics front cover, rear shell, magnet, antenna, radio-frequency module, magnetic induction module, acceleration transducer, letter
Number processing module, image capture module and battery composition.Magnetic field console external structure by examination bed, support column, control magnet,
Movable mechanical arm, display screen, can retrieval function key, control handle and trolley main body composition；Electric routing module control, drive
Dynamic model block, display module, memory module and power module composition.Image recorder is by antenna, radio-frequency module, signal processing mould
Block, control module, memory module and power module composition.
Its working principle is that realizing the control to capsule using magnetic effect, the magnetic induction module on capsule can perceive surrounding
The size in magnetic field, and the Data Transmission Controlling platform that will be perceived, the magnetic control dependency number that operator shows further according to console
According to adjustment mode of operation.Control magnet is mounted on movable mechanical arm, and drive module is used to drive the shifting of movable mechanical arm
It is dynamic；Control module is used to control the operation of whole system, moving direction and height including controlling movable mechanical arm；Image note
Record instrument is communicated with capsule realization；Display module is the picture for the shooting of real-time display capsule；Memory module is used to store picture
Data；Power module is then whole system power supply.
However this is utilized there is still a need for the movement that the handle of operator's manual operation console removes control movable mechanical arm
Magnetic effect goes the movement in vivo of control capsule, object observing region that thus can be purposive.But this mode is still
More time is consumed, operator needs to stop substantial length of operation under one's belt 40 minutes in capsule, under needing after the completion of operation
Data are carried to image workstation, then observation of interpreting blueprints, manual editing's diagnosis report, this mode is too cumbersome, too time-consuming.
In order to solve this problem, there is the control system for proposing a kind of capsule endoscopic at present, application No. is
2017112117965, which includes control terminal and robot body, is fixed on robot body for drawing capsule
The magnet of formula endoscope, control terminal generate control using robot multi-axis interpolation control algolithm according to default detection location point parameter
System instruction, and control instruction is sent to robot body, robot body parses control instruction, obtains path curves, and
According to curve movement, the automatic capsule endoscopic predeterminated position point into that draws carries out multi-angled shooting.The control system is logical
Automatic traction capsule endoscopic is crossed, is scanned comprehensively, robot body is drawn automatically, and long-play injustice generates fatigue
Problem, while being drawn according to path curves, the trueness error introduced when being avoided that hand traction.However due to individual
Reason of discrepancies is checked to specific location, however it remains the whether accurate problem in detection position.
Utility model content
In order to overcome above-mentioned defect existing in the prior art, the purpose of the utility model is to provide one kind to be known based on image
Other controlled capsule endoscope diagnostic and examination system.
In order to realize the above-mentioned purpose of the utility model, the utility model provides a kind of controllable glue based on image recognition
Intracapsular sight glass diagnostic and examination system, capsule endoscopic, control unit and the control capsule endoscope including being equipped with magnet are mobile
Mechanical arm, described control unit includes information receiving module, picture recognition module and magnetic control module；
The information receiving module receives image data information transmitted by the capsule endoscopic and capsule posture
The image data information output end of information, the information receiving module connects described image identification module input terminal, described image
Identification module identifies the position of the capsule endoscopic according to image data information, and output end is connected to the magnetic control molding
The location information input terminal of block；The capsule posture information output end of the information receiving module connects the magnetic control module, institute
It states magnetic control module control output end and connects mechanical arm driving end.
Identify that magnetic control module is according to capsule endoscope by position of the picture recognition module to capsule endoscopic
The posture of the specific location control capsule endoscopic at place, can be by the setting shooting angle of the position convenient for capsule endoscopic
Complete shooting task.The controlled capsule endoscope diagnostic and examination system structure is simple, can accurately carry out position to capsule endoscopic
Positioning facilitates the more accurate comprehensive acquisition image information of capsule endoscopic.
Further, described image identification module includes location identification module and lesion identification module, the position identification
Module output end connects the location information input terminal of the magnetic control module, and the lesion identification module identifies lesion.
Lesion identification module is instead of people's read tablet, it is no longer necessary to and people spends the time to go read tablet again, saves man power and material,
Efficiency is also improved simultaneously.
Further, described control unit further includes memory module, is deposited described in the lesion identification module output end connection
Module is stored up, will check that information carries out real-time storage.
It further, further include display module and/or print module, the memory module output end is separately connected described beat
Impression block and display module.Print module prints examining report, the information of display module display detection.
Further, described control unit further includes message processing module, and the information receiving module output end connects institute
Message processing module is stated, the message processing module is separately connected the magnetic control module and picture recognition module.
The controlled capsule endoscope diagnostic and examination system structure is simple, can be obviously shortened the review time, saves manpower consumption, improves
Inspection efficiency.
The additional aspect and advantage of the utility model will be set forth in part in the description, partially will be from following description
In become obvious, or recognized by the practice of the utility model.
Detailed description of the invention
The above-mentioned and/or additional aspect and advantage of the utility model from the description of the embodiment in conjunction with the following figures will
Become obvious and be readily appreciated that, in which:
Fig. 1 is the functional block diagram of embodiment；
Fig. 2 is the functional block diagram of the preferred embodiment of the embodiment.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and is only used for explaining the utility model, and should not be understood as to the utility model
Limitation.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, the company being also possible to inside two elements
It is logical, it can be directly connected, can also indirectly connected through an intermediary, for the ordinary skill in the art, it can
To understand the concrete meaning of above-mentioned term as the case may be.
As shown in Figure 1, the utility model provides a kind of controlled capsule endoscope diagnostic and examination system based on image recognition, packet
It includes the capsule endoscopic equipped with magnet, control unit and controls the mobile mechanical arm of the capsule endoscope, the control is single
Member includes information receiving module, picture recognition module and magnetic control module.
The information receiving module receives image data information transmitted by the capsule endoscopic and capsule posture
The image data information output end of information, the information receiving module connects described image identification module input terminal, described image
Identification module identifies the position of the capsule endoscopic according to image data information, and output end is connected to the magnetic control molding
The location information input terminal of block；The capsule posture information output end of the information receiving module connects the magnetic control module, institute
It states magnetic control module control output end and connects mechanical arm driving end.
Described control unit further includes message processing module, and the information receiving module output end connects the information processing
Module, the message processing module are separately connected the magnetic control module and picture recognition module.
The capsule endoscopic swallowed after enter stomach, the main viewing area of stomach on from it is lower be respectively cardia,
Stomach bottom, body of stomach, stomach angle, antrum and pylorus.Capsule endoscopic is provided with multiple Orientation observations at this 6 positions of stomach respectively
Position and corresponding viewing angle.After capsule enters stomach, the acceleration transducer of capsule endoscopic can perceive the appearance of capsule
State angle, capsule posture information are sent to magnetic control module, and image information is sent to picture recognition module, image recognition mould
Block identifies the position of capsule endoscopic under one's belt, then the location information is reached magnetic control module, and magnet control unit is according to glue
Capsule posture information and location information obtain the current position of capsule endoscopic and posture.Magnetic control module is according to setting by machine
The magnet installed on tool arm is moved to the observation position of setting, and the angle of adjust automatically magnet, until capsule endoscopic
When attitude angle is identical as the shooting angle of setting, shooting task is completed, then successively move on to next camera site, and adjust
Angle is shot, until all positions shooting task is completed.
In the present embodiment, existing side can be used on how to the mobile control to capsule endoscopic, pose adjustment
Formula, such as application No. is a kind of control system of 2017112117965 entitled capsule endoscopics and application No. is
2017105070837 entitled alimentary canal diagnostic equipments and capsule endoscope show the patent text of image aspects method of adjustment and system
Offer disclosed scheme, know method for distinguishing about position existing method can also be used being identified, such as application No. is
Location recognition method disclosed in a kind of 2017110275945 entitled alimentary canal anatomical position recognition methods and device.
As the preferred embodiment of the present embodiment, as shown in Fig. 2, the image recognition in the controlled capsule endoscope diagnostic and examination system
Module includes location identification module and lesion identification module, and the location identification module output end connects the magnetic control module
Location information input terminal, the lesion identification module identify lesion, are subsequently sent to automatic diagnostic module and carry out indagation.
In the embodiment, control unit further includes memory module, and the lesion identification module output end connects the storage
Module.
At this point, there are two effects for picture recognition module, first is that position in stomach is identified, second is that identification lesion.Position in stomach
Information can reach location identification module control module, and location identification module can identify capsule current location, lesion identification module pair
Picture carries out intelligent recognition, can with automatic identification, whether there is or not lesions, if there is lesion, corresponding symptom, and lesion information is stored in
In memory module.
Existing method can be used in lesion recognition methods involved in the embodiment, and such as application No. is 2017102673298
Lesion recognition methods disclosed in entitled capsule endoscope image preprocessing system and method is identified.
The controlled capsule endoscope diagnostic and examination system further includes display module and/or print module, the memory module output
End is separately connected the print module and display module.After to be checked, print module prints inspection result, shows
Show that module shows testing result.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term
Stating may not refer to the same embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be
It can be combined in any suitable manner in any one or more embodiment or examples.
While there has been shown and described that the embodiments of the present invention, it will be understood by those skilled in the art that:
These embodiments can be carried out with a variety of variations, modification, replacement in the case where not departing from the principles of the present invention and objective
And modification, the scope of the utility model are defined by the claims and their equivalents.
Claims (5)
1. a kind of controlled capsule endoscope diagnostic and examination system based on image recognition, capsule endoscopic, control including being equipped with magnet
Unit processed and the mechanical arm for controlling the capsule endoscope movement, which is characterized in that described control unit includes that information receives mould
Block, picture recognition module and magnetic control module；
The information receiving module receives image data information transmitted by the capsule endoscopic and capsule posture information,
The image data information output end of the information receiving module connects described image identification module input terminal, and described image identifies mould
Root tuber identifies the position of the capsule endoscopic according to image data information, and output end is connected to the position of the magnetic control module
Set information input terminal；The capsule posture information output end of the information receiving module connects the magnetic control module, the magnetic control
Molding block control output end connects the mechanical arm and drives end.
2. the controlled capsule endoscope diagnostic and examination system according to claim 1 based on image recognition, which is characterized in that described
Picture recognition module includes location identification module and lesion identification module, and the location identification module output end connects the magnetic control
The location information input terminal of molding block, the lesion identification module identify lesion.
3. the controlled capsule endoscope diagnostic and examination system according to claim 2 based on image recognition, which is characterized in that described
Control unit further includes memory module, and the lesion identification module output end connects the memory module.
4. the controlled capsule endoscope diagnostic and examination system according to claim 3 based on image recognition, which is characterized in that also wrap
Display module and/or print module are included, the memory module output end is separately connected the print module and display module.
5. the controlled capsule endoscope diagnostic and examination system according to claim 1 based on image recognition, which is characterized in that described
Control unit further includes message processing module, and the information receiving module output end connects the message processing module, the letter
Breath processing module is separately connected the magnetic control module and picture recognition module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821442278.4U CN209059133U (en) | 2018-09-04 | 2018-09-04 | Controlled capsule type endoscope diagnostic and examination system based on image recognition |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201821442278.4U CN209059133U (en) | 2018-09-04 | 2018-09-04 | Controlled capsule type endoscope diagnostic and examination system based on image recognition |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091098A (en) * | 2017-10-27 | 2018-12-28 | 重庆金山医疗器械有限公司 | Magnetic control capsule endoscopic diagnostic and examination system |
| CN112075914A (en) * | 2020-10-14 | 2020-12-15 | 深圳市资福医疗技术有限公司 | Capsule endoscopy system |
| CN112089392A (en) * | 2020-10-14 | 2020-12-18 | 深圳市资福医疗技术有限公司 | Capsule endoscope control method, device, equipment, system and storage medium |
-
2018
- 2018-09-04 CN CN201821442278.4U patent/CN209059133U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091098A (en) * | 2017-10-27 | 2018-12-28 | 重庆金山医疗器械有限公司 | Magnetic control capsule endoscopic diagnostic and examination system |
| CN112075914A (en) * | 2020-10-14 | 2020-12-15 | 深圳市资福医疗技术有限公司 | Capsule endoscopy system |
| CN112089392A (en) * | 2020-10-14 | 2020-12-18 | 深圳市资福医疗技术有限公司 | Capsule endoscope control method, device, equipment, system and storage medium |
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Effective date of registration: 20211213 Address after: 401120 1-1, 2-1, 3-1, building 5, No. 18, Cuiping Lane 2, Huixing street, Yubei District, Chongqing Patentee after: Chongqing Jinshan Medical Technology Research Institute Co.,Ltd. Address before: 401120 1 office buildings, Jinshan International Industrial City, 18 of Nei sang Road, Hui Xing street, Yubei District, Chongqing. Patentee before: CHONGQING JINSHAN MEDICAL APPLIANCE Co.,Ltd. |
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