CN219250111U - Endoscopic imaging device - Google Patents

Abstract

The application provides an endoscopic imaging device, this endoscopic imaging device includes: the device comprises an image acquisition module, a self-driving module, an illumination module and a control module. The illumination module is connected with the image acquisition module and the control module and is used for providing a light source for a target area in the endoscopic imaging process. The self-driving module is connected with the image acquisition module and is used for generating vibration after the image acquisition module acquires the target picture under the light source. The control module is used for controlling the image acquisition module to acquire a target picture, controlling the self-driving module to vibrate and controlling the illumination module to provide a light source. The endoscopic imaging device provided by the embodiment of the application can not only adjust the light source from white light to monochromatic light when the suspected lesion is found, so that the suspected lesion area can be photographed more clearly; after the target area is imaged, the self-driving module can vibrate to promote the intestinal tract to restart natural peristalsis.

Description

Endoscopic imaging device

Technical Field

The present application relates to the field of imaging, and in particular, to an endoscopic imaging device.

Background

With the rapid development of modern economy, environmental pollution and working pressure have increasingly great influence on modern people, and the incidence rate of digestive tract diseases, particularly digestive tract tumors, is increased year by year. The early diagnosis rate of the digestive tract diseases is improved, and the method has very important significance for improving the clinical treatment effect and relieving the pain and the economic burden of patients.

The birth of the capsule endoscope brings revolutionary breakthrough for diagnosis of digestive tract diseases, opens up a new field of medical application of endoscope technology, has good complementarity with gastroscopes and enteroscopes, and is an important milestone in the development history of digestive disciplines.

Currently, an endoscopic imaging device generally uses white light for irradiation, or a discrete NBI (Narrow Band Imaging, endoscope narrow-band imaging) lamp, which is large in size and cannot clearly reflect lesions; and in general, the endoscopic imaging device is discharged out of the body along with the self-regulation of the endocrine system of the human body, so that the whole process is prolonged, the detected person is in a vigilance state for a long time, and poor user experience is caused.

Disclosure of Invention

An object of an embodiment of the present application is to provide an endoscopic imaging device, in which an image acquisition module acquires an image of a target area under a light source provided by an illumination module; vibration is generated by the self-driving module after the image acquisition is completed; the whole process is controlled by a control module. The endoscopic imaging device provided by the embodiment of the application is small in size, not only can clearly acquire and identify the target area image, but also can improve the efficiency of the whole process.

In a first aspect, embodiments of the present application provide an endoscopic imaging device, the device comprising: the device comprises an image acquisition module, a self-driving module, an illumination module and a control module. The illumination module is connected with the image acquisition module and the control module and is used for providing a light source for a target area in the endoscopic imaging process. The self-driving module is connected with the image acquisition module and is used for generating vibration after the image acquisition module acquires the target picture under the light source. The control module is connected with the image acquisition module and the self-driving module and is used for controlling the image acquisition module to acquire a target picture, controlling the self-driving module to vibrate and controlling the illumination module to provide a light source.

In the implementation process, the endoscopic imaging device provided by the embodiment of the application is provided with an image acquisition module, a self-driving module, an illumination module and a control module; the functions of image acquisition, vibration, light source providing and other module control are respectively realized; the endoscopic imaging device provided by the embodiment of the application can not only utilize the light source to illuminate the lesion area when the suspected lesion is found, so that the suspected lesion area can be clearly shot, but also can vibrate by the self-driving module after the target area is imaged, and the intestinal tract is promoted to restart natural peristalsis.

Optionally, in an embodiment of the present application, the lighting module includes: white light units and monochromatic light units. The white light unit and the monochromatic light unit are arranged around the image acquisition module at equal intervals; the white light unit is used for emitting standard white light; the monochromatic light unit is used for emitting narrowband monochromatic light; when the standard white light and the narrow-band monochromatic light acquire a target picture, the target area is respectively irradiated.

In the implementation process, when the suspected pathological changes are found, the endoscopic imaging device provided by the embodiment of the application can adjust the light source from white light to monochromatic light, and the acquisition of the target area image is realized under the irradiation of the white light unit and the monochromatic light unit. Specifically, when the white light unit finds that the target area is a suspected lesion area, the control module controls the light source to change from white to monochromatic light; and continuing to irradiate the target area to acquire an image under the monochromatic light. The endoscopic imaging device provided by the embodiment of the application can ensure that images in digestive tracts adapting to different levels and scenes are imaged by the design of multiple light sources, and the diagnosis accuracy is improved.

Optionally, in an embodiment of the present application, the monochromatic light unit comprises at least two NBI illumination subunits.

In the implementation process, the monochromatic light unit in the endoscopic imaging device provided by the embodiment of the application at least comprises two NBI illumination subunits, can emit narrow-band light with specific wavelength, can image target areas in different layers and different scenes in the alimentary canal under the design of multiple light sources, can uniformly emit light sources, and can further acquire images of the target areas, so that the diagnosis accuracy is improved.

Optionally, in an embodiment of the present application, the endoscopic imaging device further comprises a magnetic control module having a magnetic dipole and a position sensor; the magnetic dipole is used for controlling the posture of the imaging device in the body of the detected person under the action of an external magnetic field; the position sensor is used for monitoring pose information of the imaging device in the body of the subject.

In the implementation process, the endoscopic imaging device provided by the embodiment of the application controls the posture and the position of the imaging equipment through the magnetic control module with the magnetic dipole and the position sensor, and the magnetic control module is mainly used for assisting the movement of the endoscopic imaging device and controlling the position of the endoscopic imaging device in the gastrointestinal tract so as to perform fixed-point imaging and provide a guarantee for effective control of shooting of the endoscopic imaging device.

Optionally, in an embodiment of the present application, the endoscopic imaging device further includes a power management module having a power supply unit and an on-off control unit. The power supply unit is connected with the image acquisition module, the self-driving module, the lighting module and the control module and is used for providing electric energy for the image acquisition module, the self-driving module, the lighting module and the control module. The on-off control unit is connected with the power supply unit and used for controlling the power supply unit to start and stop the imaging device.

In the above implementation process, the endoscopic imaging device provided in the embodiment of the present application includes a power management module having a power supply unit and an on-off control unit; the power management module can supply power to the whole endoscopic imaging device and can also control the on-off state of the whole endoscopic imaging device.

Optionally, in an embodiment of the present application, the power supply unit comprises a coil and/or a battery. The battery comprises a button battery; the coil is used for generating magnetic induction coupling with the transmitting coil and generating electric energy.

In the implementation process, the power management module of the endoscopic imaging device comprises a power supply unit and an on-off control unit; the power supply unit can supply power to the endoscopic imaging device, and the on-off control unit can control the on-off of the whole endoscopic imaging device. That is, the endoscopic imaging device provided by the embodiment of the application not only can realize continuous and stable power supply for the endoscopic imaging device, but also can realize on-off control for the whole endoscopic imaging device.

Optionally, in an embodiment of the present application, the control unit includes: the device comprises an automatic identification subunit, a light source switching subunit, a driving control subunit and a power supply control subunit. The automatic identification subunit is connected with the image acquisition module and is used for identifying whether the target picture comprises a suspected lesion area or not; the light source switching subunit is connected with the lighting module and used for switching the white light unit into a monochromatic light unit when the automatic identification subunit identifies the suspected lesion area; the driving control subunit is connected with the self-driving module and used for controlling the self-driving module to vibrate the imaging device to be discharged outside after the acquisition of the target picture is completed; the power supply control subunit is connected with the on-off control unit and is used for controlling the power supply management module to start or stop supplying power.

In the implementation process, the control unit comprises an automatic identification subunit, a light source switching subunit, a driving control subunit and a power supply control subunit; the method comprises the steps of respectively realizing identification of a target area image, switching of a light source, vibration time and intensity of a self-driving module, and controlling a startup and shutdown control unit to realize startup and shutdown of the endoscopic imaging device. The control unit controls each module to realize ordered matching of image acquisition, light source switching, lesion recognition and the like, and can realize effective acquisition of images of a target area.

Optionally, in an embodiment of the present application, the endoscopic imaging device further comprises a main housing and a first optical dome and a second optical dome; the self-driving module, the power management module, the control module, the image acquisition module and the magnetic control module are packaged in the main shell; the optical domes are respectively arranged at two sides of the main shell; the optical dome is configured to transmit monochromatic light and white light and illuminate a target area.

In the above implementation process, the housing of the endoscopic imaging device provided in the embodiment of the present application is divided into a main housing and an optical dome, and the self-driving module, the power management module, the control module, the image acquisition module and the magnetic control module are all encapsulated in the main housing, so that monochromatic light or white light penetrates through the optical dome to provide a light source for a target imaging area in the process of taking a picture. Therefore, the endoscopic imaging device provided by the embodiment of the application is small in size and convenient to use.

Optionally, in an embodiment of the present application, the image capturing module includes: a miniature image acquisition unit and an image sensor; the miniature image acquisition unit is arranged on one side of the optical dome and is used for acquiring an image of a target area; the image sensor is connected with the miniature image acquisition unit, is arranged on one side far away from the optical dome and is used for converting the target image acquired by the miniature image acquisition unit into an electric signal and transmitting the electric signal to the control module.

In the implementation process, the micro image acquisition unit acquires the image of the target area, and then the micro image acquisition unit sends the target image to the image sensor, and after receiving the target image, the image sensor converts the target image into an electric signal and sends the electric signal to the control module.

Optionally, in an embodiment of the present application, the imaging device further includes a ring-shaped circuit board having a through hole. The annular circuit board is arranged on the inner wall of the shell and used for providing fixed and assembled mechanical support for the self-driving module, the power management module, the control module, the image acquisition module and the magnetic control module.

In the implementation process, other elements or modules are arranged on or at the inner side of the annular circuit board through the arrangement of the annular circuit board with the through holes; therefore, the structure inside the shell is compact, and the whole volume of the endoscopic imaging device can be reduced.

Optionally, in an embodiment of the present application, the self-driving module includes a driving element and a field effect transistor. The field effect transistor is connected with the control module and the driving element and is used for controlling the driving element to work.

In the above implementation process, the self-driving module of the endoscopic imaging device in the embodiment of the application can realize the vibration of the endoscopic imaging device through the cooperation of the control module and the driving element. The automatic driving module generates mild vibration and shaking, can activate the intestinal neural network, and promotes the intestinal tract to restart natural peristalsis.

In a second aspect, an embodiment of the present application provides an endoscopic imaging method, where the method is applied to an endoscopic imaging device having an image acquisition module, a self-driving module, an illumination module, and a control module; the control module comprises a communication unit and a control unit. The illumination module provides a light source for the endoscopic imaging process; the image acquisition module acquires a target picture under a light source; the self-driving module drives the imaging device to generate vibration after the image acquisition module acquires the target picture; the communication unit sends the target picture to the client; the control unit controls the image acquisition module to acquire a target picture, controls the self-driving module to vibrate and controls the illumination module to provide a light source.

In the implementation process, the endoscopic imaging method provided by the embodiment of the application not only has the image shot by common visible light, can clearly display the normal image effect in the digestive tract, but also can automatically identify the suspected lesion part to shoot an image by a narrow-band light source, can observe the surface layer of a mucous membrane gland and deeper image information, is beneficial to medical staff to predict the pathological tissue type and the infiltration depth of early canceration of the mucous membrane gland, and therefore, has very important significance for timely guiding prevention and treatment and diagnosis of stomach diseases.

In a third aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a memory and a processor, where the memory stores program instructions, and when the processor reads and executes the program instructions, the steps in the implementation manner of the second aspect are performed.

In a fourth aspect, embodiments of the present application further provide a computer readable storage medium having stored therein computer program instructions which, when read and executed by a processor, perform the steps of the second aspect described above.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a first schematic diagram illustrating a module of an endoscopic imaging apparatus according to an embodiment of the present application;

fig. 2 is a second schematic diagram illustrating a module of the endoscopic imaging apparatus according to the embodiment of the present application;

fig. 3 is a schematic structural view of an endoscopic imaging apparatus according to an embodiment of the present application;

FIG. 4 is a first flowchart of an endoscopic imaging method according to an embodiment of the present application;

FIG. 5 is a second flowchart of an endoscopic imaging method according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Icon: an endoscopic imaging device-100; an image acquisition module-110; a miniature image acquisition unit-111; an image sensor-112; a self-driving module-120; a driving element-121; a field effect transistor-122; a lighting module-130; a monochromatic light unit-132; a white light unit-131; NBI illumination subunit-1311; a control module-140; a communication unit-142; a control unit-141; automatically identifying a subunit-1411; a light source switching subunit-1412; a drive control subunit-1413; a power control subunit-1414; a magnetic control module-150; magnetic dipole-151; a position sensor-152; a power management module-160; a power supply unit-161; a power on/off control unit-162; a housing-170; a main housing-171; a first optical dome-172; a second optical dome-173.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. For example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present utility model. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. In addition, functional modules in the embodiments of the present utility model may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The NBI lamp in this solution is explained here before the introduction of this application, which is a narrow-band light emitting device with special filtering function for NBI technology (Narrow Band Imaging, endoscopic narrow-band imaging, also called electronic staining or digital staining endoscopic technology), which filters the ordinary spectrum, only retains the narrow-band light waves, providing an efficient light source for the NBI implementation.

The applicant finds that with the high-speed development of modern economy, the influence of environmental pollution and working pressure on modern people is greater and greater, and the incidence rate of digestive tract diseases, particularly digestive tract tumors, is increased year by year. The early diagnosis rate of the digestive tract diseases is improved, and the method has very important significance for improving the clinical treatment effect and relieving the pain and the economic burden of patients; therefore, research into endoscopic imaging devices is required to advance.

Currently, existing endoscopic imaging devices generally use a white light source or a discrete NBI lamp in the light source portion; wherein, when the white light source is adopted to illuminate and observe the mucous membrane tissue on the surface of the alimentary canal, the tiny lesions and the normal areas are difficult to be distinguished; the vertical NBI lamps occupy a larger space and have a large number, when the subcutaneous vascular tissues are observed by adopting electronic staining, the color spectrum of blue green is too single, the sensitivity of human eyes to blue is low, and the acquired image is darker than the image under white light, so that lesions cannot be clearly reflected. Moreover, after the focal image is acquired, the human body needs a long time to discharge the endoscopic imaging device out of the body, so that a patient needs to observe whether the endoscopic imaging device is successfully discharged or not in a long time, and the patient needs to be in a state of mental tension in a period of time, and the user experience is poor.

Based on this, the embodiment of the application provides an endoscopic imaging device, which is provided with a white light unit and a monochromatic light unit; wherein the monochromatic light unit mainly comprises at least two NBI illumination subunits. The method can obtain the picture under the irradiation of white light and find the suspected lesion area; the light source is automatically adjusted to be monochromatic light, mainly emitting ultraviolet light and near infrared light, and further shooting the suspected lesion area to obtain a clearer target picture. In addition, the self-driving module capable of generating vibration is also arranged in the endoscopic imaging device, so that the digestive tract can be stimulated through the vibration, and the discharge of the endoscopic imaging device is promoted.

Referring to fig. 1, fig. 1 is a first schematic diagram illustrating a module of an endoscopic imaging apparatus 100 according to an embodiment of the present application; the endoscopic imaging device 100 includes: an image acquisition module 110, a self-driving module 120, an illumination module 130 and a control module 140.

The illumination module 130 is coupled to the image acquisition module 110 and the control module 140 and is used to provide a light source for the target area during endoscopic imaging.

The self-driving module 120 is connected to the image acquisition module 110, and is configured to generate vibration after the image acquisition module 110 acquires the target picture under the light source.

The control module 140 is connected to the image capturing module 110, the self-driving module 120 and the illumination module 130, and is used for controlling the image capturing module 110 to capture a target picture, controlling the self-driving module 120 to vibrate, and controlling the illumination module 130 to provide a light source.

As can be seen from fig. 1, the endoscopic imaging device provided in the embodiment of the present application includes an image acquisition module, a self-driving module, an illumination module and a control module; the functions of image acquisition, vibration, light source providing and other module control are respectively realized; the endoscopic imaging device provided by the embodiment of the application can not only illuminate the lesion when the suspected lesion is found, but also realize clearer shooting of the suspected lesion area; after the target area is imaged, the self-driving module can vibrate to promote the intestinal tract to restart natural peristalsis.

Referring to fig. 2, fig. 2 is a second schematic diagram illustrating a module of the endoscopic imaging apparatus 100 according to an embodiment of the present application; the illumination module 130 of the endoscopic imaging device 100 includes: a white light unit 131 and a monochromatic light unit 132.

The white light units 131 are arranged around the image acquisition module 110 at equal intervals with the monochromatic light units 132; the white light unit 131 is used for emitting standard white light; the monochromatic light unit 132 is used for emitting narrowband monochromatic light; when the standard white light and the narrow-band monochromatic light acquire a target picture, the target area is respectively irradiated.

It should be noted that, preferably, the white light units 131 are disposed around the image acquisition module 110 at equal intervals from the monochromatic light units 132; the white light unit 131 is mainly used for emitting standard white light, and the emitting direction of the light is the same as the direction of the image acquisition module 110; the monochromatic light unit 132 is mainly used for emitting narrowband monochromatic light. In the embodiment of the present application, the white light unit 131 is located at the front end of the endoscopic imaging device 100, and may be a common light emitting device for capturing images by using a conventional lens, and may irradiate the irradiated visible light to the inner wall of the body cavity of the patient through the transparent optical dome; after the target area is identified as the suspected lesion area by the white light unit 131, the monochromatic light unit 132 emits narrowband monochromatic light to the suspected lesion area, and the image of the suspected lesion area is captured again under the irradiation of the narrowband monochromatic light.

Illustratively, the white light unit 131 can emit visible light with wavelengths of 380nm-780nm, which are mainly used for illuminating conventional lesions with obvious appearance characteristics and easy identification in the gastrointestinal tract; such as precancerous lesions, gastric ulcers, gastric polyps, etc., which can be identified by obtaining conventional images. In practical application, the visible light with the wavelength of 380nm is generally taken as a light source emitted by the white light irradiation unit, so that the conventional pathological changes or suspected pathological changes can be better identified; it will be appreciated by those skilled in the art that, in the embodiment of the present application, the wavelength of the visible light with a wavelength of 380nm is optimally selected as white light, and the wavelength of the visible light can be adjusted and changed, so that the specific wavelength of the visible light cannot be the limitation of the wavelength protection range of the visible light in the embodiment of the present application.

The white light unit 131 may be a light emitting element such as a conventional white LED, which emits illumination light for illuminating the field of view of the image pickup module 110, and irradiates the irradiated visible light to the inner wall of the body cavity of the subject through the transparent optical dome; in the endoscopic imaging device 100 provided in the embodiment of the present application, the white light emitting unit includes at least two standard white light emitting elements. It should be noted that, in the embodiment of the present application, a white LED is taken as an example of a light emitting element of white light, but a conventional white LED cannot be a limitation of the white light unit 131 in the embodiment of the present application; the white light unit 131 in the embodiment of the present application may emit visible light.

Therefore, the endoscopic imaging device provided by the embodiment of the application can acquire the image of the target area under the irradiation of the white light unit and the monochromatic light unit; specifically, when the white light unit finds that the target area is a suspected lesion area, the control module controls the light source to change from white to monochromatic light; and continuing to irradiate the target area to acquire an image under the monochromatic light. The endoscopic imaging device provided by the embodiment of the application can ensure that images in digestive tracts adapting to different levels and scenes are imaged by the design of multiple light sources, and the diagnosis accuracy is improved.

In an alternative embodiment, monochromatic light unit 132 includes at least two NBI illumination subunits 1311 and is configured to emit narrow band light having a wavelength of 520nm to 560 nm; and narrow-band light having a wavelength of 390nm to 470 nm.

Illustratively, the monochromatic light unit 132 in the endoscopic imaging device 100 provided in the embodiment of the present application includes at least two NBI illumination subunits 1311; the NBI illumination subunit 1311 is a narrowband light emitting device with special filtering functions for use in NBI technology, and can filter the normal spectrum, leaving only narrowband light waves.

The NBI illumination subunit 1311 is a special light emitting device that can generate only monochromatic light, for example, ultraviolet light, near infrared light, or the like, and can obtain deep skin tissue information, or can emit monochromatic light at the same time.

Illustratively, the NBI illumination subunit 1311 may be a light emitting device with a narrow band filter or a film coating of light emitting components such as conventional LEDs; the NBI illumination subunit 1311 in this embodiment of the present application includes at least two units that can emit a narrowband spectrum with specific wavelengths to illuminate the field of view of the image acquisition module 110 using the NBI technique. In the embodiment of the present application, the NBI illumination subunit 1311 is mainly configured to emit narrowband light, and the directions of the lenses of the image capturing module 110 are the same.

When light enters biological tissue, some of the light is reflected from the surface, and some of the light diffuses in the body. After light enters the human body, multiple scattering occurs between the light and small particles (e.g., nuclei, organelles, and nuclei in tissue). Light propagates diffusely through tissue, the propagation of which depends on its wavelength. Although red light is widely and deeply diffused due to its long wavelength, blue light having a short wavelength is diffused in a small range, and a part of the scattered light is absorbed by blood; precisely, hemoglobin absorbs blue and green light. Hemoglobin is one of the chromophores; thus, the color of the gastrointestinal mucosa is primarily determined by hemoglobin.

That is, NBI uses narrow band light having wavelengths of 520nm-560nm or 390nm-470nm in center wavelength narrow band illumination. These center wavelengths match the two absorption peaks of hemoglobin; blue narrowband illumination may well show capillary networks due to strong scattering and absorption. In practical applications, a target picture with relatively high quality can be obtained by irradiating a suspected lesion region with narrowband light having a wavelength of 415nm or 540 nm.

In one possible embodiment, the number of white light elements and monochromatic light elements may be set to 36, respectively, preferably, the number of white light elements and monochromatic light elements is set to 4, respectively, for a total of 8 light emitting elements; in the embodiment of the application, 8 light emitting elements can be arranged by using white light elements and monochromatic light elements in a staggered and uniform distribution mode, so that various light sources can be provided, and the light sources can be uniformly irradiated on a target area. In the preferred embodiment of the present application, the number of light emitting elements is 8, but in practical application, the number of light emitting elements may be adaptively adjusted, and the number of light emitting elements cannot be limited to the protection scope of the light emitting elements in the embodiment of the present application.

Therefore, the monochromatic light unit in the endoscopic imaging device provided by the embodiment of the application at least comprises two NBI illumination subunits, can emit narrow-band light with specific wavelength, can image target areas in different layers and different scenes in the alimentary canal under the design of multiple light sources, can uniformly emit the light sources, and further acquire images of the target areas, thereby improving the diagnosis accuracy.

With continued reference to fig. 2, the endoscopic imaging device 100 also includes a magnetic control module 150 having a magnetic dipole 151 and a position sensor 152. The magnetic dipole 151 is used to control the posture of the imaging device in the subject under the action of an external magnetic field; the position sensor 152 is used to monitor pose information of the imaging device in the subject.

It can be appreciated that the endoscopic imaging device 100 may perform autonomous movement in the subject, or may perform movement in a manner controlled by the outside; the capsule endoscope is generally controlled by a magnetic control mode in an external control mode.

Illustratively, the pose of the imaging device within the human body and the pose information of the endoscopic imaging device 100 within the body are monitored by a magnetic control module 150 having a magnetic dipole 151 and a position sensor 152. Specifically, the endoscopic imaging device comprises a small permanent magnet, a lying support table for a tested person and an external magnetic control system for controlling the small permanent magnet in the capsule endoscope; the external magnetic control system can be a large-scale permanent magnet or a magnetic control handle.

It can be understood that the magnetic control handle is a movable small-sized magnet; when the detected person is in the home or other environments needing to be detected, the detected person can hold the magnetic control handle, and the endoscopic imaging device in the body is controlled by the magnetic control handle; compared with a magnetic bed, the magnetic control handle is practical and more convenient, and can be used by a common user by himself, so that the detection efficiency can be greatly improved.

Under the action of an external magnetic field, the endoscopic imaging device 100 adjusts the internal posture of the endoscopic imaging device 100 in the body of the detected person, so that the endoscopic imaging device 100 can horizontally and vertically rotate or can be controlled in directions such as forward, backward and the like; the position sensor 152 can provide pose information of the endoscopic imaging device 100 in real time, and provides a guarantee for effective control of photographing of the endoscopic imaging device 100.

Therefore, the endoscopic imaging device provided by the embodiment of the application controls the posture and the position of the imaging equipment through the magnetic control module with the magnetic dipole and the position sensor, and the magnetic control module is mainly used for assisting the movement of the endoscopic imaging device and controlling the direction of the endoscopic imaging device in the gastrointestinal tract so as to perform fixed-point imaging, thereby providing a guarantee for the effective control of shooting of the endoscopic imaging device.

With continued reference to fig. 2, the endoscopic imaging device further includes a power management module 160 having a power supply unit 161 and an on-off control unit 162.

The power supply unit 161 is connected to the image acquisition module 110, the self-driving module 120, the illumination module 130, and the control module 140, and is configured to supply power to the image acquisition module 110, the self-driving module 120, the illumination module 130, and the control module 140, respectively.

The on-off control unit 162 is connected to the power supply unit 161 and is used for controlling the power supply unit to start and stop the imaging device. It should be noted that, the on/off operation of the endoscopic imaging device 100 provided in the embodiment of the present application can be implemented through control logic, and the on/off control unit 162 in the power management module 160 is controlled by using the control logic, so as to implement the on/off control of the whole device.

It can be known that the endoscopic imaging device provided in the embodiment of the present application includes a power management module having a power supply unit and an on-off control unit; the power management module can supply power to the whole endoscopic imaging device and can also control the on-off state of the whole endoscopic imaging device.

In an alternative embodiment, the power supply unit 161 includes a coil and/or a battery. The battery comprises a button battery; the coil is used for generating magnetic induction coupling with the transmitting coil and generating electric energy. It should be noted that, in the embodiment of the present application, the power supply unit 161 may use a coil to generate magnetic induction coupling to supply power, or may use a button cell to supply power to the endoscopic imaging device 100. In some possible embodiments, the power supply unit 161 may include both of the above-described power supply modes; the endoscopic imaging device 100 can still continue to operate without a failure of one power supply.

For example, if the power supply unit 161 supplies power to the endoscopic imaging device 100 by using a manner that the coil generates magnetic induction coupling, it will be understood by those skilled in the art that there is an induction coil outside the human body, and the induction coil magnetically couples with the coil in the endoscopic imaging device 100, thereby generating a magneto-electric effect to supply power to the endoscopic imaging device 100.

For example, if the power supply unit 161 uses a button cell to supply power to the endoscopic imaging device, such as a silver oxide button cell, those skilled in the art will understand that the voltage of the silver oxide cell is higher, and the nominal voltage of the silver oxide primary cell is denoted as 1.55V, which is higher than 1.5V of the alkaline cell and 1.35V of the mercury cell. During discharge, the voltage versus discharge time curve is flat, i.e., it can remain at approximately the same voltage for a long period of time. Button cells such as lithium manganese button cells and lithium ion button cells can also be used; the use of silver oxide button cells in the embodiments of the present application is merely exemplary and is not intended to be limiting of the button cells of the embodiments of the present application.

The power management module of the endoscopic imaging device comprises a power supply unit and an on-off control unit; the power supply unit can supply power to the endoscopic imaging device, and the on-off control unit can control the on-off of the whole endoscopic imaging device. That is, the endoscopic imaging device provided by the embodiment of the application not only can realize continuous and stable power supply for the endoscopic imaging device, but also can realize on-off control for the whole endoscopic imaging device.

With continued reference to fig. 2, the control unit 141 of the endoscopic imaging apparatus 100 includes an automatic recognition subunit 1411, a light source switching subunit 1412, a drive control subunit 1413, and a power control subunit 1414.

The automatic recognition subunit 1411 is connected to the image acquisition module 110, and is configured to recognize whether the target picture includes a suspected lesion region. The light source switching subunit 1412 is connected to the lighting module 130, and is configured to switch the white light unit 131 to the monochromatic light unit 132 when the automatic identification subunit 1411 identifies a suspected lesion area. The driving control subunit 1413 is connected to the self-driving module 120, and is used for controlling the self-driving module 120 to vibrate and discharge the imaging device after the target picture is acquired. The power control subunit 1414 is connected to the on-off control unit 162, and is used to control the power management module to start or stop power supply.

Illustratively, before shooting is started, the power control subunit 1414 controls the power on/off control unit 162 to supply power to the endoscopic imaging apparatus 100. The automatic recognition subunit 1411 is connected to the image capturing module 110, and when the image capturing module 110 obtains a picture of the target area, the automatic recognition subunit 1411 recognizes whether the target picture includes a suspected lesion area. After the image acquisition module 110 acquires the image of the target area, the automatic identification subunit 1411 identifies whether the image of the target area has a suspected lesion area; when the suspected lesion area is identified from the target area image, the light source is switched from white light to monochromatic light by the light source switching subunit 1412; further, monochromatic light is used as a light source of the target area, the suspected lesion area is shot again under the monochromatic light, and a target picture with higher quality is obtained. When the target area is completely photographed, the driving control subunit 1413 controls the self-driving module 120 to vibrate, and under the assistance of vibration, the human body can quickly recover intestinal peristalsis; after the photographing is completed, the power control subunit 1414 controls the power on/off control unit 162 to stop supplying power to the endoscopic imaging apparatus 100.

It should be noted that, the automatic identification subunit 1411 stores a parameter table of the suspected lesion, the control unit 141 compares the acquired picture with the parameter table, if the parameters of the partial area of the picture are within the parameter table range of the suspected lesion; the NBI illumination subunit 1311 is automatically started to perform narrowband imaging on the suspected lesion area, so that the imaging method not only can adapt to imaging in the alimentary canal of different layers and scenes, improve the diagnosis accuracy, but also can save electricity.

Similarly, the driving control subunit 1413 stores an intestinal image parameter table, compares the acquired image of the previous frame with the parameter table, and if the parameters of all the areas of the image are within the table range, automatically drives the vibration module to start working. It will be appreciated by those skilled in the art that the control unit 141 may be centered on an MCU (micro control unit) and can implement control logic for controlling the image acquisition module 110, the illumination module 130, the self-driving module 120, and the on-off control module 140, respectively.

The control unit comprises an automatic identification subunit, a light source switching subunit, a driving control subunit and a power supply control subunit; the method comprises the steps of respectively realizing identification of a target area image, switching of a light source, vibration time and intensity of a self-driving module, and controlling a startup and shutdown control unit to realize startup and shutdown of the endoscopic imaging device. The control unit controls each module to realize ordered matching of image acquisition, light source switching, lesion recognition and the like, and can realize effective acquisition of images of a target area.

With continued reference to fig. 2, and with reference to fig. 3 in combination, fig. 3 is a schematic diagram of an endoscopic imaging apparatus according to an embodiment of the present application; the endoscopic imaging device 100 also includes a main housing 171 and two optical domes.

The self-driving module 120, the power management module 160, the control module 140, the image acquisition module 110 and the magnetic control module 150 are packaged in the main casing 171; the first optical dome 172 and the second optical dome 173 are respectively disposed at both sides of the main housing 171; the optical dome is configured to transmit monochromatic light and white light and illuminate a target area.

Illustratively, the housing 170 as shown in fig. 3 includes a main housing 171 and an optical dome enclosed at one end of the main housing 171, and a first optical dome 172 and a second optical dome 173 are respectively disposed at both sides of the main housing 171; the main casing 171 and the optical dome are combined to form a capsule, and the main casing 171 is generally an opaque white casing 170, and the optical dome is a hemispherical shape which has high light transmittance and is transparent. The capsule-shaped packaging case is made of a biocompatible material, and encapsulates the self-driving module 120, the power management module 160, the control module 140, the image acquisition module 110, and the magnetic control module 150 in the main casing 171. The biocompatible material can be PVC, polyethylene, PEEK, polycarbonate, ultem PEI, polysulfone, polypropylene, polyurethane, etc. During the process of taking a picture by the endoscopic imaging device 100, the monochromatic light unit 132 or the white light unit 131 can penetrate the optical dome and provide a light source for the target imaging area.

As can be seen from fig. 3, the housing of the endoscopic imaging device provided in the embodiment of the present application is divided into a main housing and an optical dome, and the self-driving module, the power management module, the control module, the image acquisition module and the magnetic control module are all encapsulated in the main housing, so that monochromatic light or white light penetrates through the optical dome to provide a light source for a target imaging area in the process of taking a picture. Therefore, the endoscopic imaging device provided by the embodiment of the application is small in size and convenient to use.

With continued reference to fig. 2, the image acquisition module 110 includes: a miniature image acquisition unit 111 and an image sensor 112.

The micro image acquisition unit 111 is provided on the optical dome side and is used to acquire an image of a target area. The image sensor 112 is connected to the micro image acquisition unit 111, disposed at a side far from the optical dome, and is used to convert the target image acquired by the micro image acquisition unit 111 into an electrical signal and transmit the electrical signal to the control module 140.

Illustratively, the image acquisition module 110 includes a miniature image acquisition unit 111, an image sensor 112, and a camera circuit board; the micro image acquisition unit 111 may be a micro lens. The micro lens is used for imaging an image in a subject on a light receiving surface of the image sensor 112, the image sensor 112 is a solid-state image sensor 112 such as CMOS for capturing the image in the subject, and the imaging circuit board is used for realizing a circuit of the imaging device function.

In one embodiment, the image acquisition module 110 may employ a panoramic deep capture module. When shooting the focus, the full depth of field shooting module can correspondingly change different focal lengths for different positions of the focus, so that panoramic images of the focus are synthesized based on the shot images of different positions of the focus. The panoramic deep shooting module is adopted, so that frequent movement of the endoscopic imaging device in the human body caused by focusing can be avoided, and discomfort brought to the human body is avoided; and secondly, the situation that a plurality of pictures generated by zooming shooting occupy a large storage space or occupy more resources of a processor in the later data processing process can be avoided.

A possible assembly mode is provided herein, the image sensor 112 is assembled at the rear of the micro-lens, at a side far from the optical dome, the image sensor 112 and the micro-lens are adhered by colloid, the image sensor 112 converts an optical signal photographed by the micro-lens into an electrical signal, and the image signal is transmitted to the control unit 141 for image analysis processing.

Therefore, the micro image acquisition unit acquires the image of the target area, and then the micro image acquisition unit transmits the target image to the image sensor, and the image sensor converts the target image into an electric signal and transmits the electric signal to the control module after receiving the target image.

In an alternative embodiment, the imaging device further comprises a ring-shaped circuit board having a through hole. The annular circuit board is disposed on the inner wall of the housing 170 and is used to provide mechanical support for the self-driving module 120, the power management module 160, the control module 140, the image acquisition module 110, and the magnetic control module 150 for fixation and assembly.

Illustratively, the annular circuit board is fixed on the image acquisition module 110, such as the annular circuit board of the illumination module 130 is snapped on the image acquisition module 110; the micro lens of the image capturing module 110 passes through the through hole, so that the light emitting element surrounds the micro lens, and the light source is not blocked by the lens.

Illustratively, a ring-shaped circuit board is mounted inside the main casing 171 or inside the optical dome, at least two standard white light emitting elements and at least two NBI light emitting elements are disposed on the ring-shaped circuit board and electrically connected to the ring-shaped circuit board, and are uniformly and alternately disposed along the circumferential direction of the ring-shaped circuit board, i.e., each light emitting element is different from its neighboring light emitting elements, the circumferential spacing between the same light emitting elements is the same, and the emitted light is more uniform.

In the above implementation manner, other elements or modules are arranged on or inside the annular circuit board through the arrangement of the annular circuit board with the through holes; therefore, the structure inside the shell is compact, and the whole volume of the endoscopic imaging device can be reduced.

In an alternative embodiment, self-driving module 120 includes a driving element 121 and a field effect transistor 122. The field effect transistor 122 is connected to the control module 140 and the driving element 121, and is used for controlling the driving element 121 to work. For example, the control unit 141 may control the fet 122 of the self-driving module 120, where the fet 122 corresponds to a switch for controlling the driving element 121 to operate. The driving element 121 can emit vibration under the control of the field effect tube 122, thereby achieving vibration and shaking of the endoscopic imaging apparatus 100.

In one embodiment, the drive element 121 is a small-volume linear motor. The linear motor is adopted to directly generate linear motion without an intermediate conversion mechanism, so that the structure of the motor is simplified, and the motion inertia is reduced, thereby reducing the volume of the endoscopic imaging device to be smaller. The linear motor also has high acceleration, and different vibration modes can be realized through control, so that the digestive tract is stimulated, and the discharge of the endoscopic imaging device is promoted. Further, the iron core of the linear motor can be sealed into a whole by epoxy resin, has better anti-corrosion and moisture-proof performances, and can have longer service life in humid environments such as human digestive tracts.

Therefore, the self-driving module of the endoscopic imaging device can realize the vibration of the endoscopic imaging device through the matching of the control module and the driving element. The automatic driving module generates mild vibration and shaking, can activate the intestinal neural network, and promotes the intestinal tract to restart natural peristalsis.

Referring to fig. 4, fig. 4 is a first flowchart of an endoscopic imaging method according to an embodiment of the present application; the endoscopic imaging method is applied to an endoscopic imaging device with an image acquisition module, a self-driving module, an illumination module and a control module; the control module comprises a communication unit and a control unit. The method comprises the following steps:

step S100: the illumination module provides a light source for the endoscopic imaging process.

In the step S100, when the endoscopic imaging device enters the subject, the illumination module provides a light source for the target area; the endoscopic imaging device provided by the embodiment of the application can provide monochromatic light and white light.

Step S101: and the image acquisition module acquires the target picture under the light source.

In the step S101, the image acquisition module performs image acquisition under the irradiation of white light; after the suspected lesion area is acquired, light source switching is carried out, and the light source is switched from white light to monochromatic light.

Step S102: the self-driving module drives the imaging device to vibrate after the image acquisition module acquires the target picture.

In the step S102, when the image acquisition module is completed, the self-driving module generates vibration and wobble.

Step S103: and the communication unit sends the target picture to the client.

Step S104: the control unit controls the image acquisition module to acquire a target picture, controls the self-driving module to vibrate and controls the illumination module to provide a light source.

In step S104, the whole process is controlled by a control unit, for example, the control unit controls the image acquisition module to acquire a picture, controls the illumination unit to switch the light source, and controls the self-driving module to vibrate and shake.

It should be noted that, there is no explicit sequence between the step S104 and the steps S100 to S103, and the control unit in the step S104 controls other modules simultaneously with the steps S100 to S103.

As can be seen from fig. 4, by using the endoscopic imaging method provided in the embodiment of the present application, the acquisition of the mucosal gland surface layer and deeper image information can be achieved under the control of the control unit, and under the control of the illumination module, the image acquisition module, the self-driving module, and the like.

Provided herein is a method of using an endoscopic imaging device according to an embodiment of the present application; referring to fig. 5, fig. 5 is a second flowchart of an endoscopic imaging method according to an embodiment of the present application; the method comprises the following steps:

step S200: the endoscopic imaging device enters the body of the subject.

In step S200, after the subject takes the antifoaming agent, the endoscopic imaging device is taken, and the endoscopic imaging device is introduced into the subject.

Step S201: the posture of the endoscopic imaging device in the body of the subject is adjusted by the handle.

Step S202: and starting the white light to irradiate the target imaging area, and carrying out image acquisition on the target area by the endoscopic imaging device under the irradiation of the white light.

Step S203: the control module identifies the image of the target imaging area acquired under the white light source and judges whether a suspected lesion area exists or not.

Step S204: if the suspected lesion area exists, the light source is converted into monochromatic light from white light, and shooting is carried out.

Step S205: after shooting is finished, the light source is converted into white light from near monochromatic light, and the next target area is shot.

Step S206: after the photographing of all the target areas is completed, the vibration starts after entering the intestinal tract.

As can be seen from fig. 5, the endoscopic imaging method provided in the embodiment of the present application not only has an image captured by common visible light, but also can clearly display the normal image effect inside the alimentary canal, and can automatically identify the suspected lesion site to capture an image by a narrowband light source, so that the mucosal gland surface layer and deeper image information can be observed, which is beneficial for medical staff to predict the pathological tissue type and the infiltration depth of early stage canceration, thereby timely guiding prevention and treatment, and having very important significance for the diagnosis of stomach diseases.

Referring to fig. 6, fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. An electronic device 300 provided in an embodiment of the present application includes: a processor 301 and a memory 302, the memory 302 storing machine-readable instructions executable by the processor 301, which when executed by the processor 301 perform the method as described above.

Based on the same inventive concept, embodiments of the present application also provide a computer readable storage medium, where a computer program instruction is stored, and when the computer program instruction is read and executed by a processor, the steps in any of the above implementations are performed.

The computer readable storage medium may be any of various media capable of storing program codes, such as random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), and the like. The storage medium is used for storing a program, the processor executes the program after receiving an execution instruction, and the method executed by the electronic terminal defined by the process disclosed in any embodiment of the present utility model may be applied to the processor or implemented by the processor.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be other manners of division in actual implementation, and for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some communication interface, device or unit indirect coupling or communication connection, which may be in electrical, mechanical or other form.

Further, the units described as separate units may or may not be physically separate, and units displayed as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

Furthermore, functional modules in various embodiments of the present application may be integrated together to form a single portion, or each module may exist alone, or two or more modules may be integrated to form a single portion.

Alternatively, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present utility model, in whole or in part.

The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.).

In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (11)

1. An endoscopic imaging device, the device comprising: the device comprises an image acquisition module, a self-driving module, an illumination module and a control module;

the illumination module is connected with the image acquisition module and the control module and is used for providing a light source for a target area in the endoscopic imaging process;

the self-driving module is connected with the image acquisition module and is used for generating vibration after the image acquisition module acquires the target picture under the light source;

the control module is connected with the image acquisition module and the self-driving module and is used for controlling the image acquisition module to acquire the target picture, controlling the self-driving module to vibrate and controlling the illumination module to provide a light source.

2. The endoscopic imaging device according to claim 1, wherein the illumination module comprises: a white light unit and a monochromatic light unit; the white light units and the monochromatic light units are arranged around the image acquisition module at equal intervals;

The white light unit is used for emitting standard white light; the monochromatic light unit is used for emitting narrowband monochromatic light; and respectively irradiating the target area by the standard white light and the narrow-band monochromatic light when the target image is acquired.

3. The endoscopic imaging device according to claim 2, wherein the monochromatic light unit comprises at least two NBI illumination subunits.

4. The endoscopic imaging device of claim 2, further comprising a magnetic control module having a magnetic dipole and a position sensor;

the magnetic dipole is used for controlling the posture of the imaging device in the body of the subject under the action of an external magnetic field;

the position sensor is used for monitoring pose information of the imaging device in the body of the detected person.

5. The endoscopic imaging device of claim 4, further comprising a power management module having a power supply unit and an on-off control unit;

the power supply unit is connected with the image acquisition module, the self-driving module, the illumination module and the control module and is used for providing electric energy for the image acquisition module, the self-driving module, the illumination module and the control module;

the on-off control unit is connected with the power supply unit and used for controlling the power supply unit to start and stop the imaging device.

6. The endoscopic imaging device according to claim 5, wherein,

the power supply unit comprises a coil, wherein the coil is used for generating magnetic induction coupling with the transmitting coil and generating electric energy; and/or

The power supply unit includes a battery.

7. The endoscopic imaging device according to claim 5, wherein the control unit comprises: the automatic identification subunit, the light source switching subunit, the driving control subunit and the power supply control subunit;

the automatic identification subunit is connected with the image acquisition module and is used for identifying whether the target picture comprises a suspected lesion area or not;

the light source switching subunit is connected with the lighting module and is used for switching the white light unit into the monochromatic light unit when the automatic identification subunit identifies the suspected lesion area;

the driving control subunit is connected with the self-driving module and is used for controlling the self-driving module to vibrate the imaging device after the target picture is acquired;

the power supply control subunit is connected with the on-off control unit and is used for controlling the power supply management module to start or stop supplying power.

8. The endoscopic imaging device according to claim 5, further comprising a main housing, a first optical dome and a second optical dome; the self-driving module, the power management module, the control module, the image acquisition module and the magnetic control module are packaged in the main shell; the first optical dome and the second optical dome are respectively arranged at two sides of the main shell;

The optical dome is configured to transmit the monochromatic light with the white light and irradiate a target region.

9. The endoscopic imaging device of claim 8, wherein the image acquisition module comprises: a miniature image acquisition unit and an image sensor;

the miniature image acquisition unit is arranged on one side of the optical dome and is used for acquiring an image of the target area;

the image sensor is connected with the miniature image acquisition unit, is arranged on one side far away from the optical dome, and is used for converting the target image acquired by the miniature image acquisition unit into an electric signal and transmitting the electric signal to the control module.

10. The endoscopic imaging device according to claim 9, wherein the imaging device further comprises a ring-shaped circuit board having a through hole;

the annular circuit board is arranged on the inner wall of the shell and is used for providing fixed and assembled mechanical support for the self-driving module, the power management module, the control module, the image acquisition module and the magnetic control module.

11. The endoscopic imaging device of claim 1, wherein the self-driving module comprises a driving element and a field effect tube;

The field effect transistor is connected with the control module and the driving element and is used for controlling the driving element to work.

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