RU53552U1 - DEVICE FOR MEDICAL DIAGNOSTICS AND MANIPULATOR - Google Patents

Abstract

The device relates to medicine and is intended for use in gynecological and urological practice. The task is to develop a device to improve the efficiency, accuracy, objectivity and convenience of diagnosing the anatomical and functional state of internal organs during gynecological and urological examination. The task is achieved in that, like the known, the proposed device for medical diagnosis, contains a gynecological and urological chair, consisting of a frame, seat, backrest and footrests. What is new is that it additionally contains a manipulator on which a color television camera with at least one light source is installed using the first mounting unit, the manipulator is mounted on the chair frame using the second mounting unit, and also contains a power source, a computer, a control unit connected to the manipulator electric drives and connected via an interface to a computer and a power source, the color television camera through the image input unit being connected to the computer. The task is also achieved by the fact that the manipulator consists of three links interconnected by a bias mechanism designed to fasten the first link to the second and move it in a horizontal plane in two mutually perpendicular directions, a retractable mechanism used to attach the third link to the second link and moving the third link in a vertical plane, and also contains a rotary mechanism mounted on the free end of the third link and designed to rotate around the axis a third camera unit and two mounting units, wherein the first mounting unit is for mounting and rotating a color television camera and at least one lighting source around the optical axis of the camera, the second mounting unit is for mounting the manipulator on the frame of a urological and gynecological chair and moving it relative to the chair.

Description

The device relates to medicine and is intended for use in gynecological and urological practice.

Closest to the claimed device in technical essence and the achieved result is a device for medical diagnostics and a manipulator [1], containing a gynecological and urological chair, consisting of a frame, seat, backrest and footrests and a manipulator, on which are mounted using the first mounting unit a color television camera with at least one light source, using a second mounting unit and a rod, the manipulator is mounted on the armchair frame, and also contains a power supply, computer serial ports, the first control unit a color television camera and a second light source control unit connected to the computer via an interface, wherein a color TV camera through image block is connected to the computer input.

The disadvantages of the above device and the manipulator are a limited number of degrees of movement of the manipulator, relative to the chair, which reduces the usability, efficiency and quality of diagnosis.

The task is to develop a device to improve the efficiency, accuracy, objectivity and ease of diagnosis of the anatomical and functional state of internal organs during gynecological or urological examination.

The task is achieved in that, like the known, the proposed device for medical diagnosis, contains a gynecological and urological chair, consisting of a frame, seat, backrest and footrests, a manipulator on which a color television camera is installed using the first mounting unit, at least one light source, and with the help of a second mounting unit, the manipulator is mounted on the chair frame, and also contains a power source, a computer, a control unit connected via an interface to computer use and the power source, wherein the color television camera with a high resolution image through a computer connected to the input unit.

New is that on the side surface of the chair the side rail is rigidly fixed

for mounting the manipulator on the chair using the second manipulator mounting block. In addition, the power supply is made controllable from a computer via an interface. In addition, as a source of illumination, for example, a widely diagrammed source of cold glow was used, which provides uniform illumination of the surface under study.

The task is also achieved by the fact that the manipulator contains two mounting units, the first mounting unit designed to install and rotate a color television camera and at least one light source around the optical axis of the camera, the second mounting unit is designed to install the manipulator on frame urological and gynecological chair and moving it relative to the chair.

New is that the second mounting unit is made in the form of a bracket and a screw installed in the bracket hole, pressing the manipulator to the side rail mounted on the chair, while the manipulator consists of three links interconnected by a biasing mechanism designed to fasten the first link to the second and moving it in a horizontal plane in two mutually perpendicular directions, a retractable mechanism that serves to attach the third link to the second link and move the third link in a vertical plane bone, and comprises a rotary mechanism mounted on the free end of the third link and configured to rotate about the axis of the third link a color television camera.

In addition, the first link of the manipulator consists of a bracket with a jumper.

In addition, the second link of the manipulator is made in the form of a retractable rod.

In addition, the third link of the manipulator is made in the form of a tripod.

In addition, the first mounting unit includes a bracket and an electric drive.

In addition, the biasing mechanism includes a sleeve with a hole for the rod mounted on the jumper, and an electric drive located in the upper part of the sleeve.

In addition, the sliding mechanism includes a sleeve made at the end of the rod with a hole for mounting a tripod, and an electric drive located in the side of the sleeve.

In addition, the rotary mechanism consists of a sleeve and an electric drive located in the central part of the sleeve.

In addition, the jumper, extendable rod and tripod are hollow. In addition, as a source of illumination, a widely diagrammed source of cold glow was used, which provides uniform illumination of the investigated surface.

In addition, the light source is located in close proximity to the lens of a color television camera.

The proposed device is illustrated by the drawings shown in figures 1-4.

Figure 1 presents a diagram of a device where:

wide solid lines (→) - mechanical bonds;

single lines (→) - electrical communications;

dashed lines (- - →) - optical communications.

Figure 2 presents a diagram of the manipulator.

Figure 3 presents a drawing of a General view of the device with a manipulator mounted on a gynecological and urological chair.

Figure 4 presents a television image of an organ displayed on the monitor screen of the device.

Figure 1 presents a diagram of the proposed device containing a gynecological and urological chair 1, which is attached using a second mounting unit 2 of the manipulator 3. At the other end of the manipulator 3 is installed the first mounting unit 4, which houses a color television camera with high resolution 5 and a lighting source 6, to which a power source 7 is connected by separate outputs, by a separate input and output connected via an interface 8 to a computer 9. The manipulator electric drives 3 by a separate input and the output is connected through the control unit 10 to the interface 8. The color television camera with high resolution 5 is connected by a separate input and output through the image input unit 11 to the computer 9.

As a source of illumination, a widely diagrammed source of cold glow can be used, for example, an LED (model TXS-3.6 / 0.04).

A color television camera is used (PowerShot GG camera (DIGITAL CAMERA): image sensor: 1 / 1.8-inch CCD (total number of pixels: 7.4 million), objects 7.2 (W) - 28.8 (T) mm (W wide-angle position / (T) - telephoto position), autofocus system, LCD monitor, the number of recorded pixels in a photograph: 3072 × 2304 pixels, movies: 640 × 480 pixels.

The image input unit is a video capture card, model SIV1NEY A EXP 2: full color - 16 million colors.

Figure 2 presents the manipulator 3, which contains a jumper 12 and a sliding rod 13, which moves the biasing mechanism 14, which allows the sliding rod 13 to move in the forward-backward direction relative to the gynecological and urological chair 1. The manipulator 3 contains a sliding mechanism 15, carrying out

moving the tripod 16 in a vertical plane, at the other end of which there is a rotary mechanism 17. To ensure control of the manipulator 3, the electric drives of the mechanisms 14, 15 and 17 have corresponding outputs to the control unit 10.

Figure 3 presents a general; view of the proposed device. The jumper 12 is fixed to the bracket 18. Using the bracket 18, which is rigidly fixed with a screw 19, the manipulator 3 is mounted on the seat 1. The bracket 18 and the screw 19 form a second mounting unit 2, which is fixed to the side rail 20 of the seat 1.

The biasing mechanism 14 comprises a retractable rod 13, a sleeve 21 with an opening 22 and an electric drive 23 mounted in the upper part of the sleeve. At the opposite end of the extension rod 13 there is a sleeve 24, in the hole 25 of which the tripod 16 is inserted. The tripod 16 has the ability to move up and down. A tripod 16, a sleeve 24, an electric drive 26 mounted on the side of the sleeve, and a pull-out rod 13 form a pull-out mechanism 15. A tripod 17 is mounted on a tripod 16, on which the first mounting unit 4 is placed for receiving a color television camera 5 and a light source 6. The rotary mechanism 17 consists of a bracket 27, a sleeve 28, an electric drive 29 installed in the central part of the sleeve 28 and an electric drive 30 for spreads of the color television camera 5 and the light source 6. The rotary mechanism 17 can unfold the color a new television camera 5 and a light source 6 in horizontal and vertical planes. All turns and displacements of the elements of the manipulator are shown in figure 3 by arrows. In order to bring the color television camera 5 to the test organ, the jumper 12, the extendable rod 13, the tripod 16 and the color television camera 5 have the necessary offsets and turns (shown by arrows). The manipulator 3 allows you to bring and firmly fix the color television camera 5 to the desired location of the investigated organ, and also take the camera 5, for example, under a chair, excluding patient access to it.

On the first mounting unit, wide-diagram cold light sources are installed, the number of which is determined by the technical characteristics (sensitivity) of the color television camera 5. The number of wide-diagram cold light sources can be 1-6 pieces (Fig. 3, view A, Fig. 3 is shown 4 light sources).

The proposed device operates as follows.

Patient 1 is placed on the chair 1, to the examined organ of which is connected with the help of a manipulator 3 fixed to the side rail 20 of the chair 1 with the second mounting unit 2, a color television camera with high resolution 5 and a light source

6, which are installed in the first mounting unit 4. According to the signals from the computer 9, the power supply 7 and the control unit 10 are turned on via the interface 8, which provides control of the links of the manipulator 3. After the switching operation, the readiness for work is characterized by the glow of the light source 6 and the image of the organ under investigation computer monitor screen 9. Color television images of the organ under investigation are recorded in the memory (database) of computer 9 from a color television camera 5 through an image input unit 11. These and siderations called current image (TI) and characterize abnormalities (changes) investigated the surface of human internal organ. Thus, a database of pathologies of the surface of the internal organ of a person is formed. TIs are compared with a reference image (EI) characterizing the investigated surface of the human internal organ without pathology) and the required diagnostic parameters are evaluated.

The position and color of the area of the test surface are determined as follows: a color television camera reads an organ image in the RGB color model (Red-Green-Blue; Red-Green-Blue), which is then digitized using the image input unit 11 and goes to computer 9. B computer 9 filters the image from interference (glare) in stages (step by step).

Step 1. First, an initial set of “active” points belonging to the glare is formed. For each point, the last calculated difference in the intensity of neighboring points in the sequence is stored (first, this difference is assumed to be zero).

Step 2, Based on the initial set of points, a set of “active” next-generation points is determined. They select points (for example, along the horizontal coordinate X) of the connection of points of the previous generation that satisfy the criterion:

(Pi-Pi-1) <= (Pi-1-Pi-2), where Pi is the intensity, at the i-th point in the sequence. Next, the process is repeated for the ith points (i.e., along the vertical coordinate Y).

Step 3. The process repeats from Step 2 and stops naturally when the set of points of the next generation at the next iteration is empty.

All pixels belonging to any of the previous generations of dots are glare.

In the program, information about the brightness of pixels used to search for glare borders is generated by filtering the initial translation of the image into the La * b * color model. This color model is standardized by the Commission Intemationale de I'Eclairage - the International Commission on Lighting (CIE), channel L of the image in this color model stores the brightness of the point, channel a * - the color cast from dark green through

gray to pink, b * - light blue, gray, bright yellow.

Filtering is carried out by convolution of each of the R, G, B channels of the image separately with the core in the form of an n × n matrix (n is the number of pixels), the element value of which can be calculated by the following formula:

The filter core is a Gaussian with parameter (diameter) σ. The size of the matrix and the value of the parameter used in the program are selected empirically. The size of the matrix is 7 × 7, σ = 1.

In order to get the coordinates of a pixel in the La * b * color space, the program converts its color first into the XYZ color space of the CIE (another color model standardized by CIE, which is used mainly as an intermediate color model for translating colors from one color model to another) , then in MCO La * b *.

The sRGB → XYZ conversion is done as follows:

R, G, B are the numerical values of the color components of the pixel obtained after digitization and filtering and lying in the range [0-255].

r = (R / 255) /12.92 if (R / 255) <0.03928, otherwise r = (((R / 255) +0.055) / 1.055) ^2.4 ;

g = (G / 255) /12.92 if (G / 255) 0,03928, otherwise g = (((G / 255) +0,055) / 1,055) ^2,4 ;

b = (B / 255) /12.92 if (B / 255) <0.03928, otherwise b = (((B / 255) +0.055) / 1.055) ^2.4 ;

The transformation X \ 12-> La * b * is carried out as follows [2],

The transformation XYZ-> La * b * is carried out as follows [2, 3]:

x = (X / Xn) ^1/3 if (X / Xn)> 0.008856, otherwise x = 7.787 * (X / Xn) +16/116;

y = (Y / Yn) ^1/3 if (Y / Yn)> 0.008856, otherwise y = 7.787 * (Y / Yn) +16/116;

z = (Z / Zn1 / 3), if (Z / Zn)> 0.008856, otherwise z = 7.787 * (Z / Zn) +16/116;

L = 116 * y-16;

a * = 500 * (x-y);

b * = 200 * (y-z).

Where Xn = 0.95047, Yn = 1.0, Zn = 1.08883, which corresponds to the standard observer 2 ° and background lighting Illuminant D65 (daylight).

Having analyzed the frequency of various color shades on the images of healthy organs and organs with various deviations, a diagnosis of the disease is established.

This completes the operation of the device.

Compared with the known, the proposed device has greater efficiency and accuracy of diagnosis, ease of use. This is explained by the fact that the reference television images of the surface of the object of study are stored in the device’s database and they are automatically compared with readable images (TIs) reflecting the pathology of the internal organ, and a diagnosis of the disease is established. This happens quickly and accurately using a computer. The necessary information - images of TI and EI, diagnostic results are displayed on a computer monitor, which indicates the convenience of working with the proposed device. In addition, the manipulator is controlled from a computer in an automated mode, ensuring the supply of a color television camera to the studied location of a human organ.

Information sources:

1. Urological and gynecological chair. RF patent №2161025 C2, 2000.12.27.

2. Nikitina Yu.A., Syryamkin V.I., Titov B.C. Features of color image processing in television vision systems. - Tomsk, 1991 .-- 36 p. - Dep. VINITI 08/05/91. No. 3335 - In 91.

3. Syryamkin V.I. and other Systems of technical vision: Reference. Tomsk: MGP RASCO, 1992, 367 pp.

Claims (13)

1. A device for medical diagnosis, containing a gynecological and urological chair, consisting of a frame, seat, backrest and footrests, a manipulator on which, using the first mounting unit, a color television camera with at least one light source is installed, and when using the second mounting unit, the manipulator is mounted on the chair frame, a power source, a computer, a control unit connected via an interface to a computer and a power source, and the color television camera through the input unit and the image is connected to a computer, characterized in that on the side surface of the chair a side rail is rigidly fixed for mounting the manipulator on the chair using the second mounting block of the manipulator. 2. The device according to claim 1, characterized in that the power source is controlled from a computer via an interface. 3. The device according to claim 1, characterized in that, as a source of illumination, for example, a widely diagrammed source of cold glow is used, which provides uniform illumination of the surface under study. A manipulator containing two mounting units, the first mounting unit is designed to install and rotate a color television camera and at least one lighting source around the optical axis of the camera, the second mounting unit is designed to mount the manipulator on the frame
urological and gynecological chair and moving it relative to the chair, characterized in that the second mounting unit is made in the form of a bracket and a screw installed in the bracket hole for pressing the manipulator to the side rail mounted on the chair, while the manipulator consists of three links interconnected by a mechanism bias intended for fastening the first link to the second and moving it in a horizontal plane in two mutually perpendicular directions, a retractable mechanism for fixing the third link to the second link and the movement of the third link in a vertical plane, and also contains a rotary mechanism mounted on the free end of the third link and designed to rotate around the axis of the third link of the color television camera. 5. The manipulator according to claim 4, characterized in that the first link of the manipulator consists of a bracket with a jumper. 6. The manipulator according to claim 4, characterized in that the second link of the manipulator is made in the form of a retractable bar. 7. The manipulator according to claim 4, characterized in that the third link of the manipulator is made in the form of a tripod. 8. The manipulator according to claim 4, characterized in that the first mounting unit contains a bracket and an electric drive. 9. The manipulator according to claim 4, characterized in that the biasing mechanism comprises a sleeve with a hole for the rod mounted on the jumper, and an electric drive located in the upper part of the sleeve. 10. The manipulator according to claim 4, characterized in that the retractable mechanism comprises a sleeve made at the end of the rod with a hole for mounting a tripod, and an electric drive located in the side of the sleeve. 11. The manipulator according to claim 4, characterized in that the rotary mechanism consists of a sleeve and an electric drive located in the Central part of the sleeve. 12. The manipulator according to claim 5, 6, or 7, characterized in that the jumper, extendable rod and tripod are made hollow.
13. The manipulator according to claim 4, characterized in that as a source of illumination, a widely used diagrammatic source of cold glow is used, which provides uniform illumination of the investigated surface. 14. The manipulator according to claim 4, characterized in that the light source is located in close proximity to the lens of a color television camera.