WO2017032200A1 - 一种口腔内窥镜检测系统及其检测方法 - Google Patents

一种口腔内窥镜检测系统及其检测方法 Download PDF

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WO2017032200A1
WO2017032200A1 PCT/CN2016/092017 CN2016092017W WO2017032200A1 WO 2017032200 A1 WO2017032200 A1 WO 2017032200A1 CN 2016092017 W CN2016092017 W CN 2016092017W WO 2017032200 A1 WO2017032200 A1 WO 2017032200A1
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image
axis
module
mode
control processing
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PCT/CN2016/092017
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English (en)
French (fr)
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李翔
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李翔
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Priority to KR1020187004465A priority Critical patent/KR102039281B1/ko
Priority to EP16838460.0A priority patent/EP3289963A4/en
Priority to US15/322,715 priority patent/US10231611B2/en
Priority to JP2018529702A priority patent/JP6526339B2/ja
Publication of WO2017032200A1 publication Critical patent/WO2017032200A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/24—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the mouth, i.e. stomatoscopes, e.g. with tongue depressors; Instruments for opening or keeping open the mouth
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00112—Connection or coupling means
    • A61B1/00114—Electrical cables in or with an endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00194—Optical arrangements adapted for three-dimensional imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports
    • G02B23/2484—Arrangements in relation to a camera or imaging device
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H04N23/661—Transmitting camera control signals through networks, e.g. control via the Internet
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
    • A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
    • A61B5/0079—Devices for viewing the surface of the body, e.g. camera, magnifying lens using mirrors, i.e. for self-examination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/38—Transmitter circuitry for the transmission of television signals according to analogue transmission standards

Definitions

  • the invention belongs to the technical field of endoscopes, and in particular relates to an oral endoscope detection system with special image processing functions and a detection method thereof.
  • the present invention provides an oral endoscope detection system including an insertion portion, an imaging unit disposed in the insertion portion, a displacement information acquisition module, a usage mode setting module, a signal transmission module, an operation portion connected to the insertion portion, and image control processing Module, display device;
  • the camera unit, the displacement information acquisition module, the usage mode setting module, and the signal transmission module are all connected to the image control processing module, and the display device is connected to the signal transmission module;
  • the insertion portion is for insertion into the mouth to be tested
  • the usage mode setting module is used for the user to select the self-use mode or the other usage mode;
  • the self-use mode is a situation in which the user self-checks the oral cavity, and the mode is the case where the user is opposite to the test subject and the oral test is performed on the test subject;
  • the image control processing module is embedded with standard initial attitude coordinate system information of the self-use mode and standard initial attitude coordinate system information of the usage mode;
  • the standard initial attitude coordinate system information of the self-use mode is specifically: the linear direction of the left shoulder to the right shoulder of the user is the X-axis positive direction; the angle is 90 degrees with the X-axis, and the same direction as the image capturing direction of the imaging unit is Z.
  • the axis is positive; respectively, the vertical Z axis, the X axis, and the direction toward the upper part of the oral cavity is the Y axis positive direction, and the origin is located on the connecting line of the operation part to the imaging unit;
  • the standard initial attitude coordinate system information of the mode is as follows: the linear direction of the right shoulder to the left shoulder of the test subject is the X-axis positive direction; the angle with the X-axis is 90 degrees, and the image capturing direction is the same as that of the imaging unit.
  • the direction is the Z-axis forward direction; respectively, the vertical Z-axis and the X-axis, and the direction toward the upper part of the mouth of the test subject is the Y-axis positive direction, and the origin is located on the connecting line of the operation part to the imaging unit;
  • the initial attitude coordinate system of the self-use mode standard moves integrally as the housing moves, and becomes a standard attitude coordinate system of the self-use mode;
  • the standard initial attitude coordinate system of the other mode is followed by the housing Moving and moving overall Move, become the standard attitude coordinate system of his mode;
  • the image control processing module controls the camera unit, and performs correction according to the usage mode selected by the user and its corresponding standard initial coordinate system information, the rotation angle and the rotation rate collected by the displacement information acquisition module;
  • the displacement information acquisition module is configured to detect a rotation angle and a rotation speed of the connection of the camera unit to the operation unit in the X-axis Y-axis direction of the standard attitude coordinate system during image capture of each frame;
  • the signal transmission module is connected to the image control processing module for transmitting signals
  • the display device is configured to display the corrected image.
  • the step of the image control processing module correcting the image includes:
  • Step 1 Perform correction of the same rotation speed and opposite rotation angle on the acquired image
  • Step 2 Perform a 180-degree mirror flip on the corrected image of step 1.
  • the image control processing module corrects the image by performing the same rotation speed and the rotation angle correction on the acquired image.
  • the signal transmission module includes a wireless transceiver component or a WIFI transceiver component or a Bluetooth component or a USB cable transmission component.
  • the displacement information acquisition module is an acceleration sensor and/or an angular velocity sensor and/or a gyroscope and/or a gravity sensor.
  • the central axis of the insertion portion is a connection line between the imaging unit and the operation unit.
  • the above method for detecting an oral endoscope detection system includes the following steps:
  • S1 the user selects the usage mode by using the usage mode setting module
  • the endoscope imaging unit is aligned with the measured oral cavity, and the imaging unit starts to acquire image information.
  • the connection line between the imaging unit and the operation unit is axial with respect to the standard attitude coordinate system X. Rotation angle and rotation rate in the Y-axis direction;
  • the image control processing module corrects the image by:
  • Step 1 Perform correction of the same rotation speed and opposite rotation angle on the acquired image
  • Step 2 Perform a 180 degree mirror flip on the corrected image of step one;
  • the image control processing module corrects the image by correcting the same rotation speed and rotation angle of the acquired image.
  • S5 The display device is displayed.
  • the invention creatively solves the problem that the image collected by the oral endoscope in the prior art is difficult to be positively displayed to the observer, and improves the accuracy of the oral operation.
  • the flexibility of use of the endoscope and the flexibility of the shape design are improved, and the application value is good.
  • Figure 1 shows the use of the existing endoscope for self-use.
  • Fig. 2 is a schematic illustration of the use of the conventional endoscope of Fig. 1 when it is moved 90 degrees clockwise.
  • Fig. 3 is a schematic diagram showing image reversal when the endoscope moves in the needle direction by 90 degrees in the self-use mode of the present invention.
  • Figure 4 shows the use of the existing endoscope when it is used.
  • Fig. 5 is a schematic illustration of the use of the conventional endoscope of Fig. 4 when it is moved 90 degrees counterclockwise.
  • Fig. 6 is a schematic illustration of image flipping when the endoscope is moved 90 degrees in the reverse direction in the mode of the present invention.
  • the design concept of the present invention is to provide an endoscope having an insertion portion inserted into a human oral cavity and a hand-held portion of the examiner, and the display device is displayed when the insertion portion performs any posture change in the human oral cavity.
  • the image presented on the image is a forward-looking image of the captured portion, and the detector can better operate the mouth to be tested, thereby avoiding the situation that the existing oral endoscope detects that the image is reversed or tilted, and the detector cannot correctly judge.
  • the oral endoscope detection system of the present invention includes an insertion portion, an imaging unit disposed in the insertion portion, a displacement information acquisition module, a usage mode setting module, a signal transmission module, an operation portion connected to the insertion portion, an image control processing module, Display device.
  • the insertion portion is for insertion into the mouth to be tested.
  • the camera unit is configured to collect the oral image information of the test subject and transmit the information to the image information processing module.
  • the usage mode setting module is used for the user to select a self-use mode or a usage mode; the self-use mode is a situation in which the user self-checks the oral cavity, and the mode is a case where the user is opposite to the test subject and performs oral detection on the test subject.
  • the mode setting module may be in the form of: the software portion is disposed in the image control process, the operation control portion is located on the endoscope housing, or the virtual button is used to switch the usage mode.
  • the image control processing module is embedded with standard initial attitude coordinate system information of the self-use mode and standard initial attitude coordinate system information of the other mode.
  • the standard initial attitude coordinate system information of the self-use mode is specifically: the linear direction of the left shoulder to the right shoulder of the user is the X-axis positive direction; the angle is 90 degrees with the X-axis, and the same direction as the image capturing direction of the imaging unit is Z. Axis positive; vertical Z The axis, the X axis, and the direction toward the upper part of the oral cavity are the Y-axis positive direction, and the origin is located on the line connecting the operation part to the imaging unit.
  • the standard initial attitude coordinate system information of the mode is as follows: the linear direction of the right shoulder to the left shoulder of the test subject is the X-axis positive direction; the angle with the X-axis is 90 degrees, and the image capturing direction is the same as that of the imaging unit.
  • the direction is the Z-axis forward direction; the vertical Z-axis and the X-axis, respectively, and the direction toward the upper part of the mouth of the test subject is the Y-axis positive direction, and the origin is located on the connecting line of the operation part to the imaging unit.
  • the initial attitude coordinate system of the self-use mode standard moves integrally as the housing moves, and becomes a standard attitude coordinate system of the self-use mode; the standard initial attitude coordinate system of the other mode is followed by the housing Moving and moving as a whole, it becomes the standard attitude coordinate system of his mode.
  • the above coordinate system is set to ensure that it is only associated with the measured mouth at any time, and has nothing to do with the posture of the user or the subject, which improves the flexibility of the endoscope.
  • the design of the coordinate system is independent of the shape of the endoscope, and is only related to the relative position of the camera and the hand-held portion, which improves the flexibility of the endoscope shape design and facilitates the information collection of the displacement information acquisition module.
  • the central axis of the insertion portion is a connection line between the imaging unit and the operation unit.
  • the displacement information acquisition module is configured to detect a rotation angle and a rotation rate of a connection between the camera unit and the operation unit in the X-axis Y-axis direction of the standard attitude coordinate system during image capture of each frame.
  • the settings of the module can be acceleration sensors and/or angular velocity sensors and/or gyroscopes and/or gravity sensors.
  • the image control processing module controls the imaging unit, and performs correction according to the usage mode selected by the user and its corresponding standard initial coordinate system information, the rotation angle and the rotation rate collected by the displacement information acquisition module.
  • the correction method is:
  • the image control processing module corrects the image by:
  • Step 1 Perform correction of the same rotation speed and opposite rotation angle on the acquired image
  • Step 2 Perform a 180-degree mirror flip on the corrected image of step 1.
  • the image control processing module corrects the image by performing the same rotation speed and rotation angle correction on the acquired image.
  • the signal transmission module is connected to the image control processing module for transmitting signals.
  • the signal transmission module may include a wireless transceiver component or a WIFI transceiver component or a Bluetooth component or a USB cable transmission component in addition to the necessary existing transmission circuit.
  • the display device is configured to display the corrected image.
  • the display device can be a mobile phone, a computer, or a tablet.
  • the display device should face the user or the tester.
  • S1 the user selects the usage mode by using the usage mode setting module
  • the endoscope imaging unit is aligned with the measured oral cavity, and the imaging unit starts to acquire image information.
  • the connection line between the imaging unit and the operation unit is axial with respect to the standard attitude coordinate system X. Rotation angle and rotation rate in the Y-axis direction;
  • the image control processing module corrects the image by:
  • Step 1 Perform correction of the same rotation speed and opposite rotation angle on the acquired image
  • Step 2 Perform a 180-degree mirror flip on the corrected image of step 1.
  • the image control processing module corrects the image by correcting the same rotation speed and rotation angle of the acquired image.
  • S5 The display device is displayed.
  • the transmission of all signals in the above process is performed by the signal transmission module.
  • Figure 1-3 is a schematic diagram of the self-use mode.
  • the use of the existing endoscope is shown.
  • the endoscope horizontal left camera to face the tooth as the initial state of the endoscope.
  • the endoscope displays a state in which the image is rotated 180 degrees in the Y-axis with the image of the eye facing the tooth.
  • the displayed image and the physical image seen by the eye are rotated 180 degrees to the left and right, so that the image seen by the user is opposite to the right and left view of the eye.
  • the endoscope is viewed and the endoscope is operated, the movement direction is wrong and cannot be accurate. Operate the endoscope to the position you need to reach.
  • the existing intraoral camera is moved clockwise by 90 degrees in the initial position horizontally.
  • the display image also moves clockwise with the speed and angle of the endoscope movement. degree. This will make it impossible for the user to judge the actual position of the endoscope in the oral cavity when moving the endoscope, resulting in confusion in image judgment and physical operation.
  • Fig. 3 shows an example of use of the endoscope of the present invention.
  • the endoscope is moved 90 degrees clockwise from the initial position horizontally, and each frame display image is as shown in the display device A, and each frame image is pressed at the opposite angle and the same speed according to the angle and speed of the endoscope movement.
  • the display device B After the motion correction is performed, as shown in the display device B, after correcting each frame image, the frame image is mirrored and flipped 180 degrees along the Y-axis direction, and finally the display is as shown in the device C, and the image is displayed on the display screen.
  • the image is displayed in mirror image with the tooth.
  • the image does not move with the endoscope, allowing the user to judge the position of the endoscope in the oral cavity through the mirror image without causing misalignment and more accurate and convenient use of the endoscope.
  • Figure 4-6 is a schematic diagram of the mode used.
  • the endoscope is rotated 90 degrees counterclockwise from the initial state from the perspective of the observer, and as shown in FIG. 5, the display image is rotated clockwise at the same speed as the observer's angle of view.
  • the rotated image prevents the observer from properly determining the position and condition within the mouth.
  • the movement of the endoscope causes the problem of FIG. 5, and the endoscope is rotated 90 degrees counterclockwise from the initial state from the initial state, and the display image is clockwise from the observer's angle of view. Rotate at the same speed.
  • the present invention determines the position and speed of the movement of the endoscope by the position and speed of the endoscope, and corrects the movement of each frame by the same angle and speed of the endoscope movement, as shown in FIG. 6.
  • the display image is not rotated with the rotation of the endoscope, so that the observer can observe the displayed image as the human eye, so that the observer can operate the endoscope with the same position as the image without any disorder.
  • the invention creatively solves the problem that the image collected by the endoscope is difficult to be positively displayed to the observer in the prior art, and the accuracy of the oral operation is improved.
  • the accuracy of image display In the case of ensuring the accuracy of image display, the flexibility of use of the endoscope and the flexibility of the shape design are improved, and the application value is good.

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Abstract

一种口腔内窥镜检测系统及其检测方法，口腔内窥镜检测系统包括插入部、设置于插入部内的摄像单元、位移信息采集模块、使用模式设置模块、信号传输模块、与插入部连接的操作部、图像控制处理模块、显示装置。在显示装置上呈现的图像为被拍摄部分的正向直观图像，检测者能更好的对被测口腔进行操作，避免了现有口腔内窥镜检测图像颠倒或者倾斜，检测者无法正确判断的情况。

Description

一种口腔内窥镜检测系统及其检测方法 技术领域
本发明属于内窥镜技术领域，尤其涉及一种具有特殊图像处理功能的口腔内窥镜检测系统及其检测方法。
背景技术
近年来，在插入部内置有摄像元件的内窥镜在口腔中的检查被广泛采用。现有口腔内窥镜在使用过程中需要不断的变换位置，其采集的图像会随着插入部的颠倒、旋转而颠倒、旋转，观察功能低，检测者很难对口腔进行准确的操作。为了保持图像显示准确性，用户需要不断的调整插入部的位置，十分麻烦，也给被观测者造成困扰。
发明内容
为解决上述问题。本发明提供了一种口腔内窥镜检测系统，包括插入部、设置于插入部内的摄像单元、位移信息采集模块、使用模式设置模块、信号传输模块、与插入部连接的操作部、图像控制处理模块、显示装置；
摄像单元、位移信息采集模块、使用模式设置模块、信号传输模块均与图像控制处理模块连接，显示装置与信号传输模块连接；
插入部用于插入到被测口腔内；
摄像单元用于采集被测者口腔图像信息，并传输到图像信息处理模块；
使用模式设置模块用于用户选择自用模式或他用模式；所述自用模式为用户自检口腔的情形，他用模式为用户与被测者相对，对被测者进行口腔检测的情形；
图像控制处理模块植入有自用模式的标准初始姿态坐标系信息、他用模式的标准初始姿态坐标系信息；
所述自用模式的标准初始姿态坐标系信息具体为：用户左肩到右肩的直线方向为X轴正向；与X轴呈九十度夹角,且与摄像单元取像方向相同的方向为Z轴正向；分别垂直Z轴、X轴，且朝向口腔上部的方向为Y轴正向，原点位于操作部到摄像单元的连线上；
所述他用模式的标准初始姿态坐标系信息具体为：被测者右肩到左肩的直线方向为X轴正向；与X轴呈九十度夹角,且与摄像单元取像方向相同的方向为Z轴正向；分别垂直Z轴、X轴，且朝向被测者口腔上部的方向为Y轴正向，原点位于操作部到摄像单元的连线上；
在摄像单元移动过程中，所述自用模式标准的初始姿态坐标系随着壳体移动而整体移动，成为自用模式的标准姿态坐标系；所述他用模式的标准初始姿态坐标系随着壳体移动而整体移 动，成为他用模式的标准姿态坐标系；
图像控制处理模块控制摄像单元，并根据用户选择的使用模式及其对应的标准初始坐标系信息、位移信息采集模块采集的旋转角度及旋转速率进行修正；
位移信息采集模块用于检测每一帧图像拍摄过程中，摄像单元到操作部的连线相对于标准姿态坐标系的X轴向Y轴方向旋转的旋转角度、旋转速率；
信号传输模块与图像控制处理模块连接，用于传输信号；
所述显示装置用于显示修正后的图像。
进一步的，在自用模式中，图像控制处理模块对图像进行修正的步骤包括：
步骤一：对采集的图像进行相同旋转速度及相反旋转角度的修正；
步骤二：将步骤一修正后的图像进行180度的镜像翻转。
进一步的，在他用模式中，图像控制处理模块对图像进行修正的方式为：对采集的图像进行相同旋转速度及旋转角度的修正。
进一步的，所述信号传输模块包括无线收发组件或者WIFI收发组件或者蓝牙组件或者USB有线传输组件。
进一步的，所述位移信息采集模块为加速度传感器和/或角速度传感器和/或陀螺仪和/或重力传感器。
进一步的，所述插入部的中轴线为摄像单元与操作部的连接线。
上述的口腔内窥镜检测系统的检测方法，包括如下步骤：
S1:用户利用使用模式设置模块选择使用模式；
S2:内窥镜摄像单元对准被测口腔，摄像单元开始采集图像信息，位移信息采集模块拍摄的每一帧图像过程中，摄像单元与操作部的连接线相对于标准姿态坐标系X轴向Y轴方向的旋转角度、旋转速率；
S3:每一帧图像的图像信息及其对应的旋转角度、旋转速率数据被传输到图像控制处理模块；
S4：图像控制处理模块对图像进行修正；
如果为自用模式中，图像控制处理模块对图像进行修正的步骤包括：
步骤一：对采集的图像进行相同旋转速度及相反旋转角度的修正；
步骤二：将步骤一修正后的图像进行180度的镜像翻转；
如果为他用模式，图像控制处理模块对图像进行修正的方式为：对采集的图像进行相同旋转速度及旋转角度的修正。
S5:显示装置予以显示。
本发明的有益效果：
本发明创造性的解决了现有技术中口腔内窥镜采集的图像难以正向显示给观测者的问题，提高了口腔操作的精确度。在保证图像显示准确度的情况下，提高了内窥镜的使用灵活性，及外形设计的灵活性，具有良好的应用价值。
附图说明
图1所示为现有内窥镜自用时的使用示意。
图2为图1中现有内窥镜顺时针方向移动90度时的使用示意。
图3为本发明自用模式下内窥镜时针方向移动90度时的图像翻转示意。
图4所示为现有内窥镜他用时的使用示意。
图5为图4中现有内窥镜逆时针方向移动90度时的使用示意。
图6为本发明他用模式下内窥镜时逆方向移动90度时的图像翻转示意。
具体实施方式
本发明的设计构思为：提供一种内窥镜，该内窥镜形态可以具有插入人体口腔的插入部及检测者的手持部，在插入部在人体口腔内进行任何姿态变化时，在显示装置上呈现的图像为被拍摄部分的正向直观图像，检测者能更好的对被测口腔进行操作，避免了现有口腔内窥镜检测图像颠倒或者倾斜，检测者无法正确判断的情况。
本发明所述口腔内窥镜检测系统，包括插入部、设置于插入部内的摄像单元、位移信息采集模块、使用模式设置模块、信号传输模块、与插入部连接的操作部、图像控制处理模块、显示装置。
所述插入部用于插入到被测口腔内。
所述摄像单元用于采集被测者口腔图像信息，并传输到图像信息处理模块。
使用模式设置模块用于用户选择自用模式或他用模式；所述自用模式为用户自检口腔的情形，他用模式为用户与被测者相对，对被测者进行口腔检测的情形。使用模式设置模块的形式可以为：软件部分设置于图像控制处理，操作控制部分位于内窥镜壳体上，或者使用虚拟按钮切换使用模式。
图像控制处理模块植入有自用模式的标准初始姿态坐标系信息、他用模式的标准初始姿态坐标系信息。
所述自用模式的标准初始姿态坐标系信息具体为：用户左肩到右肩的直线方向为X轴正向；与X轴呈九十度夹角,且与摄像单元取像方向相同的方向为Z轴正向；分别垂直Z 轴、X轴，且朝向口腔上部的方向为Y轴正向，原点位于操作部到摄像单元的连线上。
所述他用模式的标准初始姿态坐标系信息具体为：被测者右肩到左肩的直线方向为X轴正向；与X轴呈九十度夹角,且与摄像单元取像方向相同的方向为Z轴正向；分别垂直Z轴、X轴，且朝向被测者口腔上部的方向为Y轴正向，原点位于操作部到摄像单元的连线上。
在摄像单元移动过程中，所述自用模式标准的初始姿态坐标系随着壳体移动而整体移动，成为自用模式的标准姿态坐标系；所述他用模式的标准初始姿态坐标系随着壳体移动而整体移动，成为他用模式的标准姿态坐标系。
以上坐标系的设置方式保证了任何时候都是仅与被测口腔关联，与用户自己或者被测者的姿态无关，提高了内窥镜使用的灵活性。
该坐标系的设计与内窥镜的形态无关，只与摄像头与手持部的相对位置关联，提高了内窥镜形态设计的灵活性，也为位移信息采集模块信息采集提供便利。优选的，插入部的中轴线为摄像单元与操作部的连接线。
位移信息采集模块用于检测每一帧图像拍摄过程中，摄像单元到操作部的连线相对于标准姿态坐标系的X轴向Y轴方向旋转的旋转角度、旋转速率。该模块的设置可以为加速度传感器和/或角速度传感器和/或陀螺仪和/或重力传感器。
所述图像控制处理模块控制摄像单元，并根据用户选择的使用模式及其对应的标准初始坐标系信息、位移信息采集模块采集的旋转角度及旋转速率进行修正。修正方法为：
在自用模式中，图像控制处理模块对图像进行修正的步骤包括：
步骤一：对采集的图像进行相同旋转速度及相反旋转角度的修正；
步骤二：将步骤一修正后的图像进行180度的镜像翻转。
在他用模式中，图像控制处理模块对图像进行修正的方式为：对采集的图像进行相同旋转速度及旋转角度的修正。
信号传输模块与图像控制处理模块连接，用于传输信号。所述信号传输模块除了必要的现有传输电路外，还可以包括无线收发组件或者WIFI收发组件或者蓝牙组件或者USB有线传输组件。
所述显示装置用于显示修正后的图像。该显示装置可以为手机、电脑、平板。显示装置应该正对用户自己或者检测者。
下面对本发明的检测步骤进行说明。
S1:用户利用使用模式设置模块选择使用模式；
S2:内窥镜摄像单元对准被测口腔，摄像单元开始采集图像信息，位移信息采集模块拍摄的每一帧图像过程中，摄像单元与操作部的连接线相对于标准姿态坐标系X轴向Y轴方向的旋转角度、旋转速率；
S3:每一帧图像的图像信息及其对应的旋转角度、旋转速率数据被传输到图像控制处理模块；
S4：图像控制处理模块对图像进行修正。
如果为自用模式中，图像控制处理模块对图像进行修正的步骤包括：
步骤一：对采集的图像进行相同旋转速度及相反旋转角度的修正；
步骤二：将步骤一修正后的图像进行180度的镜像翻转。
如果为他用模式，图像控制处理模块对图像进行修正的方式为：对采集的图像进行相同旋转速度及旋转角度的修正。
S5:显示装置予以显示。
上述过程中所有信号的传输均由信号传输模块完成。
为了更好的说明本发明的效果，下面结合图1-6进行举例说明。
图1-3为自用模式下的示意图。
如图1所示为现有内窥镜的使用示意，我们以内窥镜水平左侧摄像头正视牙齿为内窥镜初始状态。内窥镜在初始情况下，显示影像与眼睛正视牙齿的影像成Y轴旋转180度状态。显示影像与眼睛正视所见实物影像成左右旋转了180度，让使用者看到的影像与眼睛正视实景影像左右相反，在看显示屏操作内窥镜时会让人产生移动方向错误，无法准确操作内窥镜到需要到达的位置。
在图1的基础上，将现有口腔内窥镜在初始位置水平顺时针方向移动90度，如图2所示，显示图像也会随内窥镜移动的速度和角度按顺时针方向移动90度。这样会让使用者在移动内窥镜时，无法判断内窥镜在口腔内的真实位置，造成图像判断和实物操作上的混乱。
图3所示为本发明所述内窥镜的一个使用示例。内窥镜由初始位置水平顺时针方向移动90度，每一帧显示图像如显示设备A内所示，根据内窥镜移动的角度和速度，按相反的角度和同样的速度对每一帧图像进行移动修正后如显示设备B内所示，在修正每一帧图像后将此帧图像沿Y轴方向进行180度镜像翻转，最终显示如设备C所示，此时图像在显示屏中显示的影像与牙齿成镜像显示，影像不随内窥镜的移动，让用户可以透过镜像图像判断内窥镜在口腔内的位置，而不产生方位错乱，更准确方便的使用内窥镜。
图4-6为他用模式下的示意图。
如图4所示，为现有内窥镜与被测者口腔成左侧摄像头水平正视的初始状态，观察影像者，所见影像与人眼正视牙齿的影像一致，无异常。
在图4的基础上，内窥镜由初始状态开始以观察者的视角逆时针方向旋转90度，如图5所示，显示影像以观察者的视角呈顺时针方向以同样速度旋转。旋转的图像使观察者无法正常判断口腔内的位置和情况。
以图4的使用情况基础上，内窥镜的移动产生图5的问题，内窥镜由初始状态开始以观察者的视角逆时针方向旋转90度，显示影像以观察者的视角呈顺时针方向以同样速度旋转。根据图5的问题，本发明通过内窥镜的位置和速度判断传感器，确认内窥镜移动的位置和速度，将每一帧图像以内窥镜移动相同的角度和速度进行移动修正，如图6所示，让显示影像不随内窥镜旋转而旋转，让观察者如人眼一样观察所呈显的影像，方便观察者操作内窥镜时与影像位置相同，不产生错乱。
本发明的有益效果：
本发明创造性的解决了现有技术中内窥镜采集的图像难以正向显示给观测者的问题，提高了口腔操作的精确度。在保证图像显示准确度的情况下，提高了内窥镜的使用灵活性，及外形设计的灵活性，具有良好的应用价值。

Claims (7)

  1. 一种口腔内窥镜检测系统，其特征在于，包括插入部、设置于插入部内的摄像单元、位移信息采集模块、使用模式设置模块、信号传输模块、与插入部连接的操作部、图像控制处理模块、显示装置；
    摄像单元、位移信息采集模块、使用模式设置模块、信号传输模块均与图像控制处理模块连接，显示装置与信号传输模块连接；
    插入部用于插入到被测口腔内；
    摄像单元用于采集被测者口腔图像信息，并传输到图像控制处理模块；
    使用模式设置模块用于用户选择自用模式或他用模式；所述自用模式为用户自检口腔的情形，他用模式为用户与被测者相对，对被测者进行口腔检测的情形；
    图像控制处理模块植入有自用模式的标准初始姿态坐标系信息、他用模式的标准初始姿态坐标系信息；
    所述自用模式的标准初始姿态坐标系信息具体为；用户左肩到右肩的直线方向为X轴正向；与X轴呈九十度夹角，且与摄像单元取像方向相同的方向为Z轴正向；分别垂直Z轴、X轴，且朝向口腔上部的方向为Y轴正向，原点位于操作部到摄像单元的连线上；
    所述他用模式的标准初始姿态坐标系信息具体为：被测者右肩到左肩的直线方向为X轴正向；与X轴呈九十度夹角，且与摄像单元取像方向相同的方向为Z轴正向；分别垂直Z轴、X轴，且朝向被测者口腔上部的方向为Y轴正向，原点位于操作部到摄像单元的连线上；
    在摄像单元移动过程中，所述自用模式标准的初始姿态坐标系随着壳体移动而整体移动，成为自用模式的标准姿态坐标系；所述他用模式的标准初始姿态坐标系随着壳体移动而整体移动，成为他用模式的标准姿态坐标系；
    图像控制处理模块控制摄像单元，并根据用户选择的使用模式及其对应的标准初始坐标系信息、位移信息采集模块采集的旋转角度及旋转速率进行修正；
    位移信息采集模块用于检测每一帧图像拍摄过程中，摄像单元到操作部的连线相对于标准姿态坐标系的X轴向Y轴方向旋转的旋转角度、旋转速率；
    信号传输模块与图像控制处理模块连接，用于传输信号；
    所述显示装置用于显示修正后的图像。
  2. 如权利要求1所述的口腔内窥镜检测系统，其特征在于，在自用模式中，图像控制处理模块对图像进行修正的步骤包括：
    步骤一：对采集的图像进行相同旋转速度及相反旋转角度的修正；
    步骤二：将步骤一修正后的图像进行180度的镜像翻转。
  3. 如权利要求1所述的口腔内窥镜检测系统，其特征在于，在他用模式中，图像控制处理模块对图像进行修正的方式为：对采集的图像进行相同旋转速度及旋转角度的修正。
  4. 如权利要求1～3任一项所述的口腔内窥镜检测系统，其特征在于，所述信号传输模块包括无线收发组件或者USB有线传输组件。
  5. 如权利要求1～3任一项所述的口腔内窥镜检测系统，其特征在于，所述位移信息采集模块为加速度传感器和/或角速度传感器和/或重力传感器。
  6. 如权利要求1所述的口腔内窥镜检测系统，其特征在于，所述插入部的中轴线为摄像单元与操作部的连接线。
  7. 如权利要求1所述的口腔内窥镜检测系统的检测方法，其特征在于，包括如下步骤：
    S1：用户利用使用模式设置模块选择使用模式；
    S2：内窥镜摄像单元对准被测口腔，摄像单元开始采集图像信息，位移信息采集模块拍摄的每一帧图像过程中，摄像单元与操作部的连接线相对于标准姿态坐标系X轴向Y轴方向的旋转角度、旋转速率；
    S3：每一帧图像的图像信息及其对应的旋转角度、旋转速率数据被传输到图像控制处理模块；
    S4：图像控制处理模块对图像进行修正；
    如果为自用模式，图像控制处理模块对图像进行修正的步骤包括：
    步骤一：对采集的图像进行相同旋转速度及相反旋转角度的修正；
    步骤二：将步骤一修正后的图像进行180度的镜像翻转；
    如果为他用模式，图像控制处理模块对图像进行修正的方式为：对采集的图像进行相同旋转速度及旋转角度的修正；
    S5：显示装置予以显示。
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EP3289963A1 (en) 2018-03-07
JP6526339B2 (ja) 2019-06-05
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