WO2017185970A1 - Dispositif d'aide au diagnostic endoscopique et endoscope - Google Patents

Dispositif d'aide au diagnostic endoscopique et endoscope Download PDF

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Publication number
WO2017185970A1
WO2017185970A1 PCT/CN2017/080003 CN2017080003W WO2017185970A1 WO 2017185970 A1 WO2017185970 A1 WO 2017185970A1 CN 2017080003 W CN2017080003 W CN 2017080003W WO 2017185970 A1 WO2017185970 A1 WO 2017185970A1
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WIPO (PCT)
Prior art keywords
monochromatic light
light source
fluorescence spectrum
image
teeth
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PCT/CN2017/080003
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English (en)
Chinese (zh)
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郑洪�
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郑洪�
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Publication of WO2017185970A1 publication Critical patent/WO2017185970A1/fr

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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
    • A61B1/04—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
    • A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion
    • 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
    • A61B5/0071—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by measuring fluorescence emission
    • 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
    • A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
    • A61B5/0088—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for oral or dental tissue
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
    • A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
    • A61B5/4542—Evaluating the mouth, e.g. the jaw
    • A61B5/4547—Evaluating teeth

Definitions

  • the present invention relates to the field of medical devices, and in particular to an endoscope diagnostic support device for detecting a health condition of a user's teeth from inside the oral cavity and an endoscope including the diagnostic support device.
  • the present invention also provides an endoscopic diagnosis support device capable of effectively and accurately presenting calculus and plaque, and an endoscope including the same.
  • an endoscope diagnosis support device for judging image information collected by the endoscope device to support endoscope diagnosis, which includes: a power input terminal for supplying power to the diagnostic support device; At least two sets of monochromatic light source generators, wherein each set of said monochromatic light source generators emits one of seven kinds of visible light, and each set of said monochromatic light source generators emits monochromatic light different from each other
  • the monochromatic light source generator is used to emit monochromatic light to illuminate the user's teeth to excite the fluorescence spectrum;
  • the image sensor can be used to record image information III of the fluorescence spectrum of the user's teeth under the excitation of the monochromatic light emitted by the monochromatic light source generator; a storage unit in which an image information IV comparison table in which a fluorescence spectrum of a normal tooth is excited by monochromatic light is stored;
  • a data processing unit configured
  • the technical solution further includes an alarm prompting unit, wherein the storage unit further stores a threshold value of the comparison result difference amount, and the alarm prompting unit is configured to: when the difference amount of the comparison result reaches or exceeds the threshold value At the time, an alarm is given.
  • the technical solution further includes a white light source generator for emitting white light to illuminate the user's teeth in a state where the monochromatic light source generator is not illuminated, so that the image sensor records the user's teeth under white light irradiation An image and an image illuminated by white light is stored in the storage unit. Further, the image sensor in the technical solution records the image of the user's teeth under the illumination of white light in the form of photographing.
  • the manner in which the image sensor in the technical solution records the image of the user's teeth under white light illumination is in the form of imaging.
  • the storage unit in the technical solution further stores a threshold value of the comparison result difference amount, and when the difference amount of the comparison result reaches or exceeds the threshold value, the data processing unit records the area, And the data processing unit performs a comparative analysis on the fluorescence spectral image exceeding the threshold and the image illuminated by the white light to indicate that the region is in a position in the image under white light illumination.
  • the data processing unit compares the images by using a method in which the area of the unit area in the selected image information III is compared with the area of the unit area in the image information IV comparison table.
  • the technical solution further includes a data exchange module for performing data interaction with an external terminal device or an external cloud server.
  • the data exchange module in the technical solution includes a wireless transmit receiving unit or/and a data output port for connecting data lines.
  • the number of light sources of each of the sets of the monochromatic light source generators is two or more.
  • the monochromatic light source generators in the technical solution are two groups, each of the monochromatic light source generators emitting one of blue light, red light or violet light, and two sets of the monochromatic light source generators are emitted.
  • the monochromatic light is not the same.
  • the wavelength of the red light in the present technical solution preferably ranges from 633 to 655 nm.
  • the wavelength of the red light in the present technical solution is preferably 635 nm or 640 nm or 645 nm.
  • the wavelength of the violet light in the present technical solution preferably ranges from 395 to 415 nm.
  • the wavelength of the violet light in the present technical solution is preferably 395 nm or 400 nm or 405 nm or 410 nm.
  • each of the sets of the monochromatic light source generators in the present technical solution emits a synthesized fluorescent spectrum image by simultaneously emitting monochromatic light to illuminate a user's teeth.
  • each group of the monochromatic light source generators in the technical solution sequentially emits monochromatic light to illuminate the user's teeth, respectively exciting the fluorescence spectrum image.
  • the manner in which the image sensor in the technical solution records the image information III is in the form of a photograph.
  • the manner in which the image sensor in the technical solution records the image information III is in the form of imaging.
  • the technical solution further includes an output unit, and the output unit is configured to output the comparison result to the user, thereby implementing interaction between the user and the diagnostic support device.
  • the output unit in the technical solution includes a display module or/and a voice output module or/and a vibration motor or/and an LED indicator.
  • the technical solution further includes an input unit, and the input unit is configured to input data to the diagnostic support device, thereby implementing interaction between the user and the diagnostic support device.
  • the storage unit in the technical solution further stores a threshold of the difference in the comparison result, and records the area when the difference amount of the comparison result reaches or exceeds the threshold, the data processing unit Fluorescence spectral images that exceed this threshold are labeled.
  • the diagnostic support device further includes a power supply, and the power supply is electrically connected to the power input terminal to supply power to the diagnostic support device. This embodiment also discloses an endoscope including the diagnostic support device of the above technical solution.
  • both the diagnostic support device and the endoscope of the present invention include at least two sets of monochromatic light source generators, wherein each of the sets of the monochromatic light source generators emits one of seven kinds of visible light, and The monochromatic light emitted by each group of the monochromatic light source generators is different from each other, and each set of the monochromatic light source generator is used to emit monochromatic light to illuminate the user's teeth to excite the fluorescence spectrum, so the comparison by the data processing unit is performed. And comprehensive analysis of the fluorescence spectrum obtained by two or more kinds of monochromatic light irradiation can more accurately obtain the coverage of calculus or / and plaque, and greatly improve the detection rate of calculus or / and plaque. Other benefits of the invention will be further illustrated in the specific examples.
  • FIG. 1 is a block diagram showing the structure of a preferred embodiment of the endoscope device of the present invention
  • Figure 2 is a schematic flow chart of a preferred embodiment of the endoscopic device
  • 3 is a schematic diagram of communication connection between an endoscope device and an external device
  • Figure 4 is a front elevational view of the hand held component including the endoscopic device
  • Figure 5 is a cross-sectional view showing the structure of the hand-held component
  • Figure 6 is a partial schematic view of the endoscopic device portion of the hand held component
  • Figure 7 is a block diagram showing the structure of a preferred embodiment of the endoscope diagnostic support device
  • Figure 8 is a schematic flow chart of a preferred embodiment of an endoscopic diagnosis support device
  • Figure 9 is a front view of the structure of the endoscope.
  • FIG. 1 is a block diagram showing a preferred embodiment of an endoscope device according to the present invention.
  • the preferred embodiment discloses an endoscopic apparatus 100 for acquiring image information of a user's teeth under light illumination, comprising a power input 40, two sets of monochromatic light source generators 11, a white light source generator 12, and an image sensor. 20.
  • the power input terminal 40 is used to supply power to the endoscopic device 100.
  • Each of the monochromatic light source generators 11 emits one of seven kinds of visible light, and the monochromatic lights emitted by the respective sets of the monochromatic light source generators 11 are different from each other.
  • the data exchange module 50 is configured to transmit the image information I S103 recorded by the image sensor 20 to the external terminal device 120 or the external cloud server 110 for analysis and determination. As shown in FIG.
  • each set of monochromatic light source generators 11 is used to emit monochromatic light S101 to illuminate the user's teeth to excite the fluorescence spectrum S102, and then transmit the fluorescence spectrum S102 to the external device S104 through the data exchange module 50 (including The external terminal device 120 or the external cloud server 110). Since there are only seven kinds of monochromatic visible light, in other embodiments, the monochromatic light source generator 11 can only set up to seven groups at most, and the wavelength ranges of the seven visible lights can be referred to the range values disclosed in the related tools.
  • the white light source generator 12 is for emitting white light to illuminate the user's teeth in a state where the monochromatic light source generator 11 does not emit light, and obtains image information II of the teeth.
  • the image sensor 20 is configured to record image information I S103 of the fluorescence spectrum S102 of the user's teeth under the excitation of the monochromatic light S101 emitted by the monochromatic light source generator 11, and record the image information of the user's teeth under the illumination of the white light source generator 12 .
  • the manner in which the image sensor 20 records the image information I S103 and the image information II is in the form of photographing.
  • the data processing unit 30 is configured to control the operation of each component.
  • the data exchange module 50 includes a wireless transmission receiving unit 52 and a data output port 51 for connecting data lines.
  • the wireless transmitting and receiving unit 52 and the output port 51 may also be provided with only one of them.
  • the endoscopic apparatus 100 in this embodiment includes two sets of monochromatic light source generators 11, wherein each set of monochromatic light source generators 11 emits one of seven kinds of visible light, and each set of monochromatic light source generators 11 emits a single
  • the colored lights S101 are different from each other, and each set of the monochromatic light source generator 11 is used to emit the monochromatic light S101 to illuminate the user's teeth to excite the fluorescent spectrum S102, so the user or the doctor or the external terminal device 120 or the external cloud server 110 comprehensively analyzes the teeth.
  • the fluorescence spectrum S102 obtained under the illumination of the two monochromatic lights S101 can more accurately obtain the coverage of the calculus or/and plaque on the teeth, and greatly improve the detection rate of the calculus or/and plaque.
  • the endoscopic device 10 further includes a storage unit 60, an output unit 70, and an input unit 80 in the preferred embodiment.
  • the output unit 70 is configured to output information to the user to implement interaction of the user with the endoscopic device 100;
  • the input unit 80 can be used to input data to the endoscopic device 100, thereby implementing interaction between the user and the endoscopic device 100;
  • the storage unit 60 is configured to The image information I S103 and the image information II recorded by the image sensor 20 are stored.
  • the output unit 70 is a display module 73 and a voice output module 74 and a vibration motor 71 and an LED indicator 72;
  • the input unit 80 is a voice input module 81 and a button control module 82.
  • the image sensor 20 can record the information to the external device through the data exchange module 50.
  • a power supply 41 may be provided in the endoscopic apparatus 100, and the power supply 41 is electrically connected to the power input 40 to supply power to the endoscopic apparatus 100.
  • the monochromatic light source generators 11 are arranged in two groups, and the number of light sources of each set of the monochromatic light source generators 11 is four. Each of the monochromatic light source generators 11 emits one of blue light, red light, or violet light, and the monochromatic light S101 emitted by the two sets of monochromatic light source generators 11 is different.
  • the wavelength of red light is preferably in the range of 633 to 655 nm
  • the wavelength of violet light is preferably in the range of 395 to 415 nm.
  • the wavelength of the red light is selected to be 635 nm or 640 nm or 645 nm
  • the wavelength of the violet light is selected to be 395 nm or 400 nm or 405 nm or 410 nm.
  • the number of setting groups of the monochromatic light source generator 11 may also be a plurality of groups of seven or less groups, and the number of light source settings of each group of the monochromatic light source generators 11 may be set according to design requirements.
  • each group of monochromatic light source generators 11 sequentially emits monochromatic light S101 to illuminate the user's teeth, and respectively excites the fluorescence spectrum image.
  • the order of illumination of the monochromatic light source generator 11 can be in accordance with the order set by the user.
  • each set of monochromatic light source generators 11 can also simultaneously emit monochromatic light S101 to illuminate the user's teeth to excite a synthesized fluorescent spectral image.
  • FIG. 4 and FIG. 6 it is a schematic structural diagram of an embodiment in which the endoscope device 100 is disposed on a hand-held component 130. Among them, a lens 13 is further provided on the outer surfaces of the monochromatic light source generator 11 and the white light source generator 12.
  • Hand held component 130 is preferably a daily oral care product such as a toothbrush, red teeth, or a dedicated hand held base.
  • the hand-held portion of the hand-held component 130 can be configured as a flexible structure, and in other aspects can be configured as a rigid structure.
  • the endoscope device 100 can be made very compact in size during the structural design to meet the space requirements placed on the hand-held component 130.
  • the manner in which the image sensor 20 records the image information I S103 and the image information II may also take the form of imaging.
  • the second embodiment of the present invention discloses an endoscope diagnostic support device 200 for determining image information collected by the endoscope device 100 to support endoscope diagnosis, which includes power input.
  • each set of monochromatic light source generators 211 emits one of seven kinds of visible light, and the monochromatic lights emitted by each set of monochromatic light source generators 211 are different from each other. As shown in FIG. 8, each set of monochromatic light source generators 211 is used to emit monochromatic light S201 to illuminate the user's teeth to excite a fluorescence spectrum S202; and an image sensor 220 for recording the user's teeth emitted by the monochromatic light source generator 211.
  • the image information IIIS203 of the fluorescence spectrum S202 is obtained by the excitation of the monochromatic light S201, and the image information V of the user's teeth under the illumination of the white light source generator 212 is recorded; the storage unit 260 stores the normal teeth excited by the illumination of the monochromatic light S201.
  • the image information IV of the fluorescence spectrum is compared to the table S204, and the image information IIIS203 and the image information V are also stored in the storage unit 260; the data processing unit 230 is used to compare the fluorescence spectrum S202 image recorded by the image sensor 220 with the image information IV
  • the fluorescence spectrum images in the table S204 are compared to determine the difference therein, and the comparison result S205 is output.
  • normal teeth refer to teeth without calculus and plaque.
  • the manner in which the image sensor 220 records the image of the user's teeth under white light and the manner in which the image information IIIS203 is recorded are in the form of photographs. Since there are only seven kinds of monochromatic visible light, in other embodiments, the monochromatic light source generator 211 can only set up to seven groups at most, and the wavelength ranges of the seven visible lights can be referred to the range values disclosed in the related tools. As shown in FIG. 7 and FIG. 8 , in the embodiment, the diagnostic support device 200 further includes a data exchange module 250, an alarm prompting unit 290, and a storage unit 260 that further stores a threshold value of the difference between the comparison results S205.
  • the data exchange module 250 is configured to perform data interaction with the external terminal device or the external cloud server; the alarm prompting unit 290 is configured to perform an alarm prompt when the difference result S205 reaches or exceeds the threshold.
  • the data exchange module 250 includes a wireless transmit receive unit 252 and a data output port 251 for connecting data lines.
  • the white light source generator 212 emits white light to illuminate the user's teeth in a state where the monochromatic light source generator 211 does not emit light, so that the image sensor 220 records the image information V of the user's teeth under the illumination of the white light, and irradiates the white light.
  • the image is stored in the storage unit 260.
  • the image illuminated by white light is the image that the human eye sees under natural light.
  • the data processing unit 230 records the fluorescence spectrum image, and the data processing unit 230 applies the fluorescence spectrum image exceeding the threshold to the white light.
  • the image is subjected to an alignment analysis to indicate that the region of the image that meets or exceeds the threshold is in a position in the image illuminated by white light.
  • the image comparison method can adopt the common SITF algorithm.
  • the core of the image is to select potential points of interest in the image for comparison and rotation.
  • the specific reference can be found at http://blog.csdn. Content described in net/jiutianhe/article/details/39896931". The specific steps are as shown in FIG. 8.
  • the monochromatic light source generator 211 first emits the monochromatic light S201; after illuminating the user's teeth, the fluorescence spectrum S202 is obtained; the image sensor 220 records the fluorescence spectrum S202 to obtain the image information IIIS203, and stores the image information IIIS203 to In the storage unit 260; the data processing unit 230 compares the image information IIIS203 with the image information IV comparison table S204; whether the difference amount of the comparison result S205 reaches or exceeds the threshold value, if it reaches or exceeds, the alarm prompts S207; otherwise, Prompt S208.
  • the specific manner of the alarm prompt S207 is to adopt a manner indicating that the area is in a position in the image under white light illumination.
  • the data processing unit 230 compares the images by first dividing the image information IIIS203 to be divided into a plurality of unit area areas, and then using the ratio of the unit area and the image information IV in the selected image information IIIS203.
  • the manner of comparing the area of the unit area in the table S204 one by one. For example, when a map is used as a unit area, one of the selected image information IIIS203 is compared with the seven kinds of fluorescent images presented by seven kinds of monochromatic light.
  • the monochromatic light source generators 211 are arranged in two groups, and the number of light sources of each set of the monochromatic light source generators 211 is four.
  • Each of the monochromatic light source generators 211 emits one of blue light, red light, or violet light, and the monochromatic light S201 emitted by the two sets of monochromatic light source generators 211 is different.
  • the wavelength of red light is preferably in the range of 633 to 655 nm
  • the wavelength of violet light is preferably in the range of 395 to 415 nm.
  • the wavelength of the red light is selected to be 635 nm or 640 nm or 645 nm
  • the wavelength of the violet light is selected to be 395 nm or 400 nm or 405 nm or 410 nm.
  • the number of setting groups of the monochromatic light source generator 211 may also be a plurality of groups of seven or less groups, and the number of light source settings of each group of the monochromatic light source generators 211 may be set as needed.
  • each group of monochromatic light source generators 211 sequentially emits monochromatic light S201 to illuminate the user's teeth, and respectively excites the fluorescence spectrum image.
  • the order of illumination of the monochromatic light source generator 211 may be in accordance with the order set by the user.
  • each set of monochromatic light source generators 211 can also simultaneously emit monochromatic light S201 to illuminate the user's teeth to excite a synthesized fluorescent spectral image. As shown in FIG.
  • the diagnostic support device 200 further includes an output unit 270 and an input unit 280 for outputting a comparison result S205 to the user, thereby implementing interaction between the user and the diagnostic support device 200; the input unit 280 is configured to Data is input to the diagnostic support device 200 to effect user interaction with the diagnostic support device 200.
  • the output unit 270 includes a display module 273 and a voice output module 274 and a vibration motor 271 and an LED indicator 272.
  • the input unit 280 is a voice input module 281 and a button control module 282.
  • a power supply may be provided in the diagnostic support device 200, and the power supply is electrically connected to the power input terminal 240 to supply power to the diagnostic support device 200.
  • the comparison result S205 is a method for alarming an inconsistent image.
  • a method of directly outputting an inconsistent image may be adopted, and an image with no problem may be displayed or broadcasted.
  • the diagnostic support device 200 in this embodiment includes two sets of monochromatic light source generators 211, wherein each set of monochromatic light source generators 211 emits one of seven kinds of visible light, and each set of monochromatic light source generators 211 emits a single.
  • the color lights are different from each other, and each group of monochromatic light source generators 211 is used to emit monochromatic light to illuminate the user's teeth to excite the fluorescence spectrum S202, so the alignment of the data processing unit 230 and the comprehensive analysis of the teeth are illuminated in two monochromatic lights.
  • the obtained fluorescence spectrum S202 can more accurately obtain the coverage of dental calculus or/and plaque on the teeth, and greatly improve the detection rate of calculus or/and plaque. For example, under the excitation of 405 nm monochromatic light, there is a significant difference in the fluorescence spectra of normal teeth and calculus.
  • this embodiment discloses an endoscope for peek into the health condition of a user's teeth. It includes a peek portion 310 and a control portion 320, wherein the peek portion 310 is provided with the endoscopic device described in the first embodiment or the endoscope diagnostic support device described in the second embodiment.
  • the above embodiments are intended to be illustrative of the principles and embodiments of the present invention. It is understood that the above embodiments are only intended to aid the understanding of the invention and are not to be construed as limiting. Any minor modifications or equivalent substitutions made to the structural forms or configurations of the present invention are intended to be included within the scope of the present invention.

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Abstract

L'invention concerne un dispositif d'aide au diagnostic endoscopique (100, 200) permettant l'affichage efficace d'un calcul dentaire et d'une plaque dentaire, et un endoscope comprenant ledit dispositif d'aide au diagnostic (100, 200). L'endoscope comprend : le dispositif d'aide au diagnostic endoscopique (100, 200), le dispositif comprenant : au moins deux ensembles générateurs de lumière monochromatique (11, 211), chacun desdits générateurs de lumière monochromatique (11, 211) émettant un des sept types de lumière visible, chacun des générateurs de lumière monochromatique (11, 211) émettant une lumière monochromatique (S101, S201) différente de la lumière monochromatique émise par les autres générateurs de lumière monochromatique, et chacun des générateurs de lumière monochromatique (11, 211) étant utilisé pour émettre la lumière monochromatique (S101, S201) dans le but d'éclairer une dent d'utilisateur, et générer ainsi un spectre de fluorescence d'excitation (S102, S202); un capteur d'image (20, 220) pour enregistrer les données d'images III (S203) du spectre de fluorescence d'excitation (S102, S202) obtenu quand la dent de l'utilisateur est éclairée par la lumière monochromatique (S101, S201) émise par le générateur de lumière monochromatique (11, 211); une unité de stockage (60, 260) pour stocker une liste de comparaisons de données d'images IV (S204) du spectre de fluorescence d'excitation (S102, 202) obtenu quand une dent normale est éclairée par la lumière monochromatique (S101, S201); et un processeur de données (30, 230) pour comparer une image du spectre de fluorescence (S102, S202) enregistrée par le capteur d'image (20, 220) à une image du spectre de fluorescence provenant de la liste de comparaisons (S204).
PCT/CN2017/080003 2016-04-26 2017-04-11 Dispositif d'aide au diagnostic endoscopique et endoscope WO2017185970A1 (fr)

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CN105725957A (zh) * 2016-04-26 2016-07-06 郑洪� 内窥镜诊断支持装置及内窥镜
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CN108992022A (zh) * 2018-08-06 2018-12-14 广州高通影像技术有限公司 一种应用于智能内窥镜手术时的ai应用系统
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