WO2020147196A1 - 智能控制胶囊式内窥镜在消化道不同部位工作方法及装置 - Google Patents

智能控制胶囊式内窥镜在消化道不同部位工作方法及装置 Download PDF

Info

Publication number
WO2020147196A1
WO2020147196A1 PCT/CN2019/079553 CN2019079553W WO2020147196A1 WO 2020147196 A1 WO2020147196 A1 WO 2020147196A1 CN 2019079553 W CN2019079553 W CN 2019079553W WO 2020147196 A1 WO2020147196 A1 WO 2020147196A1
Authority
WO
WIPO (PCT)
Prior art keywords
capsule endoscope
digestive tract
image
recognition unit
preset module
Prior art date
Application number
PCT/CN2019/079553
Other languages
English (en)
French (fr)
Inventor
吴良信
茹泽伟
王建平
Original Assignee
深圳市资福医疗技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市资福医疗技术有限公司 filed Critical 深圳市资福医疗技术有限公司
Publication of WO2020147196A1 publication Critical patent/WO2020147196A1/zh

Links

Images

Classifications

    • 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
    • A61B1/041—Capsule endoscopes for 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
    • A61B1/00002—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
    • A61B1/04—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
    • A61B1/045—Control thereof

Definitions

  • the invention relates to the field of capsule endoscopes, in particular to a technical scheme for applying artificial intelligence technology to the digestive tract inspection of the capsule endoscope.
  • the capsule endoscope is a miniature camera device that is the size of a swallowed capsule for inspecting the human digestive tract. It has the advantages of convenient inspection, no trauma, no wires, no pain, no cross-infection, and does not affect the normal work of patients. Advantages, it expands the visual field of gastrointestinal examination, overcomes the disadvantages of traditional insert endoscopy, such as poor tolerance, unsuitability for the elderly, infirm and critically ill, and has been widely used in clinical diagnosis of the gastrointestinal tract. During the inspection of the entire digestive tract (ie, esophagus, stomach, small intestine, large intestine), the capsule endoscope has the following main disadvantages: First, the capsule endoscope is limited by the battery power in the capsule endoscope.
  • the present invention provides a method for intelligently controlling the operation of a capsule endoscope in different parts of the digestive tract. Its purpose is to use artificial intelligence technology or a preset module stored in the capsule endoscope to reasonably adjust the capsule endoscope's operation The system parameters of different parts of the digestive tract optimize the working efficiency of the capsule endoscope.
  • a method for intelligently controlling the operation of a capsule endoscope in different parts of the digestive tract includes the following steps:
  • S1 The subject swallows the capsule endoscope so that the capsule endoscope enters the esophagus;
  • the capsule endoscope takes pictures of different parts of the digestive tract, and sends the captured digestive tract image to the image receiving unit in the capsule endoscope, and the image receiving unit sends the digestive tract image to the pre- Set up a module or AI intelligent recognition unit;
  • the preset module or the AI intelligent recognition unit sends the recognized information that the capsule endoscope is in different parts of the digestive tract to the capsule endoscope, and the control system of the capsule endoscope adjusts according to the information The system parameters of the capsule endoscope in different parts of the digestive tract;
  • the different parts of the digestive tract of the subject are: esophagus, stomach, small intestine, and large intestine according to the stroke path of the capsule endoscope; the system parameters include the capsule endoscope: camera switch state, Shooting frame rate, image resolution, image brightness, pose and movement speed.
  • Step S3 includes the following steps:
  • step S32 the specific process for the control system of the capsule endoscope to adjust the system parameters is: after the capsule endoscope enters the stomach, the image transmission unit captures the image captured by the capsule endoscope The stomach image is transmitted to the preset module or the AI intelligent recognition unit, and the preset module or the AI intelligent recognition unit adjusts the system parameters of the capsule endoscope in the stomach according to the recognition result.
  • step S33 the process of adjusting the system parameters of the control system of the capsule endoscope is: the image transmission unit transmits the image of the small intestine captured by the capsule endoscope to the preset module or the AI intelligent recognition unit, and the Set the module or AI intelligent recognition unit to adjust the system parameters of the capsule endoscope in the small intestine according to the recognition result.
  • step S34 the specific process for the control system of the capsule endoscope to adjust the system parameters is: the image transmission unit transmits the image of the large intestine captured by the capsule endoscope to the preset module or The AI intelligent recognition unit, the preset module or the AI intelligent recognition unit adjusts the system parameters of the capsule endoscope in the large intestine according to the recognition result.
  • the capsule endoscope can automatically adjust different system parameters in different parts of the digestive tract, such as: camera switch state, shooting frame rate, image Resolution, image brightness, pose and movement speed enable the capsule endoscope to adjust the system parameters to the most reasonable state when it is in different parts of the digestive tract, improve the image shooting quality, reduce the shooting of redundant images, and improve the capsule type Utilization efficiency of endoscope battery.
  • the preset module or AI intelligent recognition unit can adjust the working state of the cameras at both ends of the capsule endoscope. For example, when checking the stomach and small intestine, one camera unit is controlled to work and one camera unit is turned off. It effectively saves the battery power of the capsule endoscope; during the inspection of the esophagus and large intestine, the two camera units are in working condition, which effectively reduces the missed lesion detection rate.
  • the present invention also discloses a device for intelligently controlling the operation of the capsule endoscope in different parts of the digestive tract, including: the capsule endoscope, and a preset module or AI intelligent recognition unit; the capsule endoscope is photographed by For different parts of the digestive tract of the examiner, the captured digestive tract images are sent to the preset module or the AI smart recognition unit, and the preset module or the AI smart recognition unit sends the recognition result to the capsule An endoscope, the control system of the capsule endoscope adjusts the system parameters of the capsule endoscope in different parts of the digestive tract according to the recognition result;
  • system parameters include the capsule endoscope: camera switch state, shooting frame rate, image resolution, image brightness, pose and movement speed;
  • different parts of the digestive tract of the subject are: esophagus, stomach, small intestine, and large intestine.
  • the digestive tract image is sent to the intelligent recognition unit through a wireless transmission unit built in the capsule endoscope.
  • control system includes a power supply, a system setting unit and a control unit.
  • a preset module or AI intelligent recognition unit which can adjust the system parameters of the capsule endoscope according to the different digestive tracts of the capsule endoscope, such as: camera switch state, shooting frame rate, Image resolution, image brightness, posture and movement speed enable the capsule endoscope to adjust the system parameters to the most reasonable state when it is in different parts of the digestive tract, improve image shooting quality, reduce redundant image shooting, and increase the capsule Utilization efficiency of the endoscope battery.
  • the preset module or AI intelligent recognition unit can adjust the working state of the cameras at both ends of the capsule endoscope. For example, when checking the stomach and small intestine, one camera unit is controlled to work and one camera unit is turned off. It effectively saves the battery power of the capsule endoscope; during the inspection of the esophagus and large intestine, the two camera units are in working condition, which effectively reduces the missed lesion detection rate.
  • Figure 1 is a general flow chart of the present invention
  • Figure 2 is a diagram of the human digestive tract, where 1 is the esophagus, 2 is the stomach, 3 is the small intestine, and 4 is the large intestine;
  • Figure 3 is a schematic diagram of the structure of a capsule endoscope with a single camera
  • Figure 4 is a schematic diagram of the structure of a capsule endoscope with dual cameras
  • FIG. 5 is a schematic diagram of the image information interaction process between the AI intelligent recognition unit and the capsule endoscope
  • serial numbers and corresponding names are: 5, capsule endoscope; 51, camera unit; 52, lighting unit; 53, image transceiver unit; 54, battery.
  • the method for intelligently controlling the operation of a capsule endoscope in different parts of the digestive tract includes the following steps:
  • S1 Swallow the capsule endoscope so that the capsule endoscope enters the esophagus
  • the capsule endoscope takes pictures of different parts of the digestive tract, and sends the captured digestive tract image to the image receiving unit, and the image receiving unit sends the digestive tract image to the preset module or the AI intelligent recognition unit ;
  • the preset module or the AI intelligent recognition unit sends the recognized information that the capsule endoscope is in different parts of the digestive tract to the capsule endoscope, and the control system of the capsule endoscope adjusts according to the information The system parameters of the capsule endoscope in different parts of the digestive tract;
  • the different parts of the digestive tract of the subject are: esophagus, stomach, small intestine, and large intestine according to the stroke path of the capsule endoscope;
  • the system parameters include the capsule endoscope: camera switch state, Shooting frame rate, image resolution, image brightness, pose and movement speed;
  • step S1 it also includes the step of activating the capsule endoscope.
  • the activation mode of the capsule endoscope is preferably wireless activation mode (see patent application 201620931600.4) or wired activation mode (see patent application 2014102885601).
  • the parameter settings of the capsule endoscope also include but are not limited to the camera switch state, shooting frame rate, image resolution, image brightness, pose, and movement speed.
  • step S1 the subject has the same action as swallowing a conventional capsule or pill, just swallow it. But before swallowing, prepare for bowel cleansing, such as taking electrolyte solutions such as mannitol or polyethylene glycol, and drinking enough water.
  • bowel cleansing such as taking electrolyte solutions such as mannitol or polyethylene glycol, and drinking enough water.
  • the capsule endoscope When the capsule endoscope is swallowed into the human body, the capsule endoscope takes pictures of different parts of the digestive tract, such as the esophagus, stomach, small intestine, and large intestine, through the image transmission unit built into the capsule endoscope Send the captured image to AI (Artificial Intelligence) intelligent recognition unit or preset module, AI intelligent recognition unit or preset module (set in the capsule endoscope, not shown) according to the capsule endoscope
  • AI Artificial Intelligence intelligent recognition unit or preset module
  • AI intelligent recognition unit or preset module set in the capsule endoscope, not shown
  • the tissue characteristics of the digestive tract image captured by the microscope can identify the capsule endoscope in different parts of the digestive tract, so as to adjust the system parameters of the capsule endoscope in the digestive tract. These system parameters include but are not limited to the camera switch state, shooting Frame rate, image resolution, image brightness, pose and movement speed.
  • the capsule endoscope moves faster in the esophagus and large intestine.
  • the capsule endoscope captures images of the esophagus and large intestine by being built into the capsule
  • the image transmission unit in the endoscope sends the image to the AI intelligent recognition unit or preset module, and the AI intelligent recognition unit or preset module recognizes the position of the capsule endoscope (esophagus, large intestine) according to the received image , And then send the recognition result to the capsule endoscope through the image transmission unit, and the capsule endoscope sends the received recognition result to the control system built in the capsule endoscope, and the control system increases the shooting frame rate , So that the capsule endoscope can quickly take images of the esophagus and large intestine in a short time, reducing the possible missing parts of the esophagus and large intestine; if the capsule endoscope is in the small intestine, due to the speed of the capsule endoscope in the small intestine It is relatively slow.
  • the capsule endoscope will take a large number of repeated images. This wastes the limited power of the capsule endoscope, and on the other hand a lot of Repeated images will increase the amount of doctors' reading and waste the doctor's energy and time.
  • Step S3 is described in detail below. Step S3 is specifically expanded into the following steps:
  • the control system of the capsule endoscope adjusts the system parameters of the capsule endoscope and maintains them until the capsule Before the capsule endoscope enters the large intestine, the capsule endoscope is suitable for the working environment of the small intestine;
  • the following specifically describes how the AI intelligent recognition unit or the preset module adjusts the shooting frame rate when the capsule endoscope is in different parts of the digestive tract.
  • the capsule endoscope can realize the examination of the subject's esophagus, stomach, small intestine and large intestine.
  • the specific inspection methods are as follows:
  • the capsule endoscope Activate the capsule endoscope, set the shooting frequency of the capsule endoscope to 2 frames per second, and the subject swallows the capsule endoscope.
  • the structure of the capsule endoscope is as shown in FIG. 4, and includes two imaging units 51, which are respectively located at both ends of the capsule endoscope.
  • the two camera units 51 of the capsule endoscope 5 in FIG. 4 are both set to be in working state.
  • the lighting unit 52 in the working state illuminates the inner wall of the subject's esophagus 1
  • the camera unit 51 captures an image of the inner wall of the esophagus 1
  • the image transmission unit 53 in the capsule endoscope 5 transmits the captured image of the inner wall of the esophagus to AI smart Recognition unit (see Figure 5) or preset module (not shown)
  • AI intelligent recognition unit or preset module recognizes the image of the inner wall of the esophagus, confirms that the capsule endoscope is still in the esophagus 1, AI intelligent recognition unit or preset module
  • the recognition result is sent to the capsule endoscope through the image unit, and the control system in the capsule endoscope maintains the shooting frame rate of 2 frames per second.
  • the capsule endoscope When the capsule endoscope enters the stomach after about 2 seconds, one of the two camera units 51 of the capsule endoscope 5 in FIG. 4 is closed and the other is in the working state; the camera unit 51 in the working state photographs The image of the inner wall of the stomach 2 in FIG. 2, the image transmission unit 53 in the capsule endoscope 5 transmits the captured image of the inner wall of the stomach to the AI intelligent recognition unit (see FIG.
  • the AI intelligent recognition unit or preset module recognizes the image of the inner wall of the stomach, and if the capsule endoscope enters the stomach, the AI intelligent recognition unit or preset module sends the recognition result to the capsule endoscope through the image transmission unit ,
  • the control system in the capsule endoscope adjusts the shooting frame rate to 4 frames per second, and maintains the frame rate value until the capsule endoscope enters the small intestine.
  • the capsule endoscope When the capsule endoscope enters the small intestine, one of the two camera units 51 of the capsule endoscope 5 in FIG. 4 is closed and the other is in the working state; the camera unit 51 in the working state takes pictures of the small intestine 3 in FIG.
  • the image of the inner wall, the image transmission unit 53 in the capsule endoscope 5 transmits the captured image of the inner wall of the small intestine to the AI intelligent recognition unit (see Figure 5) or the preset module, and the AI intelligent recognition unit or the preset module recognizes the small intestine
  • the image of the inner wall confirms that the capsule endoscope enters the small intestine, the AI intelligent recognition unit or the preset module sends the recognition result to the capsule endoscope through the image transmission unit, and the control system in the capsule endoscope will take the frame
  • the rate is adjusted to 2 frames per second, and the frame rate value is maintained until the capsule endoscope enters the large intestine.
  • the two camera units 51 of the capsule endoscope 5 in FIG. 4 are both in working state; the two camera units 51 capture the image of the inner wall of the large intestine 4 in FIG.
  • the image transmission unit 53 in the endoscope 5 transmits the captured image of the inner wall of the large intestine to the AI intelligent recognition unit (see Figure 5) or a preset module.
  • the AI intelligent recognition unit or the preset module recognizes the image of the inner wall of the large intestine and determines the capsule type
  • the AI intelligent recognition unit or the preset module sends the recognition result to the capsule endoscope through the image transmission unit.
  • the control system in the capsule endoscope adjusts the shooting frame rate, which runs slowly in the large intestine In places where the shooting frame rate is set to 0.5 frames/sec, the shooting frame rate is set to greater than 30 frames/sec in places where the running speed is fast.
  • the capsule endoscope After the capsule endoscope has finished running in the large intestine, it is discharged from the body through the anus.
  • the capsule endoscope sends the captured images of the esophagus, stomach, small intestine, and large intestine to an image receiving unit, such as a doctor or a cloud server. If it is sent directly to the doctor, the doctor can read the film directly to check the subject’s esophagus or stomach for possible lesions; if it is sent to the cloud, the doctor can download the corresponding digestive tract images remotely, and judge the subject’s health by reading the film. Possible lesions in the digestive tract.
  • the shooting frame rate of the capsule endoscope can also be adjusted by the motion sensor built in the capsule endoscope.
  • the capsule endoscope can adjust different system parameters in different digestive tracts.
  • the system parameters include but are not limited to camera switch state, shooting frame rate, image resolution, image
  • the brightness, posture, and movement speed enable the capsule endoscope to obtain sufficient and non-redundant images of the digestive tract during the shooting process, and the images taken are the best.
  • the AI intelligent recognition unit or the preset module can also adjust the working status of the cameras at both ends of the capsule. For example, when examining the stomach and small intestine, one camera unit is controlled to work and one camera unit is turned off, which effectively saves the battery of the capsule endoscope. Electricity; in the process of inspecting the esophagus and large intestine, since the capsule endoscope moves faster in these two parts, the two camera units are set to work, effectively reducing the rate of missed lesions in these two parts.
  • the image transmission unit in the capsule endoscope mentioned in the above two embodiments is preferably a wireless transceiver device, such as an antenna built in the capsule endoscope, through a wireless network (such as a 3G network, a 4G network, 5G network) to transmit the corresponding image.
  • a wireless network such as a 3G network, a 4G network, 5G network
  • the shooting frame rate ranges of the capsule endoscope in different parts of the digestive tract are: 8 ⁇ 34 frames/sec in the esophagus, 2 ⁇ 8 frames/sec in the stomach, 1 ⁇ 4 frames/sec in the small intestine, and 1 ⁇ 34 frames/sec in the large intestine. second..
  • the AI intelligent recognition unit or the preset module can be arranged in the cloud of the network or built in the capsule endoscope 5, and the capsule endoscope transmitted by the image transmission unit is used for shooting
  • the obtained digestive tract images are used to determine the position of the digestive tract where the capsule endoscope is located, so as to reasonably adjust the shooting frame rate, so that the captured digestive tract images are sufficient but not redundant, so that the battery power can be allocated and used in the most reasonable manner.
  • the present invention also discloses a device for intelligently controlling the operation of the capsule endoscope in different parts of the digestive tract, including: the capsule endoscope, and an intelligent identification unit or a preset module.
  • the capsule endoscope photographs different parts of the digestive tract of the subject, such as the esophagus, stomach, small intestine, and large intestine, and then sends the captured images of different parts of the digestive tract to the intelligent recognition unit or preset module, the intelligent recognition unit or The preset module sends the recognition result to the capsule endoscope, the capsule endoscope receives the recognition result, and then adjusts the capsule endoscope through the control system built in the capsule endoscope according to the recognition result System parameters in different digestive systems.
  • capsule endoscope camera switch state, shooting frame rate, pose and movement speed.
  • the intelligent recognition unit Increased frame rate, shooting frame rate: 8 to 34 frames per second in the esophagus, 1 to 34 frames per second in the large intestine; in the stomach and small intestine, because the capsule endoscope moves slowly, if the shooting frame rate is not Decrease, the capsule endoscope will shoot redundant redundant images, which on the one hand will cause a waste of battery power in the capsule endoscope, on the other hand, a large number of redundant images will increase the amount of doctor's reading.
  • the shooting frame rate settings are respectively set as: 2-8 frames/sec in the stomach and 1-4 frames/sec in the small intestine. Therefore, the intelligent recognition unit or preset module can reasonably adjust the shooting frame rate according to the different digestive tracts of the capsule endoscope, which can increase the battery life of the capsule endoscope and reduce redundant pictures. The shooting improves the doctor’s reading efficiency. In addition, the intelligent recognition unit or the preset module can also control the working status of the dual cameras of the capsule endoscope.
  • the intelligent recognition unit or the preset module when the intelligent recognition unit or the preset module recognizes that the capsule endoscope is in operation according to the images taken by the capsule endoscope In the case of stomach and small intestine, the intelligent recognition unit or preset module sends the recognition result to the capsule endoscope.
  • the capsule endoscope controls one of the dual cameras to work through the built-in control system, and the other is closed. This can effectively reduce the capsule The power consumption in the endoscope; when the intelligent recognition unit recognizes that the capsule endoscope is in the esophagus and the large intestine according to the image taken by the capsule endoscope, the intelligent recognition unit sends the recognition result to the capsule endoscope.
  • the endoscope controls both ends of the dual camera through the built-in control system, which effectively reduces the missed lesion rate during the esophagus and large intestine examination.
  • the images of different parts of the digestive tract are sent to the intelligent recognition unit through the wireless transmission unit built into the capsule endoscope; the intelligent recognition unit is received through an external image transceiver device For images of different parts, the intelligent recognition unit sends the recognition results to the wireless transmission unit of the capsule endoscope through the wireless transceiver in the imaging device, and the control system in the capsule endoscope receives the recognition results, and based on the recognition As a result, the system parameters of the capsule endoscope were adjusted.
  • the wireless transmission unit includes a wireless transceiving device, such as an antenna unit built into a capsule endoscope, and other wireless transmission networks, such as 4G, 5G networks.
  • a wireless transceiving device such as an antenna unit built into a capsule endoscope
  • other wireless transmission networks such as 4G, 5G networks.
  • control system in the device includes: a power supply, a system setting unit, and a control unit.
  • the control unit is preferably a Microcontroller Unit (MCU).
  • the intelligent identification unit or preset module in the device can be built in the capsule endoscope, or can be externally placed in the network cloud. If it is externally placed in the network cloud, it will maintain the information interaction with the capsule endoscope through wireless transmission.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Signal Processing (AREA)
  • Endoscopes (AREA)

Abstract

一种智能控制胶囊式内窥镜在消化道不同部位工作的方法，包括：吞服胶囊式内窥镜（5），使胶囊式内窥镜（5）进入食管（1）；胶囊式内窥镜（5）对消化道不同部位拍照，将拍摄到的消化道图像发送给胶囊式内窥镜（5）中的图像接收单元（53），图像接收单元（53）将所述消化道图像发送给预设模块或者AI智能识别单元；预设模块或者AI智能识别单元将识别到的胶囊式内窥镜（5）处于消化道不同部位的信息发送给胶囊式内窥镜（5），胶囊式内窥镜（5）的控制系统根据该信息调整胶囊式内窥镜（5）在消化道不同部位的系统参数。还包括一种智能控制胶囊式内窥镜（5）在消化道不同部位工作的装置。该方法和装置能减少冗余图像的拍摄，减少了医生阅片量，提高图像拍摄质量，提高了胶囊式内窥镜（5）电量的利用率。

Description

智能控制胶囊式内窥镜在消化道不同部位工作方法及装置 技术领域
本发明涉及胶囊式内窥镜领域，具体涉及到一种将人工智能技术运用到胶囊式内窥镜消化道检查的技术方案。
背景技术
胶囊式内窥镜是一种如吞服胶囊大小的用于检查人体消化道的微型摄像装置，其具有检查方便、无创伤、无导线、无痛苦、无交叉感染、不影响患者的正常工作等优点，扩展了消化道检查的视野，克服了传统的插入式内镜检查所具有的耐受性差、不适用于年老体弱和病情危重等缺陷，已经广泛应用于消化道临床诊断中。在全消化道(即食管、胃、小肠、大肠)检查的过程中，胶囊式内窥镜有以下主要缺陷：第一，由于胶囊式内窥镜中的电池电量的限制使得胶囊式内窥镜在消化道工作时间过短，导致消化道检查不完全，造成病灶漏检；第二，胶囊在通过食管、大肠时候移动速度过快拍摄频率过低，无法采集足够的图像；第三，胶囊在小肠移动速度过慢，拍摄到大量冗余的图像，同时也造成了胶囊式内窥镜的电量浪费。
发明内容
本发明提供了一种智能控制胶囊式内窥镜在消化道不同部位工作的方法，其目的在于利用人工智能技术或者存储在胶囊式内窥镜中的预设模块合理调节胶囊式内窥镜在消化道的不同部位的系统参数，使胶囊式内窥镜的工作效率得到最大的优化。
一种智能控制胶囊式内窥镜在消化道不同部位工作的方法，包括如下步骤：
S1：受检者吞服所述胶囊式内窥镜，使所述胶囊式内窥镜进入食管；
S2：所述胶囊式内窥镜对消化道不同部位拍照，将拍摄到的消化道图像发 送给胶囊式内窥镜中的图像接收单元，所述图像接收单元将所述消化道图像发送给预设模块或者AI智能识别单元；
S3：所述预设模块或者所述AI智能识别单元将识别到的胶囊式内窥镜处于消化道不同部位的信息发送给胶囊式内窥镜，胶囊式内窥镜的控制系统根据该信息调整胶囊式内窥镜在消化道不同部位的系统参数；
其中，所述受检者的消化道不同部位依所述胶囊式内窥镜的行程路径依次为：食管、胃、小肠和大肠；所述系统参数包括胶囊式内窥镜的：摄像头开关状态、拍摄帧率、图像分辨率、图像亮度、位姿和运动速度。
进一步地：步骤S3包括如下步骤：
S31：当预设模块或者AI智能识别单元的识别结果为所述胶囊式内窥镜仍然位于食管内，则胶囊式内窥镜的控制系统依然维持所述胶囊式内窥镜在食管的系统参数；
S32：当预设模块或者AI智能识别单元的识别结果为所述胶囊式内窥镜刚进入胃部，则胶囊式内窥镜的控制系统调整系统参数，并维持至所述胶囊式内窥镜进入小肠前，使所述胶囊式内窥镜适合胃部工作环境；
S33：当预设模块或者AI智能识别单元的识别结果为所述胶囊式内窥镜进入小肠，则胶囊式内窥镜的控制系统调整系统参数并维持至所述胶囊式内窥镜进入大肠前，使所述胶囊式内窥镜适合小肠工作环境；
S34：当预设模块或者AI智能识别单元的识别结果为所述胶囊式内窥镜进入大肠，则胶囊式内窥镜的控制系统调整系统参数，使所述胶囊式内窥镜适合大肠工作环境并维持至所述胶囊式内窥镜刚排出体外。
进一步地：在步骤S32中，所述胶囊式内窥镜的控制系统调整系统参数的具体过程为：所述胶囊式内窥镜进入胃部之后，图像传输单元将胶囊式内窥镜拍摄到的胃部图像传输给所述预设模块或者AI智能识别单元，所述预设模块或者AI智能识别单元根据识别结果调整所述胶囊式内窥镜在胃中的系统参数。
进一步地：在步骤S33中，胶囊式内窥镜的控制系统调整系统参数的过程为：图像传输单元将胶囊式内窥镜拍摄到的小肠的图像传输到预设模块或者AI智能识别单元，预设模块或者AI智能识别单元根据识别结果调整胶囊式内窥镜在小肠中的系统参数。
进一步地：在步骤S34中，所述胶囊式内窥镜的控制系统调整系统参数的具体过程为：图像传输单元将胶囊式内窥镜拍摄到的大肠的图像传输到所述预设模块或者所述AI智能识别单元，预设模块或者AI智能识别单元根据识别结果调整胶囊式内窥镜在大肠中的系统参数。
本方法的有益技术效果：由于预设模块或者AI智能识别单元的运用，因此胶囊式内窥镜在消化道的不同部位能自动调节不同的系统参数，如：摄像头开关状态、拍摄帧率、图像分辨率、图像亮度、位姿和运动速度，使得胶囊式内窥镜处于消化道不同部位时能将系统参数调整为最合理的状态，提高图像拍摄质量，降低冗余图像的拍摄，提高胶囊式内窥镜电池的利用效率。就摄像头开关状态的控制而言，由于预设模块或者AI智能识别单元可以调整胶囊式内窥镜两端摄像头工作状态，如在检查胃、小肠时，控制一个摄像单元工作，一个摄像单元关闭，有效的节约了胶囊式内窥镜的电池电量；在检查食管、大肠过程中使两个摄像单元均处于工作状态，有效降低病灶漏检率。
本发明还公布了一种智能控制胶囊式内窥镜在消化道不同部位工作的装置，包括：胶囊式内窥镜，以及预设模块或者AI智能识别单元；所述胶囊式内窥镜拍摄被检者消化道的不同部位，将拍摄到的消化道图像发送给所述预设模块或者所述AI智能识别单元，所述预设模块或者所述AI智能识别单元将识别结果发送给所述胶囊式内窥镜，所述胶囊式内窥镜的控制系统根据识别结果调整所述胶囊式内窥镜在消化道不同部位的系统参数；
其中，所述系统参数包括胶囊式内窥镜的：摄像头开关状态、拍摄帧率、图像分辨率、图像亮度、位姿和运动速度；
所述受检者的消化道不同部位依所述胶囊式内窥镜的行程路径依次为：食 管、胃、小肠和大肠。
进一步地：所述消化道图像是通过内置于所述胶囊式内窥镜中的无线传输单元发送给所述智能识别单元的。
进一步地：所述控制系统包括电源、系统设置单元及控制单元。
本装置的有益技术效果：增加预设模块或者AI智能识别单元，能根据胶囊式内窥镜在不同的消化道，调节胶囊式内窥镜的系统参数，如：摄像头开关状态、拍摄帧率、图像分辨率、图像亮度、位姿和运动速度，使得胶囊式内窥镜处于消化道不同部位时能将系统参数调整为最合理的状态，提高图像拍摄质量，降低冗余图像的拍摄，提高胶囊式内窥镜电池的利用效率。就摄像头开关状态的控制而言，由于预设模块或者AI智能识别单元可以调整胶囊式内窥镜两端摄像头工作状态，如在检查胃、小肠时，控制一个摄像单元工作，一个摄像单元关闭，有效的节约了胶囊式内窥镜的电池电量；在检查食管、大肠过程中使两个摄像单元均处于工作状态，有效降低病灶漏检率。
附图说明
图1为本发明的总流程图；
图2为人体消化道图，其中1是食管，2是胃，3是小肠、4是大肠；
图3为具备单摄像头的胶囊式内窥镜结构示意图；
图4为具备双摄像头的胶囊式内窥镜的结构示意图；
图5为AI智能识别单元和胶囊式内窥镜图像信息交互过程示意图
其中，图3和图4中，各序号及对应的名称分别为：5、胶囊式内窥镜；51、摄像单元；52、照明单元；53、图像收发单元；54、电池。
具体实施方式
为了使本发明所要解决的技术问题、技术方案及有益效果更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释本发明，并不用于限定本发明。
参考图1，本发明所说的一种智能控制胶囊式内窥镜在消化道不同部位工作的方法，包括如下步骤：
S1：吞服所述胶囊式内窥镜，使所述胶囊式内窥镜进入食管；
S2：所述胶囊式内窥镜对消化道不同部位拍照，将拍摄到的消化道图像发送给图像接收单元，所述图像接收单元将所述消化道图像发送给预设模块或者AI智能识别单元；
S3：所述预设模块或者所述AI智能识别单元将识别到的胶囊式内窥镜处于消化道不同部位的信息发送给胶囊式内窥镜，胶囊式内窥镜的控制系统根据该信息调整胶囊式内窥镜在消化道不同部位的系统参数；
其中，所述受检者的消化道不同部位依所述胶囊式内窥镜的行程路径依次为：食管、胃、小肠和大肠；所述系统参数包括胶囊式内窥镜的：摄像头开关状态、拍摄帧率、图像分辨率、图像亮度、位姿和运动速度；
在步骤S1之前，还包括激活胶囊式内窥镜的步骤，胶囊式内窥镜的激活方式优选为无线激活方式(见专利申请201620931600.4)或者有线激活方式(见专利申请2014102885601)，当胶囊式内窥镜被激活后，将胶囊式内窥镜中的系统参数设置为适应食管的工作环境，这些参数包括但不限于胶囊式内窥镜的摄像头开关状态、胶囊式内窥镜的拍摄帧率、胶囊式内窥镜在体内的位姿参数和运动速度。至于在消化道的其他部位，如胃、小肠和大肠，胶囊式内窥镜的参数设置也包括但不限于摄像头开关状态、拍摄帧率、图像分辨率、图像亮度、位姿和运动速度。
步骤S1中，受检者和吞服常规的胶囊药丸动作一样，吞服下去即可。但是在吞服之前，应做好清肠准备，比如服用甘露醇或者聚乙二醇等电解质溶液，并喝足够的清水。
当胶囊式内窥镜被吞服入人体后，胶囊式内窥镜对消化道的不同部位，如：食管、胃、小肠和大肠进行拍照，通过内置于胶囊式内窥镜中的图像传输单元将拍摄到的图像发送给AI(Artificial Intelligence,人工智能)智能识别单 元或者预设模块，AI智能识别单元或者预设模块(设置在胶囊式内窥镜中，未图示)根据胶囊式内窥镜拍摄到的消化道图像的组织特征，识别胶囊式内窥镜处于消化道不同部位，从而调整胶囊式内窥镜在该消化道的系统参数，这些系统参数包括但不限于摄像头开关状态、拍摄帧率、图像分辨率、图像亮度、位姿和运动速度，例如：胶囊式内窥镜在食管、大肠的移动速度比较快，胶囊式内窥镜拍摄食管、大肠的图像，通过内置于胶囊式内窥镜中的图像传输单元将该图像发送给AI智能识别单元或者预设模块，AI智能识别单元或者预设模块根据接收到的图像识别胶囊式内窥镜所处的位置(食管、大肠)，然后将识别结果通过图像传输单元发送给胶囊式内窥镜，胶囊式内窥镜将接收到的识别结果发送给内置于胶囊式内窥镜中的控制系统，控制系统将拍摄帧率调高，使得胶囊式内窥镜在短时间内快速的拍摄食管和大肠的图像，减少食管、大肠可能的拍摄遗漏部位；如果胶囊式内窥镜在小肠，由于胶囊式内窥镜在小肠的移动速度比较慢，如果不降低胶囊式内窥镜在小肠中的拍摄帧率，则胶囊式内窥镜会拍摄大量重复的图像，这一方面浪费了胶囊式内窥镜有限的电量，另一方面大量重复的图像会增加医生的阅片量，浪费医生的精力和时间。
下面对步骤S3展开具体描述，步骤S3具体展开为如下几步：
S31：当所述AI智能识别单元或者预设模块的识别结果为胶囊式内窥镜仍然位于食管内，则胶囊式内窥镜的控制系统依然维持所述胶囊式内窥镜在食管的系统参数；
S32：当所述AI智能识别单元或者预设模块的识别结果为所述胶囊式内窥镜刚进入胃部，则胶囊式内窥镜的控制系统调整系统参数并维持至所述胶囊式内窥镜进入小肠前，使所述胶囊式内窥镜适合胃部工作环境；
S33：当AI智能识别单元或者预设模块识别结果为所述胶囊式内窥镜进入小肠，则胶囊式内窥镜的控制系统调整所述胶囊式内窥镜的系统参数并维持至所述胶囊式内窥镜进入大肠前，使所述胶囊式内窥镜适合小肠工作环境；
S24：当AI智能识别单元或者预设模块识别结果为所述胶囊式内窥镜进入 大肠，则胶囊式内窥镜的控制系统调整所述胶囊式内窥镜的系统参数，使所述胶囊式内窥镜适合大肠工作环境并维持至所述胶囊式内窥镜刚排出体外。
作为具体的实施例，下面具体描述当胶囊式内窥镜处于消化道不同的部位时，AI智能识别单元或者预设模块如何调整拍摄帧率的。
胶囊式内窥镜可以实现对被检者的食管、胃、小肠和大肠的检查。具体检查方法如下：
激活胶囊式内窥镜，将胶囊式内窥镜的拍摄频率设置为2帧/秒，被检者吞服胶囊式内窥镜。此时，胶囊式内窥镜的结构如图4所示，具备两个摄像单元51，这两个摄像单元51分别位于胶囊式内窥镜的两端。
当胶囊式内窥镜进入图2的食管1后，图4中的胶囊式内窥镜5的两个摄像单元51均设置为处于工作状态。处于工作状态的照明单元52照射受检者食管1的内壁，摄像单元51拍摄食管1的内壁图像，胶囊式内窥镜5中的图像传输单元53将拍摄到的食管内壁的图像传递给AI智能识别单元(见图5)或者预设模块(未图示)，AI智能识别单元或者预设模块识别食管内壁图像，确定胶囊式内窥镜依然在食管1中，AI智能识别单元或者预设模块将识别结果通过图像单元发送给胶囊式内窥镜，胶囊式内窥镜中的控制系统则维持拍摄帧率为2帧/秒。
当胶囊式内窥镜经过大约2秒钟后，进入胃中，图4中的胶囊式内窥镜5的两个摄像单元51一个关闭，一个处于工作状态；处于工作状态的摄像单元51拍摄到图2中的胃2的内壁的图像，胶囊式内窥镜5中的图像传输单元53将拍摄到的胃的内壁的图像传递给AI智能识别单元(见图5)或者预设模块(未图示)，AI智能识别单元或者预设模块识别胃的内壁图像，确定胶囊式内窥镜进入胃中，则AI智能识别单元或者预设模块将识别结果通过图像传送单元发送给胶囊式内窥镜，胶囊式内窥镜中的控制系统将拍摄帧率调整为4帧/秒，并将该帧率值维持至胶囊式内窥镜进入小肠前。
当胶囊式内窥镜进入小肠后，图4中的胶囊式内窥镜5的两个摄像单元51 一个关闭，一个处于工作状态；处于工作状态的摄像单元51拍摄到图2中的小肠3的内壁的图像，胶囊式内窥镜5中的图像传输单元53将拍摄到的小肠内壁的图像传递给AI智能识别单元(见图5)或者预设模块，AI智能识别单元或者预设模块识别小肠内壁的图像，确定胶囊式内窥镜进入小肠中，则AI智能识别单元或者预设模块将识别结果通过图像传送单元发送给胶囊式内窥镜，胶囊式内窥镜中的控制系统将拍摄帧率调整为2帧/秒，并将该帧率值维持至胶囊式内窥镜进入大肠前。
当胶囊式内窥镜进入大肠后，图4中的胶囊式内窥镜5的两个摄像单元51均处于工作状态；两个摄像单元51拍摄到图2中的大肠4内壁的图像，胶囊式内窥镜5中的图像传输单元53将拍摄到的大肠内壁的图像传递给AI智能识别单元(见图5)或者预设模块，AI智能识别单元或者预设模块识别大肠内壁图像，确定胶囊式内窥镜进入大肠中，AI智能识别单元或者预设模块将识别结果通过图像传送单元发送给胶囊式内窥镜，胶囊式内窥镜中的控制系统调节拍摄帧率，在大肠中运行速度慢的地方，拍摄帧率设置为0.5帧/秒，在运行速度快的地方拍摄帧率设置为大于30帧/秒。
当胶囊式内窥镜在大肠中运行完毕后，通过肛门排出体外。胶囊式内窥镜将拍摄到的食管、胃、小肠、大肠的图像，发送给图像接收单元，比如发送给医生或者云端服务器。如果直接发给医生，则医生可以直接阅片，检查被检者的食管或者胃可能出现的病变；如果发送到云端，则医生可以远程下载相应消化道的图像，通过阅片判断被检者的消化道可能出现的病变。
当然，在利用胶囊式内窥镜检查食管、胃、小肠和大肠时，也可以通过内置于胶囊式内窥镜中的运动传感器来调节胶囊式内窥镜的拍摄帧率。
由于AI智能识别单元或者预设模块的运用，因此胶囊式内窥镜在不同的消化道能调节不同的系统参数，该系统参数包括但不限于摄像头开关状态、拍摄帧率、图像分辨率、图像亮度、位姿和运动速度，使得胶囊式内窥镜在拍摄过程中得到足够且不冗余的消化道图像，拍摄到的图像效果最好。另外，AI智能 识别单元或者预设模块也可以调整胶囊两端摄像头工作状态，如在检查胃、小肠时，控制一个摄像单元工作，一个摄像单元关闭，有效的节约了胶囊式内窥镜的电池电量；在检查食管、大肠过程中，由于胶囊式内窥镜在这两个部位运动较快，通过设置使两个摄像单元均处于工作状态，有效降低这两个部位的病灶漏检率。
上述两个实施例中的提到的胶囊式内窥镜中图像传送单元，优选为无线收发设备，如内置于胶囊式内窥镜中的天线，通过无线网路(如3G网络、4G网络，5G网络)传输相应的图像。
胶囊式内窥镜在消化道的不同部位的拍摄帧率范围分别为：在食管8～34帧/秒，胃2～8帧/秒，小肠1～4帧/秒，大肠1～34帧/秒.。
需要说明的是，图3、图4中，AI智能识别单元或者预设模块均可以布置于网络的云端或者内置于胶囊式内窥镜5中，通过图像传输单元传输的胶囊式内窥镜拍摄到的消化道图像，判定胶囊式内窥镜所处的消化道位置，从而合理的调整拍摄帧率，使拍摄到的消化道图像足够但不冗余，使电池电量得到最合理的分配使用，显著提高了胶囊式内窥镜的工作时间，也减少了医生的阅片量。
本发明还公布了一种智能控制胶囊式内窥镜在消化道不同部位工作的装置，包括：胶囊式内窥镜，以及智能识别单元或者预设模块。胶囊式内窥镜拍摄被检者消化道的不同部位，如食管、胃、小肠、大肠，然后将拍摄到的消化道的不同部位的图像发送给智能识别单元或者预设模块，智能识别单元或者预设模块将识别结果发送给所述胶囊式内窥镜，胶囊式内窥镜接收该识别结果，根据识别结果，然后通过内置在胶囊式内窥镜中的控制系统来调整胶囊式内窥镜在不同消化系统的系统参数。这些系统参数包括：胶囊式内窥镜的：摄像头开关状态、拍摄帧率、位姿和运动速度。例如：在食管和大肠中，由于胶囊式内窥镜的速度比较快，为了保证胶囊式内窥镜能全部拍摄完食管和大肠的图像，则需要通过智能识别单元将胶囊式内窥镜的拍摄帧率提高，拍摄帧率：在食管中为8～34帧/秒，大肠1～34帧/秒；在胃和小肠中，由于胶囊式内窥镜的移动 速度较慢，若拍摄帧率不降低，则胶囊式内窥镜会拍摄多余的冗余图像，这一方面会造成胶囊式内窥镜中电池电量的浪费，另一方面大量冗余图像会增加医生的阅片量。通过增加智能识别单元或者预设模块，将拍摄帧率设置分别设置为：在胃中为2～8帧/秒，在小肠中为1～4帧/秒。因此，智能识别单元或者预设模块，能根据胶囊式内窥镜在不同的消化道，合理调节拍摄帧率，既能增加胶囊式内窥镜中的电池的使用时间，又能减少冗余图片的拍摄，提高医生的阅片效率。此外，智能识别单元或者预设模块还能控制胶囊式内窥镜的双摄像头的工作状态，例如：当智能识别单元或者预设模块根据胶囊式内窥镜拍摄的图像识别胶囊式内窥镜在胃、小肠时，智能识别单元或者预设模块将识别结果发送给胶囊式内窥镜，胶囊式内窥镜通过内置的控制系统控制双摄像头一个工作，另一个关闭，这样能有效降低胶囊式内窥镜中的电量的消耗；当智能识别单元根据胶囊式内窥镜拍摄的图像识别胶囊式内窥镜在食管和大肠时，则智能识别单元将识别结果发送给胶囊式内窥镜，胶囊式内窥镜通过内置的控制系统控制双摄像头两端工作，在食管和大肠检查过程中有效降低病灶漏检率。
作为其中一个实施例，参考图5，消化道不同部位的图像是通过内置于所胶囊式内窥镜中的无线传输单元发送给智能识别单元的；智能识别单元是通过外置的图像收发设备接收不同部位的图像，智能识别单元将识别结果通过图像设备中的无线收发设备发送给胶囊式内窥镜的中无线传输单元，胶囊式内窥镜中的控制系统接收该识别结果，并根据该识别结果调整胶囊式内窥镜的系统参数。
进一步地：所述无线传输单元包括无线收发设备，如内置于胶囊式内窥镜中天线单元，以及其他的无线传输网络，如4G,5G网络。
进一步地，本装置中的控制系统包括：电源、系统设置单元及控制单元。控制单元优选为微控制单元(Microcontroller Unit；MCU)。
另外，本装置中的智能识别单元或者预设模块既可以内置于胶囊式内窥镜，也可以外置于网络云端。若是外置于网络云端，则通过无线传输来保持和胶囊 式内窥镜的信息的交互。
上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (8)

  1. 一种智能控制胶囊式内窥镜在消化道不同部位工作方法，其特征在于，包括如下步骤：
    S1：受检者吞服所述胶囊式内窥镜，使所述胶囊式内窥镜进入食管；
    S2：所述胶囊式内窥镜对消化道不同部位拍照，将拍摄到的消化道图像发送给胶囊式内窥镜中的图像接收单元，所述图像接收单元将所述消化道图像发送给预设模块或者AI智能识别单元；
    S3：所述预设模块或者所述AI智能识别单元将识别到的胶囊式内窥镜处于消化道不同部位的信息发送给胶囊式内窥镜，胶囊式内窥镜的控制系统根据该信息调整胶囊式内窥镜在消化道不同部位的系统参数；
    其中，所述受检者的消化道不同部位依所述胶囊式内窥镜的行程路径依次为：食管、胃、小肠和大肠；所述系统参数包括胶囊式内窥镜的：摄像头开关状态、拍摄帧率、图像分辨率、图像亮度、位姿和运动速度。
  2. 如权利要求1所述的方法，其特征在于：步骤S3包括如下步骤：
    S31：当预设模块或者AI智能识别单元的识别结果为所述胶囊式内窥镜仍然位于食管内，则胶囊式内窥镜的控制系统依然维持所述胶囊式内窥镜在食管的系统参数；
    S32：当预设模块或者AI智能识别单元的识别结果为所述胶囊式内窥镜刚进入胃部，则胶囊式内窥镜的控制系统调整系统参数，并维持至所述胶囊式内窥镜进入小肠前，使所述胶囊式内窥镜适合胃部工作环境；
    S33：当预设模块或者AI智能识别单元的识别结果为所述胶囊式内窥镜进入小肠，则胶囊式内窥镜的控制系统调整系统参数并维持至所述胶囊式内窥镜进入大肠前，使所述胶囊式内窥镜适合小肠工作环境；
    S34：当预设模块或者AI智能识别单元的识别结果为所述胶囊式内窥镜进 入大肠，则胶囊式内窥镜的控制系统调整系统参数，使所述胶囊式内窥镜适合大肠工作环境并维持至所述胶囊式内窥镜刚排出体外。
  3. 如权利要求2所述的方法，其特征在于：在步骤S32中，所述胶囊式内窥镜的控制系统调整系统参数的具体过程为：所述胶囊式内窥镜进入胃部之后，图像传输单元将胶囊式内窥镜拍摄到的胃部图像传输给所述预设模块或者AI智能识别单元，所述预设模块或者AI智能识别单元根据识别结果调整所述胶囊式内窥镜在胃中的系统参数。
  4. 如权利要求2所述的方法，其特征在于：在步骤S33中，胶囊式内窥镜的控制系统调整系统参数的过程为：图像传输单元将胶囊式内窥镜拍摄到的小肠的图像传输到预设模块或者AI智能识别单元，预设模块或者AI智能识别单元根据识别结果调整胶囊式内窥镜在小肠中的系统参数。
  5. 如权利要求2所述的方法，其特征在于：在步骤S34中，所述胶囊式内窥镜的控制系统调整系统参数的具体过程为：图像传输单元将胶囊式内窥镜拍摄到的大肠的图像传输到所述预设模块或者所述AI智能识别单元，预设模块或者AI智能识别单元根据识别结果调整胶囊式内窥镜在大肠中的系统参数。
  6. 一种智能控制胶囊式内窥镜在消化道不同部位工作的装置，其特征在于，包括：胶囊式内窥镜，以及预设模块或者AI智能识别单元；所述胶囊式内窥镜拍摄被检者消化道的不同部位，将拍摄到的消化道图像发送给所述预设模块或者所述AI智能识别单元，所述预设模块或者所述AI智能识别单元将识别结果发送给所述胶囊式内窥镜，所述胶囊式内窥镜的控制系统根据识别结果调整所述胶囊式内窥镜在消化道不同部位的系统参数；
    其中，所述系统参数包括胶囊式内窥镜的：摄像头开关状态、拍摄帧率、图像分辨率、图像亮度、位姿和运动速度；
    所述受检者的消化道不同部位依所述胶囊式内窥镜的行程路径依次为：食 管、胃、小肠和大肠。
  7. 如权利要求6所述的装置，其特征在于：所述消化道图像是通过内置于所述胶囊式内窥镜中的无线传输单元发送给所述智能识别单元的。
  8. 如权利要求6-7中任一项所述的装置，其特征在于：所述控制系统包括电源、系统设置单元及控制单元。
PCT/CN2019/079553 2019-01-14 2019-03-25 智能控制胶囊式内窥镜在消化道不同部位工作方法及装置 WO2020147196A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910030781.1A CN109480746A (zh) 2019-01-14 2019-01-14 智能控制胶囊式内窥镜在消化道不同部位工作方法及装置
CN201910030781.1 2019-01-14

Publications (1)

Publication Number Publication Date
WO2020147196A1 true WO2020147196A1 (zh) 2020-07-23

Family

ID=65714531

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2019/079553 WO2020147196A1 (zh) 2019-01-14 2019-03-25 智能控制胶囊式内窥镜在消化道不同部位工作方法及装置

Country Status (2)

Country Link
CN (1) CN109480746A (zh)
WO (1) WO2020147196A1 (zh)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109480746A (zh) * 2019-01-14 2019-03-19 深圳市资福医疗技术有限公司 智能控制胶囊式内窥镜在消化道不同部位工作方法及装置
CN110490856B (zh) * 2019-05-06 2021-01-15 腾讯医疗健康(深圳)有限公司 医疗内窥镜图像的处理方法、系统、机器设备和介质
CN110575119A (zh) * 2019-09-12 2019-12-17 安翰科技(武汉)股份有限公司 基于多射频模块的胶囊内窥镜的控制方法及控制系统
CN110755021A (zh) * 2019-10-29 2020-02-07 重庆金山医疗技术研究院有限公司 一种胶囊内窥镜系统
CN110742573A (zh) * 2019-10-29 2020-02-04 重庆金山医疗技术研究院有限公司 一种胶囊内窥镜系统
CN110772210B (zh) * 2019-11-08 2022-09-20 重庆金山医疗技术研究院有限公司 一种诊断交互系统及方法
CN111728613B (zh) * 2020-08-18 2020-11-24 安翰科技(武汉)股份有限公司 电子设备及可读存储介质
CN112075914B (zh) * 2020-10-14 2023-06-02 深圳市资福医疗技术有限公司 胶囊内窥镜检查系统
CN112089392A (zh) * 2020-10-14 2020-12-18 深圳市资福医疗技术有限公司 胶囊内窥镜控制方法、装置、设备、系统及存储介质
CN112022067B (zh) * 2020-11-06 2021-01-12 安翰科技(武汉)股份有限公司 图像处理方法、电子设备及可读存储介质
CN112800969B (zh) * 2021-01-29 2022-04-19 深圳市爱深盈通信息技术有限公司 图像质量调节方法和系统、ai处理方法、门禁系统
CN113951808A (zh) * 2021-12-10 2022-01-21 广州思德医疗科技有限公司 非磁控胶囊内窥镜胃部图像采集方法、装置和系统
CN114245483B (zh) * 2021-12-23 2023-12-12 广州思德医疗科技有限公司 一种用于胃肠镜胶囊的通讯监测重连方法及系统

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101674769A (zh) * 2007-09-06 2010-03-17 i3系统公司 能够控制图像的帧率的胶囊型内窥镜
CN105011891A (zh) * 2015-06-24 2015-11-04 重庆金山科技（集团）有限公司 一种无线电胶囊型医用装置
WO2016067802A1 (ja) * 2014-10-27 2016-05-06 オリンパス株式会社 誘導装置、カプセル型内視鏡誘導システム、及び誘導装置の作動方法
US20170215713A1 (en) * 2014-12-02 2017-08-03 Olympus Corporation Capsule endoscope system and method for operating capsule endoscope system
US9763565B2 (en) * 2014-05-26 2017-09-19 Olympus Corporation Capsule endoscope device
CN108784637A (zh) * 2018-06-22 2018-11-13 重庆金山医疗器械有限公司 医用胶囊内窥镜自适应图像帧率调整方法及帧率调整系统
CN109091098A (zh) * 2017-10-27 2018-12-28 重庆金山医疗器械有限公司 磁控胶囊式内窥镜诊查系统
CN109480746A (zh) * 2019-01-14 2019-03-19 深圳市资福医疗技术有限公司 智能控制胶囊式内窥镜在消化道不同部位工作方法及装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5096676B2 (ja) * 2005-12-26 2012-12-12 オリンパス株式会社 生体内画像表示装置及び受信システム
JP5042542B2 (ja) * 2006-06-29 2012-10-03 オリンパスメディカルシステムズ株式会社 カプセル医療装置およびカプセル医療装置システム
CN103876702A (zh) * 2014-04-10 2014-06-25 重庆金山科技（集团）有限公司 一种具超声定位功能的胶囊内镜系统及其胶囊内镜
CN106572782A (zh) * 2014-08-08 2017-04-19 奥林巴斯株式会社 胶囊内窥镜、胶囊内窥镜系统以及胶囊内窥镜的控制方法
CN107730489A (zh) * 2017-10-09 2018-02-23 杭州电子科技大学 无线胶囊内窥镜小肠病变计算机辅助检测系统及检测方法

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101674769A (zh) * 2007-09-06 2010-03-17 i3系统公司 能够控制图像的帧率的胶囊型内窥镜
US9763565B2 (en) * 2014-05-26 2017-09-19 Olympus Corporation Capsule endoscope device
WO2016067802A1 (ja) * 2014-10-27 2016-05-06 オリンパス株式会社 誘導装置、カプセル型内視鏡誘導システム、及び誘導装置の作動方法
US20170215713A1 (en) * 2014-12-02 2017-08-03 Olympus Corporation Capsule endoscope system and method for operating capsule endoscope system
CN105011891A (zh) * 2015-06-24 2015-11-04 重庆金山科技（集团）有限公司 一种无线电胶囊型医用装置
CN109091098A (zh) * 2017-10-27 2018-12-28 重庆金山医疗器械有限公司 磁控胶囊式内窥镜诊查系统
CN108784637A (zh) * 2018-06-22 2018-11-13 重庆金山医疗器械有限公司 医用胶囊内窥镜自适应图像帧率调整方法及帧率调整系统
CN109480746A (zh) * 2019-01-14 2019-03-19 深圳市资福医疗技术有限公司 智能控制胶囊式内窥镜在消化道不同部位工作方法及装置

Also Published As

Publication number Publication date
CN109480746A (zh) 2019-03-19

Similar Documents

Publication Publication Date Title
WO2020147196A1 (zh) 智能控制胶囊式内窥镜在消化道不同部位工作方法及装置
JP2003070728A (ja) カプセル式内視鏡
WO2005117682A1 (ja) 無線型被検体内情報取得装置、無線型被検体内情報取得システムおよび通信装置
JP2004344655A (ja) 内視鏡装置
JP2010524557A (ja) 画像のフレームレートを制御できるカプセル型内視鏡
CN101536895A (zh) 胶囊内镜自动调焦系统
US20230008154A1 (en) Capsule endoscope apparatus and method of supporting lesion diagnosis
CN102397052A (zh) 基于图像识别技术的可调节拍摄速率的无线胶囊内窥镜系统及方法
WO2022037534A1 (zh) 基于图像的位置探测方法、电子设备及可读存储介质
WO2020140333A2 (zh) 一种利用等密度胶囊内窥镜检查全消化道的方法
CN202654130U (zh) 具有超声功能的胶囊内镜系统
JP5586108B2 (ja) カプセル内視鏡
WO2012075716A1 (zh) 双向红外线热扫描胶囊小肠镜系统
CN1561902A (zh) 一种双图像传感器的数码无线传输内窥镜系统
CN102525394A (zh) 具有电子ccd摄像系统和夜视摄像头的胶囊小肠镜系统
CN102028504B (zh) 具有ccd功能的彩色多普勒超声胶囊小肠镜系统
CN102008327B (zh) 具有彩色多普勒超声功能的胶囊小肠镜系统
Gu et al. A new system design of the multi-view micro-ball endoscopy system
JP4383134B2 (ja) 無線型被検体内情報取得装置
WO2012075718A1 (zh) 带ccd的红外线热扫描胶囊小肠镜系统
CN201939381U (zh) 具有ccd功能的彩色多普勒超声胶囊小肠镜系统
CN2706123Y (zh) 医用无线电胶囊式内窥系统
WO2012075717A1 (zh) 红外线热扫描胶囊小肠镜系统
CN202426490U (zh) 基于图像识别技术的可调节拍摄速率的无线胶囊内窥镜系统
CN202408823U (zh) 具有夜视功能的胶囊小肠镜系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19909976

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19909976

Country of ref document: EP

Kind code of ref document: A1