CN100401972C - Stereo-imaging intelligent capsule type digestive tract endoscope - Google Patents
Stereo-imaging intelligent capsule type digestive tract endoscope Download PDFInfo
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- CN100401972C CN100401972C CNB2005100570398A CN200510057039A CN100401972C CN 100401972 C CN100401972 C CN 100401972C CN B2005100570398 A CNB2005100570398 A CN B2005100570398A CN 200510057039 A CN200510057039 A CN 200510057039A CN 100401972 C CN100401972 C CN 100401972C
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Abstract
The present invention provides a stereo imaging intelligent capsule type endoscope for a digestive tract, which is characterized in that the stereo imaging intelligent capsule type endoscope has a pair of optical-part and photoing modules, wherein each photoing module comprises an image sensor, a colored processor, an encoder for compressing real-time images and an interface circuit; after the image sensor carries out A/D conversion to signals, the signals are connected with the colored processor to carry out color processing; after the signals are compressed by the image compression encoder, the signals are connected with a microprocessor through a UART or an I2C port of the interface circuit, and then, the signals are connected with a radio-frequency sending and receiving module through the microprocessor; the radio-frequency sending and receiving module sends information towards the outside of a body through an antenna, and control instructions are received through the radio-frequency sending and receiving module; after the received instructions are processed through the microprocessor, an I/O port is connected with an LED lighting array, the image sensor and the control end of working modes and working states of the radio-frequency sending and receiving module. Due to the structure, the present invention can obtain the images having stereo perception of the protruded parts in the digestive tract, and store the images to carry out wireless sending.
Description
Affiliated technical field
The present invention relates to a kind ofly enter the intelligent capsule digestive tract wireless endoscope that gastrointestinal tract is observed by oral.
Technical background
In the inspection of capsule endoscope, for the jut of finding in the digestive tract, for example polyposis intestinalis meat, tumor, CrohnShi disease etc. have very important meaning.Endoscope of the prior art, for example the captured photo of Israel GI Company Inc. capsule endoscope all is the two-dimensional plane photo, has limitation to finding the jut in the digestive tract; The wireless power controllable type capsule endoscope system of Japan NORIKA system house exploitation, adopt the brightness of the LED that regulates the camera lens both sides and the focal length of change camera lens, realization is to the inspection of protruding part in the digestive tract, but this method requires the doctor conscientiously to observe in the checking process at about 10 hours and intravital capsule endoscope is controlled in real time equally, the patient also must cooperate the doctor to check that system's operating process is very complicated in about 10 hours process.
The content of invention
The intelligent capsule type digestive tract endoscope that the purpose of this invention is to provide a kind of three-dimensional imaging, be particularly conducive to realization to the jut in the digestive tract take, storage, wireless transmission.
According to the realization principle of the capture functions of 3-D view, when binocular fixation one object, object imaging on the retina of both sides simultaneously.If two eye position is in symmetry status, this picture is promptly thrown according on the amphiblestroid corresponding point in both sides.The signal of looking of two branch holes arrives occipital cortex, and through integrated treatment, the both sides video promptly melts the picture that rolls into one in consciousness.Because the light that object sends, when throwing is shining into two eye pupil holes, exist the angle of cut between light beam, the angle of cut of some formation is less at a distance, the angle of cut of Gou Chenging is bigger nearby, though two image obtains " fusion ", in fact still has difference, the picture of the slightly difference that the visual center promptly sends according to the size and two branch holes of the angle of cut obtains third dimension.
According to above-mentioned principle, the technical solution used in the present invention is such, be a kind of intelligent capsule type digestive tract endoscope of three-dimensional imaging, comprise the optical clear protecgulum that is connected with housing, be installed in the intravital LED illumination array of shell, opticator, camera module, magnetic control power switching module, radio-frequency (RF) receiving and transmission module, microprocessor, antenna and battery; It is characterized in that: have a pair of opticator and camera module, each camera module comprises imageing sensor, color processor, real time imaging condensing encoder and interface circuit; Wherein imageing sensor carries out signal being connected to color processor after the analog digital conversion with signal and carries out color treatments, be connected with microprocessor through the UART or the I2C port of image compression encoder compression back by interface circuit, be connected with radio-frequency (RF) receiving and transmission module through microprocessor again, pass through day external transmission information of alignment by radio-frequency (RF) receiving and transmission module, and receive control instruction, and the back is connected LED illumination array, image sensor and radio-frequency (RF) receiving and transmission module by the I/O mouth working method and duty control end handled in the instruction of accepting by microprocessor by radio-frequency (RF) receiving and transmission module.
The present invention has remarkable advantages owing to described structure than the planar imaging technology.This be because: irradiate light will produce scattered light behind object.The mankind then confirm this scattered light by many viewpoints, such as with eyes or moving view point, confirm object space with this, and produce third dimension.
Description of drawings
Accompanying drawing 1 is a structure principle chart of the present invention;
Accompanying drawing 2 is a capsule front view of the present invention;
Accompanying drawing 3 is the circuit theory diagrams of embodiments of the invention;
Accompanying drawing 4 is camera module circuit theory diagrams of the present invention;
Accompanying drawing 5 is the circuit theory diagrams of magnetic control power switching module of the present invention.
Referring to accompanying drawing: opticator comprises shade, infrared and HONGGUANG filter membrane, lenticule and lens bracket in the accompanying drawing, and described camera module comprises: image sensor, color processor, real time imaging condensing encoder, interface circuit; The scenery that imageing sensor is finished the outside passes through the pattern matrix imaging, finishes analog digital conversion; And digital signal sent into color processor
Finish reconstruct and, convert thereof into RGB or YUYV data than normal operation method; Image compression encoder can become jpeg data with the YUV4:2:2 data compression, and is kept in wherein the RAM; Interface circuit comprises UART and two kinds of interfaces of I2C, the data of internal RAM can be transmitted by agreement, also can receive necessary control and configuration data.Imageing sensor can adopt CMOS or ccd image sensor in an embodiment, and as the VS6552 imageing sensor that ST produces, the real time imaging condensing encoder can adopt universal integrated circuit, and microprocessor can adopt MSP340 family chip core to constitute; Radio-frequency (RF) receiving and transmission module can adopt MK70110.Described color processor can be realized by the software that is encapsulated in the microprocessor.
In the said structure, microprocessor is connected with camera module by two kinds of interfaces of UART and I2C, camera module is time-sharing work under the control of microprocessor, when microprocessor sends the photograph instruction, the LED illumination array is in running order, with the subject adequate illumination, camera sensor is simultaneously in running order, and other parts are in holding state; After finishing the process of taking pictures, after microprocessor detects the duty of camera module, sending instruction makes image sensor be in holding state, color processor is in running order, after color processor is finished color processing, microprocessor sends instruction once more makes image compression encoder in running order, and other parts are in holding state, finish and take pictures the cycle to promptly finishing one behind the image compression coding.
The capture functions of the 3-D view of intelligent capsule digestive tract of the present invention endoscope is by two groups of opticator A and camera module are installed in the both sides of the enclosure axis heart, object is by two groups of symmetric camera module imagings, pass through analog digital conversion again, signal and color treatments, the image emissions of by radio-frequency (RF) receiving and transmission module two groups of camera modules being taken after overcompression is gone out; Image recording that the person under inspection wears and intelligent capsule controller are by being attached thereto the data that the antenna array that connects receives the intelligent capsule emission, the process demodulation extracts view data and with in the external memory storage card of data storage in image recording and intelligent capsule controller, the external memory storage card can be micro hard disk or other compatible memorizer of CF card, CF card II compatibility.Image workstation reads in the view data of storing in the storage card in the hard disk of computer by the storage card reader, and image workstation software carries out integrated treatment to two groups of camera module shot image data of intelligent capsule, obtains three-dimensional image.The implementation particularly of this technology: the display system of image workstation is made up of two High Resolution LCD helmets display screen that declines, and each screen is corresponding to user's eyes, thereby realizes the effect that 3D shows.Adopt the three-dimensional display system of this method to have and the suitable stereoeffect of human natural vision characteristic.
Referring to accompanying drawing 4, magnetic control power switching module of the present invention comprises magnetic switch S1, field effect transistor Q1, when S1 is closed, VGS is 0 turn-on threshold voltage less than field effect transistor, so field effect transistor Q1 is in closed condition, field effect transistor Q1 cuts off the path between battery and load circuit, and battery can not be powered for load circuit; Otherwise VGS is the turn-on threshold voltage of cell voltage greater than field effect transistor, so field effect transistor Q1 is in opening, battery is connected by field effect transistor Q1 and load circuit, and battery is the load circuit power supply.Therefore, when magnetic switch S1 is in the magnetic field, be off-state, remove magnet, magnetic switch just is in on-state.
Claims (3)
1. the intelligent capsule type digestive tract endoscope of a three-dimensional imaging comprises the optical clear protecgulum that is connected with housing, is installed in the intravital LED illumination array of shell, opticator, camera module, magnetic control power switching module, radio-frequency (RF) receiving and transmission module, microprocessor, antenna and battery; It is characterized in that: have a pair of opticator and camera module, each camera module comprises imageing sensor, color processor, real time imaging condensing encoder and interface circuit; Wherein imageing sensor carries out signal being connected to color processor after the analog digital conversion with signal and carries out color treatments, process image compression encoder compression back is connected the radio-frequency (RF) receiving and transmission module connection by the UART or the I2C port of interface circuit with microprocessor, outwards send information by radio-frequency (RF) receiving and transmission module by antenna, and receive the external control instruction, and the back is connected LED illumination array, imageing sensor and radio-frequency (RF) receiving and transmission module by the I/O mouth working method and duty control end handled in the instruction of accepting by microprocessor by radio-frequency (RF) receiving and transmission module; Wherein, microprocessor is connected with camera module by two kinds of interfaces of UART and I2C, camera module is time-sharing work under the control of microprocessor, when microprocessor sends the photograph instruction, the LED illumination array is in running order, with the subject adequate illumination, camera sensor is simultaneously in running order, and other parts are in holding state; After finishing the process of taking pictures, after microprocessor detects the duty of camera module, sending instruction makes imageing sensor be in holding state, color processor is in running order, after color processor is finished color processing, microprocessor sends instruction once more makes image compression encoder in running order, and other parts are in holding state, finish and take pictures the cycle to promptly finishing one behind the image compression encoding.
2. according to the intelligent capsule type digestive tract endoscope of the described a kind of three-dimensional imaging of claim 1, it is characterized in that: the magnetic switch in the magnetic control power switching module (S1) is an off-state when being in the magnetic field, removes magnet and just is in on-state.
3. according to the intelligent capsule type digestive tract endoscope of the described a kind of three-dimensional imaging of claim 1, it is characterized in that: the information that described radio-frequency (RF) receiving and transmission module outwards sends by antenna is shown by two High Resolution LCD helmets display screen that declines by receiving the back.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100570398A CN100401972C (en) | 2005-04-28 | 2005-04-28 | Stereo-imaging intelligent capsule type digestive tract endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100570398A CN100401972C (en) | 2005-04-28 | 2005-04-28 | Stereo-imaging intelligent capsule type digestive tract endoscope |
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| Publication Number | Publication Date |
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| CN1672626A CN1672626A (en) | 2005-09-28 |
| CN100401972C true CN100401972C (en) | 2008-07-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2005100570398A Ceased CN100401972C (en) | 2005-04-28 | 2005-04-28 | Stereo-imaging intelligent capsule type digestive tract endoscope |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101374450B (en) * | 2006-01-19 | 2012-01-25 | 奥林巴斯医疗株式会社 | Intra-subject medical system |
| CN100403972C (en) * | 2006-05-26 | 2008-07-23 | 清华大学 | Integrated circuit system for two-way digital wireless endoscope capsule |
| BRPI0807525A2 (en) * | 2007-02-09 | 2014-06-10 | Skeletal Dynamics Llc | ENDOGICAL SURGICAL DEVICE AND METHOD |
| US11612307B2 (en) | 2016-11-24 | 2023-03-28 | University Of Washington | Light field capture and rendering for head-mounted displays |
| US10623660B1 (en) | 2018-09-27 | 2020-04-14 | Eloupes, Inc. | Camera array for a mediated-reality system |
| CN110811489A (en) * | 2019-12-11 | 2020-02-21 | 深圳先进技术研究院 | Capsule endoscope with 3D measuring function and corresponding imaging method |
| US10949986B1 (en) | 2020-05-12 | 2021-03-16 | Proprio, Inc. | Methods and systems for imaging a scene, such as a medical scene, and tracking objects within the scene |
| US12261988B2 (en) | 2021-11-08 | 2025-03-25 | Proprio, Inc. | Methods for generating stereoscopic views in multicamera systems, and associated devices and systems |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6632175B1 (en) * | 2000-11-08 | 2003-10-14 | Hewlett-Packard Development Company, L.P. | Swallowable data recorder capsule medical device |
| CN1473545A (en) * | 2002-08-05 | 2004-02-11 | 王卫东 | medical radio capsule |
| CN1561902A (en) * | 2004-04-14 | 2005-01-12 | 重庆大学 | Digital radio transmission endoscope system of double picture sonsor |
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2005
- 2005-04-28 CN CNB2005100570398A patent/CN100401972C/en not_active Ceased
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6632175B1 (en) * | 2000-11-08 | 2003-10-14 | Hewlett-Packard Development Company, L.P. | Swallowable data recorder capsule medical device |
| CN1473545A (en) * | 2002-08-05 | 2004-02-11 | 王卫东 | medical radio capsule |
| CN1561902A (en) * | 2004-04-14 | 2005-01-12 | 重庆大学 | Digital radio transmission endoscope system of double picture sonsor |
Non-Patent Citations (4)
| Title |
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| 内窥镜立体视觉的实现. 刘洋，郑小林，李冰.北京生物医学工程，第22卷第3期. 2003 |
| 内窥镜立体视觉的实现. 刘洋，郑小林，李冰.北京生物医学工程，第22卷第3期. 2003 * |
| 无线微型机器人肠道内窥镜系统中图像采集与无线传输子系统的设计. 付国强，梅涛，孔德义，张彦.光学精密工程，第10卷第6期. 2002 |
| 无线微型机器人肠道内窥镜系统中图像采集与无线传输子系统的设计. 付国强，梅涛，孔德义，张彦.光学精密工程，第10卷第6期. 2002 * |
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| CN1672626A (en) | 2005-09-28 |
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Denomination of invention: Stereo-imaging intelligent capsule type digestive tract endoscope Effective date of registration: 20160421 Granted publication date: 20080716 Pledgee: Chongqing Three Gorges bank Limited by Share Ltd. Jiangbei Branch Pledgor: CHONGQING JINSHAN SCIENCE & TECHNOLOGY (GROUP) Co.,Ltd. Registration number: 2016500000005 |
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Date of cancellation: 20171106 Granted publication date: 20080716 Pledgee: Chongqing Three Gorges bank Limited by Share Ltd. Jiangbei Branch Pledgor: CHONGQING JINSHAN SCIENCE & TECHNOLOGY (GROUP) Co.,Ltd. Registration number: 2016500000005 |
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Denomination of invention: Intelligent capsule gastrointestinal endoscope with stereo imaging Effective date of registration: 20210126 Granted publication date: 20080716 Pledgee: Agricultural Bank of China Limited Chongqing Yubei sub branch Pledgor: CHONGQING JINSHAN SCIENCE & TECHNOLOGY (GROUP) Co.,Ltd. Registration number: Y2021500000004 |
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Date of cancellation: 20220214 Granted publication date: 20080716 Pledgee: Agricultural Bank of China Limited Chongqing Yubei sub branch Pledgor: CHONGQING JINSHAN SCIENCE & TECHNOLOGY (GROUP) Co.,Ltd. Registration number: Y2021500000004 |
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