CN105942959A - Capsule endoscope system and its three-dimensional imaging method - Google Patents
Capsule endoscope system and its three-dimensional imaging method Download PDFInfo
- Publication number
- CN105942959A CN105942959A CN201610382301.4A CN201610382301A CN105942959A CN 105942959 A CN105942959 A CN 105942959A CN 201610382301 A CN201610382301 A CN 201610382301A CN 105942959 A CN105942959 A CN 105942959A
- Authority
- CN
- China
- Prior art keywords
- capsule endoscope
- dimensional
- digestive tract
- camera head
- image
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
- 239000002775 capsule Substances 0.000 title claims abstract description 116
- 238000003384 imaging method Methods 0.000 title claims abstract description 19
- 210000001035 gastrointestinal tract Anatomy 0.000 claims abstract description 52
- 238000012545 processing Methods 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000004891 communication Methods 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 23
- 238000000034 method Methods 0.000 claims description 23
- 230000008569 process Effects 0.000 claims description 16
- 230000009467 reduction Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 244000144985 peep Species 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 230000004927 fusion Effects 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 1
- 238000001727 in vivo Methods 0.000 abstract 2
- 210000003128 head Anatomy 0.000 description 44
- 230000006872 improvement Effects 0.000 description 11
- 239000011521 glass Substances 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 5
- 238000003745 diagnosis Methods 0.000 description 4
- 230000000968 intestinal effect Effects 0.000 description 3
- 238000011946 reduction process Methods 0.000 description 3
- 210000002784 stomach Anatomy 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000010643 digestive system disease Diseases 0.000 description 2
- 208000018685 gastrointestinal system disease Diseases 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000016776 visual perception Effects 0.000 description 1
- 229910000859 α-Fe Inorganic materials 0.000 description 1
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
- A61B1/00002—Operational features of endoscopes
- A61B1/00011—Operational features of endoscopes characterised by signal transmission
- A61B1/00016—Operational features of endoscopes characterised by signal transmission using wireless means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
-
- 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
- A61B1/06—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 with illuminating arrangements
- A61B1/0661—Endoscope light sources
- A61B1/0684—Endoscope light sources using light emitting diodes [LED]
-
- 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
- A61B1/273—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 upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
-
- 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
- A61B1/31—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 rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/07—Endoradiosondes
- A61B5/073—Intestinal transmitters
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Biophysics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Pathology (AREA)
- Optics & Photonics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Gastroenterology & Hepatology (AREA)
- Endoscopes (AREA)
Abstract
The invention provides a capsule endoscope system. The capsule endoscope system is used for observing the in-vivo digestive tract of a checked person, and comprises a capsule endoscope, a three-dimensional imaging device for three-dimensional modeling of the digestive tract and a display device for displaying a three-dimensional model. The capsule endoscope comprises a capsule-shaped shell, a photographing device arranged in the shell, an image processing device for processing images photographed by the photographing device and a radio frequency transmission device for communication between the image processing device and the three-dimensional imaging device. By means of the three-dimensional imaging device, the in-vivo digestive tract of the checked person is directly displayed on the display device in a three-dimensional model mode, a user can directly observe with the naked eyes, and operation is convenient.
Description
Technical field
The present invention relates to a kind of capsule endoscope system being applied to field of medical technology and three-dimensional imaging side thereof
Method.
Background technology
Capsule endoscope system due to the advantage such as comfortableness during its safety, reliability and diagnosis,
It is widely recognized as at present and has been applied in the diagnosis of gastroenteropathy.Capsule endoscope possesses image unit
With the illuminator using LED to constitute and wireless communication apparatus etc., and it is built in size and is available for population
In the capsule housing of clothes, by being swallowed from mouth by examinee, it is possible to during by body cavity to stomach or
Intestinals etc. shoot.Photographing information also can be sent to outside by wireless device by capsule endoscope, outward
Portion's equipment receives photographing information, is then displayed on display device.At human gastrointestinal tract no pain, hurtless measure
State under, medical personnel can carry out gastroenteropathy according to the image on display device to examinee and examine
Disconnected.
The imaging mode of currently used capsule endoscope system is two dimensional image, in order to peep in making capsule
Mirror is more flexible, controlled, in hgher efficiency, uses the capsule endoscope system of virtual reality technology in research
Three-dimensional imaging can be realized.But this virtual reality technology is provided without dimensional Modeling Technology, finally also need to lead to
Cross the special helmet or glasses or display for doctor, ability it is observed that 3-D view, and
In operating process also inconvenient, three-dimensional imaging can not be fully achieved.Further, due to capsule endoscope
The direction of motion and shooting angle are uncontrollable, thus cause shooting whole gastral 3-D view,
And the observation visual angle of the observation image such as stomach and small intestinal is the most limited.
Therefore, it is necessary to design a kind of convenient capsule endoscope system used and formation method thereof.
Summary of the invention
The present invention is directed to the problem that prior art exists, its object is to provide one that user can be allowed direct
The capsule endoscope system detected by an unaided eye and control method thereof.
For achieving the above object, the invention provides a kind of capsule endoscope system, be used for observing examinee
Internal digestive tract, described capsule endoscope system includes capsule endoscope, in order to digestive tract is carried out three
Tie up the three-dimensional image forming apparatus of modeling and in order to show the display device of threedimensional model；Peep in described capsule
Mirror include the housing in capsule shape, the camera head being arranged in housing, for process camera head shooting
Image image processing apparatus and in order to communication between image processing apparatus and three-dimensional image forming apparatus
Radio frequency transmission device.
As a further improvement on the present invention, described camera head includes two shootings for simulating human eye
Unit, these two image units are fixed on the circuit board included by capsule endoscope and spaced setting.
As a further improvement on the present invention, 1cm to 2cm it is spaced between said two image unit.
As a further improvement on the present invention, described housing includes cooperating the transparent shell connected and not
Transparent shell, described camera head is arranged towards described transparent shell.
As a further improvement on the present invention, described enclosure interior is provided with illuminator.
As a further improvement on the present invention, described capsule endoscope system also includes motion control device,
Described motion control device include being fixed on enclosure interior Magnet, be fixed in housing in order to detecting/
Record capsule endoscope position, the Magnetic Sensor of attitude information and be arranged at hull outside in order to control
The permanent magnet of described capsule endoscope motion.
As a further improvement on the present invention, described three-dimensional image forming apparatus includes: three-dimensional coordinate computing module,
In order to the figure captured by position according to capsule endoscope in shooting process, attitude information and camera head
Picture, calculates the capsule endoscope spatial coordinated information at digestive tract inwall, and this spatial coordinated information is also claimed
Make some cloud；Along with the change in location of capsule endoscope, form series of points cloud；Three-dimensional point cloud Fusion Module,
Complete digestive tract point cloud is formed in order to be merged by series of points cloud；Reconstructing three-dimensional model module, in order to root
According to digestive tract point cloud, the image captured by camera head is carried out three-dimensional reconstruction and form gastral three-dimensional mould
Type.
As a further improvement on the present invention, described three-dimensional image forming apparatus also includes: camera head calibrating die
Block, in order to calibrate the lens parameters of camera head before shooting；Three-dimensional point cloud noise reduction module, in order to right
The error dot cloud produced during shooting and calculating carries out noise reduction process.
For achieving the above object, present invention also offers the three-D imaging method of capsule endoscope system, use
The three-dimensional modeling that digestive tract is complete in forming examinee's body, described method includes: camera head shooting quilt
Gastral image in inspection person's body；Image captured by camera head is processed by image processing apparatus；
Image after radio frequency transmission device will process is sent to three-dimensional image forming apparatus；Three-dimensional image forming apparatus is to digestive tract
Carry out three-dimensional modeling；The threedimensional model established is mapped in display device.
As a further improvement on the present invention, described capsule endoscope system also includes motion control device,
Described motion control device include being fixed on enclosure interior Magnet, be fixed on enclosure interior for detecting/
Record described capsule endoscope position, the Magnetic Sensor of attitude information, and be arranged at hull outside and
The permanent magnet of the motion of described capsule endoscope can be controlled；At three-dimensional image forming apparatus, digestive tract is carried out three-dimensional
Before modeling, it is arranged at the described permanent magnet outside capsule endoscope by controlling rotation or the movement of Magnet
Controlling capsule endoscope motion in digestive tract, described Magnetic Sensor is peeped in detecting/record described capsule
The position of mirror, attitude information and by position, attitude information send to three-dimensional image forming apparatus.
As a further improvement on the present invention, described three-dimensional image forming apparatus carries out three-dimensional modeling to digestive tract
Step specifically includes: clapped according to position, attitude information and the camera head of the capsule endoscope received
The image taken the photograph, calculates the capsule endoscope spatial coordinated information at digestive tract inwall, and this space coordinates is believed
Breath also referred to as some cloud；Along with permanent magnet controls capsule endoscope position, attitudes vibration, forming one is
Row point cloud；Digestive tract point cloud complete in the combination of above-mentioned series of points cloud is formed examinee's body；According to disappearing
Change road point cloud and the image captured by camera head is carried out the three-dimensional mould that three-dimensional reconstruction formation digestive tract is complete
Type.
As a further improvement on the present invention, digestive tract is entered by described three-dimensional image forming apparatus according to image information
The step of row three-dimensional modeling also includes: before the digestive tract in examinee's body is shot by camera head,
The lens parameters of camera head is calibrated, and calculates camera head according to the lens parameters after calibration
Relative displacement and spin matrix.
As a further improvement on the present invention, digestive tract is entered by described three-dimensional image forming apparatus according to image information
The step of row three-dimensional modeling also includes: before above-mentioned some cloud combination, produce during to shooting and coordinates computed
Noise spot cloud carry out noise reduction process.
The invention has the beneficial effects as follows: described capsule endoscope shoots gastral figure by camera head
Picture, and captured image is mapped in display device to form threedimensional model by three-dimensional image forming apparatus,
Make user can pass through direct visual perception, without by helmet glasses all instruments, easy to use.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of capsule endoscope of the present invention；
Fig. 2 is the top view of capsule endoscope of the present invention；
Fig. 3 is the hardware structure diagram of capsule endoscope system of the present invention.
Detailed description of the invention
Describe the present invention below with reference to each embodiment shown in the drawings.But these are implemented
Mode is not limiting as the present invention, the knot that those of ordinary skill in the art is made according to these embodiments
Structure or conversion functionally are all contained in protection scope of the present invention.
As shown in Figures 1 to 3, the invention provides a kind of capsule endoscope system, be applied to medical skill
Field, described capsule endoscope system includes capsule endoscope 100, in order to according to capsule endoscope 100
The image of shooting carries out the three-dimensional image forming apparatus 300 of three-dimensional modeling, in order to peep in controlling capsule to digestive tract
Motion control device (not shown) that mirror 100 is movable in digestive tract and in order to show three-dimensional
The display device 200 of model.Described display device 200 can be the display screen of various electronic equipment, example
Display screen etc. such as computer.Described motion control device includes arranging and is fixed in capsule endoscope 100
Can control to drive the Magnet 2 of capsule endoscope 100 motion, be arranged at capsule endoscope 100 internal and
In order to detect/to record the Magnetic Sensor 9 of capsule endoscope 100 position, and it is arranged at capsule endoscope
The 100 outside permanent magnets 500 in order to control the motion of described capsule sight glass 100.
As it is shown in figure 1, described capsule endoscope 100 includes the housing 1 in capsule shape, is arranged at housing 1
In camera head 3, for controlling camera head 3 and the view data captured by camera head 3 entered
The image processing apparatus 4 of row process and communication between image processing apparatus 4 and three-dimensional image forming apparatus
Radio frequency transmission device 5.Described capsule endoscope 100 also includes and carries out inside examinee's digestive tract
The illuminator 6 of illumination, the power supply 7 in order to power to capsule endoscope 100, above-mentioned Magnet 2, magnetic pass
Sensor 9 and circuit board 8.
Described housing 1 is made up of transparent shell 11 and the opaque housing 12 of the connection that cooperates, and
Described transparent shell 11 and opaque housing 12 shape are strip and cooperate.
Described circuit board 8 is positioned at the interface of described transparent shell 11 and opaque housing 12, described
Circuit board 8 includes the one side being exposed to transparent shell 11 and is exposed to another of opaque housing 12
Side.Described illuminator 6 and camera head 3 are arranged at circuit board 8 and are exposed to the one of transparent shell 11
Side；Described radio frequency transmission device 5, Magnet 2, power supply 7, image processing apparatus 4 are arranged at circuit board
8 one side being exposed to opaque housing 12.
Described camera head 3 includes two image units 30 for simulating human eye, these two image units
30 are fixed on circuit board 8 and spaced, and spacing distance is at 1 centimetre (cm) to 2 centimetres (cm)
Between.Each image unit 30 includes the imageing sensor 31 being fixed on circuit board 8 and is fixed on
Optical lens 32 on imageing sensor 31.Described imageing sensor 31 is in order to shoot in examinee's body
The CMOS etc. of image, optical lens 32 makes image can image in the light of imageing sensor 31
Face.
Described illuminator 6 is usually arranged as the light emitting diodes such as LED, is used for sending camera head 3
The visible ray that is illuminated of scene, such as white light, photograph can be played in camera head 3 shooting process
Bright effect.In the present invention, described illuminator 6 uses 3-7 LED, and is evenly distributed in shooting
Two image units 30 of device 3 around, in the present embodiment, as in figure 2 it is shown, described illumination
Device 6 uses 7, then be provided with a LED, arbitrarily between two image units 30 of camera head 3
The border of one image unit 30 is evenly distributed with four LED.
Described image processing apparatus 4 is to have the dedicated IC chip ASIC controlling with processing function,
Can realize capsule endoscope 100 is shot the control of image.Further, described image processing apparatus 4 can be located
Reason image captured by camera head 3, described process refers to captured image is carried out stylistic place
Reason, such as, become the format pictures such as JPEG or JPEG-LS by compression of images.Described image processing apparatus 4
Also ensure that two image units 30 of camera head 3 shoot the synchronicity of image.
Magnet 2 is mainly made up of a Ferrite, can produce a local magnetic higher than earth's magnetic field
, in the present embodiment, Magnet 2 is a magnetic dipole.Magnetic Sensor 9 is by gathering in capsule
Sight glass 100 position, attitude information can determine that the locus of capsule endoscope 100, by external permanent magnets
Control internal magnets 2 thus realize the active to capsule endoscope 100 and control location.Further, outside is forever
Magnet can control rotation and the movement of Magnet 2, and owing to Magnet 2 is fixed in housing 1, thus outside is forever
Magnet can control in described capsule accordingly according to the position that inner magnet sensor 9 collects, attitude information
The rotation of sight glass 100 and movement.Further, described Magnetic Sensor 9 can real-time detection/record in described capsule
The position of sight glass 100, attitude information, and this position, attitude information are sent to three-dimensional image forming apparatus.
Described three-dimensional image forming apparatus is generally disposed at one and calculates on device (such as computer), is used for receiving
Image captured by capsule endoscope 100, and according to capsule endoscope 100 shooting image to digestive tract
Carry out three-dimensional modeling.Described three-dimensional image forming apparatus includes:
Camera head calibration module, in order to carry out school to the lens parameters etc. of camera head 3 before shooting
Standard, and the phase para-position of two image units 30 of camera head 3 is calculated according to the lens parameters after calibration
Move and spin matrix；
Three-dimensional coordinate computing module, in order to using lens parameters, relative displacement and spin matrix as parameter,
And take the photograph according to two of the position of capsule endoscope 100 received, attitude information and camera head 3
As the image captured by unit 30, the space calculating capsule endoscope 100 place digestive tract inwall is sat
Mark information, this spatial coordinated information also referred to as some cloud；
Three-dimensional point cloud noise reduction module, in order to carry out noise reduction to the error dot cloud produced during shooting or calculating
Process；
Three-dimensional point cloud Fusion Module, forms complete digestive tract point cloud in order to be merged by a cloud；
Reconstructing three-dimensional model module, in order to enter the image captured by camera head 3 according to digestive tract point cloud
Row three-dimensional reconstruction forms gastral threedimensional model.
Therefore, the three-D imaging method of described capsule endoscope system includes:
Camera head 3 is gastral image in shooting examinee's body；
Image captured by camera head 3 is processed by image processing apparatus 4；
Image after radio frequency transmission device 5 will process is sent to three-dimensional image forming apparatus；
Three-dimensional image forming apparatus carries out three-dimensional modeling to digestive tract；
The threedimensional model established is mapped in display device.
Further, described capsule endoscope system three-D imaging method particularly as follows:
S1: before shooting, the lens parameters of camera head calibration module calibration camera head 3, and root
Relative displacement and the rotation of two image units 30 of camera head 3 is calculated according to the lens parameters after calibration
Matrix；
After S2: capsule endoscope 100 enters digestive tract predetermined position, image processing apparatus 4 controls
Two camera heads 3 shoot simultaneously, and digestive tract inwall is illuminated by illuminator 6, described default position
Putting can be the position such as stomach, intestinal；
S3: image processing apparatus 4 carries out format analysis processing to the image captured by camera head 3, such as, press
Contracting is processed into the forms such as JPEG or JPEG-LS；
S4: radio frequency transmission device 5 by compression process after image transmitting to reconstructing three-dimensional model module；
S5: in shooting process, Magnetic Sensor 9 gathers the position of capsule endoscope 100, attitude information,
And by position, attitude information real-time Transmission to three-dimensional coordinate computing module；
S6: three-dimensional coordinate computing module using lens parameters, relative displacement, spin matrix as parameter, root
According to the figure captured by the position of capsule endoscope 100 received, attitude information and camera head 3
Picture, calculates the capsule endoscope 100 spatial coordinated information at digestive tract inwall, the sky that this calculating produces
Between coordinate information be referred to as a cloud；Along with external permanent magnets 500 controls changing of capsule endoscope 100 position
Become, form a series of some cloud；
S7: some errors can be produced when shooting image and calculating error, thus form noise spot cloud, then
Need, by three-dimensional point cloud noise reduction module, these noise spot clouds are carried out noise reduction process；
S8: after shooting terminates, the combination of above-mentioned series of points cloud is formed examinee by three-dimensional point cloud Fusion Module
Internal complete digestive tract point cloud；
Image captured by camera head 3 is carried out by S9: reconstructing three-dimensional model module according to digestive tract point cloud
Three-dimensional reconstruction, forms complete gastral threedimensional model；
S10: the threedimensional model after rebuilding is mapped in display device, i.e. user can be seen by naked eyes
Gastral threedimensional model in examining examinee's body.And by coordinate transform, this threedimensional model can also carry
For internal view, launch the view mode that the three kinds or more such as view, profile is different, such that it is able to
Gastral threedimensional model is observed with different visual angles.
Wherein, above-mentioned S4 and S5 sequence of steps can overturn, it is possible to carry out simultaneously, but, peep in capsule
Position, attitude information when mirror 100 is positioned at a position must be with the images formed in the shooting of this position
One_to_one corresponding.It addition, above-mentioned S8 and S9 step can be carried out simultaneously, i.e. when merging series of points cloud,
Image synchronization after format analysis processing spliced, then digestive tract point cloud and gastral threedimensional model synchronize
Complete.
Capsule endoscope 100 system of the present invention and control method thereof have plurality of advantages, specific as follows:
1. the housing 1 of the capsule endoscope 100 in the present invention includes transparent shell 11 and opaque housing
12, and cooperate, two image units 30 of camera head 3 all set towards described transparent shell 11
Put；Thus, the shooting visual angle of camera head 3 is the broadest, and two shootings of camera head 3 are single
It is spaced 1-2cm between unit 30, can preferably simulate human eye.
2. capsule endoscope 100 is entered by the capsule endoscope 100 in the present invention by external permanent magnets 500
Row location and motor control, then can carry out actively control, solve the position of capsule endoscope 100
Existing capsule endoscope 100 relies only on the shortcoming that gastral wriggling moves.
3., by three-dimensional image forming apparatus, digestive tract in examinee's body is carried out 3 D stereo modeling, user
Can directly observe by the naked eye, thus avoid user to need could observe by the device such as the helmet, glasses
The inconvenience of threedimensional model；Further, threedimensional model can be operated, from different angles to threedimensional model
Observe, thus greatly facilitate the diagnosis process of medical personnel so that diagnosis process is more clear
Clear, controlled, capsule endoscope 100 field is had the highest practicality and development prospect.
4., by the method for above-mentioned three-dimensional modeling, utilize some cloud the image co-registration that camera head 3 shoots to be existed
Together so that the threedimensional model after foundation is more complete, three-dimensional.
It is to be understood that, although this specification is been described by according to embodiment, but the most each embodiment
Only comprising an independent technical scheme, this narrating mode of description is only for clarity sake, this
Skilled person should be using description as an entirety, and the technical scheme in each embodiment can also
Through appropriately combined, form other embodiments that it will be appreciated by those skilled in the art that.
The a series of detailed description of those listed above is only for the feasibility embodiment of the present invention
Illustrating, they also are not used to limit the scope of the invention, all without departing from skill of the present invention spirit
Equivalent implementations or the change made should be included within the scope of the present invention.
Claims (13)
1. a capsule endoscope system, for observing the digestive tract in examinee's body, it is characterised in that
Described capsule endoscope system includes capsule endoscope, in order to digestive tract to carry out the three-dimensional one-tenth of three-dimensional modeling
As device and in order to show the display device of threedimensional model；Described capsule endoscope includes in capsule shape
Housing, the camera head being arranged in housing, for process camera head shooting image image at
Reason device and the radio frequency transmission device in order to communication between image processing apparatus and three-dimensional image forming apparatus.
Capsule endoscope system the most according to claim 1, it is characterised in that described camera head
Including two image units for simulating human eye, these two image units are fixed on capsule endoscope and are wrapped
On the circuit board included and spaced setting.
Capsule endoscope system the most according to claim 2, it is characterised in that said two images
1cm to 2cm it is spaced between unit.
Capsule endoscope system the most according to claim 1, it is characterised in that described housing includes
Cooperate the transparent shell and opaque housing connected, and described camera head sets towards described transparent shell
Put.
Capsule endoscope system the most according to claim 1, it is characterised in that described enclosure interior
It is provided with illuminator.
Capsule endoscope system the most according to claim 1, it is characterised in that peep in described capsule
Mirror system also includes motion control device, and described motion control device includes the magnetic being fixed on enclosure interior
Ferrum, be fixed in housing in order to detect/record capsule endoscope position, the Magnetic Sensor of attitude information,
And it is arranged at hull outside in order to control the permanent magnet of described capsule endoscope motion.
Capsule endoscope system the most according to claim 6, it is characterised in that described three-dimensional imaging
Device includes:
Three-dimensional coordinate computing module, in order to position according to capsule endoscope in shooting process, attitude letter
Image captured by breath and camera head, calculates the capsule endoscope spatial coordinated information at digestive tract inwall,
This spatial coordinated information also referred to as some cloud；Along with the change in location of capsule endoscope, form series of points
Cloud；
Three-dimensional point cloud Fusion Module, forms complete digestive tract point cloud in order to be merged by series of points cloud；
Reconstructing three-dimensional model module, in order to carry out the image captured by camera head according to digestive tract point cloud
Three-dimensional reconstruction forms gastral threedimensional model.
Capsule endoscope system the most according to claim 7, it is characterised in that described three-dimensional imaging
Device also includes:
Camera head calibration module, in order to calibrate the lens parameters of camera head before shooting；
Three-dimensional point cloud noise reduction module, in order to carry out noise reduction to the error dot cloud produced during shooting and calculating
Process.
9., for a three-D imaging method for capsule endoscope system as claimed in claim 1, it is used for
The three-dimensional modeling that in formation examinee's body, digestive tract is complete, it is characterised in that described method includes:
Gastral image in camera head shooting examinee's body；
Image captured by camera head is processed by image processing apparatus；
Image after radio frequency transmission device will process is sent to three-dimensional image forming apparatus；
Three-dimensional image forming apparatus carries out three-dimensional modeling to digestive tract；
The threedimensional model established is mapped in display device.
The three-D imaging method of capsule endoscope system the most according to claim 9, its feature exists
In, described capsule endoscope system also includes that motion control device, described motion control device include fixing
In enclosure interior Magnet, be fixed on enclosure interior for detecting/record described capsule endoscope position, appearance
The Magnetic Sensor of state information, and be arranged at hull outside and the motion of described capsule endoscope can be controlled
Permanent magnet；Before three-dimensional image forming apparatus carries out three-dimensional modeling to digestive tract, it is arranged at capsule endoscope
Outside described permanent magnet controls capsule endoscope in digestive tract by the rotation or movement controlling Magnet
Motion, described Magnetic Sensor detects/records the position of described capsule endoscope, attitude information and by position
Put, attitude information sends to three-dimensional image forming apparatus.
The three-D imaging method of 11. capsule endoscope systems according to claim 10, its feature exists
In, the step that described three-dimensional image forming apparatus carries out three-dimensional modeling to digestive tract specifically includes:
Position according to the capsule endoscope received, attitude information and the image captured by camera head,
Calculating the capsule endoscope spatial coordinated information at digestive tract inwall, this spatial coordinated information is also referred to as
For a cloud；Along with permanent magnet controls capsule endoscope position, attitudes vibration, form series of points cloud；
Digestive tract point cloud complete in the combination of above-mentioned series of points cloud is formed examinee's body；
According to digestive tract point cloud, the image captured by camera head carrying out three-dimensional reconstruction, to form digestive tract complete
Threedimensional model.
The three-D imaging method of 12. capsule endoscope systems according to claim 9, its feature exists
In, the step that described three-dimensional image forming apparatus carries out three-dimensional modeling according to image information to digestive tract also includes:
Before the digestive tract in examinee's body is shot by camera head, the camera lens of camera head is joined
Number is calibrated, and calculates relative displacement and the spin moment of camera head according to the lens parameters after calibration
Battle array.
The three-D imaging method of 13. capsule endoscope systems according to claim 9, its feature exists
In, the step that described three-dimensional image forming apparatus carries out three-dimensional modeling according to image information to digestive tract also includes:
Before above-mentioned some cloud combination, the noise spot cloud produced during to shooting and coordinates computed is carried out at noise reduction
Reason.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610382301.4A CN105942959B (en) | 2016-06-01 | 2016-06-01 | Capsule endoscope system and its three-D imaging method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610382301.4A CN105942959B (en) | 2016-06-01 | 2016-06-01 | Capsule endoscope system and its three-D imaging method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105942959A true CN105942959A (en) | 2016-09-21 |
| CN105942959B CN105942959B (en) | 2018-08-24 |
Family
ID=56908289
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610382301.4A Active CN105942959B (en) | 2016-06-01 | 2016-06-01 | Capsule endoscope system and its three-D imaging method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105942959B (en) |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106618454A (en) * | 2016-11-21 | 2017-05-10 | 电子科技大学 | Capsule endoscope system |
| CN106691366A (en) * | 2016-12-13 | 2017-05-24 | 重庆金山医疗器械有限公司 | Controllable capsule endoscopy control method |
| CN106952347A (en) * | 2017-03-28 | 2017-07-14 | 华中科技大学 | A Binocular Vision-Based Ultrasonic Surgical Aided Navigation System |
| CN107349012A (en) * | 2017-05-26 | 2017-11-17 | 重庆金山医疗器械有限公司 | A kind of modeling method and system of stomach threedimensional model |
| CN108245122A (en) * | 2018-01-12 | 2018-07-06 | 北京理工大学 | Magnetic guiding capsule endoscope system and method for planning track |
| CN108420392A (en) * | 2017-04-12 | 2018-08-21 | 重庆金山医疗器械有限公司 | A kind of contour detecting and model generating method |
| CN108460820A (en) * | 2018-01-29 | 2018-08-28 | 北京理工大学 | Mini mobile plant control unit based on image feedback and method |
| CN110327046A (en) * | 2019-04-28 | 2019-10-15 | 安翰科技(武汉)股份有限公司 | Object measuring method in a kind of alimentary canal based on camera system |
| CN110367912A (en) * | 2019-07-12 | 2019-10-25 | 深圳先进技术研究院 | A kind of endoscope and endoscopic system |
| US10537720B2 (en) | 2018-04-09 | 2020-01-21 | Vibrant Ltd. | Method of enhancing absorption of ingested medicaments for treatment of parkinsonism |
| 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 |
| CN111281312A (en) * | 2020-02-28 | 2020-06-16 | 重庆金山医疗技术研究院有限公司 | Capsule endoscope |
| CN111685714A (en) * | 2019-03-11 | 2020-09-22 | 上海安翰医疗技术有限公司 | Endoscopic imaging apparatus with diagnostic imaging device, imaging system and method thereof |
| US10814113B2 (en) | 2019-01-03 | 2020-10-27 | Vibrant Ltd. | Device and method for delivering an ingestible medicament into the gastrointestinal tract of a user |
| CN111885355A (en) * | 2020-07-21 | 2020-11-03 | 深圳市资福医疗技术有限公司 | Communication method of capsule endoscope |
| CN111915722A (en) * | 2020-08-04 | 2020-11-10 | 广州珠江天然气发电有限公司 | Movement control method and system for gas turbine endoscope |
| CN112089389A (en) * | 2019-06-17 | 2020-12-18 | 深圳硅基智控科技有限公司 | Capsule endoscope system with three-dimensional modeling function |
| US10888277B1 (en) | 2017-01-30 | 2021-01-12 | Vibrant Ltd | Method for treating diarrhea and reducing Bristol stool scores using a vibrating ingestible capsule |
| CN112261399A (en) * | 2020-12-18 | 2021-01-22 | 安翰科技(武汉)股份有限公司 | Capsule endoscope image three-dimensional reconstruction method, electronic device and readable storage medium |
| US10905378B1 (en) | 2017-01-30 | 2021-02-02 | Vibrant Ltd | Method for treating gastroparesis using a vibrating ingestible capsule |
| US11020018B2 (en) | 2019-01-21 | 2021-06-01 | Vibrant Ltd. | Device and method for delivering a flowable ingestible medicament into the gastrointestinal tract of a user |
| CN113017541A (en) * | 2019-12-09 | 2021-06-25 | 紫东信息科技(苏州)有限公司 | Capsule type endoscope based on binocular stereo vision |
| CN113052956A (en) * | 2021-03-19 | 2021-06-29 | 安翰科技(武汉)股份有限公司 | Method, device and medium for constructing film reading model based on capsule endoscope |
| US11052018B2 (en) | 2019-02-04 | 2021-07-06 | Vibrant Ltd. | Temperature activated vibrating capsule for gastrointestinal treatment, and a method of use thereof |
| CN114637871A (en) * | 2022-03-23 | 2022-06-17 | 安翰科技(武汉)股份有限公司 | Method and device for establishing digestive tract database and storage medium |
| US11478401B2 (en) | 2016-09-21 | 2022-10-25 | Vibrant Ltd. | Methods and systems for adaptive treatment of disorders in the gastrointestinal tract |
| US11504024B2 (en) | 2018-03-30 | 2022-11-22 | Vibrant Ltd. | Gastrointestinal treatment system including a vibrating capsule, and method of use thereof |
| US11510590B1 (en) | 2018-05-07 | 2022-11-29 | Vibrant Ltd. | Methods and systems for treating gastrointestinal disorders |
| US11638678B1 (en) | 2018-04-09 | 2023-05-02 | Vibrant Ltd. | Vibrating capsule system and treatment method |
| CN116091411A (en) * | 2022-12-08 | 2023-05-09 | 重庆金山医疗技术研究院有限公司 | Auxiliary quality control method, device, equipment and storage medium |
| US12083303B2 (en) | 2019-01-21 | 2024-09-10 | Vibrant Ltd. | Device and method for delivering a flowable ingestible medicament into the gastrointestinal tract of a user |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205758500U (en) * | 2016-06-01 | 2016-12-07 | 安翰光电技术（武汉）有限公司 | Capsule endoscope system |
-
2016
- 2016-06-01 CN CN201610382301.4A patent/CN105942959B/en active Active
Cited By (44)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11478401B2 (en) | 2016-09-21 | 2022-10-25 | Vibrant Ltd. | Methods and systems for adaptive treatment of disorders in the gastrointestinal tract |
| US12090112B2 (en) | 2016-09-21 | 2024-09-17 | Vibrant Ltd. | Methods and systems for adaptive treatment of disorders in the gastrointestinal tract |
| CN106618454B (en) * | 2016-11-21 | 2018-04-13 | 电子科技大学 | A kind of capsule endoscopic system |
| CN106618454A (en) * | 2016-11-21 | 2017-05-10 | 电子科技大学 | Capsule endoscope system |
| CN106691366A (en) * | 2016-12-13 | 2017-05-24 | 重庆金山医疗器械有限公司 | Controllable capsule endoscopy control method |
| US10888277B1 (en) | 2017-01-30 | 2021-01-12 | Vibrant Ltd | Method for treating diarrhea and reducing Bristol stool scores using a vibrating ingestible capsule |
| US10905378B1 (en) | 2017-01-30 | 2021-02-02 | Vibrant Ltd | Method for treating gastroparesis using a vibrating ingestible capsule |
| CN106952347B (en) * | 2017-03-28 | 2019-12-17 | 华中科技大学 | A Binocular Vision-Based Ultrasonic Surgical Aided Navigation System |
| CN106952347A (en) * | 2017-03-28 | 2017-07-14 | 华中科技大学 | A Binocular Vision-Based Ultrasonic Surgical Aided Navigation System |
| CN108420392A (en) * | 2017-04-12 | 2018-08-21 | 重庆金山医疗器械有限公司 | A kind of contour detecting and model generating method |
| CN107349012A (en) * | 2017-05-26 | 2017-11-17 | 重庆金山医疗器械有限公司 | A kind of modeling method and system of stomach threedimensional model |
| CN108245122A (en) * | 2018-01-12 | 2018-07-06 | 北京理工大学 | Magnetic guiding capsule endoscope system and method for planning track |
| CN108460820A (en) * | 2018-01-29 | 2018-08-28 | 北京理工大学 | Mini mobile plant control unit based on image feedback and method |
| CN108460820B (en) * | 2018-01-29 | 2022-05-10 | 北京理工大学 | Micro mobile device control device and method based on image feedback |
| US11504024B2 (en) | 2018-03-30 | 2022-11-22 | Vibrant Ltd. | Gastrointestinal treatment system including a vibrating capsule, and method of use thereof |
| US10537720B2 (en) | 2018-04-09 | 2020-01-21 | Vibrant Ltd. | Method of enhancing absorption of ingested medicaments for treatment of parkinsonism |
| US11638678B1 (en) | 2018-04-09 | 2023-05-02 | Vibrant Ltd. | Vibrating capsule system and treatment method |
| US10543348B2 (en) | 2018-04-09 | 2020-01-28 | Vibrant Ltd. | Method of enhancing absorption of ingested medicaments for treatment of an an ailment of the GI tract |
| US11510590B1 (en) | 2018-05-07 | 2022-11-29 | Vibrant Ltd. | Methods and systems for treating gastrointestinal disorders |
| US12115330B2 (en) | 2019-01-03 | 2024-10-15 | Vibrant Ltd. | Device and method for delivering an ingestible medicament into the gastrointestinal tract of a user |
| US10814113B2 (en) | 2019-01-03 | 2020-10-27 | Vibrant Ltd. | Device and method for delivering an ingestible medicament into the gastrointestinal tract of a user |
| US12083303B2 (en) | 2019-01-21 | 2024-09-10 | Vibrant Ltd. | Device and method for delivering a flowable ingestible medicament into the gastrointestinal tract of a user |
| US11020018B2 (en) | 2019-01-21 | 2021-06-01 | Vibrant Ltd. | Device and method for delivering a flowable ingestible medicament into the gastrointestinal tract of a user |
| US11052018B2 (en) | 2019-02-04 | 2021-07-06 | Vibrant Ltd. | Temperature activated vibrating capsule for gastrointestinal treatment, and a method of use thereof |
| CN111685714A (en) * | 2019-03-11 | 2020-09-22 | 上海安翰医疗技术有限公司 | Endoscopic imaging apparatus with diagnostic imaging device, imaging system and method thereof |
| CN110327046A (en) * | 2019-04-28 | 2019-10-15 | 安翰科技(武汉)股份有限公司 | Object measuring method in a kind of alimentary canal based on camera system |
| CN113693543B (en) * | 2019-06-17 | 2023-06-02 | 深圳硅基智控科技有限公司 | Capsule endoscope system with positioning function |
| CN112089389A (en) * | 2019-06-17 | 2020-12-18 | 深圳硅基智控科技有限公司 | Capsule endoscope system with three-dimensional modeling function |
| CN113693543A (en) * | 2019-06-17 | 2021-11-26 | 深圳硅基智控科技有限公司 | Capsule endoscope system with positioning function |
| CN110367912A (en) * | 2019-07-12 | 2019-10-25 | 深圳先进技术研究院 | A kind of endoscope and endoscopic system |
| CN113017541A (en) * | 2019-12-09 | 2021-06-25 | 紫东信息科技(苏州)有限公司 | Capsule type endoscope based on binocular stereo vision |
| 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 |
| CN111281312A (en) * | 2020-02-28 | 2020-06-16 | 重庆金山医疗技术研究院有限公司 | Capsule endoscope |
| CN111885355A (en) * | 2020-07-21 | 2020-11-03 | 深圳市资福医疗技术有限公司 | Communication method of capsule endoscope |
| CN111915722B (en) * | 2020-08-04 | 2024-01-23 | 广州珠江天然气发电有限公司 | Movement control method and system for gas turbine endoscope |
| CN111915722A (en) * | 2020-08-04 | 2020-11-10 | 广州珠江天然气发电有限公司 | Movement control method and system for gas turbine endoscope |
| CN112261399A (en) * | 2020-12-18 | 2021-01-22 | 安翰科技(武汉)股份有限公司 | Capsule endoscope image three-dimensional reconstruction method, electronic device and readable storage medium |
| CN113052956B (en) * | 2021-03-19 | 2023-03-10 | 安翰科技(武汉)股份有限公司 | Method, device and medium for constructing film reading model based on capsule endoscope |
| CN113052956A (en) * | 2021-03-19 | 2021-06-29 | 安翰科技(武汉)股份有限公司 | Method, device and medium for constructing film reading model based on capsule endoscope |
| WO2022194126A1 (en) * | 2021-03-19 | 2022-09-22 | 安翰科技(武汉)股份有限公司 | Method for building image reading model based on capsule endoscope, device, and medium |
| WO2023179720A1 (en) * | 2022-03-23 | 2023-09-28 | 安翰科技(武汉)股份有限公司 | Digestive tract database establishment method and apparatus, and storage medium |
| CN114637871B (en) * | 2022-03-23 | 2024-08-13 | 安翰科技(武汉)股份有限公司 | Method, device and storage medium for establishing digestive tract database |
| CN114637871A (en) * | 2022-03-23 | 2022-06-17 | 安翰科技(武汉)股份有限公司 | Method and device for establishing digestive tract database and storage medium |
| CN116091411A (en) * | 2022-12-08 | 2023-05-09 | 重庆金山医疗技术研究院有限公司 | Auxiliary quality control method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105942959B (en) | 2018-08-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105942959B (en) | Capsule endoscope system and its three-D imaging method | |
| CN205758500U (en) | Capsule endoscope system | |
| CN102860810B (en) | Medical magnetic capsule endoscope system | |
| CN105916462B (en) | Optical tracking system | |
| ES2405879T3 (en) | Device, system and method for automatic detection of contractile activity in an image frame | |
| CN105996961B (en) | 3D three-dimensional imagings capsule endoscope system and method based on structure light | |
| US20090207246A1 (en) | Interactive image acquisition device | |
| US20160073854A1 (en) | Systems and methods using spatial sensor data in full-field three-dimensional surface measurement | |
| CN105125160B (en) | Oral cavity endoscope detecting system and detecting method thereof | |
| CN103458763B (en) | Capsule-type endoscope system, method for displaying image and image display program | |
| JP2007130263A (en) | In-vivo image acquisition device | |
| CN103908216A (en) | Capsule endoscope system with magnetic field positioning function and capsule endoscope of capsule endoscope system | |
| CN106455917B (en) | Encapsulated medical device guiding system | |
| CN103876703B (en) | A kind of capsule endoscope system having motion positions function and capsule endoscope thereof | |
| WO2015054265A1 (en) | Integrated tracking with world modeling | |
| CN102440788A (en) | stereoscopic image display method and device | |
| WO2006045011A2 (en) | Endocapsule | |
| CN202843565U (en) | Medical magnetic capsule endoscope system | |
| TWI664950B (en) | Vein detection device | |
| KR101600985B1 (en) | Medical imaging system using wireless capsule endoscope and medical image reconstruction method for the same | |
| CN105812774A (en) | Three-dimensional display system based on endoscope and method thereof | |
| CN104887314A (en) | Virtual three-dimensional endoscope displaying method and equipment for three-dimensional endoscopic surgery navigation | |
| CN202386667U (en) | Capsule endoscope structure | |
| CN105812772A (en) | Stereo display system and method for medical images | |
| CN209358681U (en) | A naked eye 3D human eye tracking device applied in the operating room |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 430075 666 new high tech Avenue, East Lake New Technology Development Zone, Wuhan, Hubei Patentee after: Anhan Science and Technology (Wuhan) Co., Ltd. Address before: 430075 666 new high tech Avenue, East Lake New Technology Development Zone, Wuhan, Hubei Patentee before: Ankon Photoelectric Technology (Wuhan) Co., Ltd. |