CN117232789A - Endoscope alignment method and system - Google Patents
Endoscope alignment method and system Download PDFInfo
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- CN117232789A CN117232789A CN202311403689.8A CN202311403689A CN117232789A CN 117232789 A CN117232789 A CN 117232789A CN 202311403689 A CN202311403689 A CN 202311403689A CN 117232789 A CN117232789 A CN 117232789A
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Abstract
The invention discloses an endoscope alignment method and system, which can fix an endoscope to be measured on a multidimensional adjusting device, can acquire an image of a calibration surface through the endoscope to be measured, and can drive the endoscope to be measured to move along and/or rotate around the coordinate axis of an alignment coordinate system through the multidimensional adjusting device according to the acquired image so as to adjust the endoscope to be measured to realize the alignment operation of the endoscope to be measured.
Description
Technical Field
The invention relates to the technical field of endoscopes, in particular to an endoscope alignment method and an endoscope alignment system.
Background
The endoscope can assist medical staff to detect specific parts in the body, and display real-time conditions of the specific parts in the form of images and videos, so that the optical performance of the endoscope is important, for example, if the conditions of image blurring, narrow field of view and the like occur, the detection efficiency and judgment result of the medical staff are directly affected.
In order to ensure the correctness and efficiency of the inspection operation based on the endoscope, the optical performance of the endoscope product needs to be accurately detected in the inspection stage of the endoscope product, and the visual field of the endoscope product needs to be aligned in the inspection stage of the endoscope product so as to ensure the accuracy of the detection result.
In the detection stage of the endoscope product, the conventional method is that a detection person observes a detection plate image in a displayed view field picture of the endoscope and adjusts the displacement and angle of the endoscope according to own experience, so that the posture of the endoscope is changed, the detection plate image in the picture is adjusted to the center of the view field without obvious inclination phenomenon, and finally the alignment operation of the view field of the endoscope is realized. The method is operated by a detector to adjust the posture of the endoscope, so that the efficiency is low, more time is required to be consumed to finish the alignment operation of the endoscope, and the alignment deviation is introduced by manual operation, so that the stability of a product detection result is reduced, and the accuracy of the detection of the optical performance of the endoscope is affected.
Disclosure of Invention
The invention aims to provide an endoscope alignment method and system, which have high efficiency and can avoid the introduction of alignment deviation by manual operation.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an endoscope alignment method, comprising:
fixing an endoscope to be tested on a multidimensional adjusting device, wherein a preset axis of the multidimensional adjusting device is perpendicular to the calibration surface;
acquiring position data of a plurality of preset points on a calibration surface in an alignment coordinate system, wherein the alignment coordinate system is a three-dimensional coordinate system established by taking the preset axis of the multi-dimensional adjusting device as a coordinate axis;
acquiring an image of the calibration surface through the endoscope to be tested, and acquiring position data of the plurality of preset points on the calibration surface in an image coordinate system of the endoscope to be tested according to the image;
according to the position data of the preset points in the alignment coordinate system and the position data of the image coordinate system, obtaining displacement and rotation angles representing the object image relationship during the imaging of the endoscope to be detected, wherein the displacement represents the movement condition of the object point corresponding to the image point along the coordinate axis of the alignment coordinate system, and the rotation angles represent the rotation condition of the object point corresponding to the image point around the coordinate axis of the alignment coordinate system;
and controlling the multi-dimensional adjusting device to drive the endoscope to be tested to move along the coordinate axis of the alignment coordinate system and/or rotate around the coordinate axis of the alignment coordinate system according to the displacement and/or the rotation angle, so that the relative position and/or the relative angle of the endoscope to be tested and the calibration surface meet the requirements.
Optionally, the alignment coordinate system is a three-dimensional rectangular coordinate system established with the preset axis of the multi-dimensional adjusting device as the Cz axis.
Optionally, obtaining the displacement and the rotation angle representing the object-image relationship during the imaging of the endoscope to be detected according to the position data of the plurality of preset points in the alignment coordinate system and the position data of the plurality of preset points in the image coordinate system includes:
establishing a relational expression for representing the object-image relationship during imaging of the endoscope to be detected, wherein the relational expression is expressed as follows:
wherein T= [ T ] cx ，t cy ，t cz ]；
The position data of the preset points in the alignment coordinate system and the position data of the preset points in the image coordinate system are brought into the relational expression, and the displacement and the rotation angle which characterize the object-image relationship during the imaging of the endoscope to be detected are solved;
wherein,representing a sequence of row coordinates of said plurality of preset points in said image coordinate system,/->Representing a sequence of column coordinates of said plurality of preset points in said image coordinate system,/->A sequence of x-coordinates representing said plurality of preset points in said alignment coordinate system, +.>Representing a sequence of y-coordinates of said plurality of preset points in said alignment coordinate system, +.>A sequence representing the z-coordinates of the plurality of preset points in the alignment coordinate system;
θ cx represents the rotation angle, θ, about the Cx axis of the alignment coordinate system cy Represents the rotation angle of Cy axis around the alignment coordinate system, θ cz Indicating the angle of rotation, t, about the Cz axis of the alignment coordinate system cx Representing the displacement, t, of the Cx axis of the alignment coordinate system cy Representing the displacement, t, of Cy axis movement along the alignment coordinate system cz Representing the amount of displacement along the Cz axis of the alignment coordinate system.
Optionally, the image of the calibration surface is obtained through the endoscope to be tested for multiple times, after each time of obtaining the image, the position data of the preset points in the image coordinate system is obtained according to the image, the position data of the preset points in the alignment coordinate system and the position data of the preset points in the image coordinate system obtained this time are obtained according to the position data of the preset points in the alignment coordinate system, the displacement and the rotation angle representing the object-image relationship of the endoscope to be tested during imaging are obtained, if the obtained displacement and rotation angle are determined, the relative position and/or the relative angle of the endoscope to be tested and the calibration surface do not meet the requirements, the multidimensional adjusting device is controlled to drive the endoscope to move along the coordinate axis of the alignment coordinate system and/or rotate around the coordinate axis of the alignment coordinate system according to the obtained this time, and then the image of the calibration surface is obtained through the endoscope to be tested next time.
An endoscope alignment system comprising:
the calibration surface is provided with a plurality of preset points;
the multidimensional adjusting device is used for clamping the endoscope to be tested, and a preset axis of the multidimensional adjusting device is perpendicular to the calibration surface;
and the data processing and controlling device is respectively connected with the endoscope to be detected and the multi-dimensional adjusting device and is used for controlling the multi-dimensional adjusting device to drive the endoscope to be detected to move along and/or rotate around the coordinate axis of an alignment coordinate system so as to enable the relative position and/or relative angle of the endoscope to be detected and the calibration surface to meet the requirements, and the alignment coordinate system is a three-dimensional coordinate system established by taking the preset axis of the multi-dimensional adjusting device as a coordinate axis.
Optionally, the multidimensional adjusting device comprises an angle adjusting module and a displacement adjusting module, wherein the displacement adjusting module is connected with the angle adjusting module and is used for driving the angle adjusting module to move along each coordinate axis of the alignment coordinate system respectively;
the angle adjusting module comprises a spin adjusting assembly, a roll adjusting assembly and a pitch adjusting assembly, wherein the spin adjusting assembly is used for clamping an endoscope to be measured and driving the endoscope to be measured to rotate, the roll adjusting assembly is connected with the spin adjusting assembly and used for driving the spin adjusting assembly and the endoscope to be measured to rotate around a roll axis, the pitch adjusting assembly is connected with the roll adjusting assembly and used for driving the roll adjusting assembly, the spin adjusting assembly and the endoscope to be measured to rotate around a pitch axis, and the spin axis, the roll axis and the pitch axis of the rotation of the endoscope to be measured respectively correspond to all coordinate axes of an alignment coordinate system.
Optionally, the spin axis of the endoscope to be tested rotates is the preset axis of the multi-dimensional adjusting device.
Optionally, spin adjusting part includes rotation piece, driven gear, driving gear and first motor, rotation piece is used for the centre gripping await measuring endoscope, rotation piece with driven gear fixed connection can be along with driven gear rotates, first motor is used for the drive driving gear rotates, makes the driving gear drives driven gear rotates.
Optionally, the spin adjusting assembly further comprises a fixing piece and a rolling shaft, wherein the fixing piece is fixedly connected with the rolling shaft, and the rotating piece is connected with the fixing piece through a ball.
Optionally, the displacement adjustment module includes first adjustment portion, second adjustment portion and third adjustment portion, first adjustment portion is used for driving angle adjustment module back-and-forth movement, second adjustment portion with first adjustment portion is connected, is used for driving first adjustment portion with angle adjustment module moves about, third adjustment portion with second adjustment portion is connected, is used for driving second adjustment portion first adjustment portion with angle adjustment module elevating movement.
According to the technical scheme, the endoscope alignment method provided by the invention comprises the following steps: the method comprises the steps of fixing an endoscope to be tested on a multidimensional adjusting device, obtaining position data of a plurality of preset points on a calibration surface in an alignment coordinate system, wherein the alignment coordinate system is a three-dimensional coordinate system established by taking the preset axis of the multidimensional adjusting device as a coordinate axis, obtaining an image of the calibration surface through the endoscope to be tested, obtaining position data of a plurality of preset points on the calibration surface in an image coordinate system of the endoscope to be tested according to the image, obtaining displacement and rotation angle representing the object-image relationship of the endoscope to be tested when the endoscope is imaged according to the position data of the plurality of preset points in the alignment coordinate system and the position data of the image coordinate system, and further controlling the multidimensional adjusting device to drive the endoscope to be tested to move along the coordinate axis of the alignment coordinate system and/or rotate around the coordinate axis of the alignment coordinate system according to the displacement and/or rotation angle, so that the relative position and/or relative angle of the endoscope to be tested and the calibration surface meet requirements.
According to the endoscope alignment method, the endoscope to be measured is fixed to the multidimensional adjusting device, the image of the calibration surface can be obtained through the endoscope to be measured, the displacement and the rotation angle representing the object-image relationship when the endoscope to be measured is imaged are obtained according to the collected image and the position data of the preset point on the calibration surface, the obtained displacement and rotation angle also reflect the relative position condition of the calibration surface and the endoscope to be measured, and the endoscope to be measured is adjusted through the multidimensional adjusting device according to the displacement and/or rotation angle, so that the alignment operation on the endoscope to be measured is realized.
According to the endoscope alignment system, the endoscope to be measured can be fixed on the multidimensional adjusting device, the image of the calibration surface can be obtained through the endoscope to be measured, the endoscope to be measured is driven to move along the coordinate axis of the alignment coordinate system and/or rotate around the coordinate axis of the alignment coordinate system according to the collected image through the multidimensional adjusting device, so that the endoscope to be measured is adjusted to realize the alignment operation of the endoscope to be measured, and compared with the existing manual operation, the endoscope alignment system is high in efficiency and capable of avoiding the introduction of alignment deviation by the manual operation.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of an endoscope alignment method provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of an alignment coordinate system established in an embodiment of the present invention;
FIG. 3 is a schematic diagram of an object-image relationship between a point on a calibration surface and a corresponding point in an image in an endoscope alignment method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of an endoscope alignment system provided by an embodiment of the present invention;
FIG. 5 is a schematic diagram of a multi-dimensional adjustment device of an endoscope alignment system in accordance with an embodiment of the present invention;
FIG. 6 is a schematic diagram of the multi-dimensional adjustment device of FIG. 5 performing rotation and displacement;
FIG. 7 is a schematic diagram of a spin adjustment assembly of a multi-dimensional adjustment device of an endoscope alignment system in accordance with an embodiment of the present invention;
FIG. 8 is a side view of a spin regulating assembly of the multi-dimensional regulating device shown in FIG. 7;
FIG. 9 is a schematic diagram of the manner in which a roll adjustment assembly or pitch adjustment assembly of a multi-dimensional adjustment device of an endoscope alignment system of an embodiment of the present invention is rotated;
FIG. 10 is a schematic view of another manner in which a roll adjustment assembly or a pitch adjustment assembly of a multi-dimensional adjustment device of an endoscope alignment system of an embodiment of the present invention may be rotated;
FIG. 11 shows three patterns that can be provided on the calibration surface according to an embodiment of the present invention.
Reference numerals in the drawings of the specification include:
1-multidimensional adjusting device, 2-first bracket, 3-calibration plate, 4-second bracket, 5-data processing and controlling device, 6-base, 7-endoscope to be measured;
101-spin adjusting assembly, 102-roll adjusting assembly, 103-pitch adjusting assembly, 104-first adjusting portion, 105-second adjusting portion, 106-third adjusting portion, 107-roll shaft, 108-pitch shaft, 109-connecting piece, 110-rotating piece, 111-driven gear, 112-driving gear, 113-fixing piece, 114-first motor, 115-motor bracket, 116-clamping piece, 117-second motor, 118-gear, 119-rotating shaft, 120-push rod.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
Referring to fig. 1, fig. 1 is a flowchart of an endoscope alignment method according to the present embodiment, and as shown in the drawings, the endoscope alignment method includes the following steps:
s11: and fixing the endoscope to be tested on a multidimensional adjusting device, wherein the preset axis of the multidimensional adjusting device is perpendicular to the calibration surface.
The endoscope to be tested refers to an endoscope body of the endoscope to be tested, and an imaging assembly is arranged in the endoscope body of the endoscope to be tested.
S12: position data of a plurality of preset points on a calibration surface are acquired in an alignment coordinate system, wherein the alignment coordinate system is a three-dimensional coordinate system established by taking a preset axis of the multi-dimensional adjusting device as a coordinate axis.
The alignment coordinate system can be a three-dimensional rectangular coordinate system established by taking a preset axis of the multi-dimensional adjusting device as a coordinate axis. After the multidimensional adjusting device and the calibration surface are arranged, the preset axis of the multidimensional adjusting device is perpendicular to the calibration surface, an alignment coordinate system is established, and the positions of the preset points on the calibration surface in the alignment coordinate system can be determined based on the established alignment coordinate system.
S13: and acquiring an image of the calibration surface through the endoscope to be tested, and acquiring position data of the plurality of preset points on the calibration surface in an image coordinate system of the endoscope to be tested according to the image.
The image coordinate system of the endoscope to be tested is a coordinate system established based on the imaging surface of the imaging component. And identifying preset points in the acquired image, and determining the positions of the preset points in an image coordinate system of the endoscope to be detected.
S14: according to the position data of the preset points in the alignment coordinate system and the position data of the image coordinate system, the displacement and the rotation angle representing the object image relation during the imaging of the endoscope to be detected are obtained, the displacement represents the movement condition of the object point corresponding to the image point along the coordinate axis of the alignment coordinate system, and the rotation angle represents the rotation condition of the object point corresponding to the image point around the coordinate axis of the alignment coordinate system.
The object-image relationship in the endoscopic imaging to be detected can be described and characterized by the displacement of the object point along the coordinate axis of the alignment coordinate system and the rotation angle around the coordinate axis of the alignment coordinate system. The preset axis based on the multidimensional adjusting device is perpendicular to the calibration surface, so that the displacement and the rotation angle obtained based on the alignment coordinate system can reflect the relative position and the relative angle of the calibration surface and the endoscope to be measured.
S15: and controlling the multi-dimensional adjusting device to drive the endoscope to be tested to move along the coordinate axis of the alignment coordinate system and/or rotate around the coordinate axis of the alignment coordinate system according to the displacement and/or the rotation angle, so that the relative position and/or the relative angle of the endoscope to be tested and the calibration surface meet the requirements.
According to the displacement, the multi-dimensional adjusting device is controlled to drive the endoscope to be measured to move along the coordinate axis of the alignment coordinate system, or according to the rotation angle, the multi-dimensional adjusting device is controlled to drive the endoscope to be measured to rotate around the coordinate axis of the alignment coordinate system, or according to the displacement, the multi-dimensional adjusting device is controlled to drive the endoscope to be measured to move along the coordinate axis of the alignment coordinate system, and according to the rotation angle, the multi-dimensional adjusting device is controlled to drive the endoscope to be measured to rotate around the coordinate axis of the alignment coordinate system, so that the relative position and/or the relative angle of the endoscope to be measured and the calibration surface meet the requirements.
According to the endoscope alignment method, the endoscope to be detected is fixed to the multidimensional adjusting device, the image of the calibration surface is obtained through the endoscope to be detected, the displacement and the rotation angle representing the object-image relationship when the endoscope to be detected is imaged are obtained according to the collected image and the position data of the preset point on the calibration surface, the obtained displacement and rotation angle reflect the relative position condition of the calibration surface and the endoscope to be detected, and the endoscope to be detected is adjusted through the multidimensional adjusting device according to the displacement and/or rotation angle.
In the method of this embodiment, the sequence of steps S12 and S13 is not limited, and step S12 may be performed first, step S13 may be performed after step S12, or step S12 may be performed first, step S13 may be performed after step S13.
After the multidimensional adjusting device and the calibration surface are set, an alignment coordinate system is established, a plurality of preset points are selected on the calibration surface, positions of the preset points on the calibration surface in the alignment coordinate system are determined, and position data of the preset points are obtained. The position data of each preset point in the alignment coordinate system can be obtained through measurement by using a measuring tool.
In some embodiments, the alignment coordinate system may be a three-dimensional rectangular coordinate system established with the preset axis of the multi-dimensional adjustment device 1 as the Cz axis. The system may take a point on a preset axis of the multi-dimensional adjustment device 1 as an origin, define a Cz axis with a vector pointing from the origin to the calibration surface, define a Cy axis with a vector vertically downward from the origin, and define a Cx axis with a vector perpendicular to a plane formed by the Cy axis and the Cz axis from the origin. Referring to fig. 2 for example, fig. 2 is a schematic diagram of an alignment coordinate system established in an embodiment, as shown in the drawing, with the center of the multi-dimensional adjustment device 1 as an origin, a vector from the origin directed toward the calibration surface and perpendicular to the calibration surface is defined as an alignment coordinate system Cz axis, a vector from the origin vertically downward is defined as an alignment coordinate system Cy axis, and a vector from the origin perpendicular to a plane formed by the Cy axis and Cz axis and horizontally rightward is defined as an alignment coordinate system Cx axis. The center of the multi-dimensional adjusting device 1 is a point on a preset axis of the multi-dimensional adjusting device 1.
Accordingly, the position data of the preset point on the calibration surface in the alignment coordinate system, i.e., the coordinates, can be expressed as [ c ] x c y c z ] num Wherein c x Representing the Cx axis component value, c of the preset point in the alignment coordinate system y Representing Cy axis component value, c of preset point in alignment coordinate system z Representing the component value of the preset point in the Cz axis of the alignment coordinate system, and num represents the number of the preset point.
And identifying preset points in the image of the calibration surface image acquired by the endoscope to be detected, and determining the position data of each preset point in an image coordinate system. Preset point on image seatThe position data, i.e. coordinates, of the target system can be expressed as [ i ] h i l ] num Wherein i is h Representing the row coordinates, i, of the preset points in the image coordinate system l The column coordinates of the preset points in the image coordinate system are represented, and num represents the preset point number. Referring to fig. 3, fig. 3 is a schematic diagram of an object-image relationship between a point on a calibration surface and a corresponding point in an image in an endoscope alignment method according to an embodiment.
In some embodiments, obtaining the displacement and the rotation angle representing the object-image relationship when the endoscope to be detected is imaged according to the position data of the plurality of preset points in the alignment coordinate system and the position data of the plurality of preset points in the image coordinate system comprises: establishing a relational expression for representing the object-image relationship during imaging of the endoscope to be detected, wherein the relational expression is expressed as follows:
wherein T= [ T ] cx ，t cy ，t cz ]；
The position data of the preset points in the alignment coordinate system and the position data of the preset points in the image coordinate system are brought into the relational expression, and the displacement and the rotation angle which characterize the object-image relationship during the imaging of the endoscope to be detected are solved;
wherein,representing a sequence of row coordinates of said plurality of preset points in said image coordinate system,/->Representing a sequence of column coordinates of said plurality of preset points in said image coordinate system,/->A sequence of x-coordinates representing said plurality of preset points in said alignment coordinate system, +.>Representing a sequence of y-coordinates of said plurality of preset points in said alignment coordinate system, +.>A sequence representing the z-coordinates of the plurality of preset points in the alignment coordinate system;
θ cx represents the rotation angle, θ, about the Cx axis of the alignment coordinate system cy Represents the rotation angle of Cy axis around the alignment coordinate system, θ cz Indicating the angle of rotation, t, about the Cz axis of the alignment coordinate system cx Representing the displacement, t, of the Cx axis of the alignment coordinate system cy Representing the displacement, t, of Cy axis movement along the alignment coordinate system cz Representing the amount of displacement along the Cz axis of the alignment coordinate system.
According to the position data of the plurality of preset points in the alignment coordinate system and the position data of the plurality of preset points in the image coordinate system, the relationship is brought into, and the rotation angle theta is obtained by solving cx 、θ cy 、θ cz Displacement t cx 、t cy 、t cz . The solution may be based on a least squares iterative approach.
When the position and the gesture of the endoscope to be measured are adjusted through the multidimensional adjusting device according to the displacement and/or the rotation angle, the endoscope to be measured can be adjusted to move along the coordinate axis of the alignment coordinate system according to the displacement, so that the relative position of the endoscope to be measured and the calibration surface meets the design requirement, and then the endoscope to be measured is adjusted to rotate around the coordinate axis of the alignment coordinate system according to the rotation angle, so that the relative angle of the endoscope to be measured and the calibration surface meets the design requirement. Or, the endoscope to be measured can be adjusted to rotate around the coordinate axis of the alignment coordinate system according to the rotation angle, and then the endoscope to be measured is adjusted to move along the coordinate axis of the alignment coordinate system according to the displacement. Illustratively, the rotation angle θ obtained by the corresponding solution cx 、θ cy 、θ cz Displacement t cx 、t cy 、t cz According to theta cx The endoscope 7 to be measured is regulated to rotate around the Cx axis by the multidimensional regulating device 1, and the rotation is regulated according to theta cy The endoscope to be tested is regulated by the multidimensional regulating device 1The mirror 7 rotates around the Cy axis according to θ cz The rotation of the endoscope 7 to be measured around the Cz axis is regulated by the multidimensional regulating device 1, and the rotation angle theta cx May be referred to as pitch angle, rotation angle θ cy Can be called a roll angle, a rotation angle theta cz May be referred to as spin angle. And according to t cx The endoscope 7 to be measured is regulated to move along the Cx axis by the multidimensional regulating device 1, and according to t cy The endoscope 7 to be measured is regulated to move along the Cy axis by the multidimensional regulating device 1, and according to t cz The endoscope 7 to be measured is adjusted to move along the Cz axis by the multidimensional adjusting device 1. t is t cx Can be called left-right deviation displacement, t cy Can be called as the lifting deviation displacement, t cz May be referred to as a fore-and-aft offset displacement.
In some embodiments, if the displacement obtained by solving meets the corresponding requirement, the relative position of the endoscope to be tested and the calibration surface is considered to meet the requirement, and the relative position of the endoscope to be tested and the calibration surface is considered to meet the design requirement. If the rotation angle obtained by solving meets the corresponding requirement, the relative angle between the endoscope to be tested and the calibration surface is considered to meet the requirement, and the relative angle between the endoscope to be tested and the calibration surface is considered to meet the design requirement.
In some embodiments, the image of the calibration surface may be acquired through the endoscope to be detected multiple times, after each image acquisition, position data of the plurality of preset points in the image coordinate system is acquired according to the image, and the displacement and the rotation angle representing the object-image relationship when the endoscope to be detected is imaged are obtained according to the position data of the plurality of preset points in the alignment coordinate system and the position data of the plurality of preset points in the image coordinate system acquired this time, if the relative position and/or the relative angle of the endoscope to be detected and the calibration surface are determined to not meet the requirement according to the displacement and/or the rotation angle acquired this time, the multidimensional adjusting device is controlled to drive the endoscope to be detected to move along the coordinate axis of the alignment coordinate system and/or rotate around the coordinate axis of the alignment coordinate system, and then the image of the calibration surface is acquired through the endoscope to be detected next time. Until the relative position and/or relative angle of the endoscope to be detected and the calibration surface meet the requirements.
The present embodiment also provides an endoscope alignment system including:
the calibration surface is provided with a plurality of preset points;
the multidimensional adjusting device 1 is used for clamping the endoscope 7 to be measured, and a preset axis of the multidimensional adjusting device 1 is perpendicular to the calibration surface;
and the data processing and controlling device 5 is respectively connected with the endoscope 7 to be tested and the multi-dimensional adjusting device 1 and is used for controlling the multi-dimensional adjusting device 1 to drive the endoscope 7 to be tested to move along and/or rotate around the coordinate axis of an alignment coordinate system so as to enable the relative position and/or relative angle of the endoscope 7 to be tested and the calibration surface to meet the requirements, wherein the alignment coordinate system is a three-dimensional coordinate system established by taking the preset axis of the multi-dimensional adjusting device 1 as a coordinate axis.
According to the endoscope alignment system, the endoscope to be measured can be fixed on the multi-dimensional adjusting device, the image of the calibration surface can be obtained through the endoscope to be measured, the endoscope to be measured is driven to move along the coordinate axis of the alignment coordinate system and/or rotate around the coordinate axis of the alignment coordinate system according to the collected image through the multi-dimensional adjusting device, so that the endoscope to be measured is adjusted to realize the alignment operation of the endoscope to be measured, and compared with the existing manual operation, the endoscope alignment system is high in efficiency and capable of avoiding the introduction of alignment deviation by the manual operation.
Referring to fig. 4 for an exemplary illustration, fig. 4 is a schematic diagram of an endoscope alignment system according to the present embodiment, where an endoscope 7 to be measured is fixed to a multi-dimensional adjustment device 1, and the multi-dimensional adjustment device 1 is supported by a first support 2. The endoscope 7 to be tested is connected to the data processing and control device 5. Wherein, the calibration plate 3 can be used, one surface of the calibration plate 3 is used as a calibration surface, and a marker is arranged on the calibration surface. The calibration plate 3 may be supported and fixed by the second bracket 4. The multidimensional adjusting device 1 is respectively fixed on the base 6 through the first bracket 2 and the calibration plate 3 through the second bracket 4.
In the present embodiment, the structure of the multi-dimensional adjustment apparatus 1 is not limited as long as the endoscope 7 to be measured can be driven to move along and rotate around the coordinate axes of the alignment coordinate system. The multi-dimensional adjusting device 1 can drive the endoscope 7 to be measured to move along any coordinate axis of the alignment coordinate system, and can drive the endoscope 7 to be measured to rotate around any coordinate axis of the alignment coordinate system. Illustratively, the alignment coordinate system is a three-dimensional rectangular coordinate system, and the multi-dimensional adjustment device 1 is capable of driving the endoscope 7 to be measured to move along and rotate around the Cx axis of the alignment coordinate system, and is capable of driving the endoscope 7 to be measured to move along and rotate around the Cy axis of the alignment coordinate system, and is capable of driving the endoscope 7 to be measured to move along and rotate around the Cz axis of the alignment coordinate system.
In some embodiments, the multi-dimensional adjustment device 1 may include an angle adjustment module and a displacement adjustment module, wherein the angle adjustment module is used for adjusting the rotation of the endoscope 7 to be measured around the coordinate axis of the alignment coordinate system, and the displacement adjustment module is used for adjusting the movement of the endoscope 7 to be measured along the coordinate axis of the alignment coordinate system.
In some embodiments, the angle adjusting module may include a spin adjusting assembly 101, a roll adjusting assembly 102 and a pitch adjusting assembly 103, where the spin adjusting assembly 101 is configured to clamp the endoscope 7 to be measured and drive the endoscope 7 to be measured to rotate, the roll adjusting assembly 102 is connected with the spin adjusting assembly 101 and is configured to drive the spin adjusting assembly 101 and the endoscope 7 to be measured to rotate around a roll axis, and the pitch adjusting assembly 103 is connected with the roll adjusting assembly 102 and is configured to drive the roll adjusting assembly 102, the spin adjusting assembly 101 and the endoscope 7 to be measured to rotate around a pitch axis, where the spin axis, the roll axis and the pitch axis of the endoscope 7 to be measured respectively correspond to each coordinate axis of the alignment coordinate system. The spin axis of the multi-dimensional adjusting device 1 driving the endoscope 7 to be measured to spin can be used as the preset axis of the multi-dimensional adjusting device 1. Referring to fig. 5 and 6, fig. 5 is a schematic diagram of a multi-dimensional adjusting device of an endoscope alignment system according to an embodiment, fig. 6 is a schematic diagram of rotation and displacement of the multi-dimensional adjusting device shown in fig. 5, and as shown in the drawing, a spin adjusting component 101 may clamp and drive an endoscope 7 to be measured to rotate around a spin axis to implement spin posture adjustment, a roll adjusting component 102 drives the spin adjusting component 101 and the endoscope 7 to be measured to rotate together around the roll axis to implement roll posture adjustment, and a pitch adjusting component 103 may drive the roll adjusting component 102, the spin adjusting component 101 and the endoscope 7 to be measured to rotate together around a pitch axis to implement pitch posture adjustment. The pitch adjustment assembly 103 and the first adjustment portion 104 are connected by a connection 109.
In some embodiments, the spin adjusting assembly 101 may include a rotating member 110, a driven gear 111, a driving gear 112, and a first motor 114, where the rotating member 110 is configured to clamp the endoscope 7 to be measured, the rotating member 110 is fixedly connected to the driven gear 111, and may rotate with the driven gear 111, and the first motor 114 is configured to drive the driving gear 112 to rotate, so that the driving gear 112 drives the driven gear 111 to rotate.
Alternatively, the rotator 110 may include at least two clamping members 116 disposed along a radial direction, and the clamping members 116 are used to clamp the endoscope 7 to be tested. The clamping piece 116 may include a clamping portion and a screw, where the clamping portion is disposed at one end of the screw, and the screw is disposed radially along the rotating piece 110, so that the clamping portion can move radially along the rotating piece 110 by the screw, so as to clamp the endoscope 7 to be tested, and the rotating piece 110 drives the endoscope 7 to be tested to rotate around the spin axis.
The spin adjusting assembly 101 may further include a fixing member 113 and a rolling shaft 107, the fixing member 113 is fixedly connected to the rolling shaft 107, and the rotating member 110 is connected to the fixing member 113 through balls, such that the rotating member 110 can rotatably move with respect to the fixing member 113. The rotary member 110 and the driven gear 111 are mounted by a fixing member 113. And a motor bracket 115 for supporting and installing the first motor 114, wherein the driving gear 112 is fixedly connected with the first motor 114, and the motor bracket 115 is fixedly connected with the fixing member 113. Referring to fig. 7 and 8 by way of example, fig. 7 is a schematic view of a spin adjusting assembly of a multi-dimensional adjusting apparatus of an endoscope alignment system according to an embodiment, and fig. 8 is a side view of a spin adjusting assembly of a multi-dimensional adjusting apparatus shown in fig. 7, as shown in the drawing, a rotating member 110 is provided with a plurality of clamping members 116 disposed in a radial direction, the clamping members 116 include clamping portions and screws, and fixation of an endoscope 7 to be measured is achieved by co-action of the respective clamping members 116 such that rotational or displacement movement of the endoscope 7 to be measured does not occur with respect to the clamping members 116. The rotating member 110 is fixedly connected with the driven gear 111, and the first motor 114 can drive the driving gear 112 to rotate clockwise or anticlockwise, so as to drive the driven gear 111 to rotate, and spin rotation of the endoscope 7 to be tested is realized. When the first motor 114 stops rotating, the endoscope 7 to be measured continuously maintains the current spin posture.
The roll adjusting assembly 102 realizes roll adjustment, the pitch adjusting assembly 103 realizes pitch adjustment, and the roll adjusting assembly 102 and the pitch adjusting assembly 103 can be directly driven by motors to realize rotation adjustment respectively. Referring to fig. 9, fig. 9 is a schematic diagram illustrating a manner in which a roll adjustment assembly or a pitch adjustment assembly of a multi-dimensional adjustment device of an endoscope alignment system according to an embodiment rotates, a second motor 117 is connected to a rotation shaft 119 through a gear 118, and can drive the rotation shaft 119 to rotate, and as shown in fig. 5, the roll shaft 107 of the roll adjustment assembly 102 is used as its rotation shaft, and the pitch shaft 108 of the pitch adjustment assembly 103 is used as its rotation shaft. The roll adjustment assembly 102 and the pitch adjustment assembly 103 may be respectively driven by a motor to drive a worm and gear push rod to perform telescopic operation to implement rotation adjustment, and referring to fig. 10, fig. 10 is a schematic diagram of another manner in which the roll adjustment assembly or the pitch adjustment assembly of the multi-dimensional adjustment device of the endoscope alignment system of an embodiment performs rotation, and the second motor 117 is connected to the push rod 120 and can drive the push rod 120 to stretch and retract to implement rotation adjustment.
As shown in fig. 5 and 6, the spin adjusting assembly 101 is connected with the roll adjusting assembly 102 through a roll shaft 107, wherein the spin adjusting assembly 101 and the roll shaft 107 are relatively fixed, so that the spin adjusting assembly 101 and the roll shaft 107 can rotate around a roll axis relative to the roll adjusting assembly 102, and the roll posture of the endoscope 7 to be measured can be adjusted. The combination of the spin adjusting assembly 101, the rolling shaft 107 and the rolling adjusting assembly 102 is fixed with a pitching shaft 108, and is connected with the pitching adjusting assembly 103 through the pitching shaft 108, so that rotation around the pitching axis relative to the pitching adjusting assembly 103 is realized, and pitching posture adjustment of the endoscope 7 to be measured is realized. When the motor is directly driven to perform rotation adjustment, the current rolling or pitching gesture is kept through stopping the motor; when the motor is used for driving the worm gear push rod, the worm gear push rod is locked by stopping the motor, so that the current rolling or pitching posture is maintained. Spin adjust assembly 101 may be considered a spin adjust and clamp mechanism, roll adjust assembly 102 may be considered a roll adjust mechanism, and pitch adjust assembly 103 may be considered a pitch adjust mechanism.
The displacement adjusting module is connected with the angle adjusting module and is used for driving the angle adjusting module to move along each coordinate axis of the alignment coordinate system. In some embodiments, the displacement adjustment module includes a first adjustment portion 104, a second adjustment portion 105, and a third adjustment portion 106, where the first adjustment portion 104 is configured to drive the angle adjustment module to move back and forth, the second adjustment portion 105 is connected with the first adjustment portion 104 and is configured to drive the first adjustment portion 104 and the angle adjustment module to move left and right, and the third adjustment portion 106 is connected with the second adjustment portion 105 and is configured to drive the second adjustment portion 105, the first adjustment portion 104, and the angle adjustment module to move up and down. The first adjusting part 104, the second adjusting part 105 and the third adjusting part 106 are used for driving the angle adjusting module and the endoscope 7 to be tested to move along each coordinate axis of the alignment coordinate system. The first adjusting part 104 and the second adjusting part 105 can be respectively driven by a motor to carry out telescopic operation by a worm and gear push rod to realize displacement adjustment, and the third adjusting part 106 can be driven by the motor to carry out telescopic operation by the worm and gear push rod to realize lifting adjustment, and can also be driven by a motor to realize lifting adjustment. The worm and gear push rod is locked by stopping the motor, so that the current position and posture are maintained.
The calibration surface can be provided with a marker, and the marker can be easily identified from the image by setting a preset point through the marker, so that the preset point can be conveniently identified from the image, and the position data of the marker in the image coordinate system can be obtained. In this embodiment, the markers set on the calibration surface are not limited, and the center point or the corner point of the markers may be used as a preset point. The marker may be, but is not limited to, one or more pattern elements in black and white squares, dots, or crosses, and the one or more patterns may be uniformly distributed on the calibration surface. Referring to fig. 11 for exemplary purposes, fig. 11 illustrates three patterns that may be provided on the calibration surface of an embodiment, which may be black and white squares or crosses as shown.
In this embodiment, the embodiment of the data processing and control device 5 controlling the multi-dimensional adjusting device 1 to adjust the alignment operation of the endoscope 7 to be measured can refer to the corresponding embodiment in the above-mentioned method for aligning an endoscope, which is not described herein again. The endoscope alignment system of the embodiment is an automatic endoscope alignment system with high efficiency and high stability.
The endoscope alignment method and the endoscope alignment system provided by the invention are described in detail. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (10)
1. An endoscope alignment method, comprising:
fixing an endoscope to be tested on a multidimensional adjusting device, wherein a preset axis of the multidimensional adjusting device is perpendicular to the calibration surface;
acquiring position data of a plurality of preset points on a calibration surface in an alignment coordinate system, wherein the alignment coordinate system is a three-dimensional coordinate system established by taking the preset axis of the multi-dimensional adjusting device as a coordinate axis;
acquiring an image of the calibration surface through the endoscope to be tested, and acquiring position data of the plurality of preset points on the calibration surface in an image coordinate system of the endoscope to be tested according to the image;
according to the position data of the preset points in the alignment coordinate system and the position data of the image coordinate system, obtaining displacement and rotation angles representing the object image relationship during the imaging of the endoscope to be detected, wherein the displacement represents the movement condition of the object point corresponding to the image point along the coordinate axis of the alignment coordinate system, and the rotation angles represent the rotation condition of the object point corresponding to the image point around the coordinate axis of the alignment coordinate system;
and controlling the multi-dimensional adjusting device to drive the endoscope to be tested to move along the coordinate axis of the alignment coordinate system and/or rotate around the coordinate axis of the alignment coordinate system according to the displacement and/or the rotation angle, so that the relative position and/or the relative angle of the endoscope to be tested and the calibration surface meet the requirements.
2. The endoscope alignment method of claim 1, wherein the alignment coordinate system is a three-dimensional rectangular coordinate system established with the preset axis of the multi-dimensional adjustment device as the Cz axis.
3. The endoscope alignment method according to claim 1, wherein obtaining a displacement amount and a rotation angle characterizing an object-image relationship at the time of imaging of the endoscope to be measured based on position data of the plurality of preset points in the alignment coordinate system and position data in the image coordinate system includes:
establishing a relational expression for representing the object-image relationship during imaging of the endoscope to be detected, wherein the relational expression is expressed as follows:
wherein T= [ T ] cx ，t cy ，t cz ]；
The position data of the preset points in the alignment coordinate system and the position data of the preset points in the image coordinate system are brought into the relational expression, and the displacement and the rotation angle which characterize the object-image relationship during the imaging of the endoscope to be detected are solved;
wherein,representing a sequence of row coordinates of said plurality of preset points in said image coordinate system,/->Representing a sequence of column coordinates of said plurality of preset points in said image coordinate system,/->A sequence of x-coordinates representing said plurality of preset points in said alignment coordinate system, +.>Representing a sequence of y-coordinates of said plurality of preset points in said alignment coordinate system, +.>A sequence representing the z-coordinates of the plurality of preset points in the alignment coordinate system;
θ cx represents the rotation angle, θ, about the Cx axis of the alignment coordinate system cy Represents the rotation angle of Cy axis around the alignment coordinate system, θ cz Indicating the angle of rotation, t, about the Cz axis of the alignment coordinate system cx Representing the displacement, t, of the Cx axis of the alignment coordinate system cy Representing the displacement, t, of Cy axis movement along the alignment coordinate system cz Representing the amount of displacement along the Cz axis of the alignment coordinate system.
4. The method according to claim 1, wherein the image of the calibration surface is acquired through the endoscope to be measured multiple times, after each image acquisition, position data of the preset points in the image coordinate system are acquired according to the image, and the displacement and the rotation angle representing the object-image relationship when the endoscope to be measured is imaged are obtained according to the position data of the preset points in the alignment coordinate system and the position data of the preset points in the image coordinate system acquired this time, and if the relative position and/or the relative angle of the endoscope to be measured and the calibration surface are determined to not meet the requirement according to the displacement and/or the rotation angle acquired this time, the multi-dimensional adjusting device is controlled to drive the endoscope to be measured to move along and/or rotate around the coordinate axis of the alignment coordinate system, and then the image of the calibration surface is acquired through the endoscope to be measured next time.
5. An endoscope alignment system, comprising:
the calibration surface is provided with a plurality of preset points;
the multidimensional adjusting device is used for clamping the endoscope to be tested, and a preset axis of the multidimensional adjusting device is perpendicular to the calibration surface;
and the data processing and controlling device is respectively connected with the endoscope to be detected and the multi-dimensional adjusting device and is used for controlling the multi-dimensional adjusting device to drive the endoscope to be detected to move along and/or rotate around the coordinate axis of an alignment coordinate system so as to enable the relative position and/or relative angle of the endoscope to be detected and the calibration surface to meet the requirements, and the alignment coordinate system is a three-dimensional coordinate system established by taking the preset axis of the multi-dimensional adjusting device as a coordinate axis.
6. The endoscope alignment system of claim 5, wherein the multi-dimensional adjustment device comprises an angle adjustment module and a displacement adjustment module, the displacement adjustment module being connected to the angle adjustment module for driving the angle adjustment module to move along each coordinate axis of the alignment coordinate system, respectively;
the angle adjusting module comprises a spin adjusting assembly, a roll adjusting assembly and a pitch adjusting assembly, wherein the spin adjusting assembly is used for clamping an endoscope to be measured and driving the endoscope to be measured to rotate, the roll adjusting assembly is connected with the spin adjusting assembly and used for driving the spin adjusting assembly and the endoscope to be measured to rotate around a roll axis, the pitch adjusting assembly is connected with the roll adjusting assembly and used for driving the roll adjusting assembly, the spin adjusting assembly and the endoscope to be measured to rotate around a pitch axis, and the spin axis, the roll axis and the pitch axis of the rotation of the endoscope to be measured respectively correspond to all coordinate axes of an alignment coordinate system.
7. The endoscope alignment system of claim 6, wherein the spin axis of the endoscope to be tested is the preset axis of the multi-dimensional adjustment device.
8. The endoscope alignment system of claim 6, wherein the spin adjustment assembly comprises a rotating member for clamping the endoscope to be tested, a driven gear fixedly connected to the driven gear, and a first motor for driving the driving gear to rotate as the driven gear rotates such that the driving gear rotates the driven gear.
9. The endoscope alignment system of claim 8, wherein the spin adjustment assembly further comprises a fixture and a roll shaft, the fixture fixedly coupled to the roll shaft, the rotator coupled to the fixture by a ball.
10. The endoscope alignment system of claim 6, wherein the displacement adjustment module comprises a first adjustment portion, a second adjustment portion and a third adjustment portion, the first adjustment portion is configured to drive the angle adjustment module to move back and forth, the second adjustment portion is connected with the first adjustment portion and configured to drive the first adjustment portion and the angle adjustment module to move left and right, and the third adjustment portion is connected with the second adjustment portion and configured to drive the second adjustment portion, the first adjustment portion and the angle adjustment module to move up and down.
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