WO2024008042A1 - Method for quantitatively controlling first viewing angle of capsule endoscope, system and storage medium - Google Patents

Abstract

A method for quantitatively controlling the first viewing angle of a capsule endoscope (11), a system (100) and a storage medium. The method comprises: acquiring a field-of-view offset of the capsule endoscope at a first viewing angle (21); according to the field-of-view offset, calculating attitude correction data in an inertial system (22); and according to the attitude correction data, adjusting the capsule endoscope to a corrected attitude state (23). The method for quantitatively controlling the first viewing angle of the capsule endoscope (11) can reduce the blindness of control actions, lower the technical difficulty of magnetic control operations, optimize the shooting angle and distance of the capsule endoscope (11), improve the efficiency of digestive tract examination, and enhance the image quality of digestive tract examination, thus being suitable for large-scale popularization and application.

Description

Capsule endoscope first-view quantitative control method, system and storage medium

This application claims the priority of the Chinese patent application with the filing date of July 4, 2022, the application number is 202210787142.1, and the invention name is "Capsule endoscope first-view quantitative control method, system and storage medium", and its entire content incorporated herein by reference.

Technical field

The present invention relates to the technical field of medical equipment, and in particular to a capsule endoscope first perspective quantitative control method, system and storage medium.

Background technique

The magnetically controlled capsule endoscope system uses external control magnets (such as permanent magnets or electromagnets) to compare capsule endoscopes that are swallowed into the body or placed in cavities such as simulated stomachs, intestines, etc. Remote contactless control. From this, certain parameters in the human body or cavity can be collected as intermediate results, thereby assisting in the examination of the digestive tract, assisting medical staff in the diagnosis and treatment of diseases, or assisting in the conduct of simulation experiments.

An axially magnetized approximately cylindrical magnet is installed inside the capsule endoscope, and the magnetic field distribution has the characteristics of approximately axial symmetry. Therefore, the 5-DOF (Degree of Freedom, degree of freedom) external control magnet usually cannot be controlled effectively and quantitatively. The spin angle of the 6-DOF capsule endoscope keeps it stable. The random spin of the capsule endoscope causes the orientation of the field of view of the captured image to change synchronously. It is difficult for the human brain and eyes to establish a mapping relationship between the image and the actual direction control action of the capsule endoscope in real time, making real-time control There are difficulties. In the existing technology, the capsule endoscope is usually controlled from a third-angle perspective by watching from the sidelines. The doctor or operator who operates the capsule endoscope cannot intuitively perform the capsule endoscopy based on the image feedback of the capsule endoscope and visual habits. The up and down, left and right field of view angles of the endoscope cannot be adjusted, and the forward and backward position control cannot be performed. It is impossible to conveniently control the distance between the capsule endoscope and the target position, aim at the center area of the target, and scan and photograph the wall of the digestive tract at fixed points. Purpose.

Therefore, it is necessary to develop quantitative control methods and systems that conform to the operator's intuitive visual experience and are based on the first perspective of capsule endoscopy images to enhance the purpose of capsule endoscopy, reduce the blindness of control actions, and reduce the risk of magnetic control operations. Technical difficulty, improve the convenience of capsule control, and achieve position and attitude control of the capsule endoscope that is close to "what you see is what you get". As a result, it is possible to carry out targeted scanning inspections of key target areas, reduce meaningless repeated area shooting, and improve the efficiency of digestive tract inspections; the angle and distance of capsule endoscope shooting can be further optimized to give full play to the capabilities of the capsule endoscope imaging hardware system. Optimum performance to improve image quality for digestive tract examinations.

Contents of the invention

One of the purposes of the present invention is to provide a quantitative control method for the first viewing angle of a capsule endoscope to solve the difficulty in the prior art of appropriately adjusting the field of view angle of the capsule endoscope through external equipment and the process of collecting target position data. Technical problems that are cumbersome, time-consuming, and have poor user experience.

One of the objects of the present invention is to provide a first viewing angle quantitative control system for a capsule endoscope.

One object of the present invention is to provide a storage medium.

In order to achieve one of the above-mentioned objects of the invention, one embodiment of the present invention provides a method for quantitatively controlling the first viewing angle of a capsule endoscope, which includes: obtaining the field of view offset of the capsule endoscope at the first viewing angle; The field offset is used to calculate the attitude calibration data in the inertial frame; and the capsule endoscope is adjusted to a calibration pose state based on the attitude calibration data.

As a further improvement of an embodiment of the present invention, the field of view offset includes a yaw angle offset and a pitch angle offset.

As a further improvement of an embodiment of the present invention, the "adjusting the capsule endoscope to the calibration posture state according to the posture calibration data" specifically includes: according to the posture calibration data, according to the preset angle step Adjust the posture of the capsule endoscope until the capsule endoscope reaches the calibration posture state.

As a further improvement of an embodiment of the present invention, the "calculating the attitude calibration data in the inertial system according to the field of view offset" specifically includes: determining the external deflection in the inertial system according to the field of view offset. displacement; according to the external offset, fit an external rotation matrix under the inertial system; according to the external rotation matrix, calculate the attitude calibration data under the inertial system.

As a further improvement of an embodiment of the present invention, the attitude calibration data includes yaw offset data; the "calculating the attitude calibration data in the inertial system according to the external rotation matrix" specifically includes: converting the external The rotation matrix is projected to the yaw adjustment plane under the inertial frame to obtain the first direction parameter and the second direction parameter. The arc tangent transformation process is performed on the first direction parameter and the second direction parameter to obtain the target yaw. Data; use the target yaw data as the yaw offset data.

As a further improvement of an embodiment of the present invention, the "projecting the external rotation matrix to the yaw adjustment plane under the inertial system to obtain the first direction parameter and the second direction parameter" specifically includes: extracting the external rotation matrix The data at the first position and the data at the second position in the rotation matrix correspond to the first direction parameter and the second direction parameter; wherein, the data at the first position represents the yaw performed by the capsule endoscope. The position change in the first direction during adjustment, and the data of the second position represent the position change in the second direction when the capsule endoscope performs yaw adjustment.

As a further improvement of an embodiment of the present invention, the attitude calibration data includes pitch calibration data; the "calculating the attitude calibration data in the inertial system according to the external rotation matrix" specifically includes: converting the external rotation matrix Project to the pitch adjustment axis under the inertial system to obtain the third direction parameter, perform inverse cosine transformation on the third direction parameter, and obtain the target pitch data; calculate the pitch according to the target pitch data and the current tilt data calibration data.

As a further improvement of an embodiment of the present invention, the "projecting the external rotation matrix to the pitch adjustment axis under the inertial system to obtain the third direction parameter" specifically includes: extracting the third position in the external rotation matrix The data corresponding to the third direction parameter are obtained; wherein the data of the third position represents the position change of the capsule endoscope when it performs pitch adjustment.

As a further improvement of an embodiment of the present invention, the "fitting an external rotation matrix in the inertial system according to the external offset" specifically includes: determining the roll angle corresponding to the field of view offset. The value of , the inertial system is constructed based on the roll angle; under the inertial system, the external rotation matrix is fitted according to the external offset; wherein the external rotation matrix represents the After the capsule endoscope is rotated in a preset spin axis sequence, the rotational changes of the position relative to the original position are described.

As a further improvement of an embodiment of the present invention, the "fitting the external rotation matrix according to the external offset in the inertial frame" specifically includes: calculating the yaw corresponding to the external offset. Euler angle and pitch Euler angle; fit the external rotation matrix according to the trigonometric function values of the roll angle, the yaw Euler angle and the pitch Euler angle.

As a further improvement of an embodiment of the present invention, the field of view offset includes a yaw angle offset and a pitch angle offset, and the external offset includes an offset corresponding to the yaw angle offset. The yaw offset, and the pitch offset corresponding to the pitch angle offset; the "calculating the yaw Euler angle and pitch Euler angle corresponding to the external offset" specifically includes: according to the The yaw offset and the current tilt data are used to calculate the yaw Euler angle; based on the pitch offset, the pitch Euler angle is calculated.

As a further improvement of an embodiment of the present invention, the "fitting of the external rotation matrix based on the trigonometric function values of the roll angle, the yaw Euler angle and the pitch Euler angle" specifically includes: According to the trigonometric function values of the roll angle, the yaw Euler angle and the pitch Euler angle, the roll rotation matrix, the yaw rotation matrix and the pitch rotation matrix are correspondingly calculated; for the yaw rotation The external rotation matrix is calculated by dot-multiplying the matrix, the pitch rotation matrix and the roll rotation matrix in sequence.

As a further improvement of an embodiment of the present invention, the "determining the external offset in the inertial system based on the field of view offset" specifically includes: constructing a coordinate transformation matrix based on the preset deviation phase angle; The coordinate transformation matrix and the field of view offset determine the external offset in the inertial system.

As a further improvement of one embodiment of the present invention, the method further includes: adjusting the distance between the capsule endoscope and the site to be detected according to the calibration posture state.

As a further improvement of an embodiment of the present invention, the "adjusting the distance between the capsule endoscope and the part to be detected according to the calibration posture state" specifically includes: fixing and adjusting the distance between the capsule endoscope and the part to be detected according to the posture calibration data. The yaw offset data is used to calculate the current orientation data, and the distance adjustment direction is determined based on the current orientation data, and the distance adjustment signal is continuously output until the proportion of the object to be measured in the detection image meets the preset requirements.

As a further improvement of an embodiment of the present invention, the "adjusting the distance between the capsule endoscope and the site to be detected according to the calibration posture state" specifically includes: obtaining the real-time position of the capsule endoscope. pose information and target pose information; calculate the current orientation data based on the yaw offset data in the attitude calibration data, and calculate the target based on the real-time pose information, the target pose information, and the current orientation data Position range and current motion trajectory; control the capsule endoscope to follow the current motion trajectory.

As a further improvement of an embodiment of the present invention, the "calculate the current orientation data based on the yaw offset data in the attitude calibration data, and calculate the current orientation data based on the real-time pose information, the target pose information and the current Orientation data, calculating target pose range and current motion trajectory" specifically includes: re-determining the current orientation data of the capsule endoscope based on the yaw offset data, and determining the capsule endoscope using the current orientation data. The forward and backward distance adjustment direction of the capsule endoscope; according to the preset distance step and the current orientation data, determine the forward and backward distance adjustment variables of the capsule endoscope, and adjust the variables and the distance according to the distance The real-time pose information and the target pose information are used to calculate the target pose range and the current motion trajectory.

As a further improvement of an embodiment of the present invention, before "obtaining the field of view offset of the capsule endoscope at the first viewing angle", the method further includes: fusing and calibrating mutually cooperative control devices in an inertial frame and the pose data of the capsule endoscope, moving the control device to the initialization position corresponding to the capsule endoscope; receiving and based on the initial pose data of the capsule endoscope, rotating and correcting the output detection image of the capsule endoscope display status.

In order to achieve one of the above-mentioned objects of the invention, one embodiment of the present invention provides a first-angle quantitative control system for a capsule endoscope, which includes a capsule endoscope and a quantitative control device that cooperate with each other. The quantitative control device is configured to execute the above-mentioned The first visual angle quantitative control method of capsule endoscope according to any technical solution.

In order to achieve one of the above-mentioned objects of the invention, one embodiment of the present invention provides a storage medium on which an application program is stored. When the application program is executed, the first viewing angle of the capsule endoscope according to any of the above technical solutions is realized. Steps in quantitative control methods.

Compared with the existing technology, the present invention obtains the field of view offset, quantifies the field of view offset into data on the side of the external device through inertial frame conversion, and calibrates the field of view of the capsule endoscope based on the obtained attitude calibration data. Field posture angle, and finally adjust the capsule endoscope to the calibration posture state, can easily assist medical workers to obtain more accurate parameters in the expected field of view posture, and improve the accuracy of capsule endoscope posture control , streamlines the control process of collecting target position data, and optimizes the subject's experience, making it suitable for large-scale promotion and application.

Compared with the existing technology, the beneficial effects of the present invention are: providing a first-view quantitative control method and system for a capsule endoscope that conforms to the operator's intuitive visual experience, and achieves an approximate "seen" view based on the feedback of the captured image. That is, "what you get" quantitative position and posture control of capsule endoscopy; strengthen the purpose of capsule endoscopy, reduce the blindness of control actions, reduce the technical difficulty of magnetic control operation, and improve the convenience of capsule control; it can control key targets Conduct targeted scans and inspections in various areas to reduce meaningless repeated area shots and improve the efficiency of digestive tract inspections; further optimize the angle and distance of capsule endoscope shots to maximize the performance of the capsule endoscope imaging hardware system and improve Image quality of gastrointestinal examinations.

Description of the drawings

Figure 1 is a schematic structural diagram of a first-angle quantitative control system for a capsule endoscope in an embodiment of the present invention.

FIG. 2 is a schematic diagram of the steps of a method for quantitatively controlling the first viewing angle of a capsule endoscope in an embodiment of the present invention.

FIG. 3 is a schematic diagram of different detection images generated during the implementation of the first angle of view quantitative control method of a capsule endoscope in an embodiment of the present invention.

FIG. 4 is a schematic diagram of the state of the capsule endoscope in the inertial system when implementing the first visual angle quantitative control method of the capsule endoscope in an embodiment of the present invention.

FIG. 5 is a schematic diagram of a state of a detection image generated when implementing the first angle of view quantitative control method of a capsule endoscope in an embodiment of the present invention.

Figure 6 is a schematic diagram of the steps of a method for quantitatively controlling the first viewing angle of a capsule endoscope in another embodiment of the present invention.

7 is a schematic diagram of some steps of the first embodiment of the quantitative control method for the first viewing angle of a capsule endoscope in another embodiment of the present invention.

8 is a schematic diagram of some steps of a second embodiment of a quantitative control method for the first viewing angle of a capsule endoscope in another embodiment of the present invention.

FIG. 9 is a schematic diagram of the state of the capsule endoscope in the inertial system when the first viewing angle quantitative control method of the capsule endoscope is implemented in yet another embodiment of the present invention.

Figure 10 is a schematic diagram of the steps of a method for quantitatively controlling the first viewing angle of a capsule endoscope in yet another embodiment of the present invention.

FIG. 11 is a schematic diagram of a state of a detection image generated during the implementation of the first viewing angle quantitative control method of a capsule endoscope in yet another embodiment of the present invention.

Figure 12 is a schematic diagram of the steps of a quantitative control method for the first viewing angle of a capsule endoscope in yet another embodiment of the present invention.

FIG. 13 is a partial step diagram of a specific example of a quantitative control method for the first viewing angle of a capsule endoscope in yet another embodiment of the present invention.

Detailed ways

The present invention will be described in detail below with reference to the specific embodiments shown in the accompanying drawings. However, these embodiments do not limit the present invention. Structural, method, or functional changes made by those of ordinary skill in the art based on these embodiments are all included in the scope of the present invention. within the scope of protection.

It should be noted that the term "comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or apparatus including a list of elements not only includes those elements, but also includes those not expressly listed other elements, or elements inherent to the process, method, article or equipment. Furthermore, the terms "first," "second," "third," etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

One embodiment of the present invention provides a storage medium on which an application program is stored. When the application program is executed, a method for quantitatively controlling the first viewing angle of a capsule endoscope is implemented by determining the offset of the field of view and using special coordinates. The attitude calibration data is obtained through system conversion, so that the angle of view of the capsule endoscope can be controlled based on the attitude calibration data. When necessary, the storage medium or the executed first-view quantitative control method of the capsule endoscope can also control the distance of the capsule endoscope from the target area by driving the capsule endoscope forward and backward, which can improve the control accuracy. , reducing the amount of data required for calculations, optimizing subject experience, and suitable for large-scale promotion and application.

The storage medium may be any available medium capable of accessing data, or may be a storage device such as a server or data center integrated with one or more available media. Available media may be magnetic media such as floppy disks, hard disks, magnetic tapes, etc., or optical media such as DVD (Digital Video Disc, High Density Digital Video Disc), or semiconductor media such as SSD (Solid State Disk, Solid State Drive).

As shown in Figure 1, one embodiment of the present invention provides a capsule endoscope first perspective quantitative control system 100, which includes a capsule endoscope 11 and a quantitative control device 12 that cooperate with each other. The quantitative control device 12 is configured to execute A quantitative control method for the first viewing angle of a capsule endoscope can control the viewing angle orientation of the capsule endoscope 11 so that it can be accurately aligned with the site to be detected; and the quantitative control method for the first viewing angle of a capsule endoscope can It simplifies the control process, optimizes the experience, and is suitable for large-scale promotion and application. Specifically, the quantitative control device 12 can be provided with the above-mentioned storage medium to achieve the above technical effects. Of course, multiple modules can also be provided inside the quantitative control device 12, and the above technical effects can be jointly achieved through mutual cooperation between the modules. Among them, the capsule endoscope 11 may be preferably configured to have a capsule-like appearance.

One embodiment of the present invention provides a method for quantitatively controlling the first viewing angle of a capsule endoscope as shown in FIG. 2 . The program or instructions corresponding to the method can be installed in the above-mentioned storage medium, and the method can also be installed in the above-mentioned capsule endoscope first-view quantitative control system in the form of programs, instructions or other forms. The method for quantitatively controlling the first viewing angle of a capsule endoscope may specifically include the following steps.

Step 21: Obtain the field of view offset of the capsule endoscope at the first viewing angle.

Step 22: Calculate attitude calibration data in the inertial system based on the field of view offset.

Step 23: Adjust the capsule endoscope to the calibration posture state according to the posture calibration data.

In this way, it is possible to determine the shift in the viewing angle of the capsule endoscope based on the field of view shift amount. Since the field of view offset represents: "On one side of the capsule endoscope, at the first viewing angle of the capsule endoscope itself, the relative positional relationship deviation between the capsule endoscope and the part to be detected", it can be passed Inertial frame conversion converts the field of view offset into attitude calibration data that can be adjusted by the external system, thereby adjusting the posture of the capsule endoscope and correcting the offset of the field of view angle so that the center of the field of view is aligned with the target area.

In other preferred embodiments, it may also include: controlling the distance of the capsule endoscope from the target area through forward and backward movements when necessary. In this way, it is finally possible to adjust the up and down, left and right field of view angles of the capsule endoscope according to the feedback from the captured images, as well as control the forward and backward positions, so as to achieve more accurate and effective collection of data such as images of the target location area. , and can improve the user experience.

Wherein, the calibration posture state represents: a capsule endoscope posture state that is sufficient to enable the capsule endoscope to be aligned with the site to be detected.

The field of view offset represents the degree to which the posture (especially its orientation) of the capsule endoscope deviates from the site to be detected. Among them, the degree of deviation can be measured by judging the vertical distance difference between the center point of the part to be detected and the orientation of the capsule endoscope, or by judging whether the distribution of the part to be detected is uniform in the detection image, or by judging whether the part to be detected is evenly distributed in the detection image, or by judging whether Check whether the detection part is displayed completely in the detection image. The content of the field of view offset may include the direction of the viewing angle offset (for example, offset in the pitch direction, or offset in the swing or yaw direction), and may also include the amount of the viewing angle offset (for example, length index ). In a special implementation, the distance between the capsule endoscope and the site to be detected can be quantitatively measured; the angle of view deviation can also be an angle indicator. The field of view offset can be obtained through human judgment and input, or it can be automatically calculated by the quantitative control device.

The inertial system refers to the world coordinate system established with the earth as a reference. Since the quantitative control device provided outside the capsule endoscope usually remains relatively stationary with the earth, the inertial system can also be defined as: the external coordinates established with the quantitative control device as a reference. Tie. Therefore, the field of view offset of the capsule endoscope is converted into attitude calibration data under the inertial system level, which can assist medical workers to easily adjust the viewing angle of the capsule endoscope to obtain more accurate calibration detection. image.

In a preferred embodiment of the present invention, the field of view offset includes a yaw angle offset and a pitch angle offset. Wherein, the yaw angle offset represents the current offset of the capsule endoscope at the yaw angle level as shown in the detection image; specifically, the yaw angle offset represents the length of the capsule endoscope. The angle difference between the projection of the extension direction on the horizontal plane and the projection of the preset target direction on the horizontal plane also represents the degree of left and right swing of the capsule endoscope. The pitch angle offset represents the angle difference between the projection of the length extension direction of the capsule endoscope on the vertical plane and the projection of the preset target direction on the vertical plane, that is, it represents the angle difference of the capsule endoscope. The degree of lifting and falling. In this way, the field of view offset can be used as an intermediate amount to establish the relationship between the capsule endoscope object coordinate system (or model coordinate system, which can be interpreted as an independent coordinate system of the capsule endoscope itself) and the inertial system. relationship, achieving the effect of adjusting the action on one side of the object coordinate system from one side of the inertial system.

Specifically, the five images in Figure 3 show the detection images 30 in different states. Any one of the five images can be a detection image captured by the capsule endoscope in the initial posture state, and another one of the five images can be a detection image captured by the capsule endoscope in the initial posture state. It may be a detection image captured by the capsule endoscope in a calibrated posture state. In a preferred embodiment, the middle picture in Figure 3 can be used as a detection image captured by the capsule endoscope in the calibration posture. At this time, the capsule endoscope can be aligned with the center of the part to be detected. , thereby capturing a more complete, clear and accurate picture.

However, when the capsule endoscope has a pitch angle offset such as ±dv in the initial posture state, two detection images 30 shown in the upper or lower image in FIG. 3 will be generated as corresponding detection images. When the capsule endoscope has a yaw angle offset such as ±dh in the initial posture state, two detection images 30 shown on the right or left in Figure 3 will be generated as corresponding detection images. Therefore, by executing the quantitative control method for the first viewing angle of a capsule endoscope provided by the present invention, the pitch angle offset and the yaw angle offset targeting the capsule endoscope can be effectively and targetedly eliminated.

Regarding the difference between the object coordinate system and the inertial system, as further shown in FIG. 4 , when the capsule endoscope 11 adjusts its posture in the inertial system 300 , the corresponding detection image 30 formed by it will be in the longitudinal direction. V and horizontal H are adjusted correspondingly (the relative upward movement of the current detection image 30 is defined as the positive vertical V+ movement as shown in the figure, and the relative rightward movement of the current detection image 30 is defined as the vertical movement as shown in the figure). Positive H+ movement of transverse H). After several position adjustments of the capsule endoscope 11, the coverage area of the corresponding detection image 30 can form a spherical shell as shown in Figure 4. It can be seen that for the inertial system 300, the detection image 30 is in the object coordinate system The position movement on the spherical shell does not strictly follow the proportional change of the pitch angle offset or the proportional change of the yaw angle offset. Instead, the detection image 30 moves along the spherical shell and the movement amount will be distorted relative to the offset amount. . The technical solution provided by the present invention can effectively solve the problem of mismatch of movement conditions between coordinate systems, and achieve the adjustment of the position movement data in the object coordinate system by adjusting the position movement data in the inertial system.

In a specific implementation, considering the imaging properties of the capsule endoscope itself, a fisheye lens is used, and the generated detection image has the advantage of a larger field of view such as 140°, as shown in Figure 5. The spherical scene is compressed and mapped to a plane, which will cause the detection image not to be distributed in a straight linear manner, but will produce a certain distortion as the angle away from the central axis of the field of view increases. In order to continue to maintain the excellence of the imaging effect under the influence of this property, the control of the above step 23 can be further improved, thereby forming a new step 23'. Step 23' includes: according to the attitude calibration data, according to the preset Adjust the posture of the capsule endoscope by the set angle step until the capsule endoscope reaches the calibration posture state. The angular step size may be a step size on any level of attitude calibration data; for example, it may be an angular step size adjusted in the yaw angle offset direction (transverse direction H), or it may be an angular step size adjusted in the yaw angle offset direction (lateral H). The angle step for adjustment in the pitch angle offset direction (longitudinal V).

The angle step size may be configured so that 50% of the central area of the detection image is retained as the image area at the preceding and following moments, and/or configured to cause the field of view image to be translated by approximately 1/4 scale. In this way, the coherence of images at adjacent moments during the adjustment process can be effectively enhanced and the "jelly effect" can be reduced as much as possible. In one embodiment, the angle step can be set to at least one of 20° and 30°.

In another embodiment of the present invention, a method for quantitatively controlling the first viewing angle of a capsule endoscope is provided. As shown in FIG. 6 , the method specifically includes the following steps.

Step 21: Obtain the field of view offset of the capsule endoscope at the first viewing angle.

Step 22: Calculate attitude calibration data in the inertial system based on the field of view offset. Among them, step 22 specifically includes the following steps:

Step 221: Determine the external offset in the inertial frame according to the field of view offset;

Step 222: Fit the external rotation matrix in the inertial frame according to the external offset;

Step 223: Calculate attitude calibration data in the inertial system according to the external rotation matrix.

Step 23: Adjust the capsule endoscope to the calibration posture state according to the posture calibration data.

In this way, the field of view offset can first be converted from the object coordinate system to the inertial system, and then through the operation of the external rotation matrix, the field of view offset in the inertial system can be further converted into attitude calibration data, which is convenient for medical workers or control The system directly uses the attitude calibration data to calibrate the viewing angle direction of the capsule endoscope. The above entire process causes the data to be processed through the object coordinate system and the inertial system in sequence, realizing the conversion of data between the two coordinate systems, simplifying the control logic without losing control accuracy.

Wherein, the external offset is the offset degree of the corresponding field of view offset in the inertial system; the external rotation matrix is generated according to the external offset and includes a representation of the offset. A matrix of degree angle data.

Based on the above another embodiment, the present invention further provides a first embodiment based on this embodiment. Specifically, step 223 specifically includes step 2231 and step 2232. As shown in Figures 6 and 7, the first embodiment specifically includes the following steps.

Step 21: Obtain the field of view offset of the capsule endoscope at the first viewing angle.

Step 221: Determine the external offset in the inertial frame based on the field of view offset.

Step 222: Fit the external rotation matrix in the inertial frame according to the external offset.

Step 2231: Project the external rotation matrix to the yaw adjustment plane under the inertial frame to obtain the first direction parameter and the second direction parameter. Perform arctangent transformation processing on the first direction parameter and the second direction parameter to obtain the target yaw data. .

Step 2232: Use target yaw data as yaw offset data.

Step 23: Adjust the capsule endoscope to the calibration posture state according to the posture calibration data.

Wherein, the attitude calibration data includes yaw offset data. In this way, the trigonometric function relationship under the inertial system can be used to concentrate the external rotation matrix with multi-dimensional external offsets and complex data content on the yaw adjustment level, thereby dividing the control of the capsule endoscope into at least The hierarchical control logic including the yaw adjustment branch can more accurately and quickly adjust the offset of the capsule endoscope at least at the yaw adjustment level.

Specifically, it is defined that the capsule endoscope has a first rotation axis, a second rotation axis, and a third rotation axis. Wherein, when the capsule endoscope rotates according to the first rotation axis, the attitude adjustment at the spin angle or roll angle level occurs, and the first rotation axis extends along the length direction of the capsule endoscope, or is at the position of the capsule endoscope. A symmetry plane extends in a direction pointing toward the top parallel to the design axis of the capsule endoscope. When the capsule endoscope rotates according to the second rotation axis, the attitude adjustment at the yaw angle level will occur. When the first rotation axis is arranged horizontally perpendicular to the direction of gravity, the second rotation axis is perpendicular to the first rotation axis. The axis of rotation extends parallel to the direction of gravity. When the capsule endoscope rotates according to the third rotation axis, the attitude adjustment at the pitch angle level occurs, and the third rotation axis is perpendicular to the plane formed by the first rotation axis and the second rotation axis.

When the capsule endoscope has an offset at the yaw angle level, it can be considered that in the object coordinate system, the capsule endoscope has rotated according to the second rotation axis, which is equivalent to the rotation between the first rotation axis and Two motion components are generated on the plane where the third rotation axis is located. After the offset is converted into angle data in the external rotation matrix in the inertial frame, the first direction parameter and the second direction parameter are generated correspondingly. Therefore, by fusing the above two directional parameters, the target yaw data can be calculated and used as yaw offset data to control the viewing angle direction of the capsule endoscope at the yaw level.

For the projection method, the external rotation matrix can be inverted to obtain an external yaw matrix R _x that only contains yaw conditions. In one implementation, the external yaw matrix R _x can at least satisfy:

Among them, c ₂ ≡ cos (θ ₂ ), s ₂ ≡ sin (θ ₂ ), θ ₂ is the Euler angle corresponding to the degree of yaw offset (ie, the yaw angle ψ).

Preferably, the projection method may also be to directly extract the data at the corresponding positions according to the connotations of the data at different positions in the external rotation matrix to obtain the first direction parameter and the second direction parameter. For example, in one implementation, if the external rotation matrix is defined as R, then it can at least satisfy:

Among them, c ₀ ≡cos(θ ₀ ), s ₀ ≡sin(θ ₀ ), θ ₀ is the Euler angle (that is, the roll angle φ) corresponding to the degree of roll or spin offset, c ₁ ≡cos( θ ₁ ), s ₁ ≡sin(θ ₁ ), θ ₁ is the Euler angle corresponding to the degree of pitch offset (that is, the pitch angle θ). Specifically, the step 2231 may specifically include: extracting the data of the first position and the data of the second position in the external rotation matrix, and correspondingly obtaining the first direction parameter and the second direction parameter. Wherein, the data at the first position represents the position change in the first direction when the capsule endoscope performs yaw adjustment; the data at the second position represents the position change of the capsule endoscope during yaw adjustment. Position changes in the second direction during adjustment. In conjunction with the foregoing, the first direction may be the direction in which one of the first rotation axis or the third rotation axis points, and the second direction may be the direction in which the other of the first rotation axis or the third rotation axis points. .

Preferably, the first position may be at R ₂₀ in the outer rotation matrix R, and the second position may be at R ₂₁ in the outer rotation matrix R. Based on this, the first direction parameter is (c ₀ s ₁ c ₂ +s ₀ s ₂ ), and the second direction parameter is (s ₀ s ₁ c ₂ -c ₀ s ₂ ).

Further, the arctangent transformation is preferably a four-quadrant arctangent transformation, and specifically, the coordinates are formed using the first direction parameter and the second direction parameter as basic parameters, and the four-quadrant arctangent transformation is The data is converted into radians and angles, and finally processed to obtain the target yaw data. Wherein, the target yaw data is defined as A _h and the yaw offset data is defined as rh, then it can at least satisfy:

In addition to the steps described above, Figures 6 and 7 also provide other steps. These other steps can be used as another part of the first embodiment to supplement the above steps, or can be used as an independent step. The formed embodiment forms a new embodiment. For the latter, the present invention provides an embodiment based on another embodiment described above. Specifically, step 223 specifically includes step 2233 and step 2234. This embodiment specifically includes the following steps.

Step 21: Obtain the field of view offset of the capsule endoscope at the first viewing angle.

Step 221: Determine the external offset in the inertial frame based on the field of view offset.

Step 222: Fit the external rotation matrix in the inertial frame according to the external offset.

Step 2233: Project the external rotation matrix to the pitch adjustment axis under the inertial system to obtain the third direction parameter, and perform inverse cosine transformation on the third direction parameter to obtain the target pitch data.

Step 2234: Calculate pitch calibration data based on the target pitch data and current tilt data.

Step 23: Adjust the capsule endoscope to the calibration posture state according to the posture calibration data.

Wherein, the attitude calibration data includes pitch calibration data. In this way, the trigonometric function relationship under the inertial system can be used to concentrate the external rotation matrix that contains multi-dimensional external offsets and complex data content on the pitch adjustment level, thereby dividing the control of the capsule endoscope into at least The hierarchical control logic of the pitch adjustment branch can more accurately and quickly adjust the offset of the capsule endoscope at least at the pitch adjustment level.

Following the above definitions of the three rotation axes, when the capsule endoscope has an offset in the pitch plane, it can be considered that the capsule endoscope has rotated according to the third rotation axis in the object coordinate system, which is equivalent to Since two motion components are generated on the plane where the first rotation axis and the second rotation axis are located, the two motion components can jointly form the third direction parameter. By processing the third direction parameter, the target pitch data can be calculated to further calculate the pitch calibration data, thereby completing the control of the viewing angle orientation of the capsule endoscope at the pitch level.

For the projection method, the external rotation matrix can be inverted to obtain an external pitch matrix that only contains pitch conditions. _Ry , in one implementation, the external pitch matrix _Ry can at least satisfy:

Preferably, the projection method may also be to directly extract the data at the corresponding positions according to the connotations of the data at different positions in the external rotation matrix to obtain the third direction parameter. For example, in one implementation, the step 2233 may specifically include: extracting the data of the third position in the external rotation matrix, and correspondingly obtaining the third direction parameter. Wherein, the data of the third position represents the position change of the capsule endoscope when it performs pitch adjustment.

Preferably, the third position may be at R ₂₂ in the external rotation matrix R. Based on this, the third direction parameter is (c ₁ c ₂ ). Further, after performing inverse cosine transformation, the obtained data can also be converted into radian angle, and finally processed to obtain the target pitch data. Wherein, the target pitch data is defined as _Av , the current tilt data is defined as C _v , and the pitch calibration data is defined as rv, then it can at least satisfy:

The current tilt data C _v represents the number of tilt angles of the capsule endoscope's current attitude relative to the direction of gravity in the inertial coordinate system. When the first rotation axis or length extension direction of the capsule endoscope is arranged along the direction of gravity, the current tilt data C _v =0. The current tilt data C _v can be obtained by implementing a capsule endoscope control system pose calibration method using a control system that cooperates with the capsule endoscope. Of course, the current tilt data C _v can only be used as one degree of freedom of the capsule endoscope pose state; the pose state can include a total of six degrees of freedom, and specifically can form a pose state data sequence [C _x , C _y , C _z C _h , C _v , C _s ]. Among them, [C _x , C _y , C _z ] represents the coordinates of the capsule endoscope relative to the X direction, Y direction and Z direction in the inertial system, and [C _h , C _v , C _s ] represents the coordinates of the capsule endoscope in the inertial system. Attitude adjustments at the pitch level, swing or yaw level, and spin or roll level. Supplementally, Ch _h may be correspondingly defined as the current orientation data, and C _s may be correspondingly defined as the current rotation data. Preferably, the position state sequence [C _x , C _y , C _z ] can have an accuracy of 5 mm, and the pose state [C _h , C _v , C _s ] can have an accuracy of 5°.

Preferably, the combination of the above steps is defined as the first example of another embodiment of the present invention. Specifically, step 223 specifically includes step 2231, step 2232, step 2233 and step 2234. This first embodiment may have the following steps as shown in FIGS. 6 and 7 .

Step 21: Obtain the field of view offset of the capsule endoscope at the first viewing angle.

Step 221: Determine the external offset in the inertial frame based on the field of view offset.

Step 222: Fit the external rotation matrix in the inertial frame according to the external offset.

Step 2231: Project the external rotation matrix to the yaw adjustment plane under the inertial frame to obtain the first direction parameter and the second direction parameter. Perform arctangent transformation processing on the first direction parameter and the second direction parameter to obtain the target yaw data. .

Step 2232: Use target yaw data as yaw offset data.

Step 2233: Project the external rotation matrix to the pitch adjustment axis under the inertial system to obtain the third direction parameter, and perform inverse cosine transformation on the third direction parameter to obtain the target pitch data.

Step 2234: Calculate pitch calibration data based on the target pitch data and current tilt data.

Step 23: Adjust the capsule endoscope to the calibration posture state according to the posture calibration data.

In contrast, the present invention provides a second embodiment based on the other implementation mode for step 222. Specifically, step 222 specifically includes step 2221 and step 2222. The second embodiment can be combined with the above-mentioned first embodiment to form a better new embodiment, or can be implemented independently. As shown in Figures 6 and 8, the second embodiment may specifically include the following steps.

Step 21: Obtain the field of view offset of the capsule endoscope at the first viewing angle.

Step 221: Determine the external offset in the inertial frame based on the field of view offset.

Step 2221: Determine the value of the roll angle corresponding to the offset of the field of view, and construct the inertial system based on the roll angle.

Step 2222: In the inertial frame, fit the external rotation matrix according to the external offset.

Step 223: Calculate attitude calibration data in the inertial system according to the external rotation matrix.

Step 23: Adjust the capsule endoscope to the calibration posture state according to the posture calibration data.

The external rotation matrix represents the rotational change of the position of the capsule endoscope relative to the original position after the capsule endoscope is rotated in a preset spin axis sequence.

The establishment of the inertial system needs to be based on a certain parameter of the capsule endoscope. Preferably, the certain parameter can be selected as a parameter that is difficult to adjust through the control system, thereby making up for the defects in the control of this parameter. For example, the control system or specifically the quantitative control device therein may be provided with an external control magnet to achieve three degrees of freedom corresponding to [C _x , _Cy , C _z ] of the capsule endoscope. Position control; accordingly, the position control may be performed based on the position control sequence [M _x , _My , M _z ]. The external control magnet is also used to implement attitude control corresponding to the current orientation data _Ch and the current tilt data C _v ; accordingly, the attitude control may be performed according to the attitude control sequence [M _h , M _v ].

Based on this, the external control magnet can adjust and control the posture of the capsule endoscope based on a posture control data sequence [M _x , My _y , M _z M _h , M _v ]. Preferably, the external control magnet has a position control accuracy of 1 mm and an attitude control accuracy of 1°. The adjustment and control method may be to implement a device and method such as controlling the movement of a capsule endoscope in the human digestive tract and/or a method of position and orientation calibration such as controlling a magnetically controlled capsule endoscope system.

Continuing, the previous definition θ ₀ is the Euler angle corresponding to the degree of roll or spin offset, that is, the roll angle (or roll Euler angle) θ ₀ can be set as a constant value, and The roll angle θ ₀ is used as a reference to construct an inertial system, thereby simplifying the calculation and achieving the same technical effect. Preferably, define the roll angle Then the above definition of the yaw offset data rh and the pitch calibration data rv can be simplified to, at least satisfy:

Regarding the fitting process of the external rotation matrix, specifically, the present invention provides a specific example based on the above-mentioned second embodiment, in which step 2222 specifically includes step 22221 and step 22222. This specific example includes the following steps.

Step 21: Obtain the field of view offset of the capsule endoscope at the first viewing angle.

Step 221: Determine the external offset in the inertial frame based on the field of view offset.

Step 2221: Determine the value of the roll angle corresponding to the offset of the field of view, and construct the inertial system based on the roll angle.

Step 22221: Calculate the yaw Euler angle and pitch Euler angle corresponding to the external offset.

Step 22222: Fit the external rotation matrix according to the trigonometric function values of the roll angle, yaw Euler angle and pitch Euler angle.

Step 223: Calculate attitude calibration data in the inertial system according to the external rotation matrix.

Step 23: Adjust the capsule endoscope to the calibration posture state according to the posture calibration data.

In this way, the external rotation matrix can be comprehensively generated from the three levels of yaw Euler angle, pitch Euler angle and roll angle, so that when step 223 and its derivative steps are subsequently performed, it can be achieved by extracting the data of the corresponding position or performing an inverse operation. Corresponding technical effects.

Specifically, the external rotation matrix R can be generated by filling in the above trigonometric function values based on the preset model, or it can be generated by respectively generating matrices corresponding to the yaw Euler angle, pitch Euler angle and roll angle. , obtained by operating according to the definition of the external rotation matrix itself. Among them, the matrix corresponding to the yaw Euler angle can be the external yaw matrix R _x defined previously, the matrix corresponding to the pitch Euler angle can be the external pitch matrix R _y defined previously, and the matrix corresponding to the roll angle or lateral angle The matrix of rolling Euler angles can be an external rolling matrix R _z , which can at least satisfy:

Based on this, step 22222 can be refined to include the steps of: calculating the roll rotation matrix, yaw, and yaw according to the trigonometric function values of the roll angle, the yaw Euler angle, and the pitch Euler angle respectively. Rotation matrix and pitch rotation matrix; dot multiply the yaw rotation matrix, the pitch rotation matrix and the roll rotation matrix in sequence to calculate the external rotation matrix.

Therefore, at the roll angle When , the fitting and simplification process of the external rotation matrix R can be specifically as follows:

The calculation of the yaw Euler angle θ ₂ and the pitch Euler angle θ ₁ may be calculated based on the field of view offset, or specifically, based on the external offset. In a preferred embodiment, the field of view offset includes a yaw angle offset dh and a pitch angle offset dv, and the external offset includes an offset corresponding to the yaw angle offset dh yaw offset dh ₁ , and pitch offset dv ₁ corresponding to the pitch angle offset dv. Then, the step 22221 may further include the following steps: calculating the yaw Euler angle according to the yaw offset and the current tilt data C _v ; calculating the pitch according to the pitch offset. Euler angles. Combined with the limitations on roll angle θ ₀ mentioned above, the above three Euler angles can at least satisfy:

In this way, the external rotation matrix can be combined with the external offset, especially the field of view offset, to facilitate subsequent targeted operations. Viewing angle adjustment and control.

The conversion relationship between the field of view offset and the external offset can be established and implemented through a preset deviation phase angle, that is, step 221 may also specifically include the following steps.

Step 2211: Construct a coordinate transformation matrix based on the preset deviation phase angle.

Step 2212: Determine the external offset in the inertial system based on the coordinate transformation matrix and the field of view offset.

Specifically, the deviation phase angle is defined as The field of view offset is [dh, dv], and the external offset is [dh ₁ , dv ₁ ], then at least the three conditions must be met:

Of course, since in other implementations, the field of view offset does not only include the yaw angle offset and the pitch angle offset, the elements in the field of view offset and the external offset It is not necessarily 2. The order of the coordinate transformation matrix is not necessarily 2*2. The actual number of elements and matrix order are adaptively adapted according to the number of specific offsets in the field of view offset. produce. However, it is clear that the coordinate transformation matrix is formed according to the trigonometric function value of the deviation phase angle.

The technical solution provided above is based on the premise that the degrees of freedom of the external control magnet and the capsule endoscope cannot match. The correction of the capsule endoscope at the level of spin angle or roll angle is abandoned and assigned to a preset value. down, thus achieving good control efficiency. As shown in Figure 9, when the capsule endoscope at position C is not corrected at the roll angle φ level, there will be a certain offset relative to the coordinate system. When the medical worker performs the yaw angle direction hc at position C The adjustment of the plane, or the position adjustment of the C position, pitch angle direction, vc plane, will be different from the control logic of the own first perspective, making it difficult to read the film, and it is difficult to input accurate instructions to the system.

Based on this, in order to adapt to the lack of perspective control at the spin angle or roll angle level, a pre-step can also be set before step 21 to display the detection image output by the capsule endoscope through correction at the image processing level. Status is adjusted. In this way, it can not only adapt to the steps provided above, but also maintain the unity of the display direction (or viewing angle direction) when detecting image output, prevent medical workers from dizziness when reading pictures, and assist medical workers in outputting accurate images. Control instruction.

Based on this, another embodiment provided by the present invention specifically includes the following steps as shown in FIG. 10 .

Step 201: fuse and calibrate the pose data of the cooperating control device and the capsule endoscope in an inertial system, and move the control device to an initialization position corresponding to the capsule endoscope.

Step 202: Receive and based on the initial attitude data of the capsule endoscope, rotate and correct the display state of the output detection image of the capsule endoscope.

Step 21: Obtain the field of view offset of the capsule endoscope at the first viewing angle.

Step 22: Calculate attitude calibration data in the inertial system based on the field of view offset.

Step 23: Adjust the capsule endoscope to the calibration posture state according to the posture calibration data.

In this way, as shown in Figures 9 and 11, the above-mentioned azimuth difference caused by the roll angle φ can be compensated, and the lack of control of the roll angle φ can be compensated from the image processing level, forming a more efficient technical solution, so that The longitudinal positive phase V+ in Figure 11 can correspond to the positive phase Vw in the pitch angle direction in the inertial frame, and the lateral positive phase H+ can correspond to the positive phase Hw in the yaw angle direction in the inertial frame. Furthermore, it is adjusted and reflected as follows: the pitch angle direction va of position A at position A in Figure 9 is aligned with the pitch angle direction of the inertial system spherical shell, and the yaw angle direction ha of position A is aligned with the yaw angle direction of the inertial system spherical shell. A similar state; it is also reflected as: the pitch angle direction vb of position B at position B in Figure 9 is aligned with the pitch angle direction of the inertial system spherical shell, and the yaw direction hb of position B is aligned with the yaw angle direction of the inertial system spherical shell. Similar status.

Of course, in other embodiments, as shown in FIG. 9 , a technical solution may be designed to control the centrifugal direction ra at position A, the centrifugal direction rb at position B, or the centrifugal direction rc at position C, so as to adjust the posture of the capsule endoscope. Add a new degree of freedom. The "centrifugal direction" refers to the direction away from or close to the spherical center O of the spherical shell of the inertial system.

Wherein, for step 201, the control device may be the external control magnet. The "fusion calibration" part in step 201 can further perform a posture calibration representation method of the magnetically controlled capsule endoscope system, and perform the following steps: obtain the first coordinate information of the external control magnet in the first object coordinate system ; Acquire the second coordinate information of the capsule endoscope in the second object coordinate system; establish an inertial system; correct the first coordinate information to the position information and/or attitude information of the external control magnet in the inertial system, and And the five degrees of freedom (5-DOF) state information is clearly expressed as the pose control data sequence [M _x , My _y , M _z M _h , M _v ]; the second coordinate information is corrected into the inertial system The position information and/or attitude information of the capsule endoscope, and the six degrees of freedom (6-DOF) state information is clearly expressed as the pose state data sequence [C _x ,C _y ,C _{z Ch} ,C _v ,C _s ].

The "move the control device to the initial position" part in step 201 can be specifically: controlling the movement of the external control magnet until the plane position is controlled in the pose control data sequence [M _x , My _y , M _z M _h , M _v ] The data [M _x , M _y ] is equal _to the plane position state data [C _x , C _y ] in the pose state data sequence [C x , C _y , C _z C _h , C _v , C _s ]; control external control The magnet moves until the vertical position control data M _z in the pose control data sequence [M _x , My _y , M _z M _h , M _v ] is consistent with the pose state data sequence [C _x , C _y , C _z C _h , C _v , C _s ], the difference dz between the vertical position status data C _z satisfies the preset height difference value.

Among them, for step 202, a capsule endoscope image correction method may be further executed to complete the correction of the detection image. For example, it may specifically include the steps of: obtaining the current detection image and the acceleration information sequence corresponding to the current detection image; calculating the image correction factor corresponding to the current detection image according to the acceleration information sequence, obtaining the current correction factor, and determining Whether the current posture information of the capsule endoscope is included in the acceleration detection dead zone range; if not, correct the current detection image according to the current correction factor; if yes, correct the current detection image according to the current correction factor of the capsule endoscope. The first correction factor of the forward posture of the posture corrects the current detection image. Therefore, by using only a simple acceleration information sequence, the viewing angle direction of the detection image can be corrected, so that the detection image is always output in the same appropriate observation direction. At this time, it is equivalent to setting the roll angle to a constant value, that is, setting the roll angle

The above provides the posture control of the capsule endoscope at the yaw angle, pitch angle, roll angle, etc., and in another embodiment provided by the present invention, a new step 24 is provided. The quantitative control method of the first viewing angle of the capsule endoscope enables the capsule endoscope to adjust the distance between it and the actual position represented by the corresponding detection image in a certain direction, achieving position adjustment with more degrees of freedom. As shown in Figure 12, this further embodiment may include the following steps.

Step 21: Obtain the field of view offset of the capsule endoscope at the first viewing angle.

Step 22: Calculate attitude calibration data in the inertial system based on the field of view offset.

Step 23: Adjust the capsule endoscope to the calibration posture state according to the posture calibration data.

Step 24: Adjust the distance between the capsule endoscope and the part to be detected according to the calibration posture state.

The adjustment of the distance can be achieved by adjusting the plane position control data [M _x , _My ] to affect the plane position status data [C _x , _Cy ]. In one embodiment, the direction of the distance adjustment can be based on the direction determined by the yaw offset data mentioned above, so as to comply with the control logic of the first perspective, intuitively based on the detection image, and selectively Control the capsule endoscope to approach or move away from the site to be detected, and adjust the distance between the capsule endoscope and the site to be detected.

In another embodiment, the "leaving out of loop" condition of the distance adjustment process may be that the screen ratio of the object to be measured in the detection image has met the preset requirements. For example, the area of the object to be measured accounts for 50% of the area of the detection image. In this way, the effects of distortion can be balanced and better visual observation results can be obtained. Based on this, the step 24 may also specifically include: fixing and calculating the current orientation data (that is, the above-mentioned _Ch ) based on the yaw offset data in the attitude calibration data, and determining the distance adjustment direction based on the current orientation data. , continue to output the distance adjustment signal until the proportion of the object to be measured in the detection image meets the preset requirements.

Specifically, the technical solution for distance adjustment, in a specific example of this further embodiment, may include the following steps as shown in FIGS. 12 and 13 .

Step 21: Obtain the field of view offset of the capsule endoscope at the first viewing angle.

Step 22: Calculate attitude calibration data in the inertial system based on the field of view offset.

Step 23: Adjust the capsule endoscope to the calibration posture state according to the posture calibration data.

Step 24: Adjust the distance between the capsule endoscope and the part to be detected according to the calibration posture state. Step 24 may further include:

Step 241, obtain the real-time pose information and target pose information of the capsule endoscope;

Step 242: Calculate current orientation data based on the yaw offset data in the attitude calibration data, and calculate the target pose range and current motion trajectory based on the real-time pose information, target pose information, and current orientation data;

Step 243: Control the capsule endoscope to follow the current movement trajectory.

The real-time pose information represents the process of the capsule endoscope continuing to move under the control of a quantitative control device, an external control magnet or other external equipment after undergoing the pose calibration in steps 21 to 23. The pose information corresponding to different poses. The real-time pose information may include calibration pose information corresponding to the calibration pose state. The current orientation data and the above _Ch can be interpreted equivalently.

In this way, the motion control route can be automatically planned according to the yaw offset data and the set target pose information, and the movement of the capsule endoscope after the first perspective correction is controlled until it is in the pose pointed by the target pose information. state. Effectively combines attitude control under at least two degrees of freedom (for example, pitch angle and yaw angle, preferably also including roll angle), and at least two degrees of freedom (for example, plane position control data [M _x , M _y ], preferably also includes position control under the vertical position control data M _z ), to facilitate medical workers to control the capsule endoscope easily and efficiently.

Of course, the above-mentioned control scheme formed by the control device and its external control magnet on the capsule endoscope is not limited to the above content. More detailed implementations based on the above scheme can also be produced according to different scene requirements. Or other implementations formed after following the above scheme concept. For example, the control device may control the movement of the capsule endoscope by dragging, rolling, or jumping. Among them, drag translation is applied to the flatter bottom or top area of the digestive tract; tumbling movement is applied to smaller folds and gentle slope areas; jumping movement is applied to larger obstacles, steeper slope areas, and valley bottom areas (such as the fundus of the stomach, stomach sinus) crossing. Under three different control modes, the difference dz can be adjusted to keep the capsule endoscope at a suitable height, thereby enhancing the stability and efficiency of the control.

Among them, for the drag scheme, the translation distance dL _T of the capsule endoscope (dL _T >0 forward, dL _T <0 backward) is generally set to a fixed typical value (such as 30mm), or to a value that can reflect the input force feedback. Variable value. After completing the dragging and translation action, the field of view of the capsule endoscope remains approximately unchanged, and the distance between the capsule endoscope and the object to be measured changes by dL _T. At this time, the real-time pose information corresponds to real-time position information, the target pose information corresponds to target position information, and the current movement trajectory corresponds to the current movement trajectory.

Before performing the dragging, the capsule endoscope can be adjusted to a vertical state relative to the inertial system. For example, when the capsule endoscope is in a bottomed state, adjust the attitude control sequence [M _h , M _v ] M _v =0, and when the capsule endoscope is in the ceiling-ceiling state, adjust M _v =180 in the attitude control sequence [M _h , M _v ]. Further, the dragging process may be implemented by specifically executing a quantitative closed-loop control method of the magnetically controlled capsule endoscope system, which may include the steps of: continuously obtaining real-time position information of the capsule endoscope; obtaining the capsule endoscope target position information; determine the target position range according to the target position information; calculate the current movement trajectory of the external control magnet according to the real-time position information and the target position information; control the external control magnet to move along the current Trajectory movement; if the real-time position information is outside the target position range until the control magnet stops moving, repeat the step "calculate the current movement trajectory of the external control magnet based on the real-time position information and the target position information.";Control the external control magnet to move along the current movement trajectory" until the real-time position information is within the target position range.

Specifically, the generation process of the current movement trajectory can also be refined into: calculating the target pose range and capsule endoscope according to the real-time position information, the target position information and the yaw offset data. Movement trajectory; calculate the current movement trajectory according to the movement trajectory of the capsule endoscope. Thus, the conversion of the control scheme from the capsule endoscope side to the control device side is completed.

In a preferred implementation, the above calculation process can also be refined to include the following steps.

Step 2421, re-determine the current orientation data of the capsule endoscope based on the yaw offset data, and use the current orientation data to determine the forward and backward distance adjustment directions of the capsule endoscope;

Step 2422: Determine the forward and backward distance adjustment variables of the capsule endoscope based on the preset distance step and the current orientation data, and use the distance adjustment variables, the real-time pose information and the target pose information, calculate the target pose range and the current motion trajectory.

In the drag scheme, the distance step size may be specifically defined as the above-mentioned translation distance dL _T , and the current movement trajectory may include the current movement trajectory. Based on this, the capsule endoscope can be dragged to the target position [C _x1 , C _y1 ]. Among them, the target position [C _x1 , C _y1 ] can at least satisfy:

Among them, Ch represents the current orientation data redetermined based on the yaw offset data rh, and the product of the translation distance dL _T and the trigonometric function value of the current orientation data Ch together forms the distance adjustment variable. and Therefore, the current movement trajectory (that is, the current movement trajectory) is calculated and planned based on this.

For the tumbling scheme, the distance step can be specifically defined as the tumbling distance dL _R , which can generally be defined as the long axis circumference of the capsule endoscope, for example, in one embodiment dL _R =±67 mm. Correspondingly, the real-time posture information corresponds to real-time posture information, the target posture information corresponds to target posture information, and the current motion trajectory corresponds to the current rotation trajectory.

Further, the tumbling process may be implemented by specifically executing a quantitative closed-loop control method of the magnetically controlled capsule endoscope system, which may include the steps of: continuously acquiring real-time attitude information of the capsule endoscope; acquiring the target attitude of the capsule endoscope. information; according to the target attitude information, calculate the target attitude range and the current rotation trajectory of the external control magnet; control the external control magnet to move along the current rotation trajectory; until the external control magnet stops moving, the real-time attitude information is outside the target attitude range, then repeat the step "according to the target attitude information, calculate the target attitude range and the current rotation trajectory of the external control magnet; control the external control magnet to move along the current rotation trajectory" until The real-time attitude information is within the target attitude range. In addition, since the posture information of the capsule endoscope will be affected after rolling, after the capsule endoscope moves to the target position, the capsule endoscope can be further restored to the initial posture information (that is, at least the position is restored). [C _h , C _v ] part in the posture state data sequence [C _x , C _y , C _{z Ch h} , C v , C _s ]).

In summary, the present invention provides a first-view quantitative control method and system for a capsule endoscope that conforms to the operator's intuitive visual experience, and achieves an approximate "what you see is what you get" quantitative control of the capsule endoscope based on the captured image feedback. Position and posture control; strengthen the purpose of capsule endoscopy, reduce the blindness of control actions, reduce the technical difficulty of magnetic control operations, and improve the convenience of capsule control; enable targeted scanning and inspection of key target areas, Reduce meaningless repeated area shooting and improve the efficiency of digestive tract examination; further optimize the angle and distance of capsule endoscope shooting, maximize the performance of the capsule endoscope imaging hardware system, and improve the image quality of digestive tract examination.

It should be understood that although this specification is described in terms of implementations, not each implementation only contains an independent technical solution. This description of the specification is only for the sake of clarity. Persons skilled in the art should take the specification as a whole and understand each individual solution. The technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

The series of detailed descriptions listed above are only specific descriptions of feasible implementations of the present invention. They are not intended to limit the protection scope of the present invention. Any equivalent implementations or implementations that do not deviate from the technical spirit of the present invention are not intended to limit the protection scope of the present invention. All changes should be included in the protection scope of the present invention.

Claims (20)

A first-view quantitative control method for capsule endoscopes, which is characterized by including: Obtain the field of view offset of the capsule endoscope at the first angle of view; According to the field of view offset, calculate the attitude calibration data in the inertial frame; According to the posture calibration data, the capsule endoscope is adjusted to a calibration posture state. The method for quantitatively controlling the first viewing angle of a capsule endoscope according to claim 1, wherein the field of view offset includes a yaw angle offset and a pitch angle offset. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 1, wherein the "adjusting the capsule endoscope to a calibration posture state according to the posture calibration data" specifically includes: According to the posture calibration data, the posture of the capsule endoscope is adjusted according to a preset angle step until the capsule endoscope reaches the calibration posture state. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 1, wherein the "calculating the attitude calibration data in the inertial system based on the offset of the field of view" specifically includes: According to the field of view offset, determine the external offset in the inertial frame; According to the external offset, fit an external rotation matrix under the inertial frame; According to the external rotation matrix, the attitude calibration data in the inertial frame is calculated. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 4, wherein the attitude calibration data includes yaw offset data; and the "calculates the lower position of the inertial system according to the external rotation matrix" "Attitude calibration data" specifically includes: Project the external rotation matrix to the yaw adjustment plane under the inertial system to obtain the first direction parameter and the second direction parameter, and perform arctangent transformation processing on the first direction parameter and the second direction parameter, Obtain target yaw data; The target yaw data is used as the yaw offset data. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 5, characterized in that "projecting the external rotation matrix to the yaw adjustment plane under the inertial system to obtain the first direction parameter and Second direction parameters" specifically include: Extract the data of the first position and the data of the second position in the external rotation matrix, and obtain the first direction parameter and the second direction parameter correspondingly; wherein, the data of the first position represents the capsule endoscope. The position changes in the first direction when the capsule endoscope performs yaw adjustment, and the data of the second position represents the position changes in the second direction when the capsule endoscope performs yaw adjustment. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 4, wherein the attitude calibration data includes pitch calibration data; and the "calculates the attitude in the inertial system according to the external rotation matrix" Calibration data" specifically include: Project the external rotation matrix to the pitch adjustment axis under the inertial system to obtain the third direction parameter, perform inverse cosine transformation on the third direction parameter, and obtain the target pitch data; The pitch calibration data is calculated based on the target pitch data and current tilt data. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 7, characterized in that "projecting the external rotation matrix to the pitch adjustment axis under the inertial system to obtain a third direction parameter" is specific include: Extract the data at the third position in the external rotation matrix to obtain the third direction parameter; wherein the data at the third position represents the position change of the capsule endoscope when it performs pitch adjustment. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 4, wherein the "fitting an external rotation matrix in the inertial frame according to the external offset" specifically includes: Determine the value of the roll angle corresponding to the offset of the field of view, and construct the inertial system based on the roll angle; Under the inertial frame, fit the external rotation matrix according to the external offset; The external rotation matrix represents the rotational change of the position of the capsule endoscope relative to the original position after the capsule endoscope is rotated in a preset spin axis sequence. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 9, wherein the "fitting of the external rotation matrix according to the external offset in the inertial frame" specifically includes : Calculate the yaw Euler angle and pitch Euler angle corresponding to the external offset; The external rotation matrix is fitted according to the trigonometric function values of the roll angle, the yaw Euler angle and the pitch Euler angle. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 10, wherein the field of view offset includes a yaw angle offset and a pitch angle offset, and the external offset includes The yaw offset corresponding to the yaw angle offset, and the pitch offset corresponding to the pitch angle offset; the "calculate the yaw Euler angle corresponding to the external offset" and pitch Euler angles" specifically include: Calculate the yaw Euler angle according to the yaw offset and current tilt data; According to the pitch offset, the pitch Euler angle is calculated. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 10, wherein the "trigonometric function value is based on the roll angle, the yaw Euler angle and the pitch Euler angle. , fitting the external rotation matrix" specifically includes: According to the trigonometric function values of the roll angle, the yaw Euler angle and the pitch Euler angle, the roll rotation matrix, the yaw rotation matrix and the pitch rotation matrix are correspondingly calculated; The external rotation matrix is calculated by dot multiplying the yaw rotation matrix, the pitch rotation matrix and the roll rotation matrix in sequence. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 4, wherein the "determining the external offset in the inertial system according to the offset of the field of view" specifically includes: Construct a coordinate transformation matrix based on the preset deviation phase angle; The external offset in the inertial frame is determined according to the coordinate transformation matrix and the field of view offset. The method for quantitatively controlling the first viewing angle of a capsule endoscope according to claim 1, characterized in that the method further includes: According to the calibration posture state, the distance between the capsule endoscope and the site to be detected is adjusted. The method for quantitatively controlling the first viewing angle of a capsule endoscope according to claim 14, wherein the step of "adjusting the distance between the capsule endoscope and the part to be detected according to the calibration posture state" is specifically include: Fix and calculate the current orientation data based on the yaw offset data in the attitude calibration data, determine the distance adjustment direction based on the current orientation data, and continue to output the distance adjustment signal until the proportion of the object to be measured in the detection image meets the predetermined set requirements. The method for quantitatively controlling the first viewing angle of a capsule endoscope according to claim 14, wherein the step of "adjusting the distance between the capsule endoscope and the part to be detected according to the calibration posture state" is specifically include: Obtain real-time pose information and target pose information of the capsule endoscope; Calculate current orientation data based on the yaw offset data in the attitude calibration data, and calculate the target pose range and current motion trajectory based on the real-time pose information, the target pose information, and the current orientation data; The capsule endoscope is controlled to follow the current movement trajectory. The quantitative control method for the first viewing angle of a capsule endoscope according to claim 16, characterized in that: "calculate the current orientation data based on the yaw offset data in the attitude calibration data, and calculate the current orientation data based on the real-time pose information, the target pose information and the current orientation data, and calculate the target pose range and current motion trajectory" specifically include: Re-determine the current orientation data of the capsule endoscope based on the yaw offset data, and use the current orientation data to determine the forward and backward distance adjustment directions of the capsule endoscope; Determine the forward and backward distance adjustment variables of the capsule endoscope according to the preset distance step and the current orientation data, and determine the forward and backward distance adjustment variables according to the distance adjustment variable, the real-time pose information and the target pose information , calculate the target pose range and the current motion trajectory. The method for quantitatively controlling the first viewing angle of a capsule endoscope according to claim 1, wherein before "obtaining the field of view offset of the capsule endoscope at the first viewing angle", the method further includes : Fusion and calibrate the pose data of the cooperating control device and the capsule endoscope in the inertial system, and move the control device to the initialization position corresponding to the capsule endoscope; Receive and based on the initial attitude data of the capsule endoscope, rotate and correct the display state of the output detection image of the capsule endoscope. A capsule endoscope first viewing angle quantitative control system, characterized in that it includes a capsule endoscope and a quantitative control device that cooperate with each other, and the quantitative control device is configured to perform a capsule endoscope first viewing angle quantitative control Method; the method includes: Obtain the field of view offset of the capsule endoscope at the first angle of view; According to the field of view offset, calculate the attitude calibration data in the inertial frame; According to the posture calibration data, the capsule endoscope is adjusted to a calibration posture state. A storage medium on which an application program is stored, characterized in that when the application program is executed, a capsule is implemented The steps of the quantitative control method for the first viewing angle of an endoscope; the method includes: Obtain the field of view offset of the capsule endoscope at the first angle of view; According to the field of view offset, calculate the attitude calibration data in the inertial frame; According to the posture calibration data, the capsule endoscope is adjusted to a calibration posture state.