1175results about "Gastroscopes" patented technology

To provide an endoscope system for calculating a region of a subject with a high degree of recognition precision while performing endoscopic observation, and to provide an operation method thereof.SOLUTION: An endoscope system 10 includes an endoscope 11, an air supply device 16, and a processor. The processor controls emission of illumination light for illuminating a subject S and measurement light for measuring a distance between a plurality of places of the subject S and the endoscope 11. The measurement light is emitted with a first air supply amount, the subject S is imaged by emitting or turning off the illumination light with a light amount suppressed with respect to the measurement light, and a region of the subject S is calculated from acquired first distance information. The measurement light is emitted with a second air supply amount, the subject S is imaged by emitting or turning off the illumination light with a light amount suppressed with respect to the measurement light, and a region of the subject S is calculated from acquired second distance information.SELECTED DRAWING: Figure 7

The invention relates to a painless gastrointestinal endoscope self-adaptive drug delivery method and system based on multi-source physiological signal fusion, and belongs to the technical field of medical artificial intelligence and automatic control. An artificial intelligence model is utilized to deeply extract features and quantitatively evaluate the sedation-analgesia level of a patient, a pharmacokinetics-pharmacodynamics model constructed by a big data platform is utilized to dynamically predict the drug effect according to the individual features and real-time state of the patient, and the anesthetic infusion rate is automatically and accurately adjusted through a closed-loop control algorithm, so that the patient can be accurately infused. Personalization and self-adaption of drug delivery are achieved, an independent safety monitoring mechanism is set, and real-time intervention is conducted on risk events such as respiratory depression. The problems that traditional anesthesia depends on artificial experience, single parameter monitoring is not comprehensive and individualized dynamic adjustment is lacked can be effectively solved, and the safety, comfort and medical efficiency of painless gastrointestinal endoscopy are remarkably improved.

A modular endoscope system comprises an imaging guidewire comprising an elongate shaft extending from a proximal end to a distal end, an imaging device located proximate the distal end of the elongate shaft and a lighting element located proximate the distal end of the elongate shaft, and an intervention accessory configured to slide along the elongate shaft to provide a medical intervention. A method of providing a medical intervention to an internal anatomic location comprises inserting an imaging guidewire into an anatomic passageway, viewing target anatomy with imaging capabilities of the imaging guidewire, pushing an intervention accessory along the imaging guidewire to the target anatomy, and operating the intervention accessory to provide an intervention on the target anatomy.

Systems, devices, and methods for planning an endoscopic tissue acquisition procedure for acquiring tissue from an anatomical target are disclosed. An endoscopic system comprises a steerable elongate instrument and a processor. The steerable elongate instrument can be positioned and navigated in a patient anatomy and acquire tissue from an anatomical target via a biopsy tool associated with the steerable elongate instrument. The processor can receive an image of the anatomical target, apply the received image to a trained machine-learning (ML) model to determine a tissue acquisition plan that includes a recommended biopsy tool and operational parameters for navigating the steerable elongate instrument or maneuvering the recommended biopsy tool. The tissue acquisition plan can be presented to a user, or used to facilitate a robot-assisted tissue acquisition procedure.

Blockchain environments may mix-and-match different encryption, difficulty, and / or proof-of-work schemes when mining blockchain transactions. Each encryption, difficulty, and / or proof-of-work scheme may be separate, stand-alone programs, files, or third-party services. Blockchain miners may be agnostic to a particular coin's or network's encryption, difficulty, and / or proof-of-work schemes, thus allowing any blockchain miner to process or mine data in multiple blockchains. GPUs, ASICs, and other specialized processing hardware components may be deterred by forcing cache misses, cache latencies, and processor stalls. Hashing, difficulty, and / or proof-of-work schemes require less programming code, consume less storage space / usage in bytes, and execute faster. Blockchain mining schemes may further randomize byte or memory block access, further improve cryptographic security.

The application discloses a multi-marked endoscopic imaging lens for digestive tract, and belongs to the field of biomedical microscopic endoscopic imaging. The endoscopic imaging lens comprises a first lens, a second lens, a third lens, a fourth lens, a fifth lens, a sixth lens and a seventh lens; the first lens focuses laser; the second lens is matched with the first lens to limit a light beam in an effective light aperture of the lens; the third lens corrects chromatic aberration; the fourth lens and the fifth lens are combined to correct aberration; the sixth lens adopts an aspheric lens to correct spherical aberration caused in a collimating and focusing system; and the seventh lens is matched with the sixth lens to correct chromatic aberration. The working spectral range of the microscopic objective lens group is 488-860 nm, the effective light aperture is less than 1.8 mm, the mechanical outer diameter is not greater than 2.6 mm, the numerical aperture at the object side or the tissue is 0.55, the imaging field of view is 450 microns, the magnification is 2.14 times, and the working distance is 84 microns. The effect of matching excitation and fluorescence spectrum of a clinically available fluorescence contrast agent is realized.

The invention provides a multi-target-point drug release magnetic drive capsule robot, and relates to the field of medical equipment, the multi-target-point drug release magnetic drive capsule robot comprises an outer sleeve, the side wall of the outer sleeve is provided with a plurality of first drug discharge holes, and the first drug discharge holes are spirally arranged; the inner sleeve is coaxially and rotatably arranged in the outer sleeve, one end of the inner sleeve is fixedly connected with a medicine discharging magnet, a plurality of medicine bins are arranged in the inner sleeve, a plurality of second medicine discharging holes communicated with the different medicine bins are formed in the side wall of the inner sleeve, and the multiple second medicine discharging holes are collinear; the reset mechanism is used for driving the inner sleeve to reset to the initial position; and the walking mechanism is arranged on the outer sleeve and used for driving the outer sleeve to move. According to the capsule endoscope, the inner sleeve is controlled to rotate relative to the outer sleeve through an external magnetic field, and multi-target, multi-time and multi-drug combined drug application of the capsule endoscope is achieved.

The utility model provides a nasogastroscope-guided gastrointestinal catheterization system based on a guide wire. The nasogastroscope-guided gastrointestinal catheterization system comprises a nasogastroscope (1), an imbedding tube (2) and the guide wire (3), wherein the guide wire (3) is arranged in an instrument cavity of the nasogastroscope (1); the implantation tube (2) is arranged along the guide wire (3) to a target jejunum nutrition tube putting position; the diameter of the guide wire (3) is 0.4 mm to 1.8 mm; the length of the guide wire is 1-7 m, and the section, 2-8 cm long, of the front end of the guide wire (3) is a flexible section (3.9). The utility model has the advantages of simple structure, simplification of catheterization operation, reduction of the pain of a patient, reduction of medical risks, guarantee of the success rate of catheterization, and excellent technical effect; the method has huge economic value and social value.

The invention provides an intelligent stomach tube based on optical fiber sensing and image monitoring, and the stomach tube comprises a stomach tube body which is internally integrated with an optical fiber and a miniature camera assembly; at least three FBG (Fiber Bragg Grating) sensing nodes which are respectively positioned in the stomach, the esophagus and the throat section are inscribed on the optical fiber and are used for acquiring pressure and temperature signals; the miniature camera assembly is arranged on the inner wall of the throat section and used for collecting images. A demodulation-edge AI processing terminal is arranged outside the body, connected with the sensing nodes and the camera shooting assembly and used for demodulating signals and conducting multi-mode fusion analysis on the basis of pressure signals and image data, real-time judgment of the situation that the catheter enters the airway by mistake, intelligent evaluation of the risk of aspiration before catheter drawing and early warning output when the risk exceeds the standard are achieved. According to the invention, the FBG sensing node and the miniature camera shooting assembly are integrated in the stomach tube, and the in-vitro demodulation-edge AI processing terminal is combined, so that precise and automatic monitoring and early warning of the whole process from tube indwelling to tube drawing evaluation are realized, and the safety and the medical quality of a patient are fundamentally improved.

The invention provides a Y-shaped collaborative operation device for a digestive endoscope and an optical fiber clamping-three-dimensional force sensing method, and relates to the technical field of optical fiber sensing detection. The Y-shaped expanding opening and closing assembly is fixedly connected with the tail end of the main endoscope arm and used for expanding the two corresponding second channels to be opened and closed in a Y shape; the two sub-operation arms penetrate through the two second channels corresponding to the sub-operation arms and extend to the outer portion of the Y-shaped expanding opening and closing assembly, and the sub-operation arms are provided with a plurality of third channels arranged in the circumferential direction; the second driving guide wire penetrates through the third channel from the front end of the sub-operation arm and is fixedly connected with the tail end of the sub-operation arm, and the bending direction of the sub-operation arm is adjusted by controlling stretching and retracting of the second driving guide wire. And the clamping-three-dimensional force sensing operation assembly is fixedly connected with the tail end of the sub-operation arm and is used for sensing the three-dimensional force and / or the clamping force generated when the clamping-three-dimensional force sensing operation assembly interacts with the digestive tract tissue.

The invention discloses a gastroscope in-vivo detection time measuring method, and relates to the technical field of gastroscope detection, and the gastroscope in-vivo detection time measuring method comprises the following steps: obtaining a data set of in-vivo and in-vitro environment dichotomy; the method comprises the following steps of: constructing a binary classification network based on a Vision Transform; training a dichotomy network based on Vision Transformer by adopting a data set of dichotomy of in-vivo and in-vitro environments; for a complete gastroscope video frame sequence of the in-vivo retention time of the gastroscope to be detected, extracting a frame at a certain interval as a representative frame, sending all the representative frames into the trained Vision Transform-based binary classification network for classification, searching the last group of in-vivo frame serial numbers Ida from the outside to the inside, and determining the in-vivo retention time of the gastroscope to be detected. And the last group of in-vivo frame serial numbers Idb from in vivo to in vitro; and calculating the retention time in the gastroscope body. The automatic processing level is high, extra manual processing is not needed in the whole process, the workload can be greatly reduced, the time efficiency can be improved, and the problems of missed watching and wrong watching caused by careful manual retrospective observation in a traditional method can be solved.

Provided are a split-type mask, a respiratory monitoring system, and a method of using the same, which are suitable for endoscopic examinations. The split-type mask includes a nasal mask body, an oral mask body, and a connector, wherein the nasal mask body and the oral mask body are connected by the connector. The nasal mask body is formed with an oxygen tube interface for connecting an external oxygen supply device to supply oxygen to the nasal mask body; the oral mask body is formed with an endoscope inspection port for passing an endoscopic examination device such as a gastroscope. The nasal mask body also includes a nasal pressure sensor and a nasal aspirator interface, respectively used to monitor the pressure within the nasal mask body and to aspirate aerosols within the nasal mask body, and / or the oral mask body also includes an oral pressure sensor and an oral aspirator interface, respectively used to monitor the pressure within the oral mask body and to aspirate aerosols within the oral mask body. The nasal mask body and the oral mask body are respectively adapted to fit the wearer's face without being connected to each other.

Improved methods and devices for performing an endoscopic surgery including a system for performing minimally invasive procedures including a flexible catheter having a first lumen, a first flexible tube positioned in the first lumen, and a second flexible tube positioned in the first lumen. The first lumen defines a first space configured and dimensioned to receive an endoscope. The first flexible tube and second flexible tube are fixed at a proximal portion and configured to float within the first lumen of the catheter. First and second flexible guides are slidably positioned within the first and second flexible tubes and dimensioned to receive a first instrument for axial movement therein, the first and second flexible guides movable to an angled position with respect to a longitudinal axis. A working space expanding system positioned at a distal portion of the flexible catheter, the working space expanding system movable from a non-expanded insertion position to an expanded position forming an expanded region to expand the working space within the body lumen.

The invention provides a visual stomach tube convenient for guide wire traction adjustment, which comprises a stomach catheter for feeding, a visual sleeve for visualization is sleeved at the bottom end of the stomach catheter, a traction wire connected with the visual sleeve is arranged in the stomach catheter in a penetrating manner, one side of the stomach catheter is connected with a shunt tube, the other end of the shunt tube is connected with a filter sleeve, and the filter sleeve is connected with a guide wire. A conductive wire is embedded in the stomach catheter, the traction wire is hollow, a wire set used for signal transmission and power supply is connected to the middle of the traction wire in a penetrating mode, and a filling cavity is formed in the bottom end of the stomach catheter. The stomach tube can be prevented from entering the trachea by mistake, meanwhile, after use is completed, gastric juice is extracted synchronously for inspection, operation steps are reduced, meanwhile, the visual sleeve and the guiding traction wire can be recycled, the overall use cost is reduced, and the burden of a patient is reduced.

The invention relates to a control part and an endoscope thereof, belongs to the technical field of endoscopes, and is used for controlling a snake bone assembly at the front end of the endoscope and 360-degree omnibearing observation under pitching and left-right deflection. Each of the three sections of adjusting snake bones comprises a snake bone main body, and an adjusting device for adjusting an angle is mounted in each snake bone main body; the traction rope is used for connecting the adjusting device and the two operating devices; the linkage modes of a single operating device are seven, linkage of the two operating devices and mutual combination of the seven modes of the two operating devices can be achieved through the linkage mechanism, 49 adjusting modes in total are achieved, independent or multiple adjusting operations of the three snake bone bodies are effectively achieved, pitching and left-right four-direction deflection of the snake bone assembly are controlled, and the operation efficiency is improved. And according to the rotating direction within the 360-degree range in the X / Y plane and the bending angle of the snake bone, a target can be flexibly found, and an organ needing to be peeped or a changed part can be quickly and accurately pointed.

Disclosed herein are methods and apparatuses for retroflexing a scope, such as a colonoscope. These methods and apparatuses may provide a minimum bending radius and may be safer and more efficient than convention retroflexing. In general, these methods and apparatuses may include a pair of nested elongate members, one of which is configured as the scope (e.g., colonoscope). These methods and apparatuses may be partially or fully automated.

The invention relates to the technical field of medical instruments, in particular to a sleeve structure of a biliary tract endoscope. Comprising at least one closed external pipeline, and the external pipeline is fixed to the outer surface of the inner diameter pipe body through a fixing structure in the length direction of the endoscope pipe body. The external pipeline is provided with ports communicated with the outer space of an instrument channel at the two ends of the instrument channel, penetrating through the enteroscope, of the biliary tract endoscope respectively, a hard sleeve head fixed to an endoscope pipe body is arranged on the port, close to the end of the biliary tract endoscope, of an endoscope lens, and the hard sleeve head is provided with a channel opening communicated with the external pipeline; the end face, provided with the channel opening, of the hard sleeve head is provided with a blocking head which surrounds the endoscope lens and protrudes outwards, the blocking head is provided with a sliding way which is communicated with the channel opening and extends towards the endoscope lens, and the front portion, facing the advancing direction of the endoscope tube body, of the blocking head is further provided with an arc-shaped head which shields the sliding way and provides guiding. The endoscope tube fixing device is simple in structure, and the endoscope tube body can be fixed, adsorbed and supported through the arranged hard sleeve head structure.

The invention relates to the technical field of guiding devices, in particular to a nasal jejunum nutrition tube imbedding guiding device which is used for guiding the process of imbedding a flexible nasal jejunum tube into a human body. The image acquisition device acquires a picture in the direction of the advancing direction of the insertion end of the nasal jejunum tube; the bag body is arranged in a manner of extending close to the insertion end of the nasal jejunum tube; during use, the bag body does not generate binding force on the nasal jejunum tube in a low-expansion state, the shape of the nasal jejunum tube is not limited by the bag body, when the bag body is in a high-expansion state, the bag body generates binding force on the nasal jejunum tube to enable the nasal jejunum tube to be bent, and the image acquisition device comprises a camera arranged in the insertion end of the nasal jejunum tube. The insertion end of the nasointestinal tube is provided with a closing part for preventing the camera from falling off, and the problem that the throat and the pylorus cannot pass through the nasointestinal tube quickly and smoothly in the existing nasointestinal tube indwelling process can be solved by improving the existing endoscope guiding technology.

An example assembly for use with a vacuum system and an esophageal positioning device esophageal positioning device includes an introducer, in which the esophageal positioning device includes a handle, a first segment, a second segment and an articulation driving mechanism. The first segment being coupled to the handle. The second segment being pivotally connected to the first segment. The articulation driving mechanism being configured to pivot the second segment about the first segment upon articulation.

The invention belongs to the technical field of medical instruments, and discloses a digestive endoscopy diseased region accurate positioning and marking device which comprises a controller, an endoscope hose is fixedly connected to the bottom of the controller, and an instrument insertion opening is formed in the right side of the controller. Through the arrangement of the sleeve, the dye tube, the pressurization air bag and the baffle, after an operator observes a diseased region through the endoscope hose, the operator only needs to align the endoscope hose to the diseased region, and by pressing the pressurization air bag, air in the pressurization air bag enters the dye tube through the inner hose; the baffle can be pushed to rotate outwards under the action of air pressure, meanwhile, methylene blue in the dye tube is sprayed out under the action of air flow, a diseased region is marked, the methylene blue can be absorbed by normal mucous membrane cells, and diseased tissue shows dyeing difference due to abnormal cell function and poor absorption capacity, so that the diseased region is marked. Therefore, the effect of accurate positioning is achieved.

The invention discloses a device and system for conducting electric field treatment on the digestive tract, the device for conducting electric field treatment on the digestive tract comprises a slender catheter, a supporting body located at the far end of the catheter, an electrode array film and a pulse generator, the electrode array film and the pulse generator are arranged on the supporting body, and the output end of the pulse generator is coupled with an electrode pair on the electrode array film. A sequence pulse wave output by the pulse generator comprises a plurality of groups of nanosecond pulse strings, and the time interval between the adjacent nanosecond pulse strings is 1us-10000 us; the nanosecond pulse string is composed of a plurality of nanosecond pulse pairs, and the time interval between every two adjacent nanosecond pulse pairs ranges from 50 ns to 10000 ns; the nanosecond pulse pair comprises positive pulses and negative pulses which appear alternately, the pulse width of the positive pulses and the pulse width of the negative pulses are 10-1000 ns, and the time interval is 10-1000 ns. The cell membrane permeability and the cell death efficiency can be remarkably improved, and the limitation of the traditional IRE technology is broken through.

The invention discloses an ultrasonic endoscope for digestive tract wall detection and a using method thereof, and relates to the technical field of ultrasonic endoscopes, the ultrasonic endoscope comprises a probe main body and a connecting wire, the probe main body is provided with a cleaning mechanism, an ultrasonic probe, a camera and a light supplementing lamp, a main line, a first expansion hole, a first auxiliary data line, a second auxiliary data line, a water flow through hole and an air flow through hole are arranged in the connecting line, the probe body is installed on the connecting line, the cleaning mechanism comprises a sliding frame, an elastic ring, a first spray head, a spraying turning cover and a cleaning rolling tongue, and a sliding groove in sliding fit with the sliding frame is formed in the probe body. A water storage cavity is formed in the cleaning sliding frame. The device has the advantages of automatic cleaning, physical scraping and airflow blowing functions, and the problems that a traditional flushing structure is not thorough in cleaning and prone to blockage, and stubborn stains are difficult to remove are solved.

The invention provides an external magnetic drive magnetic pole turnover type sampling capsule which comprises a shell, a rotary magnet, an axial magnet, a rocker and a fixed magnet, the shell is provided with a rotary magnet mounting cavity, a sampling cavity and a fixed magnet mounting cavity, the rotary magnet is arranged in the rotary magnet mounting cavity, and the axial magnet is arranged in the fixed magnet mounting cavity. The fixed magnet is arranged between the fixed magnet mounting cavities, and the rocker is arranged in the sampling cavity. The external magnetic drive magnetic pole overturning type sampling capsule has the beneficial effects that the sampling structure can be activated only by controlling the magnetic pole overturning of the rotating magnet through an external magnetic field, and the operation is much simpler than the operation of directly overcoming the repulsive force between internal magnets; the purpose of opening the sampling port is achieved by changing magnetic field distribution between the rotary magnet and the fixed magnet, compared with a traditional magnetic spring structure, the capsule space occupied by the movable end magnet is avoided, and the sample space proportion is greatly increased.

Provided are a medical image device and an automated control technique, particularly, an endoscopic device for capturing an image of an upper gastrointestinal tract using an endoscope and a method of controlling the endoscopic device. The method of controlling an endoscopic device includes acquiring an image of an upper gastrointestinal tract from an image sensor, detecting at least one first body part from the image, based on a pre-trained model, calculating relative position information between the detected at least one first body part and a front-end portion of the endoscopic device, generating, based on the relative position information, a first control signal for steering the front-end portion to correspond to the at least one first body part, and transmitting the first control signal to a driver.

The invention relates to a stomach tube track monitoring system and device, and the system comprises a track collection module which is used for obtaining the moving track of the insertion end of a stomach tube based on a real-time position; the trajectory analysis module is used for obtaining a real-time deviation between the target trajectory and the moving trajectory, and determining a deviation position and an adjustment angle according to the real-time deviation; the trajectory topological graph construction module is used for constructing a trajectory point cloud set according to the moving trajectory and determining an abnormal point set according to a trajectory topological graph group based on a continuous coherence mechanism; the real-time risk early warning module is used for synchronizing the moving track to a pre-obtained trachea-esophagus model and performing real-time risk early warning according to the position of the abnormal point set in the trachea-esophagus model; and the potential risk early warning module is used for inputting the real-time position into a preset trajectory prediction model to obtain a prediction trajectory at the next moment, and performing potential risk early warning according to the deviation between the prediction trajectory and the target trajectory.

This invention generally relates to a method for performing an endoscopic procedure. According to some aspects of the invention, the method comprises placing an endoscope shaft within a body cavity at a desired examination point, the endoscope shaft having a proximal end, mid shaft and a distal end, the distal end terminating in an endoscope tip, wherein the endoscope tip is proximal to the desired examination point, positioning a segment of a longitudinally opened overtube over the endoscope mid shaft, wherein the overtube including a longitudinal reclosable seam along an entire length of the overtube, an inner surface, an outer surface, a proximal end and a distal end, a positioning ring adjacent the distal end on the outer surface, at least one sealing band on the inner surface, and an independently positionable occlusion catheter terminating in an asymmetrical occlusion balloon; at least one handle at the proximal end and on the outer surface for grasping and manipulation of the overtube within the body cavity. The method further comprises closing the seam of the segment of the overtube positioned over the endoscope mid shaft to form a longitudinally closed overtube and move the closed overtube over the endoscope shaft as guide within the body cavity and repeat the closing and moving till the overtube reaches the desired examination point, inflating the positioning ring to create a seal between the outer surface of the overtube and a body cavity proximal to the endoscope tip, wherein when inflated the positioning ring expanded asymmetrically around the overtube, inflating the at least one sealing band to create a seal between the internal surface of the overtube and endoscope shaft, passing the independently positionable occlusion catheter terminating in the asymmetrical occlusion balloon through a passageway along the overtube to enter the body cavity at the end of the overtube, manipulating the independently positionable occlusion catheter to a selected point within the body cavity distal to the endoscope tip, inflating the occlusion catheter balloon to create seal between the occlusion catheter balloon and the body cavity, and creating a sealed examination compartment between the positioning ring, the asymmetrical occlusion balloon and the sealing band surrounding the distal end of the endoscope shaft.

The invention provides an objective image module and an endoscope, and relates to the technical field of endoscopes. The objective image module is provided with an optical axis and comprises a front fixed lens assembly, a rear fixed lens assembly, a movable lens assembly, a guide assembly and a driving assembly, and the front fixed lens assembly, the movable lens assembly and the rear fixed lens assembly are sequentially arranged on the optical axis. The guide assembly is in sliding fit with the movable lens assembly and used for limiting the sliding direction of the movable lens assembly so that the sliding direction can be parallel to the optical axis direction. The driving assembly comprises a permanent magnet and an electromagnet, and the permanent magnet is connected with the movable lens assembly; when the electromagnet is powered on, driving magnetic force is formed between the electromagnet and the permanent magnet, and the driving magnetic force can drive the movable lens assembly to move in the optical axis direction. The position of the movable lens can be accurately controlled, and the occupied internal space of the head end part is reduced.

One or more processors select a model from among a plurality of types of machine learning models according to a region whose image is being picked up by an endoscope, generate notification information of a type of the model selected, receive an instruction signal for switching the model, measure a time interval from a selection of the model to a reception of the instruction signal, select a model selected immediately previously when the time interval is less than a first predetermined time, and select a model scheduled to be selected immediately subsequently when the time interval is equal to or greater than a second predetermined time.

The invention discloses a method and a device for solving direction perception disorder caused by a rotating mirror, and solves the problem that an adjacent tissue structure outside a part is difficult to determine after endoscopic examination rotation in a similar upper digestive tract wall internal lesion. The method comprises the following steps: acquiring pose information of an endoscope in an electromagnetic navigation system of a lumen target position and a corresponding image in the lumen as a reference pose; obtaining a track pose of the endoscope after the view field is adjusted in the electromagnetic navigation system and a corresponding intraluminal image, and determining an Euler angle of each track point according to the track pose; obtaining a track pose of the endoscope after the view field is adjusted in the electromagnetic navigation system and a corresponding intraluminal image, and determining an Euler angle of each track point according to the track pose; performing three-dimensional reconstruction on the lumen and the adjacent tissue thereof according to the lumen image map, and performing corresponding rotation according to the rotating mirror angle and the corresponding image in the lumen to obtain the rotated lumen and the adjacent tissue thereof; according to the invention, after the endoscope rotates to the optimal visual field, the adjacent tissues outside the endoscope can be clearly known.

The device comprises a light source generator, a light source adjusting mechanism, a light source conveying pipe and a detection head, the light source adjusting mechanism comprises a mounting cylinder, a shaping sector ring light absorption part and a folding sector ring light absorption part, and the mounting cylinder is provided with a light-transmitting round hole penetrating front and back; an annular cavity is formed in the cylinder wall of the mounting cylinder with the center point of the light-transmitting round hole as the center of a circular ring, the multiple sets of shaping fan ring light absorption pieces are distributed in the annular cavity in the circumferential direction, and a set of folding fan ring light absorption pieces are arranged between every two adjacent sets of shaping fan ring light absorption pieces. The side wall of the folding sector ring light absorption piece is attached to the side wall of the shaping sector ring light absorption piece and is connected with the shaping sector ring light absorption piece in a front-back sliding mode along the attaching face, and the shaping sector ring light absorption piece is arranged in the annular cavity in a front-back sliding mode in the direction of the left-right symmetry line of the shaping sector ring light absorption piece. And the transverse unfolding area of the folding fan ring light absorption parts is adjusted along with the adjustment of the distance between the two adjacent groups of shaping fan ring light absorption parts.