Method for measuring size of optical target in real time under endoscope

Abstract

The invention provides a method for measuring the size of an optical target under an endoscope in real time. The method comprises the following steps: calibrating a lens of the endoscope; training an image semantic segmentation network suitable for the endoscope image target; carrying out target segmentation on an endoscope image in the endoscope examination, extracting size information of the object image, and recording corresponding pose data; and calculating the size of the to-be-measured target through a multi-view geometrical relationship by using the size information of the two groups of object images and the pose data of the two groups of object images. According to the method, the target in the endoscope image can be tracked in real time on the premise of not changing the current endoscope examination program, the size of the target is accurately measured, and the examination efficiency and accuracy are improved.

Description

technical field [0001] The invention relates to the technical field of electronic endoscope imaging inspection, in particular to a target size measurement method for endoscopic inspection based on a pose sensor and a monocular electronic endoscope. Background technique [0002] In the past few decades, electronic endoscopy has become a key technology in industrial inspection, clinical minimally invasive inspection and minimally invasive surgery. The electronic endoscope conducts the image signal through the CCD or camera instead of the fiber optic bundle, and transmits the image to the monitor located outside the body to display the image. The observer can make a judgment by determining whether the target in the image is normal or abnormal. This requires observers to have their own experience in detecting anomalies and further grading their severity according to their size. [0003] However, due to the limitation of the working space, many endoscopic lenses are only equippe...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that there is no reference object that cannot be measured in the existing size measurement method that uses the instrument in the endoscopic image as a reference, and the endoscopic examination efficiency that exists in the size measurement method using the endoscope with a scale Low problem, to provide a pose sensor-assisted real-time measurement method of optical target image size under endoscopy, aiming at automatic, stable and accurate measurement of target size without changing the current endoscopy procedure

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