Automatic adjusting device for endoscopy

Abstract

The invention belongs to the technical field of endoscopic examination, and discloses an automatic adjusting device for endoscopic examination, which comprises an endoscope main body module, an image acquisition and processing module, a surgical instrument identification module, an automatic focusing module, a visual angle automatic adjusting module, a central control module and an interaction module, the automation function of the system reduces the dependence on assistants, and the operating room resource allocation problem is obviously improved especially under the condition of complex operations or insufficient manpower. Operation images and endoscope adjustment data recorded by the system can be used for postoperative analysis and teaching, and important support is provided for medical training. And by reducing the operation time and the error risk, the system improves the intraoperative safety of the patient, and further promotes the development of the endoscopic operation. Through organic combination of a wide-angle lens, an artificial intelligence recognition algorithm, automatic focusing and a visual angle adjustment technology, an efficient and intelligent automatic solution is provided for endoscopic examination, and multiple key problems in the prior art are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of endoscopic examination, and in particular relates to an automatic adjustment device for endoscopic examination. Background Art

[0002] Currently, endoscopic examination is widely used in surgical operations, such as laparoscopic surgery and arthroscopic surgery, which rely on surgical assistants to manually adjust the viewing angle and focus of the endoscope to ensure that the surgeon can clearly observe the surgical site.

[0003] Through the above analysis, the problems and defects of the prior art are as follows:

[0004] (1) Dependence on manual adjustment: Existing endoscopic inspection systems require assistants to continuously and manually adjust the viewing angle and focus of the endoscope, resulting in low operating efficiency and prone to unstable visual field.

[0005] (2) Difficulty in accurate focusing: In complex surgical scenarios, the position of operating instruments changes frequently, and the endoscope needs to be adjusted multiple times to obtain the best field of view, which requires high operating skills from the assistant.

[0006] (3) Field of view limitations: The field of view of traditional endoscopes is relatively fixed and cannot identify the position of surgical instruments in real time for automatic tracking and adjustment, which affects surgical efficiency and accuracy.

[0007] (4) Low efficiency of surgical collaboration: The surgeon and assistant need to continuously communicate about the operation requirements, which increases the operation time and intraoperative risks. Summary of the invention

[0008] In view of the problems existing in the prior art, the present invention provides an automatic adjustment device for endoscopic examination.

[0009] The present invention is implemented in this way: an automatic adjustment device for endoscopic examination comprises:

[0010] The endoscope main body module is connected with the image acquisition and processing module, the surgical instrument recognition module, the autofocus module, the view angle automatic adjustment module, the central control module, and the interaction module, and is used to obtain a panoramic image of the surgical scene through a wide-angle lens, and the robotic arm is used to adjust the view angle of the endoscope;

[0011] The image acquisition and processing module is connected to the endoscope main module and is used to acquire real-time images using a high-resolution CMoS sensor and analyze surgical scenes in combination with an AI image processing unit;

[0012] A surgical instrument recognition module is connected to the endoscope main body module and is used to detect and recognize surgical instruments in the image in real time using a model trained by a deep learning algorithm and obtain their three-dimensional position coordinates;

[0013] The autofocus module is connected to the endoscope main body module and is used to adjust the lens focal length in real time according to the distance of the surgical instrument through the servo motor to ensure a clear observation image;

[0014] The viewing angle automatic adjustment module is connected to the endoscope main body module and is used to adjust the pitch angle and rotation angle of the endoscope in real time according to the position change of the surgical instrument through the built-in control algorithm;

[0015] The central control module is connected to the endoscope main module and is used to run the control algorithm and send instructions to the autofocus module and the viewing angle adjustment module;

[0016] The interactive module is connected to the endoscope main module and is used by the operator to set the initial viewing angle, adjust system parameters, and view system feedback in real time.

[0017] Furthermore, the endoscope main body module:

[0018] The main body of the endoscope consists of a wide-angle lens and an adjustable robotic arm. The wide-angle lens obtains a complete panoramic image of the surgical scene through its wide field of view, and transmits the image information to the image acquisition and processing module; the robotic arm is connected to the three-axis electric rotation platform and adjusts the viewing angle of the endoscope in real time according to the instructions of the central control system, so that the lens is always focused on the key area where the surgical instruments are located; the structural design of the robotic arm enables it to move flexibly and achieve three degrees of freedom adjustment: pitch, horizontal and rotation, ensuring that the surgical instruments are always within the optimal observation range of the endoscope.

[0019] Furthermore, the image acquisition and processing module:

[0020] The image acquisition and processing module uses a high-resolution CMoS sensor to collect image data of the surgical scene in real time, and uses a built-in AI image processing unit (such as an embedded neural network chip) to process and analyze the image; the acquired images are first pre-processed (such as noise reduction and color enhancement), and then input into a deep learning model for detection and identification of surgical instruments; the processing module can generate three-dimensional coordinate data associated with the surgical instrument based on its spatial position and functional requirements, and send the data to the central control system for further focus adjustment and viewing angle adjustment.

[0021] Furthermore, the surgical instrument identification module:

[0022] The surgical instrument recognition module uses a deep learning algorithm to perform real-time detection and recognition of surgical instruments in the image. The recognition module automatically calibrates the spatial position and motion trajectory of each instrument based on the positional relationship, connection relationship, assembly relationship, and functional use of the instruments. Through the calculation of three-dimensional position coordinates, the system can accurately identify the main operating area and track the dynamic changes of the instrument, providing basic data support for subsequent automatic focus and viewing angle adjustment.

[0023] Furthermore, the auto-focus module:

[0024] The autofocus module drives the focus adjustment mechanism through a servo motor, and dynamically adjusts the focus based on the three-dimensional position data of the surgical instrument. After receiving instructions from the central control system, the servo motor accurately controls the lens focus based on the distance information between the instrument and the lens, so that the surgical scene always remains clearly visible. The focus adjustment process adopts a closed-loop control system to collect focus clarity feedback data in real time.

[0025] Furthermore, the viewing angle automatic adjustment module:

[0026] The automatic viewing angle adjustment module consists of a three-axis electric rotating platform and a control algorithm; based on the real-time position of the surgical instrument, the central control system calculates the ideal pitch angle, horizontal angle and rotation angle of the endoscope, and sends instructions to the viewing angle adjustment module; the three-axis electric rotating platform adjusts the direction of the robotic arm according to the instructions to ensure that the wide-angle lens is always aimed at the operating area of ​​the surgical instrument; the viewing angle adjustment process is combined with the connection relationship and functional requirements of the instrument.

[0027] Another object of the present invention is to provide an automated adjustment method for endoscopic examination, comprising:

[0028] Step 1: The endoscope main body module uses a wide-angle lens to obtain a panoramic image of the surgical scene, and the robotic arm is used to adjust the viewing angle of the endoscope;

[0029] Step 2: The image acquisition and processing module uses a high-resolution CMoS sensor to acquire real-time images, and combines the AI ​​image processing unit to analyze the surgical scene;

[0030] Step 3: Using a model trained by a deep learning algorithm through a surgical instrument recognition module, the surgical instruments in the image are detected and recognized in real time, and their three-dimensional position coordinates are obtained;

[0031] Step 4: Use the servo motor to adjust the lens focal length in real time according to the distance of the surgical instrument through the autofocus module to ensure a clear observation image;

[0032] Step 5, using the built-in control algorithm through the automatic viewing angle adjustment module, the pitch angle and rotation angle of the endoscope are adjusted in real time according to the position change of the surgical instrument;

[0033] Step 6, running the control algorithm through the central control module and sending instructions to the auto focus module and the viewing angle adjustment module;

[0034] Step 7: Through the interactive module, the operator sets the initial viewing angle, adjusts system parameters, and views system feedback in real time.

[0035] Another object of the present invention is to provide a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the automated adjustment method for endoscopic examination.

[0036] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the automated adjustment method for endoscopic examination.

[0037] Another object of the present invention is to provide an information data processing terminal, which is used to implement the automatic adjustment device for endoscopic examination.

[0038] In combination with the above technical solutions and the technical problems solved, the advantages and positive effects of the technical solutions to be protected by the present invention are as follows:

[0039] It can capture surgical scenes in real time through a wide-angle lens, automatically identify the position of operating instruments with artificial intelligence technology, and automatically adjust the viewing angle and focus according to the movement trajectory of the instruments, thereby realizing unassisted operation and improving surgical efficiency and safety.

[0040] 1. Achieve fully automated adjustment of endoscopes

[0041] Based on the real-time recognition and tracking function of surgical instruments, the system can realize automatic focus and viewing angle adjustment of the endoscope without the need for an assistant, significantly improving surgical efficiency.

[0042] 2. Enhance the continuity and stability of surgical field

[0043] The system combines a wide-angle lens with an artificial intelligence algorithm to track surgical instruments in real time and automatically adjust the viewing angle to ensure a stable and clear surgical field of view, avoiding unstable vision or omissions in traditional operations.

[0044] 3. Reduce the complexity of intraoperative collaboration

[0045] By replacing the assistant's operation, the communication burden between the surgeon and the assistant is reduced, allowing the surgeon to focus on the surgical operation, reducing the operation time and risks.

[0046] 4. Significantly improve surgical accuracy

[0047] The system combines AI autofocus and dynamic viewing angle adjustment functions to ensure that the endoscope always accurately focuses on the surgical area, avoiding focal length offset or unclear observation problems caused by manual operation errors.

[0048] 5. Adapt to various endoscopy application scenarios

[0049] The system uses deep learning algorithms to intelligently identify and classify surgical instruments. It can adapt to different types of endoscopic examination needs, such as laparoscopes, arthroscopies, etc., expanding the scope of application of endoscopes.

[0050] 6. Reduce the number of operators

[0051] The system's automated functions reduce dependence on assistants, significantly improving operating room resource allocation issues, especially in complex surgeries or when manpower is insufficient.

[0052] 7. Support postoperative teaching and analysis

[0053] The surgical images and endoscopic adjustment data recorded by the system can be used for postoperative analysis and teaching, providing important support for medical training.

[0054] 8. Improve patient safety

[0055] By reducing procedure time and the risk of errors, the system improves intraoperative safety for patients and further advances endoscopic surgery.

[0056] In summary, the present invention provides an efficient and intelligent automated solution for endoscopic examination through the organic combination of wide-angle lens, artificial intelligence recognition algorithm, autofocus and viewing angle adjustment technology, solves many key problems in the prior art, and has significant technological progress and application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] Figure 1 It is a structural block diagram of an automated adjustment device for endoscopic inspection provided by an embodiment of the present invention.

[0058] Figure 2 It is a flow chart of the auto-focus module method provided by an embodiment of the present invention.

[0059] Figure 3 It is a flow chart of the viewing angle automatic adjustment module method provided by an embodiment of the present invention.

[0060] Figure 4 It is a flow chart of the automated adjustment method for endoscopic examination provided by an embodiment of the present invention.

[0061] Figure 1 In: 1. Endoscope main body module; 2. Image acquisition and processing module; 3. Surgical instrument recognition module; 4. Autofocus module; 5. Automatic viewing angle adjustment module; 6. Central control module; 7. Interaction module. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0063] One of the optimization directions of the present invention is to further reduce the dependence on assistants by enhancing automated operations, thereby freeing up the surgeon's "vision hand". Specifically, the system introduces an intelligent instrument tracking algorithm in the surgical instrument recognition module, and uses a deep learning model to identify and track the dynamic position of the instrument in real time. Combined with the automatic viewing angle adjustment module, the system can quickly adjust the pitch and rotation angles of the endoscope to ensure that the field of view is always focused on the surgical instrument. In addition, the predictive adjustment system analyzes the movement trajectory and speed of the instrument, adjusts the viewing angle in advance, reduces the system response delay, and achieves real-time tracking of the viewing angle, greatly reducing the frequency of manual adjustment.

[0064] To ensure that the surgical images are clear, the autofocus module has been optimized for accuracy and speed. With the introduction of multi-zone focusing technology, the system can intelligently identify the focus area and adjust the lens focal length in real time according to the position of the surgical instrument in the field of view. At the same time, by optimizing the servo motor control algorithm and combining the AI ​​prediction mechanism, faster focus adjustment can be achieved to avoid focus loss due to the movement of surgical instruments. In addition, the system has continuous focusing capabilities during dynamic surgery, ensuring that doctors can always obtain high-resolution, blur-free surgical images, further improving the smoothness of operation.

[0065] In order to reduce the doctor's cumbersome operation of the system during the operation, the interactive module of the present invention has achieved intelligent upgrades. The system has added a voice command control function, and the doctor can adjust the system through simple voice commands (such as "move left" and "focus") without relying on assistant operations. At the same time, the gesture recognition module is integrated to recognize the doctor's gestures (such as swiping and pointing) through AI algorithms to achieve rapid adjustment of viewing angles, focal lengths and system parameters. The application of the intelligent interactive system further reduces the dependence on assistants during surgery, allowing doctors to focus on surgical operations.

[0066] In order to ensure the real-time and stability of the system, the image acquisition and processing modules have been technically optimized. The system uses parallel processing technology to simultaneously perform image acquisition, AI recognition and feedback tasks through multi-threading, greatly improving the processing speed. In addition, combined with the characteristics of high-resolution CMOS sensors, the system optimizes the frame rate and clarity, so that the picture remains smooth and free of jams even during fast operations. At the same time, the system's efficient feedback mechanism can transmit processed data and images in real time, ensuring efficiency and accuracy during surgery, and further improving the practicality and reliability of the system.

[0067] like Figure 1As shown, an automatic adjustment device for endoscopic inspection provided by an embodiment of the present invention comprises:

[0068] Endoscope main body module 1, image acquisition and processing module 2, surgical instrument recognition module 3, automatic focusing module 4, viewing angle automatic adjustment module 5, central control module 6, interaction module 7.

[0069] The endoscope main body module 1 is connected with the image acquisition and processing module 2, the surgical instrument recognition module 3, the autofocus module 4, the automatic viewing angle adjustment module 5, the central control module 6, and the interaction module 7, and is used to obtain a panoramic image of the surgical scene through a wide-angle lens, and the robotic arm is used to adjust the viewing angle of the endoscope;

[0070] The image acquisition and processing module 2 is connected to the endoscope main body module 1 and is used to use a high-resolution CMoS sensor to acquire real-time images and analyze the surgical scene in combination with an AI image processing unit;

[0071] The surgical instrument recognition module 3 is connected to the endoscope main body module 1 and is used to detect and recognize the surgical instruments in the image in real time using a model trained by a deep learning algorithm and obtain their three-dimensional position coordinates;

[0072] The autofocus module 4 is connected to the endoscope main body module 1 and is used to adjust the lens focal length in real time according to the distance of the surgical instrument through a servo motor to ensure a clear observation image;

[0073] The viewing angle automatic adjustment module 5 is connected to the endoscope main body module 1 and is used to adjust the pitch angle and rotation angle of the endoscope in real time according to the position change of the surgical instrument through a built-in control algorithm;

[0074] The central control module 6 is connected to the endoscope main body module 1 and is used to run the control algorithm and send instructions to the autofocus module and the viewing angle adjustment module;

[0075] The interactive module 7 is connected to the endoscope main body module 1 and is used by the operator to set the initial viewing angle, adjust system parameters, and view system feedback in real time.

[0076] The endoscope main body module provided by the embodiment of the present invention:

[0077] The main body of the endoscope consists of a wide-angle lens and an adjustable robotic arm. The wide-angle lens obtains a complete panoramic image of the surgical scene through its wide field of view, and transmits the image information to the image acquisition and processing module; the robotic arm is connected to the three-axis electric rotation platform and adjusts the viewing angle of the endoscope in real time according to the instructions of the central control system, so that the lens is always focused on the key area where the surgical instruments are located; the structural design of the robotic arm enables it to move flexibly and achieve three degrees of freedom adjustment: pitch, horizontal and rotation, ensuring that the surgical instruments are always within the optimal observation range of the endoscope.

[0078] The image acquisition and processing module provided by the embodiment of the present invention:

[0079] The image acquisition and processing module uses a high-resolution CMoS sensor to collect image data of the surgical scene in real time, and uses a built-in AI image processing unit (such as an embedded neural network chip) to process and analyze the image; the acquired images are first pre-processed (such as noise reduction and color enhancement), and then input into a deep learning model for detection and identification of surgical instruments; the processing module can generate three-dimensional coordinate data associated with the surgical instrument based on its spatial position and functional requirements, and send the data to the central control system for further focus adjustment and viewing angle adjustment.

[0080] The surgical instrument identification module provided by the embodiment of the present invention:

[0081] The surgical instrument recognition module uses a deep learning algorithm to perform real-time detection and recognition of surgical instruments in the image. The recognition module automatically calibrates the spatial position and motion trajectory of each instrument based on the positional relationship, connection relationship, assembly relationship, and functional use of the instruments. Through the calculation of three-dimensional position coordinates, the system can accurately identify the main operating area and track the dynamic changes of the instrument, providing basic data support for subsequent automatic focus and viewing angle adjustment.

[0082] like Figure 2 As shown, the auto-focus module provided by the embodiment of the present invention:

[0083] S101, the autofocus module drives the focus adjustment mechanism through the servo motor and dynamically adjusts the focus in combination with the three-dimensional position data of the surgical instrument;

[0084] S102, after receiving the command from the central control system, the servo motor accurately controls the focal length of the lens according to the distance information between the instrument and the lens, so that the surgical scene always remains clearly visible; the focal length adjustment process adopts a closed-loop control system to collect focus clarity feedback data in real time.

[0085] like Figure 3 As shown, the viewing angle automatic adjustment module provided by the embodiment of the present invention:

[0086] S201, the angle of view automatic adjustment module is composed of a three-axis electric rotating platform and a control algorithm; according to the real-time position of the surgical instrument, the central control system calculates the ideal pitch angle, horizontal angle and rotation angle of the endoscope and sends instructions to the angle of view adjustment module;

[0087] S202, the three-axis electric rotating platform adjusts the direction of the robotic arm according to the instructions to ensure that the wide-angle lens is always aimed at the operating area of ​​the surgical instrument; the viewing angle adjustment process is combined with the connection relationship and functional requirements of the instrument.

[0088] like Figure 4 As shown, an automatic adjustment method for endoscopic examination provided by an embodiment of the present invention includes:

[0089] S301, using a wide-angle lens through an endoscope main body module to obtain a panoramic image of a surgical scene, and a robotic arm to adjust the viewing angle of the endoscope;

[0090] S302, the image acquisition and processing module uses a high-resolution CMoS sensor to acquire real-time images, and combines the AI ​​image processing unit to analyze the surgical scene;

[0091] S303, using a surgical instrument recognition module and a model trained by a deep learning algorithm, to detect and recognize surgical instruments in the image in real time and obtain their three-dimensional position coordinates;

[0092] S304, using a servo motor to adjust the focal length of the lens in real time according to the distance of the surgical instrument through the autofocus module to ensure a clear observation image;

[0093] S305, using a built-in control algorithm through the automatic viewing angle adjustment module to adjust the pitch angle and rotation angle of the endoscope in real time according to the position change of the surgical instrument;

[0094] S306, running a control algorithm through the central control module, and sending instructions to the auto focus module and the viewing angle adjustment module;

[0095] S307, the operator sets the initial viewing angle, adjusts system parameters, and views system feedback in real time through the interactive module.

[0096] Another object of the present invention is to provide a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the automated adjustment method for endoscopic examination.

[0097] Another object of the present invention is to provide a computer-readable storage medium storing a computer program, which, when executed by a processor, causes the processor to perform the steps of the automated adjustment method for endoscopic examination.

[0098] Another object of the present invention is to provide an information data processing terminal, which is used to implement the automatic adjustment device for endoscopic examination.

[0099] The present invention is specifically implemented:

[0100] 1. Endoscope body

[0101] It includes a wide-angle lens and an adjustable robotic arm. The wide-angle lens is used to obtain a panoramic image of the surgical scene, and the robotic arm is used to adjust the viewing angle of the endoscope.

[0102] 2. Image acquisition and processing module

[0103] High-resolution CMoS sensors are used for real-time image acquisition, combined with AI image processing units (such as GPUs or embedded neural network chips) to analyze surgical scenes.

[0104] 3. Surgical instrument identification module

[0105] Using a model trained with a deep learning algorithm (such as YoLo or Mask R-CNN), surgical instruments in images can be detected and identified in real time, and their 3D position coordinates can be obtained.

[0106] 4.Autofocus module

[0107] It includes a servo motor and a focal length adjustment mechanism. The servo motor adjusts the focal length of the lens in real time according to the distance of the surgical instrument to ensure a clear observation image.

[0108] 5. Automatic viewing angle adjustment module

[0109] It includes a three-axis electric rotating platform, which uses a built-in control algorithm to adjust the pitch and rotation angles of the endoscope in real time according to the position changes of surgical instruments.

[0110] 6. Central control system

[0111] It includes a processor, an algorithm module and a data interface, receives input from the image processing module, runs the control algorithm, and sends instructions to the autofocus module and the viewing angle adjustment module.

[0112] 7. User Interface

[0113] A touch screen or tablet device is used by the operator to set the initial viewing angle, adjust system parameters, and view system feedback in real time.

[0114] Endoscope body

[0115] The main body of the endoscope consists of a wide-angle lens and an adjustable robotic arm. The wide-angle lens obtains a complete panoramic image of the surgical scene through its wide field of view and transmits the image information to the image acquisition and processing module. The robotic arm is connected to the three-axis electric rotation platform and adjusts the viewing angle of the endoscope in real time according to the instructions of the central control system, so that the lens is always focused on the key area where the surgical instruments are located. The structural design of the robotic arm enables it to move flexibly and achieve three degrees of freedom adjustment: pitch, horizontal and rotation, ensuring that the surgical instruments are always within the optimal observation range of the endoscope.

[0116] Image acquisition and processing module

[0117] The image acquisition and processing module uses a high-resolution CMoS sensor to collect image data of the surgical scene in real time, and uses a built-in AI image processing unit (such as an embedded neural network chip) to process and analyze the image. The acquired images are first preprocessed (such as noise reduction and color enhancement), and then input into the deep learning model for detection and identification of surgical instruments. The processing module can generate three-dimensional coordinate data associated with the surgical instrument based on its spatial position and functional requirements, and send the data to the central control system for further focus adjustment and viewing angle adjustment.

[0118] Surgical instrument identification module

[0119] The surgical instrument recognition module uses deep learning algorithms (such as YoLo or Mask R-CNN) to detect and identify surgical instruments in images in real time. The recognition module automatically calibrates the spatial position and motion trajectory of each instrument based on the instrument's positional relationship (such as distance and angle), connection relationship (such as contact between the instrument and surrounding tissue), assembly relationship (such as the combination state of instrument components), and functional use. By calculating the three-dimensional position coordinates, the system can accurately identify the main operating area and track the dynamic changes of the instrument, providing basic data support for subsequent autofocus and viewing angle adjustment.

[0120] Autofocus module

[0121] The autofocus module drives the focus adjustment mechanism through a servo motor, and dynamically adjusts the focus in combination with the three-dimensional position data of the surgical instrument. After receiving the command from the central control system, the servo motor accurately controls the lens focus according to the distance information between the instrument and the lens, so that the surgical scene always remains clear and visible. The focus adjustment process adopts a closed-loop control system to collect focus clarity feedback data in real time to ensure the accuracy and stability of the focus adjustment and avoid blurring the picture due to changes in the position of the surgical instrument.

[0122] Viewing angle automatic adjustment module

[0123] The automatic viewing angle adjustment module consists of a three-axis electric rotating platform and a control algorithm. According to the real-time position of the surgical instrument, the central control system calculates the ideal pitch angle, horizontal angle and rotation angle of the endoscope, and sends instructions to the viewing angle adjustment module. The three-axis electric rotating platform adjusts the direction of the robotic arm according to the instructions to ensure that the wide-angle lens is always aimed at the operating area of ​​the surgical instrument. The viewing angle adjustment process combines the connection relationship of the instrument (such as the motion trajectory of the operating parts) and functional requirements (such as the operating details of key parts) to achieve dynamic viewing angle tracking and provide the operator with a stable and efficient field of view.

[0124] Central control system and user interface

[0125] The central control system is the core of the entire device, integrating processors, algorithm modules and data interfaces, and is responsible for coordinating the work between various modules. The processor receives data from the image acquisition and processing module, runs the control algorithm, calculates the ideal focal length and viewing angle parameters, and sends instructions to the autofocus module and the viewing angle adjustment module. At the same time, the user interface provides interactive functions through a touch screen or tablet device. The operator can set the initial viewing angle, adjust system parameters, and view system feedback (such as the current viewing angle and focal length status) in real time through the interface. In addition, the user interface also supports manual intervention operations, providing flexible adjustment options for special situations, further improving the adaptability and ease of operation of the system.

[0126] Method steps

[0127] 1. Initialization of surgical scene

[0128] After the system is started, the initial surgical scene is captured through a wide-angle lens, and the central control system pre-processes the captured images to construct an initial three-dimensional space model.

[0129] The user sets the initial observation area and focal length through the interface, or selects automatic recognition mode.

[0130] 2. Real-time Image Acquisition and Analysis

[0131] The image acquisition module acquires real-time surgical scene images at a frequency of 30 frames per second and transmits them to the image processing module.

[0132] The image processing module uses deep learning algorithms to detect and classify surgical instruments and identify their three-dimensional positions in the surgical scene.

[0133] 3. Autofocus

[0134] Based on the position and distance information of the surgical instrument, the central control system calculates the ideal focal length and controls the servo motor to adjust the lens focal length.

[0135] The focus module evaluates image clarity in real time and uses closed-loop control to ensure optimal focus is always maintained.

[0136] 4. Automatic adjustment of viewing angle

[0137] Based on the three-dimensional trajectory of the surgical instrument, the central control system calculates the ideal viewing angle and direction of the endoscope.

[0138] Control the three-axis rotating platform to adjust the pitch angle, horizontal angle and rotation angle of the endoscope to ensure that the surgical instrument is always in the center of the field of view.

[0139] 5. Dynamic adjustment and feedback

[0140] The system continuously acquires images and updates the surgical scene model in real time. When a change in the position of the surgical instrument is detected or the user inputs an adjustment instruction, the viewing angle and focal length are immediately readjusted.

[0141] The user interface displays the current viewing angle and focus status of the endoscope in real time and allows the operator to manually adjust or pause the automatic mode.

[0142] 6. Postoperative Data Storage

[0143] The surgical images and endoscope adjustment trajectory data are stored in the system storage unit for postoperative playback and analysis.

[0144] 1. Specific application fields or related products of the present invention

[0145] 1. Minimally invasive surgery assistance system

[0146] The present invention can be applied in minimally invasive surgery to help doctors adjust the viewing angle and focal length of the endoscope in real time, ensuring a clear field of view at all times during the operation, thereby improving surgical accuracy and safety.

[0147] 2. Remote surgery support

[0148] Through the remote surgery platform, doctors can monitor the surgical process in real time and make real-time adjustments to the surgical scene based on the information fed back by the automatic adjustment system, which is suitable for the guidance of remote medical surgery.

[0149] 3. Robotic-Assisted Surgery

[0150] The present invention can be combined with a surgical robot system to provide more intelligent image analysis and automatic adjustment capabilities for robotic surgery, thereby improving surgical accuracy and the operating efficiency of surgical instruments.

[0151] 4. Surgical training and simulation system

[0152] Used in surgical training, it can provide trainees with real-time surgical scene playback and analysis through precise image acquisition and analysis, helping them improve their surgical skills.

[0153] 5. Endoscopy product optimization

[0154] The present invention can cooperate with endoscope manufacturers to provide the function of real-time automatic adjustment of viewing angle and focal length, add intelligent features to endoscope products, and enhance user experience.

[0155] 6. Medical imaging research

[0156] In the field of medical imaging, the image acquisition and real-time analysis module of the present invention can be applied to postoperative image data analysis and model reconstruction, providing high-quality image data support for medical research.

[0157] II. Evidence of the Technical Effects Obtained by the Embodiments of the Present Invention

[0158] 1. Real-time image processing and focus adjustment effects

[0159] Experimental data: In multiple surgical simulations, the system successfully captured images at a frequency of 30 frames per second, and the image processing module recognized and classified surgical instruments with an accuracy of up to 95% through a deep learning algorithm.

[0160] Focus control: The accuracy test of the focus adjustment module in different surgical environments ensures that the focus clarity reaches more than 98%, greatly reducing the blurred vision caused by focus problems during surgery.

[0161] 2. Automatic adjustment of viewing angle

[0162] Dynamic tracking test: Based on the three-dimensional position of the surgical instrument, the system can calculate and automatically adjust the endoscope viewing angle in real time, successfully adjusting the endoscope to the ideal viewing angle, reducing the frequency of manual adjustments by the surgeon.

[0163] Synchronicity of autofocus and viewing angle adjustment: System test data shows that the coordination of autofocus and viewing angle adjustment reaches 98%, which can maintain the best viewing angle and focus while the operator is operating the instrument.

[0164] 3. Stability verification of closed-loop control system

[0165] Servo motor control: Closed-loop control tests have shown that the servo motor has a response time of 100 milliseconds when adjusting the endoscope focus and viewing angle, ensuring that the system can react quickly and update the image viewing angle in real time.

[0166] Real-time feedback mechanism: The user interface data display system can respond instantly every time the position of the surgical instrument changes, ensuring that the viewing angle and focal length are always in the ideal state during the operation.

[0167] 4. Postoperative data storage and playback effect

[0168] Data storage and analysis: All surgical images and endoscope adjustment trajectory data are fully stored in the system for postoperative playback and analysis. During playback, the system can accurately reproduce every viewing angle and focal length adjustment during the operation, providing an accurate basis for postoperative analysis.

[0169] 5. User experience and operability

[0170] User operation feedback: According to feedback from multiple users, the system is easy to operate and has a clear interface. Doctors can easily adjust the viewing angle and focal length during surgery, and can pause the automatic mode at any time for manual intervention.

[0171] The technical effect of the present invention proves its application potential in improving surgical accuracy, operation convenience and safety through the above evidence, and has a high promotion value. It should be noted that the embodiments of the present invention can be implemented by hardware, software or a combination of software and hardware. The hardware part can be implemented using dedicated logic; the software part can be stored in a memory and executed by an appropriate instruction execution system, such as a microprocessor or dedicated design hardware. A person of ordinary skill in the art can understand that the above-mentioned devices and methods can be implemented using computer executable instructions and / or included in a processor control code, such as a carrier medium such as a disk, CD or DVD-ROM, a programmable memory such as a read-only memory (firmware), or a data carrier such as an optical or electronic signal carrier. Such code is provided on the carrier medium. The device and its modules of the present invention can be implemented by hardware circuits such as ultra-large-scale integrated circuits or gate arrays, semiconductors such as logic chips, transistors, etc., or programmable hardware devices such as field programmable gate arrays, programmable logic devices, etc., can also be implemented by software executed by various types of processors, or can be implemented by a combination of the above-mentioned hardware circuits and software, such as firmware.

[0172] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by any technician familiar with the technical field within the technical scope disclosed by the present invention and within the spirit and principle of the present invention should be covered by the protection scope of the present invention.

Claims

1. An automatic adjustment device for endoscopic examination, characterized in that: The automatic adjustment device for endoscopy comprises: Endoscope main body module, image acquisition and processing module, surgical instrument recognition module, autofocus module, automatic viewing angle adjustment module, central control module, and interactive module; The endoscope main body module is connected with the image acquisition and processing module, the surgical instrument recognition module, the autofocus module, the view angle automatic adjustment module, the central control module, and the interaction module, and is used to obtain a panoramic image of the surgical scene through a wide-angle lens, and the robotic arm is used to adjust the view angle of the endoscope; The image acquisition and processing module is connected to the endoscope main module and is used to acquire real-time images using a high-resolution CMoS sensor and analyze surgical scenes in combination with an AI image processing unit; A surgical instrument recognition module is connected to the endoscope main body module and is used to detect and recognize surgical instruments in the image in real time using a model trained by a deep learning algorithm and obtain their three-dimensional position coordinates; The autofocus module is connected to the endoscope main body module and is used to adjust the lens focal length in real time according to the distance of the surgical instrument through the servo motor to ensure a clear observation image; The viewing angle automatic adjustment module is connected to the endoscope main body module and is used to adjust the pitch angle and rotation angle of the endoscope in real time according to the position change of the surgical instrument through the built-in control algorithm; The central control module is connected to the endoscope main module and is used to run the control algorithm and send instructions to the autofocus module and the viewing angle adjustment module; The interactive module is connected to the endoscope main module and is used by the operator to set the initial viewing angle, adjust system parameters, and view system feedback in real time.

2. The automatic adjustment device for endoscopy as claimed in claim 1, characterized in that: The device also includes: A surgical instrument recognition module, which is used to identify and track the dynamic position of surgical instruments in real time through a deep learning model; An automatic viewing angle adjustment module, connected to the surgical instrument recognition module, for adjusting the pitch angle and rotation angle of the endoscope in real time according to the dynamic position of the surgical instrument; Predictive adjustment system, used to analyze the trajectory and speed of surgical instruments, predict their position changes in advance, and adjust the endoscope viewing angle in advance; An autofocus module is used to automatically identify the focus area according to the position of the surgical instrument and adjust the lens focal length in real time through a servo motor to ensure that the picture is always clear; The doctor interaction module includes a voice command control unit and a gesture recognition unit, which is used to adjust system parameters through voice commands or gestures to achieve viewing angle, focal length and system control; Image acquisition and processing module, including high-resolution CMOS sensor and parallel processing unit, for image acquisition, real-time AI recognition and multi-threaded feedback, optimizing picture clarity and system response speed; The central control module is connected to the surgical instrument recognition module, the automatic viewing angle adjustment module, the autofocus module, the doctor interaction module and the image acquisition and processing module, and is used to run the control algorithm, coordinate the work of each module, and realize the viewing angle tracking, autofocus and real-time feedback functions.

3. The automatic adjustment device for endoscope inspection according to claim 1, characterized in that: The surgical instrument recognition module adopts a deep learning algorithm to detect and three-dimensionally locate surgical instruments through a trained model.

4. The automatic adjustment device for endoscope inspection according to claim 1, characterized in that: The gesture recognition unit in the doctor interaction module recognizes the doctor's gestures based on an artificial intelligence algorithm and quickly adjusts system parameters.

5. The automatic adjustment device for endoscopy according to claim 1, characterized in that: The endoscope main body module: The main body of the endoscope consists of a wide-angle lens and an adjustable robotic arm. The wide-angle lens obtains a complete panoramic image of the surgical scene through its wide field of view, and transmits the image information to the image acquisition and processing module; the robotic arm is connected to the three-axis electric rotation platform and adjusts the viewing angle of the endoscope in real time according to the instructions of the central control system, so that the lens is always focused on the key area where the surgical instruments are located; the structural design of the robotic arm enables it to move flexibly and achieve three degrees of freedom adjustment: pitch, horizontal and rotation, ensuring that the surgical instruments are always within the optimal observation range of the endoscope.

6. The automatic adjustment device for endoscopy according to claim 1, characterized in that: The image acquisition and processing module: The image acquisition and processing module uses a high-resolution CMoS sensor to collect image data of the surgical scene in real time, and uses a built-in AI image processing unit (such as an embedded neural network chip) to process and analyze the image; the acquired images are first pre-processed (such as noise reduction and color enhancement), and then input into a deep learning model for detection and identification of surgical instruments; the processing module can generate three-dimensional coordinate data associated with the surgical instrument based on its spatial position and functional requirements, and send the data to the central control system for further focus adjustment and viewing angle adjustment.

7. The automatic adjustment device for endoscopy according to claim 1, characterized in that: The surgical instrument identification module: The surgical instrument recognition module uses a deep learning algorithm to perform real-time detection and recognition of surgical instruments in the image. The recognition module automatically calibrates the spatial position and motion trajectory of each instrument based on the positional relationship, connection relationship, assembly relationship, and functional use of the instruments. Through the calculation of three-dimensional position coordinates, the system can accurately identify the main operating area and track the dynamic changes of the instrument, providing basic data support for subsequent automatic focus and viewing angle adjustment.

8. The automatic adjustment device for endoscopy according to claim 1, characterized in that: The auto focus module: The autofocus module drives the focus adjustment mechanism through a servo motor, and dynamically adjusts the focus based on the three-dimensional position data of the surgical instrument. After receiving instructions from the central control system, the servo motor accurately controls the lens focus based on the distance information between the instrument and the lens, so that the surgical scene always remains clearly visible. The focus adjustment process adopts a closed-loop control system to collect focus clarity feedback data in real time.

9. The automatic adjustment device for endoscopy according to claim 1, characterized in that: The viewing angle automatic adjustment module: The automatic viewing angle adjustment module consists of a three-axis electric rotating platform and a control algorithm; based on the real-time position of the surgical instrument, the central control system calculates the ideal pitch angle, horizontal angle and rotation angle of the endoscope, and sends instructions to the viewing angle adjustment module; the three-axis electric rotating platform adjusts the direction of the robotic arm according to the instructions to ensure that the wide-angle lens is always aimed at the operating area of ​​the surgical instrument; the viewing angle adjustment process is combined with the connection relationship and functional requirements of the instrument.

10. An automated adjustment method for endoscope inspection using the automated adjustment device for endoscope inspection according to any one of claims 1 to 9, characterized in that: The automated adjustment method for endoscopic examination comprises: Step 1: The endoscope main body module uses a wide-angle lens to obtain a panoramic image of the surgical scene, and the robotic arm is used to adjust the viewing angle of the endoscope; Step 2: The image acquisition and processing module uses a high-resolution CMoS sensor to acquire real-time images, and combines the AI ​​image processing unit to analyze the surgical scene; Step 3: Using a model trained by a deep learning algorithm through a surgical instrument recognition module, the surgical instruments in the image are detected and recognized in real time, and their three-dimensional position coordinates are obtained; Step 4: Use the servo motor to adjust the lens focal length in real time according to the distance of the surgical instrument through the autofocus module to ensure a clear observation image; Step 5, using the built-in control algorithm through the automatic viewing angle adjustment module, the pitch angle and rotation angle of the endoscope are adjusted in real time according to the position change of the surgical instrument; Step 6, running the control algorithm through the central control module and sending instructions to the auto focus module and the viewing angle adjustment module; Step 7: Through the interactive module, the operator sets the initial viewing angle, adjusts system parameters, and views system feedback in real time.

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