Endoscopic imaging system and method based on space-time parallax resolution

Abstract

The invention belongs to the field of optical system design and manufacturing, and relates to an endoscopic imaging system and method based on space-time parallax resolution. The four miniaturized imaging units are integrated in the aluminum shell to be fixed and protected, the tail end of each miniaturized imaging unit carries out power supply and information transmission through the flexible cable, and the probe part of the system is integrally formed. And then the probe is wrapped by a flexible polymethyl methacrylate shell, so that the probe structure and the cable are further protected. The endoscopic imaging system based on space-time parallax resolution is expected to reduce missed diagnosis of early lesions of a digestive system, so that the probability of canceration is reduced. In addition, the in-situ three-dimensional quantitative measurement can also assist the accuracy of surgical resection and biopsy.

Description

Technical Field

[0001] This invention belongs to the field of optical system design and manufacturing, and relates to an endoscopic imaging system and method based on spatiotemporal parallax resolution. Background Technology

[0002] Gastrointestinal cancer, often caused by the progression of polyps and adenomas, is one of the major global health challenges. The rapid development of biomedical imaging technologies is driving a comprehensive transformation in medicine, facilitating breakthroughs from diagnosis to treatment. Optical endoscopy, with its minimally invasive or non-invasive characteristics, low risk of infection, and high optical resolution, has become an indispensable tool in disease screening, diagnosis, and treatment. Although endoscopy remains the gold standard for detection and resection, its traditional imaging methods have limitations in providing clear visualization of the three-dimensional structure of lesions. These limitations lead to an increased risk of missed diagnoses, particularly for small, sessile, or multiple lesions, with a missed diagnosis rate as high as 26%, which may ultimately promote cancer progression. While advanced technologies such as white light endoscopy combined with narrow-band imaging and chromoendoscopy have been shown to reduce missed diagnosis rates, they also introduce greater operational complexity and workload, thus impacting screening efficiency. Therefore, addressing this challenge requires efficiently identifying and acquiring three-dimensional in-situ information from the digestive system. Summary of the Invention

[0003] In view of this, in order to overcome the above-mentioned technical problems, the present invention provides an endoscopic imaging system and method based on spatiotemporal parallax resolution. By miniaturizing the probe of the imaging system, it can operate in the narrow and restricted digestive system. At the same time, by acquiring the scene from multiple angles based on miniaturized imaging units at different locations integrated in the system, and combining spatiotemporal parallax resolution technology in computational optics, real-time detection and three-dimensional reconstruction of abnormal features in the digestive system are achieved.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] The first technical objective of this invention is to provide an endoscopic imaging system based on spatiotemporal parallax resolution, comprising: a system probe, a polymethyl methacrylate flexible shell, a metal shell, a miniaturized chemical imaging unit, a ring LED light source, a lens, a CMOS sensor, and a data transmission cable.

[0006] Furthermore, the system probe measures 5.8×5.8×5mm and is integrated with a metal shell and four miniaturized imaging units, with adjacent miniaturized imaging units spaced 2.5mm apart.

[0007] Furthermore, the polymethyl methacrylate flexible shell encases the metal shell, providing it with additional protection.

[0008] Furthermore, the miniaturized imaging unit consists of a ring-shaped LED light source, a lens, a CMOS sensor, and a data transmission cable, all integrated within a metal tube with a diameter of 1.8 mm and a length of 5 mm.

[0009] Furthermore, the lens has a numerical aperture of 0.1 and an f# of 5.

[0010] Furthermore, the pixel size of the CMOS is 1.75×1.75mm.

[0011] The second technical objective of this invention is to provide an endoscopic imaging method based on spatiotemporal parallax resolution. This method employs the endoscopic imaging system described above and specifically includes the following steps:

[0012] (a) An initial image is acquired through the miniaturized sub-imaging unit, and the resolution of the initial image is improved by blind deconvolution;

[0013] (b) Based on the image data acquired by the CMOS, calculate the offset of the centroid of the three-dimensional point spread function (3D PSF) relative to the optical center of the camera, and perform sub-aperture reprojection;

[0014] (c) By combining the image information acquired by the lens and CMOS, a fast volume information reconstruction with high horizontal resolution is achieved;

[0015] (d) Calculate the disparity map based on the image data;

[0016] (e) Based on volume information, three-dimensional information is mapped to a two-dimensional plane through weighted intensity projection;

[0017] (f) Using the system probe and image reconstruction module, generate artifact-free surface topography reconstruction results.

[0018] Furthermore, the blind deconvolution operation to improve the resolution of the initial image involves processing the images acquired by the four sub-imaging units to prepare for the subsequent high-quality reconstruction.

[0019] Furthermore, the calculation of the offset between the centroid of the 3D PSF and the optical center of the camera, and the sub-aperture reprojection, aims to achieve rapid volume information reconstruction.

[0020] Furthermore, the disparity map is calculated on the initial image. The disparity map contains relative depth information of the surface morphology, which prepares for subsequent surface morphology reconstruction.

[0021] Furthermore, the volume information is weighted and projected onto a two-dimensional plane, and combined with the disparity map to achieve artifact-free surface topography reconstruction.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] In this invention, the endoscopic imaging system and method based on spatiotemporal parallax resolution has the advantages of small-sized probes and high overall flexibility, while enabling real-time detection of abnormal structures and rapid quantitative surface morphology reconstruction. Unlike traditional digestive system endoscopes, this invention, with its advanced functions, is highly suitable for use by gastroenterologists and can assist in the early screening and treatment of digestive system diseases. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the endoscopic imaging system based on spatiotemporal parallax resolution according to the present invention.

[0026] Figure 2 This is a flowchart of the data processing algorithm for the endoscopic imaging system based on spatiotemporal parallax resolution according to the present invention.

[0027] In the diagram: 1 System probe, 2 Polymethyl methacrylate flexible shell, 3 Metal shell, 4 Miniaturized chemical imaging unit, 5 Ring LED light source, 6 Lens, 7 CMOS, 8 Data transmission cable. Detailed Implementation

[0028] Exemplary embodiments of the invention will be described below with reference to the accompanying drawings. For clarity and brevity, not all features of actual implementations are described in the specification. However, it should be understood that many implementation-specific decisions must be made in the development of any such actual embodiment to achieve the developer's specific goals, such as complying with constraints related to the system and business, and these constraints may vary depending on the implementation. Furthermore, it should be understood that while development work can be very complex and time-consuming, such development work is merely a routine task for those skilled in the art who benefit from the disclosure of this invention.

[0029] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the system structure and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0030] This invention relates to an endoscopic imaging system and method based on spatiotemporal parallax resolution, aiming to perform real-time detection, precise surface morphology reconstruction, and three-dimensional quantitative measurement of early lesions in the digestive system (such as polyps, adenomas, and early cancers). With advancements in medical imaging technology, traditional endoscopic imaging systems still face significant challenges in terms of resolution, accuracy, and real-time performance, especially in detecting early lesions, where missed diagnoses and misdiagnoses are common. Therefore, this invention employs an innovative spatiotemporal parallax resolution method, providing an efficient and reliable solution.

[0031] The core components of this system consist of four miniaturized imaging units integrated into an aluminum housing, forming a compact probe section. To ensure stable operation of the imaging units in the complex digestive tract environment, flexible cables were designed as the medium for power supply and information transmission. These flexible cables not only possess excellent anti-interference and durability but also adapt to the detection needs of different locations, thus ensuring the flexibility and safety of the device in clinical use. To improve image quality and obtain more accurate 3D reconstruction data, an advanced data processing algorithm was designed. This algorithm integrates blind deconvolution processing, 3D point spread function calculation, and sub-aperture reprojection technology. By accurately calculating spatiotemporal parallax differences, it can effectively improve image resolution and reconstruction accuracy.

[0032] Specifically, blind deconvolution processing removes noise from images and improves the lateral resolution of the signal; the calculation of the three-dimensional point spread function helps the system more accurately describe the spatial distribution characteristics during the imaging process; sub-aperture reprojection technology optimizes the reconstruction process, and parallax information extracts the relative depth information of the scene, thereby achieving artifact-free and accurate surface reconstruction. Through the combination of these technologies, this invention can provide high-definition three-dimensional images for early detection of lesions in the digestive system, assisting doctors in accurately identifying lesion areas and performing quantitative assessments. Compared with traditional endoscopic imaging systems, this invention can significantly improve the detection rate of lesion areas. More importantly, in the preoperative and biopsy stages, doctors can formulate more reasonable treatment plans based on accurate three-dimensional reconstruction data, thereby improving diagnostic and treatment efficiency and reducing the treatment burden on patients.

[0033] Furthermore, the system design of this invention combines scalability and operability, adapting to different types of endoscopic equipment and clinical environments, thus possessing broad clinical application prospects. It can play a crucial role in both routine screening of the digestive system and regular monitoring of high-risk patients. With the continuous maturation of the technology, this system is expected to be extended to more complex endoscopic imaging fields in the future, providing strong support for early disease diagnosis and precision treatment.

[0034] Specifically, as shown in the attached document Figure 1As shown, this embodiment provides an endoscopic imaging system based on spatiotemporal parallax resolution, including: a system probe 1, a polymethyl methacrylate flexible shell 2, a metal shell 3, a miniaturized chemical imaging unit 4, a ring LED light source 5, a lens 6, a CMOS 7, and a data transmission cable 8.

[0035] More specifically, the system probe 1 has a size of 5.8×5.8×5mm and is integrated with a metal shell 3 and four miniaturized sub-imaging units 4, with adjacent miniaturized sub-imaging units spaced 2.5mm apart.

[0036] More specifically, the polymethyl methacrylate flexible shell 2 encloses the metal shell 3, providing it with further protection.

[0037] More specifically, the miniaturized imaging unit 4 consists of a ring LED light source 5, a lens 6, a CMOS sensor 7, and a data transmission cable 8, and is integrated into a metal tube with a diameter of 1.8 mm and a length of 5 mm.

[0038] More specifically, the numerical aperture of the lens 6 is 0.1, and the f# is 5.

[0039] More specifically, the pixel size of the CMOS 7 is 1.75×1.75mm.

[0040] As attached Figure 2 As shown, this embodiment also provides an endoscopic imaging method based on spatiotemporal parallax resolution. The method uses the endoscopic imaging system described above and specifically includes the following steps:

[0041] (a) An initial image is acquired through miniaturized sub-imaging unit 4, and the resolution of the initial image is improved by blind deconvolution;

[0042] (b) Based on the image data acquired by CMOS 7, calculate the offset of the centroid of the three-dimensional point spread function (3D PSF) relative to the optical center of the camera, and perform sub-aperture reprojection;

[0043] (c) By combining the image information acquired by lens 6 and CMOS 7, high lateral resolution and fast volume information reconstruction are achieved;

[0044] (d) Calculate the disparity map based on the image data;

[0045] (e) Based on volume information, three-dimensional information is mapped to a two-dimensional plane through weighted intensity projection;

[0046] (f) Using system probe 1 and image reconstruction module, generate artifact-free surface topography reconstruction results.

[0047] More specifically, the blind deconvolution operation to improve the resolution of the initial image is as follows: the images acquired by the four sub-imaging units are processed respectively to prepare for the subsequent high-quality reconstruction.

[0048] More specifically, the calculation of the offset between the centroid of the 3D PSF and the optical center of the camera, and the sub-aperture reprojection b, aims to achieve rapid volume information reconstruction c.

[0049] More specifically, the disparity map d is calculated on the initial image. The disparity map contains relative depth information of the surface morphology, which prepares for subsequent surface morphology reconstruction.

[0050] More specifically, the volume information is weighted and projected onto a two-dimensional plane e, and combined with a disparity map to achieve artifact-free surface topography reconstruction f.

[0051] While the embodiments disclosed in this invention are as described above, their content is merely for the purpose of facilitating understanding of the technical solutions of this invention and is not intended to limit the invention. Any person skilled in the art to which this invention pertains may make any modifications and changes to the form and details of the implementation without departing from the core technical solutions disclosed in this invention; however, the scope of protection defined by this invention shall still be determined by the scope defined in the appended claims.

Claims

1. An endoscopic imaging system based on spatiotemporal parallax resolution, characterized in that, include: The system includes a probe (1), a flexible polymethyl methacrylate shell (2), a metal shell (3), a miniaturized imaging unit (4), a ring LED light source (5), a lens (6), a CMOS sensor (7), and a data transmission cable (8); among which, The miniaturized imaging unit (4) consists of a ring LED light source (5), a lens (6), a CMOS (7), and a data transmission cable (8), and is integrated inside a metal tube; The outer surface of the metal shell (3) is covered with the polymethyl methacrylate flexible shell (2).

2. The endoscopic imaging system based on spatiotemporal parallax resolution according to claim 1, characterized in that, The system probe (1) is 5.8×5.8×5mm in size and is integrated with a metal shell (3) and four miniaturized sub-imaging units (4), with adjacent miniaturized sub-imaging units spaced 2.5mm apart.

3. The endoscopic imaging system based on spatiotemporal parallax resolution according to claim 1, characterized in that, The metal tube has a diameter of 1.8 mm and a length of 5 mm.

4. The endoscopic imaging system based on spatiotemporal parallax resolution according to claim 1, characterized in that, The lens (6) has a numerical aperture of 0.1 and an f# of 5.

5. The endoscopic imaging system based on spatiotemporal parallax resolution according to claim 1, characterized in that, The pixel size of the CMOS (7) is 1.75×1.75mm.

6. An endoscopic imaging method based on spatiotemporal parallax resolution, characterized in that, The method employs the endoscopic imaging system as described in claim 1, and specifically includes the following steps: (a) An initial image is acquired through the miniaturized sub-imaging unit (4), and the resolution of the initial image is improved by blind deconvolution; (b) Based on the image data acquired by the CMOS (7), the offset of the centroid of the three-dimensional point spread function (3DPSF) relative to the optical center of the camera is calculated, and sub-aperture reprojection is performed; (c) By combining the image information acquired by the lens (6) and CMOS (7), a fast volume information reconstruction with high horizontal resolution is achieved; (d) Calculate the disparity map based on the image data; (e) Based on volume information, three-dimensional information is mapped to a two-dimensional plane through weighted intensity projection; (f) Using the system probe (1) and image reconstruction module, generate artifact-free surface topography reconstruction results.

7. The endoscopic imaging method based on spatiotemporal parallax resolution according to claim 6, characterized in that, The blind deconvolution operation to improve the resolution of the initial image involves processing the images acquired by the four sub-imaging units respectively.

8. The endoscopic imaging method based on spatiotemporal parallax resolution according to claim 6, characterized in that, In step (d), the disparity map contains relative depth information of the surface topography.

9. The endoscopic imaging method based on spatiotemporal parallax resolution according to claim 6, characterized in that, The aforementioned volume information is weighted and projected onto a two-dimensional plane, and combined with a disparity map to achieve artifact-free surface topography reconstruction.

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