A wearable endoscope system for animals

Abstract

The application discloses a wearable endoscope system special for animals, and relates to the technical field of medical display, which comprises a wearable glasses device, a signal processing system and a signal interface converter. The wearable glasses device is integrated with a near-eye display module and independent diopter adjustment mechanisms corresponding to left and right eyes respectively. The near-eye display module adopts a free-form surface prism or an optical waveguide scheme to realize perspective display. The application integrates an ambient light sensor and a display brightness automatic adjustment module, an animal stress sound detection module, a head posture sensor, an eye movement tracking module and a wireless dual-frequency transmission module, so that display brightness self-adaptive adjustment, stress sound automatic freezing of a picture, head posture control of the endoscope bending and zooming, eye movement tracking linkage of field movement and double-link seamless switching transmission are realized.

Description

Technical Field

[0001] This invention relates to the field of veterinary surgical instruments and medical display technology, and more specifically, to a wearable endoscope system for animals. Background Technology

[0002] In veterinary surgery and clinical practice, endoscopy has become an important minimally invasive diagnostic and treatment method. With the development of wearable display technology, some veterinarians are attempting to combine head-mounted display devices with endoscope systems. These wearable systems typically include a head-mounted display device, an image processing host, and a signal conversion interface for connecting different endoscopic devices.

[0003] Existing veterinary head-mounted endoscope display assistance systems, when applied to animal endoscopic surgery, still have limitations. They cannot automatically adjust the magnification of the displayed image according to the differences in animal size and the depth of endoscope insertion. They are also difficult to adapt to the changing lighting environment of the operating room, cannot recognize animal stress cries and automatically trigger image freeze, and lack the function of naturally controlling the endoscope's field of view and image scaling through head posture or eye tracking. In addition, the wireless transmission link is singular and easily interfered with, resulting in delays or interruptions. Overall, these limitations affect the accuracy of surgery, operational efficiency, and naturalness of interaction. Summary of the Invention

[0004] Based on this, the purpose of the present invention is to provide a wearable endoscope system for animals, so as to solve the technical problems in the prior art that cannot automatically adjust the magnification of the displayed image according to the animal's body size and the insertion depth of the endoscope, and cannot improve the smoothness and freedom of veterinarian's operation.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a wearable endoscope system for animals, comprising a wearable glasses device, a signal processing system, and a signal interface converter. The wearable glasses device integrates a near-eye display module and independent diopter adjustment mechanisms corresponding to the left and right eyes respectively. The near-eye display module uses a freeform prism or waveguide scheme to achieve fluoroscopic display. The signal processing system includes an image signal receiving module, an image processing module, a control module, and a storage module. The image processing module is used to perform one or more real-time processing operations on the received endoscopic images, including noise reduction, enhancement, scaling, and color correction, as well as one or more auxiliary functions such as recording, screenshotting, and freezing. The signal interface converter integrates multiple video input ports and signal conversion circuits to uniformly convert video signals output from different animal endoscope devices into a standard format recognizable by the system. The wearable glasses device and the signal processing system are connected via wired or wireless means, and the output of the signal interface converter is connected to the input of the signal processing system.

[0006] Furthermore, the signal processing system also includes an animal-adaptive image adjustment unit. This unit automatically determines the magnification of the displayed image based on pre-stored animal species parameters, the body size characteristics of the animal currently undergoing surgery, and the real-time acquired endoscopic insertion depth. The image processing module scales the image according to this magnification and then sends the scaled image to the near-eye display module for display.

[0007] Furthermore, the wearable glasses device also integrates an ambient light sensor and an automatic display brightness adjustment module. The automatic display brightness adjustment module automatically adjusts the display brightness of the near-eye display module based on the current ambient illuminance measured by the ambient light sensor.

[0008] Furthermore, the signal processing system also includes an animal stress sound detection module, which is used to collect animal calls and automatically triggers the image freeze function when a stress call of a specific frequency or amplitude is detected.

[0009] Furthermore, the wearable glasses device is equipped with a head posture sensor. The signal processing system generates control commands based on the head turning angle or nodding action detected by the head posture sensor, which are used to control the bending direction of the endoscope tip or adjust the scaling ratio of the displayed image.

[0010] Furthermore, the wearable glasses device and the signal processing system are equipped with a dual-band wireless transmission module. This module includes two wireless links of different frequencies and can automatically and dynamically allocate data streams between the two links according to the current wireless signal quality and image data volume. When the delay of one link exceeds a threshold, the other link seamlessly takes over the critical image data.

[0011] Furthermore, the signal processing system also includes an eye-tracking module, which detects the coordinates of the veterinarian's gaze point on the near-eye display module in real time. When the gaze point coordinates remain in the display edge area for more than a preset time, it automatically sends a turning command to the endoscope connected to the signal interface converter, causing the endoscope's field of view to move in the direction of gaze.

[0012] This invention also provides an endoscopic image display method based on the above-described system, comprising the following steps: First, receiving the video signal output from the animal endoscope device via a signal interface converter and converting it into a standard format recognizable by the system. Second, acquiring the species parameters and body size characteristics of the animal currently undergoing surgery, and simultaneously acquiring the endoscope insertion depth. Third, automatically determining the magnification of the displayed image based on the animal's species parameters, body size characteristics, and endoscope insertion depth. Fourth, the signal processing system scales the image according to the magnification and performs noise reduction, enhancement, or color correction. Fifth, transmitting the processed image to the near-eye display module of a wearable glasses device for projection into the veterinarian's eyes. The near-eye display module is equipped with independent refractive adjustment mechanisms corresponding to the left and right eyes, allowing the veterinarian to adjust and obtain clear vision.

[0013] Furthermore, the method also includes measuring ambient illuminance using an ambient light sensor and automatically adjusting the display brightness of the near-eye display module based on the current ambient illuminance.

[0014] In summary, the present invention has the following main beneficial effects: This invention, by setting up an animal adaptive image adjustment unit, automatically determines the magnification of the displayed image based on pre-stored animal species parameters, the body size characteristics of the animal currently undergoing surgery, and the real-time acquired endoscopic insertion depth. The image processing module then performs precise scaling, solving the problem that existing technologies cannot automatically match the image size according to differences in animal body size and changes in insertion depth. This enables the images obtained by veterinarians to accurately correspond to the actual anatomical structures inside the animal, significantly improving surgical accuracy. This invention integrates an ambient light sensor with an automatic display brightness adjustment module, an animal stress sound detection module, a head posture sensor, an eye tracking module, and a wireless dual-frequency transmission module. This enables adaptive adjustment of display brightness, automatic freezing of the image upon stress sounds, control of endoscope bending and zooming by head posture, eye tracking-linked field of view movement, and seamless switching between dual links. This comprehensively improves visual comfort, ease of operation, natural human-computer interaction, and reliable wireless transmission in animal endoscopic surgery. Attached Figure Description

[0015] Figure 1 This is a system framework diagram of the present invention. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0017] A wearable endoscope system specifically for animals, such as Figure 1 As shown, it includes a wearable glasses device, a signal processing system, and a signal interface converter.

[0018] The wearable glasses device is worn on the veterinarian's head and resembles a pair of goggles or glasses. The entire device weighs less than 300g to reduce fatigue during prolonged wear. It integrates a near-eye display module and independent refractive adjustment mechanisms for each eye. Any commercially available head-mounted display device that can incorporate the near-eye display module and refractive adjustment mechanism described in this system can be used as the wearable glasses device of this invention.

[0019] Near-eye display modules can employ either a freeform prism scheme or an optical waveguide scheme. Both technologies are relatively mature in the field of head-mounted displays. The following are examples of existing technologies. In the freeform prism scheme, the display source uses a miniature OLED or miniature LED. Light emitted from the display source enters the freeform prism, undergoes multiple reflections and refractions, and then enters the human eye. The surface shape of the freeform prism is described using Zernike polynomials or non-uniform rational B-splines, which can correct off-axis aberrations. In the optical waveguide scheme, light emitted from the display source enters the waveguide substrate through coupling elements such as volume holographic gratings, surface relief gratings, or liquid crystal polarizers. It propagates within the waveguide through total internal reflection and then exits to the human eye through the coupling elements. The optical waveguide scheme can achieve eye boxes larger than 15mm × 10mm and uniform display brightness. This invention, using either of the above schemes, can achieve a borderless, blind-spot-free perspective display effect. That is, while the veterinarian is viewing a virtual image, ambient light can pass through the glasses device into the eye, allowing them to see the actual environment of the surgical area. The optical transmittance of the transparent display is not less than 50%.

[0020] To ensure a sufficiently wide field of view, the field of view of the near-eye display module is set to no less than 50°, with a typical value of 50° to 70°. At this field of view, the displayed image is equivalent to viewing a screen larger than 70 inches at a distance of 2 meters.

[0021] Each eye has an independent refractive adjustment mechanism. This mechanism includes a lens assembly that can move back and forth along the optical axis with a travel distance of ±5mm, corresponding to a refractive adjustment range of -6D to +3D, or 600 degrees of myopia to 300 degrees of hyperopia. The adjustment can be achieved via a manual dial or an electric motor. The veterinarian rotates the dials on the left and right eyepieces respectively, which, through a screw or cam mechanism, moves the myopia lens within the eyepiece, changing the distance between the lens and the display source, thereby compensating for the veterinarian's refractive error. This mechanism allows veterinarians with different vision to obtain a clear image without wearing additional myopia or hyperopia glasses.

[0022] In addition, the wearable glasses device integrates an ambient light sensor, such as a BH1750 or TSL2561 digital illuminance sensor, mounted in front of the glasses frame, facing the external environment. This sensor samples the ambient illuminance every 100ms, with a measurement range of [missing information]. to The resolution is .

[0023] The glasses device integrates head posture sensors, such as a nine-axis inertial measurement unit, which includes a three-axis gyroscope, a three-axis accelerometer, and a three-axis magnetometer. Euler angles for pitch, roll, and yaw are output using data fusion algorithms such as the extended Kalman filter or the Madgwick algorithm, with an angular resolution of 0.1°.

[0024] The eye-tracking module is integrated within the glasses device and consists of two infrared LED light sources and two infrared cameras. The light sources illuminate the eyeball from different directions, and the cameras capture corneal reflections and pupil images. The gaze coordinates are calculated using the pupil-corneal reflection vector method. The accuracy of the gaze coordinates within the display field of view is approximately 1°.

[0025] The signal processing system, as the central processing unit of the entire system, is small in size, with typical dimensions of 150mm×100mm×30mm and a weight of no more than 500g, and can be placed on a surgical trolley.

[0026] The signal processing system includes an image signal receiving module, an image processing module, a control module, and a storage module.

[0027] The image signal receiving module includes at least one high-speed serial interface for receiving standard format video streams from a signal interface converter. The module also includes a buffer for smoothing the data stream.

[0028] The image processing module is implemented using an FPGA or a dedicated image processing chip, such as the Ambarella CV series. This module processes each frame of image in a pipelined manner, with a processing latency of no more than 20ms.

[0029] The specific processing involves employing bilateral filtering or non-local mean filtering algorithms with a kernel size of 3×3 to 5×5 to remove sensor and transmission noise while preserving edge details. Adaptive histogram equalization or contrast-limited adaptive histogram equalization algorithms are then used to enhance image contrast by 20% to 50%, making details in both dark and bright areas clearer. Based on the magnification factor M calculated by the subsequent animal adaptive image adjustment unit, the image is scaled using bilinear interpolation, bicubic interpolation, or Lanczos interpolation algorithms, with a scaling range from 0.5x to 4x. A 3×3 color correction matrix and white balance gain adjustment are used to ensure the image colors conform to the visual habits of veterinarians, with a color temperature difference adjustment range of 2500K to 8000K.

[0030] In addition, the image processing module also supports the following auxiliary functions.

[0031] The processed video stream is compressed into H.264 or H.265 format and written to the storage module. The maximum recording resolution is 1920×1080, the frame rate is 30fps or 60fps, and the recording duration is limited by the storage capacity.

[0032] Save the current frame image as a JPEG or PNG file.

[0033] Pause image refresh to keep the current screen still, then press again to resume live image, i.e. freeze.

[0034] The control module uses an ARM architecture processor with a main frequency of no less than 1.2GHz, running an embedded Linux or real-time operating system. This module is responsible for managing the logic of auxiliary functions such as recording, screenshotting, and freezing, and processes control signals from physical buttons, voice commands, head posture sensors, and eye-tracking modules.

[0035] The storage module consists of two parts: system memory for temporarily caching image data and running programs, and non-volatile storage for storing system firmware, an animal species parameter database, recorded video files, and screenshots. The animal species parameter database is stored in tabular form, containing reference body size characteristics for common domestic and wild animals. For example, the reference body length for cats is approximately 400mm, small dogs approximately 300mm, medium dogs approximately 600mm, large dogs approximately 800mm, and horses approximately 2000mm. These values ​​can be manually modified and increased according to the veterinarian's specific needs.

[0036] Signal interface converters can be standalone pluggable devices or fixedly mounted on the housing of a signal processing system. Their typical dimensions are 100mm × 60mm × 20mm.

[0037] This signal interface converter integrates multiple video input ports, including at least two of the following four: HDMI 1.4 or 2.0 port, SDI port, DVI port, and CVBS composite video port. It also integrates internal analog-to-digital conversion circuitry, such as using the ADV7180 chip for CVBS analog-to-digital conversion and digital format conversion, and using an FPGA or dedicated chip such as the ITE6604 for format conversion between HDMI / DVI / SDI. Through these ports and conversion circuits, the signal interface converter can uniformly convert analog video signals (such as CVBS) or digital video signals (such as HDMI, SDI, and DVI) output from various animal endoscopes, such as flexible endoscopes, rigid endoscopes, laparoscopes, and arthroscopes, into a standard format recognizable by the system, such as MIPICSI-2 or parallel RGB 24-bit format, with an output resolution of 720p or 1080p and a frame rate consistent with the input. This achieves plug-and-play broad compatibility. The output of the signal interface converter is connected to the input of the signal processing system via a flexible ribbon cable or coaxial cable.

[0038] The wearable glasses device can be connected to the signal processing system via wired or wireless means.

[0039] In wired connection mode, a USB 3.2 Gen 2 Type-C cable is used, which can simultaneously transmit high-bandwidth video signals and power the glasses device. Cable lengths are available from 1m to 3m.

[0040] In wireless connection mode, low-latency wireless connections can be achieved using Wi-Fi 6, Wi-Fi 6E, or 60GHz millimeter wave technologies. Wi-Fi 6 / 6E has a theoretical transmission rate of up to 1.2Gbps with a latency of approximately 5-10ms; 60GHz millimeter wave has a theoretical rate of up to 4.6Gbps with a latency of approximately 1-3ms, but its penetration is poor, requiring line-of-sight transmission.

[0041] To further improve the reliability of wireless transmission, in a preferred embodiment of the present invention, a dual-band wireless transmission module is simultaneously provided between the wearable glasses device and the signal processing system. This dual-band wireless transmission module includes two wireless links of different frequencies, for example, one link is a Wi-Fi 6 or Wi-Fi 6E link, and the other is a 60GHz millimeter-wave link. The two links use different antennas and RF front-ends. The system's control module monitors the received signal strength indication and packet loss rate of each link in real time and assesses the current image data volume. When the signal quality of both links is good, the system can allocate the data stream proportionally, or prioritize using the millimeter-wave link to transmit keyframes and the Wi-Fi link to transmit auxiliary data. When the latency of one link exceeds a preset threshold, such as 10ms, or the signal strength is below -65dBm, the control module seamlessly switches the data stream on that link to the other link, using forward error correction and retransmission mechanisms to ensure image integrity. The switching process is transparent to the user, with no image stuttering or tearing.

[0042] A significant improvement of this invention is that the signal processing system also includes an animal-adaptive image conditioning unit. This unit is implemented by a software algorithm and runs on the control module, or as a logic module within an FPGA.

[0043] This unit pre-stores species parameters for various common animals, including the body size characteristics of reference animals. In practical use, the veterinarian first inputs the species of the animal to be operated on via the control module, such as selecting "cat" from the touchscreen or by voice. The system automatically retrieves the reference body size characteristics for that species. Simultaneously, the veterinarian needs to manually input or use external measuring tools, such as electronic calipers or laser rangefinders, to obtain the actual body size characteristics of the animal being operated on. For example, if the current patient is a cat and its measured body length is 420mm, then... =420. Furthermore, the system uses displacement sensors on the endoscope, such as potentiometers, magnetic encoders, or external electromagnetic positioning systems, to acquire the depth L of the endoscope insertion into the animal in real time, in cm. For example, the endoscope insertion depth is 15 cm.

[0044] As a preferred method for automatically determining the magnification, the animal adaptive image adjustment unit calculates the magnification M using the following formula: ; in Reference animal body size dimensions, in mm. For example, the reference body length for a cat is 400 mm; This refers to the current actual body size of the animal, in mm. For example, 420 mm; This is the original field of view of the endoscope used. Typically, the field of view of rigid endoscopes is 70° to 120°, and that of flexible endoscopes is 90° to 140°. This value is provided by the endoscope manufacturer and can be manually entered by the veterinarian. The display field of view of the near-eye display module is 50° in this system; This represents the current depth of endoscope insertion, in cm. This is the preset reference depth, in cm. It is typically set to 10cm to represent a common operating depth. This is the depth influence coefficient, expressed in cm. An empirical value of 0.02 to 0.05 cm is used, which can be fine-tuned according to the animal species. Like a cat =400, =420, the ratio is approximately 0.952; Endoscopic field of view =90°, displaying the field of view. =50°, ratio Insertion depth , =10cm, =0.03, then the depth term 1 + 0.03 × 5 = 1.15. Total magnification. =0.952×1.8×1.15≈1.97. That is, the image needs to be enlarged by 1.97 times for display.

[0045] If the current animal is large, such as a horse, =2000, =400, the ratio is much less than 1, the magnification will be less than 1, that is, the display will be reduced to ensure that the proportion of the anatomical structure is appropriate.

[0046] It should be noted that the above formula is only one specific implementation method. Those skilled in the art can certainly use other mathematical relationships or lookup table methods to achieve the function of automatically determining the magnification based on the animal's size and insertion depth. For example, a two-dimensional lookup table can be created, using the animal species and insertion depth as indexes, to directly output the magnification. These equivalent methods can also be selected according to the actual situation.

[0047] The image processing module scales the image according to the calculated magnification factor (MM), and then sends the scaled image to the near-eye display module for display.

[0048] To improve the visual experience for veterinarians under varying lighting conditions, the wearable glasses device integrates an ambient light sensor and an automatic brightness adjustment module. The ambient light sensor measures the ambient illuminance in the operating room in real time. The unit is lx. The automatic brightness adjustment module automatically adjusts the display brightness of the near-eye display module according to the current ambient light level. The unit is cd / m 2 The maximum brightness of near-eye display modules is typically 1000 cd / m². 2 Minimum brightness is 1 cd / m² 2 .

[0049] As a preferred implementation method, the display brightness is calculated using the following formula. : ; in The base brightness is preset by the veterinarian according to personal preference, for example... ; This refers to the current ambient light level. For reference to ambient illuminance, for example When the ambient light level hour, When the ambient light level is low, becoming 100 lx, then The brightness decreases; when the ambient illuminance becomes bright, reaching 1000 lx, then... The brightness is increased. This formula uses a square root function, making the brightness adjustment curve conform to the non-linear perception of light by the human eye, resulting in a smoother and more natural adjustment process. Those skilled in the art can also achieve the same automatic brightness adjustment function using linear adjustment or other functional relationships such as exponential or logarithmic functions.

[0050] Considering that animals may emit stress cries due to pain or fear during surgery, this invention also integrates an animal stress sound detection module into the signal processing system. This module includes a miniature microphone with a sensitivity of -42dB, a signal-to-noise ratio of 65dB, and an audio codec chip, connected to the signal processing system via an I2S interface. The microphone can be placed on the housing of the signal processing system or placed near the animal's head via an extension cable.

[0051] This module acquires animal vocalizations in real time at a sampling rate of 16kHz and 16-bit resolution, and analyzes them using digital signal processing algorithms. The algorithm first calculates short-time energy and zero-crossing rate to determine if a sound segment is valid, eliminating environmental noise. Then, it extracts Mel-frequency cepstral coefficients as features and inputs them into a lightweight neural network classifier, such as a trained support vector machine or a simple convolutional neural network. This classifier can distinguish common animal stress vocalizations, such as a cat's hiss or a dog's whimper, from ordinary barks or background noise. When a specific frequency range is detected, such as the fundamental frequency of a cat's stress bark (approximately 500-800Hz) or a dog's (approximately 300-600Hz), or when the amplitude exceeds a preset threshold (e.g., 15dB above background noise), the system automatically triggers an image freeze function. The freeze function pauses the currently displayed image and saves the frame to the storage module in high resolution, while also overlaying a freeze icon on the glasses display. Veterinarians can press a physical button or issue a voice command to "unfreeze" to restore the real-time image. This prevents veterinarians from missing crucial surgical moments due to sudden animal agitation.

[0052] The wearable glasses device is equipped with a head attitude sensor, such as the aforementioned nine-axis inertial measurement unit. The signal processing system runs attitude calculation algorithms such as the extended Kalman filter or the Madgwick algorithm, and outputs Euler angles in real time, where the yaw angle (head turn) and pitch angle (head nod) are used for control commands.

[0053] A preset head-turning angle threshold, such as 15°, is set. When the veterinarian turns their head to the left by more than 15° and holds the position for 0.2 seconds, the system sends a control signal to the endoscope connected to the signal interface converter, causing the endoscope tip to bend 5° to the left or bend proportionally. When the head returns to center, the endoscope tip stops bending or returns to center. Similarly, turning the head to the right controls bending to the right. Head nodding motions with pitch angle changes exceeding 10° can be used to zoom the image: a single nod zooms in by 0.2x, or continuous nodding triggers continuous zooming. This head posture-based control method eliminates the need for veterinarians to operate buttons or touchpads, which is particularly useful when both hands are already holding surgical instruments. To accommodate different veterinarians' habits, the ratio and threshold of the control gain head-turning and bending angles can be adjusted in the software settings.

[0054] The signal processing system also includes an eye-tracking module. This module outputs the gaze coordinates (x, y) in real time at a frequency of 120Hz, with the coordinate range normalized to [-1, 1], where (0, 0) is the display center. The display edge region is defined as the range where |x| > 0.8 or |y| > 0.8. When the gaze coordinates remain in the edge region for more than a preset time threshold, such as 0.3s, the system automatically sends a steering command to the endoscope connected to the signal interface converter, causing the endoscope's field of view to move in the gaze direction. For example, if x > 0.8 and the duration exceeds 0.3s, it means the veterinarian wants to see the undisplayed area on the right, so the endoscope tip is controlled to bend to the right; if x < -0.8, it bends to the left; if y > 0.8, it bends upward; and if y < -0.8, it bends downward. The movement speed is proportional to the distance of the gaze point from the edge; the greater the deviation, the faster the movement. The movement stops when the gaze point returns to the central region (|x|<0.2 and |y|<0.2). This linkage mechanism greatly reduces the frequency of veterinarians manually operating the endoscope orientation adjustment handle.

[0055] Based on the above system, the present invention also provides a method for displaying endoscopic images. In one specific embodiment, the method is performed according to the following steps.

[0056] The first step is for the veterinarian to plug the output cables of various endoscopic devices into the corresponding ports of the signal interface converter. The signal interface converter automatically detects the input signal type (by reading EDID or detecting the synchronization signal), performs analog-to-digital conversion and format conversion, and outputs a standard MIPI CSI-2 format video stream to the signal processing system.

[0057] The second step involves the veterinarian inputting the species of the animal being operated on via a touchscreen or voice command on the signal processing system, and inputting or measuring the animal's actual body dimensions. Simultaneously, the system reads the insertion depth L in real time using a displacement sensor integrated into the endoscope. The displacement sensor can be a coded strip with Hall elements or gratings engraved at 1cm intervals along the endoscope, used in conjunction with an external reading head.

[0058] The third step is to calculate the magnification based on formula M and pre-stored reference dimensions.

[0059] In the fourth step, the image processing module performs bicubic interpolation scaling on each frame of the image according to the magnification factor, while simultaneously performing bilateral filtering for noise reduction, adaptive histogram equalization enhancement, and color correction. The processed image is then transmitted to the glasses device via a wireless or wired link.

[0060] In the fifth step, the near-eye display module projects an image, which the veterinarian sees as a clear, scaled-up, and enhanced endoscopic view.

[0061] The sixth step involves the veterinarian adjusting the diopter adjustment dials on the left and right lenses according to their own vision until the image is clear. This step is only necessary when first wearing the glasses or when changing users.

[0062] Furthermore, throughout the entire procedure, the ambient light sensor operates continuously, and the automatic brightness adjustment module adjusts the display brightness in real time according to the ambient light level to maintain visual comfort. The animal stress sound detection module runs in the background, immediately freezing the image upon detecting any abnormal sounds. Veterinarians can turn their heads at any time to control the endoscope's curvature or move their field of vision by looking at the edge of the screen. The dual-band wireless link automatically selects the optimal path, ensuring zero image latency.

[0063] In one specific embodiment, a domestic cat weighing approximately 5 kg was used as the surgical subject. The cat required endoscopic removal of a foreign object in its stomach. The veterinarian first connected the rigid endoscope to the HDMI port of the signal interface converter. The signal interface converter automatically recognized the 1080p60 signal and converted it to MIPI CSI. The image is then formatted and output to the signal processing system. The veterinarian selects "cat" as the animal species on the touchscreen of the signal processing system. The system automatically retrieves the pre-stored reference body length of a cat, which is 400mm. The veterinarian uses electronic calipers to measure the cat's actual body length, which is 420mm, and inputs this into the system. The original field of view of the endoscope is 90°, the field of view of the near-eye display module is set to 50°, the depth influence coefficient k is set to 0.03 / cm, and the reference depth L0 is set to 10cm. The veterinarian inserts the endoscope into the cat's mouth. The magnetically encoded displacement sensor on the endoscope detects the insertion depth in real time. When the depth reaches 15cm, the animal adaptive image adjustment unit calculates the magnification M ≈ 1.97 according to the formula. The image processing module then performs 1.97x bicubic interpolation scaling on each frame of the image, while simultaneously performing bilateral filtering noise reduction and adaptive histogram equalization enhancement, with a total processing delay of approximately 15ms. The processed image is transmitted via a 60GHz millimeter-wave wireless link to the veterinarian's glasses. The near-eye display module of these glasses projects the image at a 50° field of view, providing the veterinarian with a highly detailed, scaled-down endoscopic view of the gastric mucosa. The veterinarian, whose vision is 200 degrees myopia in the right eye and 150 degrees in the left, rotated the diopter adjustment dials on both glasses until the image was clear. During the surgery, the ambient light level in the operating room changed from 200 lx to 800 lx. An ambient light sensor detected this in real time and drove the automatic brightness adjustment module to adjust the display brightness from 300 cd / m² according to the square root formula. 2 Gradually increase to approximately 490 cd / m 2The veterinarian remained comfortable throughout. When the endoscope approached the foreign object, the cat emitted a stress cry at approximately 600Hz. The animal stress sound detection module recognized this and automatically froze the current image. After confirming the location of the foreign object by reviewing the frozen frame, the veterinarian said "thaw," and the voice recognition unit restored the real-time image. During the procedure, the veterinarian held the endoscope handle with both hands. When needing to observe the fundus area, he slightly turned his head to the left by more than 15°. The head posture sensor detected this movement, and the signal processing system sent a bending command to the end of the endoscope, causing the lens to tilt 5° to the left, shifting the field of view accordingly. When the veterinarian wanted to further magnify the foreign object, he quickly nodded once, immediately increasing the image zoom by 0.2 times. Throughout the procedure, the dual-band wireless module monitored the link quality in real time. When the 60GHz millimeter-wave link was briefly interrupted due to the veterinarian's body obstructing the view, the system switched to a Wi-Fi 6E link, ensuring smooth video playback. After the successful completion of the procedure, the veterinarian stopped recording via voice command, and the system automatically saved the entire operation.

[0064] Although embodiments of the present invention have been shown and described, these specific embodiments are merely explanations of the invention and are not intended to limit it. The specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions, and variations to the embodiments as needed without departing from the principles and spirit of the invention, but such modifications, substitutions, and variations are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A wearable endoscope system specifically for animals, characterized in that, include: A wearable glasses device, which integrates a near-eye display module and independent diopter adjustment mechanisms corresponding to the left and right eyes respectively. The near-eye display module uses a freeform prism or optical waveguide scheme to achieve perspective display. The signal processing system includes an image signal receiving module, an image processing module, a control module, and a storage module. The image processing module is used to perform one or more real-time processing operations on the received endoscopic images, such as noise reduction, enhancement, scaling, and color correction, as well as one or more auxiliary functions, such as video recording, screenshotting, and freezing. A signal interface converter, which integrates multiple video input ports and signal conversion circuits, is used to uniformly convert video signals output by different animal endoscope devices into a standard format that can be recognized by the system. The wearable glasses device is connected to the signal processing system via wired or wireless means, and the output of the signal interface converter is connected to the input of the signal processing system.

2. The system according to claim 1, characterized in that, The signal processing system also includes an animal adaptive image adjustment unit, which automatically determines the magnification of the displayed image based on pre-stored animal species parameters, the body size characteristics of the current surgical animal, and the real-time acquired endoscope insertion depth. The image processing module scales the image according to the magnification and then sends the scaled image to the near-eye display module for display.

3. The system according to claim 1, characterized in that, The wearable glasses device also integrates an ambient light sensor and an automatic display brightness adjustment module. The automatic display brightness adjustment module automatically adjusts the display brightness of the near-eye display module based on the current ambient illuminance measured by the ambient light sensor.

4. The system according to claim 1, characterized in that, The signal processing system also includes an animal stress sound detection module, which is used to collect animal calls. When a stress call of a specific frequency or amplitude is detected, the image freeze function is automatically triggered.

5. The system according to claim 1, characterized in that, The wearable glasses device is equipped with a head posture sensor. The signal processing system generates control commands based on the head turning angle or nodding action detected by the head posture sensor, which are used to control the bending direction of the endoscope tip or adjust the scaling ratio of the displayed image.

6. The system according to claim 1, characterized in that, The wearable glasses device and the signal processing system are equipped with a wireless dual-frequency transmission module. The wireless dual-frequency transmission module includes two wireless links of different frequencies and can automatically and dynamically allocate data streams between the two links according to the current wireless signal quality and image data volume. When the delay of one link exceeds a threshold, the other link seamlessly takes over the key image data.

7. The system according to claim 1, characterized in that, The signal processing system also includes an eye-tracking module, which detects the coordinates of the veterinarian's gaze point on the near-eye display module in real time. When the gaze point coordinates remain in the display edge area for more than a preset time, it automatically sends a turning command to the endoscope connected to the signal interface converter, causing the endoscope's field of view to move in the direction of gaze.

8. A method for displaying endoscopic images based on the system according to any one of claims 1 to 7, characterized in that, Includes the following steps: The first step is to receive the video signal output from the animal endoscope through a signal interface converter and convert it into a standard format that the system can recognize. The second step is to obtain the species parameters and body size characteristics of the current surgical animal, and at the same time, obtain the insertion depth of the endoscope; The third step is to automatically determine the magnification of the displayed image based on the animal's species parameters, body size characteristics, and endoscope insertion depth. Fourth, the signal processing system scales the image according to the magnification factor and performs noise reduction, enhancement, or color correction. The fifth step involves transmitting the processed image to the near-eye display module of the wearable glasses device and projecting it into the veterinarian's eyes. The near-eye display module is equipped with independent refractive power adjustment mechanisms corresponding to the left and right eyes, so that veterinarians can adjust the vision to obtain clear vision.

9. The method according to claim 8, characterized in that, Also includes: The ambient light sensor measures the ambient illuminance and automatically adjusts the display brightness of the near-eye display module according to the current ambient illuminance.

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