Endoscopic system with navigation function and method of using the same

Abstract

An endoscope system with a navigation function and a method for using the endoscope system. The endoscope system includes: a three-dimensional imaging subsystem; a display subsystem; an endoscope system; and a navigation and positioning subsystem. The navigation and positioning subsystem includes a transmitting coil group and a receiving coil group. The transmitting coil can transmit a positioning electromagnetic wave signal. The receiving coil group is a three-axis electromagnetic receiving coil. The receiving coil group receives the positioning electromagnetic wave signal and converts the received positioning electromagnetic wave signal into an electrical signal and outputs it to a back-end processor. The processor obtains the three-dimensional coordinate information of the position of the receiving coil by sampling and calculating the three-way electrical signal. The present invention is provided with a navigation and positioning subsystem, which can determine the spatial coordinates of the head end while acquiring a picture. This precise position display can not only prompt the doctor to the position of the endoscope, but also be used as a navigation for the doctor during the process of inserting the endoscope. The present invention can solve the problem of easy missed detection in the current use of digestive endoscopes.

Description

Technical Field

[0001] The present invention relates to the technical field of medical detection equipment, and more specifically, to an endoscope system with a navigation function and a method for using the endoscope system with a navigation function. Background Art

[0002] Digestive endoscope is a very common device for examining digestive tract diseases. However, due to the long cavity and complex structure of the digestive tract system, inexperienced doctors often misjudge the location of lesions or incorrectly mark the corresponding positions in the collected images. What's worse, there may be serious problems such as repeated examinations or missed examinations during the examination. Summary of the invention

[0003] 1. Technical issues

[0004] In summary, how to solve the problem of missed detection that is currently existing in the use of digestive endoscopy has become an urgent problem to be solved by technical personnel in this field.

[0005] (II) Technical solution

[0006] The present invention provides an endoscope system with a navigation function, the endoscope system with a navigation function comprising:

[0007] A three-dimensional imaging subsystem for obtaining three-dimensional image information of a detection target;

[0008] A display subsystem for displaying three-dimensional image information, wherein the display subsystem is in communication with the three-dimensional imaging subsystem and displays the three-dimensional image information acquired by the three-dimensional imaging subsystem by running three-dimensional display software;

[0009] An internal mirror system for acquiring detection target image information, the internal mirror system comprising an internal lens end for acquiring the detection target image information;

[0010] A navigation and positioning subsystem for positioning the inner lens end, the navigation and positioning subsystem includes a transmitting coil group and a receiving coil group, the transmitting coil group includes a transmitting coil, and the transmitting coils are arranged in plurality, all of the transmitting coils are located in the same plane and can transmit positioning electromagnetic wave signals in the same direction, the receiving coil group is a three-axis electromagnetic receiving coil, the receiving coil group receives the positioning electromagnetic wave signals and converts the received positioning electromagnetic wave signals into a group of positioning signals simultaneously including three-dimensional coordinate information for output.

[0011] Preferably, in the endoscope system with navigation function provided by the present invention, the receiving coil group includes an X-axis coil, a Y-axis coil and a Z-axis coil, and the X-axis coil, the Y-axis coil and the Z-axis coil are arranged on the outer surface of the end of the endoscope in a columnar winding manner.

[0012] Preferably, in the endoscope system with navigation function provided by the present invention, the transmitting coil is a circular transmitting coil, and all the transmitting coils are regularly arranged to form a transmitting coil matrix.

[0013] Preferably, in the endoscope system with navigation function provided by the present invention, in the transmitting coil matrix, along the horizontal direction, the intensity of the positioning electromagnetic wave signal emitted by the transmitting coil forms an arithmetic progression, and along the vertical direction, the intensity of the positioning electromagnetic wave signal emitted by the transmitting coil forms an arithmetic progression.

[0014] Preferably, in the endoscope system with navigation function provided by the present invention, the X-axis coil is a coil group with a smaller wire diameter, a smaller wire spacing, and a larger number of turns produced by MEMS technology; the Y-axis coil is a coil group with a smaller wire diameter, a smaller wire spacing, and a larger number of turns produced by MEMS technology; the Z-axis coil is a coil group with a smaller wire diameter, a smaller wire spacing, and a larger number of turns produced by MEMS technology.

[0015] Preferably, in the endoscope system with navigation function provided by the present invention, the three-dimensional imaging subsystem is a CT imaging system.

[0016] Preferably, in the endoscope system with navigation function provided by the present invention, the X-axis coil is an enameled copper wire coil; the Y-axis coil is an enameled copper wire coil; the Z-axis coil is an enameled copper wire coil; and the transmitting coil is an enameled copper wire coil.

[0017] The present invention also provides a method for using an endoscope system with a navigation function. In the method for using an endoscope system with a navigation function provided by the present invention, the endoscope system with a navigation function as described above is specifically used to perform an endoscopic examination on a patient.

[0018] The method for using the endoscope system with navigation function comprises the following steps:

[0019] Step 1: Using a 3D imaging subsystem to obtain 3D image information of the patient's test target and displaying it by a display subsystem;

[0020] Step 2: Perform endoscopic examination on the patient using the endoscope system;

[0021] Step 3: During the endoscopic examination, the navigation and positioning subsystem is used to position the endoscope end of the endoscopic system.

[0022] Preferably, in the method for using the endoscope system with navigation function provided by the present invention, in the step two, photos of the detection target are taken according to the conventional endoscopic inspection route, 360° photos are taken at each point on the path and fixed-point circumferential image information is synthesized, and the fixed-point circumferential image information is synthesized to obtain the full inner wall image information of the detection target.

[0023] Preferably, in the method for using the endoscope system with navigation function provided by the present invention, in step three, the transmitting coil transmits a positioning electromagnetic wave signal, which is then received by the receiving coil group, and the X-axis coil, Y-axis coil and Z-axis coil in the receiving coil group are excited by the positioning electromagnetic wave signal to generate a positioning signal containing an X-axis electrical signal, a Y-axis electrical signal and a Z-axis electrical signal, and the positioning signal is sent to the display subsystem for display.

[0024] (III) Beneficial effects

[0025] The present invention provides an endoscope system with a navigation function, which includes: a three-dimensional imaging subsystem for acquiring three-dimensional image information of a detection target; a display subsystem for displaying three-dimensional image information, the display subsystem is connected to the three-dimensional imaging subsystem in communication and displays the three-dimensional image information acquired by the three-dimensional imaging subsystem by running three-dimensional display software; an endoscope system for acquiring image information of a detection target, the endoscope system includes an endoscope end for acquiring image information of a detection target; a navigation positioning subsystem for positioning the endoscope end, the navigation positioning subsystem includes a transmitting coil group and a receiving coil group, the transmitting coil group includes a transmitting coil, a plurality of transmitting coils are provided, all of the transmitting coils are located in the same plane and can transmit positioning electromagnetic wave signals in the same direction, the receiving coil group is a three-axis electromagnetic receiving coil, the receiving coil group receives the positioning electromagnetic wave signal and converts the received positioning electromagnetic wave signal into a group of positioning signals simultaneously containing three-dimensional coordinate information for output. The present invention is provided with a navigation positioning subsystem, which can determine the spatial coordinates of the head end while acquiring the picture, and this precise position display can not only prompt the doctor the position of the endoscope, but also be used as a navigation for the doctor during the endoscope entry process. The present invention can solve the problem of easy missed detection in the current use of digestive endoscopes.

[0026] The present invention also provides a method for using an endoscope system with a navigation function, which uses the endoscope system with a navigation function as described above to perform an endoscopic examination on a patient. Specifically, the method for using an endoscope system with a navigation function includes the following steps: step 1, using a three-dimensional imaging subsystem to obtain three-dimensional image information of a patient's detection target and displaying it by a display subsystem; step 2, using the endoscope system to perform an endoscopic examination on the patient; step 3, using a navigation positioning subsystem to position the endoscope end of the endoscope system during the endoscopic examination.

[0027] Through the above structural design, the present invention adds a positioning device to the end of the traditional endoscope, so that the spatial coordinates of the head end can be determined while obtaining the image. With the spatial coordinates, the position of the endoscope end in the human body can be determined. A three-dimensional model of the stomach is constructed based on the CT image of the stomach, and a virtual model of the human body is simulated by software, and the exact position of the current endoscope end can be marked on the model. This precise position display can not only remind the doctor of the position of the endoscope, but also be used as a navigation for the doctor during the process of inserting the endoscope. After the present invention is put into use, it can completely solve the problem of easy missed detection in the current use of digestive endoscopes. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is an axial cross-sectional view of an embodiment of the present invention when a receiving coil assembly is assembled on the inner lens end;

[0029] Figure 2 A schematic diagram of the layout structure of a transmitting coil in a transmitting coil group in an embodiment of the present invention;

[0030] Figure 3 The figure is a schematic diagram showing the winding method of the X-axis coil or the Y-axis coil in the receiving coil group in one embodiment of the present invention.

[0031] exist Figure 1 In the figure, the corresponding relationship between the component names and the figure numbers is as follows:

[0032] Inner lens end 1, X-axis coil 2, Y-axis coil 3, Z-axis coil 4. DETAILED DESCRIPTION

[0033] The following embodiments of the present invention are described in further detail in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0034] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0035] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] Please refer to Figures 1 to 3 ,in, Figure 1 It is an axial cross-sectional view of an embodiment of the present invention when a receiving coil assembly is assembled on the inner lens end; Figure 2 A schematic diagram of the layout structure of a transmitting coil in a transmitting coil group in an embodiment of the present invention; Figure 3 The figure is a schematic diagram showing the winding method of the X-axis coil or the Y-axis coil in the receiving coil group in one embodiment of the present invention.

[0037] The present invention provides an endoscope system with a navigation function, which is applicable to a variety of medical examinations requiring endoscopic examinations, such as gastroscopy, colonoscopy, duodenoscopy, etc. The innovation of the present invention is that based on the existing endoscopic examination system, a navigation function is added. During the endoscopic examination process, the position information of the endoscope can be obtained in real time, thereby realizing the positioning of the endoscope, thereby improving the accuracy of the detection.

[0038] The endoscope system with navigation function provided by the present invention includes the following components:

[0039] 1. A three-dimensional imaging subsystem for obtaining three-dimensional image information of the detection target.

[0040] In the present invention, the three-dimensional imaging subsystem adopts a traditional CT imaging system. CT imaging is a very mature imaging method in the medical field. The grayscale image of the patient's detection target can be obtained through the CT imaging system.

[0041] It should be noted that the detection target in the present invention refers to the human organ to be detected, such as the stomach, intestines, etc.

[0042] Since the CT imaging system is a very mature imaging system, its specific structure, usage method and imaging principle will not be explained here.

[0043] 2. A display subsystem for displaying three-dimensional image information.

[0044] The display subsystem is a device that can display images. It generally includes a processor, a display, and an input device (the input device generally includes a keyboard, a mouse, etc.). The core of the processor includes an FPGA processing chip. The FPGA processing chip is a semi-custom chip, which is mainly used in the field of image processing. The display subsystem of the present invention uses an FPGA processing chip, which can realize the synthesis of the three-dimensional image of the detection target, the virtual image of the human body, and the three-dimensional coordinates of the end of the internal lens. At the same time, the present invention can also process the synthesized image through software, such as online limiting the lesion area (using the mouse to draw a picture to circle the lesion area), color differentiation of the lesion area, etc. The above functions can all be realized on the FPGA processing chip through the software design of engineers.

[0045] In the present invention, the display subsystem is communicatively connected with the three-dimensional imaging subsystem (the present invention preferably adopts wired communication to achieve communication between subsystems. Of course, when conditions permit, wireless communication can also be used to achieve communication between subsystems), and the three-dimensional image information obtained by the three-dimensional imaging subsystem is displayed by running the three-dimensional display software.

[0046] 3. An internal mirror system for obtaining image information of the detection target.

[0047] The endoscope system adopts the endoscope system commonly used in the field of medicine in the prior art. The endoscope system includes an endoscope end for obtaining the image information (color real-view image) of the detection target.

[0048] 4. Navigation and positioning subsystem for positioning the internal lens end.

[0049] The navigation and positioning subsystem is the focus of innovation in the present invention, and the navigation and positioning subsystem can realize the precise positioning of the internal lens end during the inspection process.

[0050] Specifically, the navigation and positioning subsystem includes a transmitting coil group and a receiving coil group.

[0051] The transmitting coil group includes a transmitting coil, and a plurality of transmitting coils are provided. All the transmitting coils are located in the same plane and can transmit a positioning electromagnetic wave signal in the same direction. The transmitting coil is a circular coil structure (specifically formed by winding enameled copper wire), and the transmitting coil (a transmitting coil) can transmit a beam of linear electromagnetic waves (positioning electromagnetic wave signals) along its axial direction. In the present invention, the transmitting coil should be as small as possible, and the transmitting power should be strong enough. The transmitting coils are arranged in the same plane (the present invention can provide a setting substrate, and all the transmitting coils are assembled on the setting substrate), the transmitting coils are circular transmitting coils, and all the transmitting coils are regularly arranged to form a transmitting coil matrix. In the present invention, the transmitting power of each transmitting coil can be controlled individually. Therefore, by controlling the transmitting power of each transmitting coil, in the transmitting coil matrix, the intensity of the positioning electromagnetic wave signal emitted by the transmitting coil can form a set of arithmetic progressions in the horizontal direction, and the intensity of the positioning electromagnetic wave signal emitted by the transmitting coil can form a set of arithmetic progressions in the vertical direction. For example, if the transmission intensity of the first transmitting coil arranged horizontally is D and the enhanced intensity is T, then the transmission intensity of the transmitting coil group in the horizontal direction is (D, D+1T, D+2T, D+3T, D+4T...D+nT); if the transmission intensity of the first transmitting coil arranged vertically is D and the enhanced intensity is F, then the transmission intensity of the transmitting coil group in the vertical direction is (D, D+1F, D+2F, D+3F, D+4F...D+nF).

[0052] The emission intensity of the transmitting coil group is as shown in the following table.

[0053]

[0054] The receiving coil group is a three-axis electromagnetic receiving coil, which receives the positioning electromagnetic wave signal and converts the received positioning electromagnetic wave signal into a group of positioning signals containing three-dimensional coordinate information for output. The receiving coil group is excited by the positioning electromagnetic wave signal, so that three electromagnetic signals can be generated for output, and the position information of the receiving coil group can be formed by converting the electromagnetic signals.

[0055] Specifically, the receiving coil group includes an X-axis coil 2, a Y-axis coil 3 and a Z-axis coil 4, and the X-axis coil 2, the Y-axis coil 3 and the Z-axis coil 4 are arranged on the outer surface of the inner lens end in a columnar winding manner.

[0056] In a specific embodiment of the present invention, the structure of the receiving coil group is designed as follows: the receiving coil group adopts a three-axis electromagnetic receiving coil structure, which is a three-layer coaxial cylindrical coil structure, which surrounds the outer surface of the endoscope head end. Among them, the z-axis coil is an axial coil coaxial with the endoscope head end, receiving the axial magnetic field signal, and the x-axis and y-axis coils are divided into two symmetrical parts, which are respectively wound around the upper and lower and left and right semi-cylindrical sides of the endoscope head end.

[0057] In a specific embodiment of the present invention, the structure of the transmitting coil group is designed as follows: the transmitting coil group adopts a transmitting end structure of a planar multi-coil array, and uses theoretical calculation and finite element simulation methods to study the design method of the transmitting end coil to optimize key parameters such as the number of coils, size, number of turns, and current.

[0058] In order to improve the accuracy of the data, it should be required that adjacent signals in the same type of data have a large signal difference. Therefore, the value range of the positioning electromagnetic wave signal emitted by the transmitting coil should be as wide as possible, and the value range of the positioning signal generated by the receiving coil group should also be as wide as possible. Then this requires the coil to be as thin as possible (small wire diameter), the number of turns of the coil to be as many as possible, and the gap between the wires to be as small as possible. Specifically, in the present invention, the X-axis coil 2 is a coil group with a small wire diameter, a small wire spacing, and a large number of turns made by MEMS technology; the Y-axis coil 3 is a coil group with a small wire diameter, a small wire spacing, and a large number of turns made by MEMS technology; the Z-axis coil 4 is a coil group with a small wire diameter, a small wire spacing, and a large number of turns made by MEMS technology.

[0059] During the domestic inspection process, the internal lens end 1 is located inside the human body, and the intensity of the positioning electromagnetic wave signal emitted by the transmitting coil group attenuates slightly and can basically be regarded as unchanged. When the internal lens end 1 is at a certain point inside the body, the internal lens end 1 just corresponds to a certain transmitting coil (during the inspection process, the transmitting coil group is fixed and generally placed under the patient). The positioning electromagnetic wave signal intensity emitted by the transmitting coil is a specific value. Then, after the receiving coil group receives the positioning electromagnetic wave signal of the specific value, it can generate a set of corresponding position information (a set of signals with a fixed value), thereby realizing the positioning of the internal lens end 1.

[0060] Specifically, in the present invention, the X-axis coil 2 is an enameled copper wire coil; the Y-axis coil 3 is an enameled copper wire coil; the Z-axis coil 4 is an enameled copper wire coil; and the transmitting coil is an enameled copper wire coil.

[0061] The present invention also provides a method for using an endoscope system with a navigation function, in which the present invention uses the endoscope system with a navigation function as described above to perform an endoscopic examination on a patient. The method for using an endoscope system with a navigation function includes the following steps: step 1, using a three-dimensional imaging subsystem to obtain three-dimensional image information of a patient's detection target and displaying it by a display subsystem; step 2, using the endoscope system to perform an endoscopic examination on the patient; step 3, using a navigation positioning subsystem to position the endoscope end of the endoscope system during the endoscopic examination.

[0062] Furthermore, in step 2, the detection target is photographed according to the conventional endoscopic inspection route, 360° photography is performed at each point on the path and fixed-point circumferential image information is synthesized, and the fixed-point circumferential image information is synthesized to obtain the full inner wall image information of the detection target.

[0063] Furthermore, in step three, the transmitting coil transmits a positioning electromagnetic wave signal, which is then received by the receiving coil group. The X-axis coil, Y-axis coil and Z-axis coil in the receiving coil group are excited by the positioning electromagnetic wave signal to generate a positioning signal containing an X-axis electrical signal, a Y-axis electrical signal and a Z-axis electrical signal. The positioning signal is sent to the display subsystem for display.

[0064] The present invention provides an endoscope system with a navigation function, which includes: a three-dimensional imaging subsystem for acquiring three-dimensional image information of a detection target; a display subsystem for displaying three-dimensional image information, the display subsystem is connected to the three-dimensional imaging subsystem in communication and displays the three-dimensional image information acquired by the three-dimensional imaging subsystem by running three-dimensional display software; an endoscope system for acquiring image information of a detection target, the endoscope system includes an endoscope end for acquiring image information of a detection target; a navigation positioning subsystem for positioning the endoscope end, the navigation positioning subsystem includes a transmitting coil group and a receiving coil group, the transmitting coil group includes a transmitting coil, a plurality of transmitting coils are provided, all of the transmitting coils are located in the same plane and can transmit positioning electromagnetic wave signals in the same direction, the receiving coil group is a three-axis electromagnetic receiving coil, the receiving coil group receives the positioning electromagnetic wave signal and converts the received positioning electromagnetic wave signal into a group of positioning signals simultaneously containing three-dimensional coordinate information for output. At the same time, the present invention also provides a method for using an endoscope system with a navigation function, the method uses the endoscope system with a navigation function as described above to perform an endoscopic examination on a patient. Specifically, the method for using an endoscope system with a navigation function includes the following steps: step one, using a three-dimensional imaging subsystem to obtain three-dimensional image information of a patient's detection target and displaying it by a display subsystem; step two, using the endoscope system to perform an endoscopic examination on the patient; step three, using a navigation positioning subsystem to position the endoscope end of the endoscope system during the endoscopic examination.

[0065] The main idea of ​​the present invention is to add an electromagnetic navigation device (navigation subsystem) to the endoscope end of a traditional digestive endoscope (endoscope end, which can actually be extended to the endoscope ends of other departments), and cooperate with CT imaging technology and three-dimensional imaging technology (three-dimensional software) to enable doctors to observe the position of the endoscope end in real time through a display, thereby preventing doctors from misjudging the location of lesions due to lack of experience or lack of concentration, or inadequate examination due to inaccurate position judgment.

[0066] Through the above structural design, the present invention adds a positioning device to the end of the traditional endoscope, so that the spatial coordinates of the end can be determined while obtaining the image. With the spatial coordinates, the position of the endoscope end in the human body can be determined. A three-dimensional model of the stomach is constructed based on the CT image of the stomach, and a virtual model of the human body is simulated by software. The exact position of the current endoscope end can be marked on the model. This precise position display can not only remind the doctor of the position of the endoscope, but also be used as a navigation for the doctor during the endoscope insertion process.

[0067] The innovations of the present invention are: (1) constructing a cylindrical three-axis electromagnetic receiving coil and a planar multi-transmitting coil array that can be wrapped around the outer surface of the endoscope head end, thereby realizing the hardware fusion of the electromagnetic coil and the endoscope head end; (2) completing the design and debugging of the electromagnetic transmitting and receiving circuit system with the endoscope core processing chip FPGA as the processor, thereby realizing the control system fusion of the electromagnetic navigation system and the endoscope system; (3) optimizing the observation path of the electromagnetic navigation electronic endoscope through in vitro experiments, establishing a superposition scheme of images obtained at different camera positions, and finally realizing electromagnetic navigation electronic endoscope imaging of the entire stomach wall.

[0068] For the electromagnetic coil (transmitting coil group) at the transmitting end of the electromagnetic navigation electronic endoscope, the present invention uses a theoretical calculation combined with a finite element simulation research method to design and optimize the planar multi-coil array transmitting coil (i.e., the transmitting coil group in the present invention). The coil (transmitting coil) is wound with enameled copper wire and arranged according to the optimization results. In the experiment, a current with a frequency not exceeding 5kHz is used to excite each transmitting coil respectively, and a Gauss meter is used to measure the low-frequency magnetic field generated by different coils in the transmitting coil array to verify the theoretical calculation and simulation results. Then the magnetic field generated by different coil combinations is tested to verify the theoretical calculation and simulation results. For the electromagnetic coil (receiving coil group) at the receiving end of the electromagnetic navigation electronic endoscope, a cylindrical three-axis electromagnetic receiving coil is designed and optimized using a theoretical calculation combined with a finite element simulation research method. In order to make a receiving coil with a large number of turns, MEMS technology is used to make a coil with a smaller wire diameter and spacing or to increase the number of coil layers. In the experiment, the manufactured cylindrical three-axis electromagnetic receiving coil is used to measure in the magnetic field formed by the transmitting coil group, and compared with the Gauss meter measurement results to verify the theoretical calculation and simulation results. For the design of electromagnetic navigation control circuit, since endoscopes mostly use CMOS lenses and are controlled by FPGA (programmable device, semi-custom integrated circuit, which is a controller) chips, the core processor of the electromagnetic navigation system also uses FPGA chips. On this basis, the transmitting coil control circuit, electromagnetic signal receiving circuit, and FPGA signal processing method are added to facilitate integration with the endoscope control circuit, and the positioning algorithm is also integrated into the FPGA program. According to the FPGA resource usage, alternative solutions are added to the system, and it is planned to use embedded systems and FPGAs for high-speed communication.

[0069] For the electromagnetic navigation electronic endoscope whole stomach inner wall imaging experiment, the present invention constructs a three-dimensional in vitro experimental model of the detection target based on the CT image of the detection target, and color-marks the inner wall of the detection target to distinguish normal and diseased tissues. The inner wall structure of the model is observed using an electromagnetic navigation electronic endoscope, and the inner wall of the model is photographed according to the conventional endoscopic detection route. Each point on the path needs to be rotated 360 degrees, and the images obtained at different CMOS lens shooting positions are synthesized, and the overlapping parts of the images taken at adjacent camera positions are removed, and finally the inner wall image of the detection target (in vitro model) is obtained in the in vitro experiment.

[0070] The embodiments of the present invention are given for the purpose of illustration and description, and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

Claims

1. An endoscope system with navigation function, characterized in that: include: A three-dimensional imaging subsystem for obtaining three-dimensional image information of a detection target; A display subsystem for displaying three-dimensional image information, wherein the display subsystem is in communication with the three-dimensional imaging subsystem and displays the three-dimensional image information acquired by the three-dimensional imaging subsystem by running three-dimensional display software; An internal mirror system for acquiring detection target image information, the internal mirror system comprising an internal lens end for acquiring the detection target image information; A navigation and positioning subsystem for positioning the inner lens end, the navigation and positioning subsystem comprising a transmitting coil group and a receiving coil group, the transmitting coil group comprising a transmitting coil, a plurality of transmitting coils are provided, all of the transmitting coils are located in the same plane and can transmit positioning electromagnetic wave signals in the same direction, the receiving coil group is a three-axis electromagnetic receiving coil, the receiving coil group receives the positioning electromagnetic wave signals and converts the received positioning electromagnetic wave signals into a group of positioning signals simultaneously containing three-dimensional coordinate information for output; The transmission power of each transmitting coil is controlled separately. The control of the transmission power of each transmitting coil can form an arithmetic progression of the intensity of the positioning electromagnetic wave signal emitted by the transmitting coil in the horizontal direction and form an arithmetic progression of the intensity of the positioning electromagnetic wave signal emitted by the transmitting coil in the vertical direction in the transmitting coil matrix, that is, the transmission intensity of the first transmitting coil arranged in the horizontal direction is D, the enhanced intensity is T, then the transmission intensity of the transmitting coil group in the horizontal direction is D, D+1T, D+2T, D+3T, D+4T...D+nT, the transmission intensity of the first transmitting coil arranged in the vertical direction is D, the enhanced intensity is F, then the transmission intensity of the transmitting coil group in the vertical direction is D, D+1F, D+2F, D+3F, D+4F...D+nF; The receiving coil group is a three-axis electromagnetic receiving coil, which receives the positioning electromagnetic wave signal and converts the received positioning electromagnetic wave signal into a group of positioning signals containing three-dimensional coordinate information for output. The receiving coil group is excited by the positioning electromagnetic wave signal, thereby generating three electromagnetic signals for output. The position information of the receiving coil group can be formed by converting the electromagnetic signal.

2. The endoscope system with navigation function according to claim 1, characterized in that: The receiving coil group includes an X-axis coil, a Y-axis coil and a Z-axis coil. The X-axis coil, the Y-axis coil and the Z-axis coil are arranged on the outer surface of the inner lens end in a columnar winding manner.

3. The endoscope system with navigation function according to claim 2, characterized in that: The transmitting coil is a circular transmitting coil, and all the transmitting coils are regularly arranged to form a transmitting coil matrix.

4. The endoscope system with navigation function according to claim 3, characterized in that: In the transmitting coil matrix, along the horizontal direction, the intensity of the positioning electromagnetic wave signal emitted by the transmitting coil forms an arithmetic progression, and along the vertical direction, the intensity of the positioning electromagnetic wave signal emitted by the transmitting coil forms an arithmetic progression.

5. The endoscope system with navigation function according to claim 2, characterized in that: The X-axis coil is a coil group with a small wire diameter, small wire spacing, and a large number of turns made by MEMS technology; The Y-axis coil is a coil group with a small wire diameter, small wire spacing, and a large number of turns made by MEMS technology; The Z-axis coil is a coil group made by MEMS technology with a small wire diameter, a small wire spacing, and a large number of turns.

6. The endoscope system with navigation function according to claim 1, characterized in that: The three-dimensional imaging subsystem is a CT imaging system.

7. The endoscope system with navigation function according to claim 2, characterized in that: The X-axis coil is an enameled copper wire coil; The Y-axis coil is an enameled copper wire coil; The Z-axis coil is an enameled copper wire coil; The transmitting coil is an enameled copper wire coil.

8. A method for using an endoscope system with a navigation function, characterized in that: Performing endoscopic examination on a patient using the endoscopic system with navigation function as described in any one of claims 1 to 7; The method for using the endoscope system with navigation function comprises the following steps: Step 1: Using a 3D imaging subsystem to obtain 3D image information of the patient's test target and displaying it by a display subsystem; Step 2: Perform endoscopic examination on the patient using the endoscope system; Step 3: During the endoscopic examination, the navigation and positioning subsystem is used to position the endoscope end of the endoscopic system.

9. The method for using the endoscope system with navigation function according to claim 8, characterized in that: In the step 2, the detection target is photographed according to the conventional endoscopic inspection route, 360° photography is performed at each point on the path and fixed-point circumferential image information is synthesized, and the fixed-point circumferential image information is synthesized to obtain the full inner wall image information of the detection target.

10. The method for using the endoscope system with navigation function according to claim 8, characterized in that: In step three, a positioning electromagnetic wave signal is emitted by the transmitting coil and then received by the receiving coil group. The X-axis coil, Y-axis coil and Z-axis coil in the receiving coil group are excited by the positioning electromagnetic wave signal to generate a positioning signal containing an X-axis electrical signal, a Y-axis electrical signal and a Z-axis electrical signal. The positioning signal is sent to the display subsystem for display.

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