Endoscopic image correction system and method

Abstract

An endoscope image correction system (100) comprises: an endoscope image capture device (110) for capturing a first image (310) at a first time and a second image (330) at a second time, wherein the first image (310) is associated with a first image shooting angle (320) and a first image display angle (350), and the second image (330) is associated with a second image shooting angle (340); and a processing device (120) for determining a first angle difference between the first image shooting angle (320) and the second image shooting angle (340). The processing device (120) generates a second image display angle (460) based on the first image display angle (350) and the first angle difference, and the processing device (120) associates the second image display angle (460) with the second image (330); and the display device (230) displays the first image (310) at the first image display angle (350) and displays the second image (330) at the second image display angle (460); wherein the processing device (120) is communicatively connected to the endoscopic image capture device (110) and the display device (130).

Description

Technical Field

[0001] The present invention relates to an endoscopic image correction system and method thereof, and in particular to an endoscopic image correction system and method thereof which can be used in a medical endoscopic system. Background Art

[0002] In conventional endoscope systems, when the lens moves in the human body (e.g., turns or rotates), the image displayed on the display screen will rotate with the movement of the lens (i.e., the image display angle will constantly change). This situation can easily confuse the operator, who cannot correctly judge the current position and direction of the lens, and thus causes operational difficulties. In view of this, an endoscope image correction system and method are needed, which can maintain the image display mode at a certain viewing angle when the lens of the endoscope system moves in the human body. Summary of the invention

[0003] In order to solve the above problems, an idea of ​​the present invention is to provide an endoscope image correction system and method thereof, which can maintain the display mode of the image at a certain viewing angle when the lens of the endoscope system moves inside the human body.

[0004] Based on the aforementioned concept, the present invention provides an endoscopic image correction system, comprising: an endoscopic image capture device, which captures a first image at a first time and a second image at a second time, wherein the first image is associated with a first image shooting angle and a first image display angle, and the second image is associated with a second image shooting angle; a processing device, which determines a first angle difference between the first image shooting angle and the second image shooting angle, and the processing device generates a second image display angle according to the first image display angle and the first angle difference, and the processing device associates the second image display angle with the second image; and a display device, which displays the first image at the first image display angle and displays the second image at the second image display angle; wherein the processing device is communicatively connected to the endoscopic image capture device and the display device.

[0005] In a preferred embodiment of the present invention, the second image follows the first image.

[0006] In a preferred embodiment of the present invention, there is a second angle difference between the first image display angle and the second image display angle, and the second angle difference is equal to the first angle difference.

[0007] In a preferred embodiment of the present invention, the endoscopic image correction system further includes a position sensor, which senses the first image shooting angle at the first time and senses the second image shooting angle at the second time; wherein the position sensor is communicatively connected to the processing device.

[0008] In a preferred embodiment of the present invention, the position sensor is a gravity sensor (G-sensor).

[0009] In a preferred embodiment of the present invention, the processing device determines the first angle difference according to the first image shooting angle and the second image shooting angle.

[0010] In a preferred embodiment of the present invention, the first image has a first characteristic area at a first position, and the second image has a second characteristic area corresponding to the first characteristic area at a second position; wherein the processing device determines the first angle difference based on the first position and the second position.

[0011] According to the purpose of the present invention, there is further provided an endoscopic image correction method, which is applied to an endoscopic image correction system. The endoscopic image correction system includes an endoscopic image capture device, a processing device and a display device. The processing device communicatively connects the endoscopic image capture device and the display device, wherein the endoscopic image correction method includes: the endoscopic image capture device captures a first image at a first time, and captures a second image at a second time, wherein the first image is associated with a first image shooting angle and a first image display angle, and the second image is associated with a second image shooting angle; the processing device determines a first angle difference between the first image shooting angle and the second image shooting angle; the processing device generates a second image display angle according to the first image display angle and the first angle difference, and associates the second image display angle with the second image; the display device displays the first image at the first image display angle; and the display device displays the second image at the second image display angle.

[0012] In a preferred embodiment of the present invention, the second image follows the first image.

[0013] In a preferred embodiment of the present invention, there is a second angle difference between the first image display angle and the second image display angle, and the second angle difference is equal to the first angle difference.

[0014] In a preferred embodiment of the present invention, the endoscopic image correction method further includes: a position sensor of the endoscopic image correction system senses the first image shooting angle at the first time, and senses the second image shooting angle at the second time; wherein the position sensor is communicatively connected to the processing device.

[0015] In a preferred embodiment of the present invention, the position sensor is a gravity sensor.

[0016] In a preferred embodiment of the present invention, the processing device determines the first angle difference according to the first image shooting angle and the second image shooting angle.

[0017] In a preferred embodiment of the present invention, the first image has a first characteristic area at a first position, and the second image has a second characteristic area corresponding to the first characteristic area at a second position; wherein the processing device determines the first angle difference based on the first position and the second position.

[0018] The foregoing and other aspects of the present invention will become more apparent from the following detailed description of non-limiting embodiments and with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 FIG. 4 is a system architecture diagram of a specific embodiment of an endoscopic image correction system of the present invention.

[0020] Figure 2 FIG. 4 is a system architecture diagram of a specific embodiment of an endoscopic image correction system of the present invention.

[0021] Figure 3A It is a schematic diagram of a specific embodiment of the first image and the second image.

[0022] Figure 3B It is a schematic diagram of a specific embodiment of the first image and the second image.

[0023] Figure 4A It is a schematic diagram of a specific embodiment of the first image and the second image.

[0024] Figure 4B It is a schematic diagram of a specific embodiment of the first image and the second image.

[0025] Figure 5 The figure is a flow chart of a specific embodiment of the endoscope image correction method of the present invention.

[0026] Description of reference numerals:

[0027] 100 Endoscopic Image Correction System

[0028] 110 Endoscopic image acquisition device

[0029] 120 Processing device

[0030] 130 Display device

[0031] 140 Position Sensor

[0032] 200 Endoscopic Image Correction System

[0033] 210 Endoscopic image acquisition device

[0034] 220 Processing device

[0035] 230 Display device

[0036] 310 First Image

[0037] 320 First image shooting angle

[0038] 330 Second Image

[0039] 340 Second image shooting angle

[0040] 350 First image display angle

[0041] 360 second image display angle

[0042] 410 First Image

[0043] 412 First characteristic area

[0044] 414 First Central Location

[0045] 416 First relative angle

[0046] 420 First image shooting angle

[0047] 430 Second Image

[0048] 432 Second characteristic area

[0049] 434 Second Central Location

[0050] 436 Second relative angle

[0051] 440 Second image shooting angle

[0052] 450 First image display angle

[0053] 460 Second image display angle

[0054] 500 Endoscopic Image Correction Method

[0055] Steps 510-550 DETAILED DESCRIPTION

[0056] See also Figure 1 , which illustrates a system architecture diagram of a specific embodiment of the endoscopic image correction system according to the present invention. Figure 1In the illustrated embodiment, the endoscopic image correction system 100 includes an endoscopic image capture device 110, a processing device 120, a display device 130, and a position sensor 140. The processing device 120 is communicatively connected to the endoscopic image capture device 110, the display device 130, and the position sensor 140. In one embodiment, the position sensor 140 is connected to the endoscopic image capture device 110. In one embodiment, the position sensor 140 is communicatively connected to the processing device 120 via the endoscopic image capture device 110. In another embodiment, the position sensor 140 may be a gravity sensor, for example, the position sensor 140 may be an accelerometer. In one embodiment, the processing device includes one or more processors, and the processing device is implemented in a manner in which hardware and software work in coordination.

[0057] exist Figure 1 In the illustrated embodiment, the endoscope image capture device 110 captures a first image at a first time and captures a second image at a second time. The first image is associated with a first image shooting angle and a first image display angle, and the second image is associated with a second image shooting angle. The position sensor 140 senses the first image shooting angle at a first time and senses the second image shooting angle at a second time.

[0058] exist Figure 1 In the illustrated embodiment, the processing device 120 may determine the first angle difference between the first image shooting angle and the second image shooting angle according to the first image shooting angle and the second image shooting angle sensed by the position sensor 140. The processing device 120 may then generate the second image display angle according to the first image display angle and the first angle difference, and the processing device 120 may associate the second image display angle with the second image. In this way, the display device 130 may display the first image at the first image display angle and display the second image at the second image display angle. In a specific embodiment, there is a second angle difference between the first image display angle and the second image display angle. The second angle difference is equal to the first angle difference. In a specific embodiment, when displaying the first image and the second image, the display device 130 displays the second image after the first image, so that the first image and the second image can be continuous dynamic images.

[0059] See also Figure 2 , which illustrates a system architecture diagram of a specific embodiment of the endoscopic image correction system according to the present invention. Figure 2In the illustrated embodiment, the endoscopic image correction system 200 includes an endoscopic image capture device 210, a processing device 220, and a display device 230. The processing device 220 is communicatively connected to the endoscopic image capture device 210 and the display device 230. In a specific embodiment, the processing device includes one or more processors, and the processing device is implemented in a manner where hardware and software work together.

[0060] exist Figure 2 In the illustrated embodiment, the endoscope image capture device 210 captures a first image at a first time and captures a second image at a second time. The first image is associated with the first image shooting angle and the first image display angle, and the second image is associated with the second image shooting angle. In addition, the first image has a first characteristic area at a first position, and the second image has a second characteristic area corresponding to the first characteristic area at a second position. The first position is located on the first image, and the second position is located on the second image.

[0061] exist Figure 2 In the illustrated embodiment, the processing device 220 may determine the first angle difference between the shooting angle of the first image and the shooting angle of the second image based on the first position on the first image and the second position on the second image. The processing device 220 may then generate the second image display angle based on the first image display angle and the first angle difference, and the processing device 220 may associate the second image display angle with the second image. In this way, the display device 230 may display the first image at the first image display angle and display the second image at the second image display angle. In a specific embodiment, there is a second angle difference between the first image display angle and the second image display angle. The second angle difference is equal to the first angle difference. In a specific embodiment, when displaying the first image and the second image, the display device 230 displays the second image after the first image, so that the first image and the second image can be continuous dynamic images.

[0062] See also Figure 3A , which illustrates a schematic diagram of a specific embodiment of the first image and the second image. Figure 3A In the illustrated embodiment, when the endoscope image capture device captures the first image 310, the position sensor can sense that the first image shooting angle 320 at this time is 10 degrees. When the endoscope image capture device captures the second image 330, the position sensor can sense that the second image shooting angle 340 at this time is -15 degrees. In this way, the processing device can determine that the first angle difference between the first image shooting angle 320 and the second image shooting angle 340 is 25 degrees (10 degrees - (-15 degrees) = 25 degrees) based on the first image shooting angle 320 and the second image shooting angle 340 sensed by the position sensor.

[0063] Next, please refer to Figure 3B , which illustrates a schematic diagram of a specific embodiment of the first image and the second image. Figure 3A As shown in , the position sensor senses that the first image shooting angle 320 is 10 degrees, and the second image shooting angle 340 is -15 degrees, and the processing device determines that the first angle difference is 25 degrees. Figure 3A Afterwards, if Figure 3B As shown in , the display device displays the first image 310 in a manner where the first image display angle 350 is 0 degrees (that is, the first image 310 is directly displayed at the original shooting perspective without adjusting the display angle of the first image 310 separately). At this time, in order to prevent the second image 330 from having a difference in perspective when it is connected to the first image 310, the display device will display the second image 330 in a manner where the second image display angle 360 ​​is -25 degrees. Among them, the second angle difference between the first image display angle 350 and the second image display angle 360 ​​is 25 degrees (0 degrees - (-25) degrees = 25 degrees), which is the same as the first angle difference. It should be understood that the first image display angle is not limited to 0 degrees, but can be adjusted to other angles as needed. However, no matter how the first image display angle is adjusted, the second angle difference between the first image display angle and the second image display angle must be maintained to be the same as the first angle difference.

[0064] See also Figure 4A , which illustrates a schematic diagram of a specific embodiment of the first image and the second image. Figure 4A In the illustrated embodiment, the first image 410 has a first feature area 412 at a first position, and the second image 430 has a second feature area 432 at a second position. The first feature area 412 on the first image 410 corresponds to the second feature area 432 on the second image 430. That is, the first feature area 412 and the second feature area 432 both correspond to the same object. The processing device of the endoscope image correction system can obtain a first relative angle 416 based on the first position and the first center position 414 of the first image 410, and can obtain a second relative angle 436 based on the second position and the second center position 434 of the second image 430. Then, the processing device can calculate a third angle difference between the first relative angle 416 and the second relative angle 436, and the third angle difference is actually equal to the first angle difference between the first image shooting angle 420 and the second image shooting angle 440.

[0065] Next, please refer to Figure 4B , which illustrates a schematic diagram of a specific embodiment of the first image and the second image. Figure 4A Afterwards, if Figure 4BAs shown in , the display device displays the first image 410 in a manner where the first image display angle 450 is 0 degrees (that is, the first image 410 is directly displayed at the original shooting angle of view without adjusting the display angle of the first image 410 separately). In order to prevent the second image 430 from having a difference in viewing angle when it is connected to the first image 410, the processing device calculates the second image display angle 460 by subtracting the first angle difference from the first image display angle 450, and the display device displays the second image 430 at the second image display angle 460. Among them, the second angle difference between the first image display angle 350 and the second image display angle 360 ​​is the same as the value of the first angle difference. It should be understood that the first image display angle is not limited to 0 degrees, but can be adjusted to other angles as needed. However, no matter how the first image display angle is adjusted, the second angle difference between the first image display angle and the second image display angle must be maintained to be the same as the first angle difference.

[0066] It should be understood that Figure 4A and Figure 4B This is only an example, and the processing device is not limited to determining the first angle difference or the second image display angle by this method. The processing device may also determine the first angle difference or the second angle difference or the second image display angle by rotating the second image so that the second position on the second image corresponds to the first position on the first image. The angle by which the second image is rotated is the second angle difference between the first image display angle and the second image display angle, and the second angle difference is actually equal to the first angle difference.

[0067] See also Figure 5 , which illustrates a flowchart of a specific embodiment of the endoscope image correction method according to the present invention. Figure 5In the illustrated embodiment, the endoscopic image correction method 500 is applied to an endoscopic image correction system, which includes an endoscopic image capture device, a processing device and a display device, wherein the processing device is communicatively connected to the endoscopic image capture device and the display device. The endoscopic image correction method 500 starts at step 510, where the endoscopic image capture device captures a first image at a first time and captures a second image at a second time. The first image is associated with a first image shooting angle and a first image display angle, and the second image is associated with a second image shooting angle. In a specific embodiment, the second image is subsequent to the first image. Then, step 520 is performed, where the processing device determines a first angle difference between the first image shooting angle and the second image shooting angle. Then, step 530 is performed, where the processing device generates a second image display angle according to the first image display angle and the first angle difference, and associates the second image display angle with the second image. In a specific embodiment, there is a second angle difference between the first image display angle and the second image display angle, where the second angle difference is equal to the first angle difference. Next, the step 540 is performed, and the display device displays the first image at the first image display angle. Next, the step 540 is performed, and the display device displays the second image at the second image display angle.

[0068] In a specific embodiment, the endoscopic image correction method 500 further includes sensing a first image shooting angle at a first time by a position sensor of the endoscopic image correction system, and sensing a second image shooting angle at a second time. The position sensor is communicatively connected to a processing device. In a specific embodiment, the processing device determines a first angle difference based on the first image shooting angle and the second image shooting angle sensed by the position sensor. In a specific embodiment, the first image has a first feature area at a first position, and the second image has a second feature area corresponding to the first feature area at a second position. The first position is located on the first image, and the second position is located on the second image. The processing device determines the first angle difference based on the first position and the second position.

[0069] So far, the endoscopic image correction system and method of the present invention have been described by the above description and drawings. However, it should be understood that the various specific embodiments of the present invention are only for illustrative purposes, and various changes can be made without departing from the scope and spirit of the claims of the present invention, and all should be included in the patent scope of the present invention. Therefore, the various specific embodiments described in this specification are not used to limit the present invention, and the true scope and spirit of the present invention shall be subject to the scope disclosed in the following claims.

Claims

1. An endoscopic image correction system, comprising: An endoscope image capture device captures a first image at a first time and a second image at a second time, wherein the first image is associated with a first image shooting angle and a first image display angle, and the second image is associated with a second image shooting angle; a processing device, determining a first angle difference between the first image shooting angle and the second image shooting angle, the processing device generating a second image display angle according to the first image display angle and the first angle difference, and the processing device associating the second image display angle with the second image ； as well as A display device, displaying the first image at the first image display angle, and displaying the second image at the second image display angle; The processing device is communicatively connected to the endoscope image capturing device and the display device. 2 . The endoscopic image correction system according to claim 1 , wherein the second image follows the first image. 3 . The endoscopic image correction system according to claim 1 , wherein there is a second angle difference between the first image display angle and the second image display angle, and the second angle difference is equal to the first angle difference.

4. The endoscopic image correction system according to claim 1 further comprises a position sensor, which senses the first image shooting angle at the first time and senses the second image shooting angle at the second time; wherein the position sensor is communicatively connected to the processing device.

5. The endoscopic image correction system according to claim 4, wherein the position sensor is a gravity sensor. 6 . The endoscopic image correction system according to claim 4 , wherein the processing device determines the first angle difference according to the first image shooting angle and the second image shooting angle.

7. An endoscopic image correction system according to claim 1, wherein the first image has a first characteristic area at a first position, and the second image has a second characteristic area corresponding to the first characteristic area at a second position; wherein the processing device determines the first angle difference based on the first position and the second position.

8. An endoscopic image correction method, applied to an endoscopic image correction system, the endoscopic image correction system comprising an endoscopic image capture device, a processing device and a display device, the processing device being communicatively connected to the endoscopic image capture device and the display device, wherein the endoscopic image correction method comprises: The endoscope image capture device captures a first image at a first time and a second image at a second time, wherein the first image is associated with a first image shooting angle and a first image display angle, and the second image is associated with a second image shooting angle; The processing device determines a first angle difference between the first image shooting angle and the second image shooting angle; The processing device generates a second image display angle according to the first image display angle and the first angle difference, and associates the second image display angle with the second image; Displaying the first image at the first image display angle by the display device; as well as The display device displays the second image at the second image display angle. 9 . The endoscopic image correction method according to claim 8 , wherein the second image follows the first image. 10 . The endoscopic image correction method according to claim 8 , wherein there is a second angle difference between the first image display angle and the second image display angle, and the second angle difference is equal to the first angle difference.

11. The endoscopic image correction method according to claim 8, further comprising: The position sensor of the endoscope image correction system senses the first image shooting angle at the first time, and senses the second image shooting angle at the second time; The position sensor is communicatively connected to the processing device.

12. The endoscope image correction method according to claim 11, wherein the position sensor is a gravity sensor. 13 . The endoscopic image correction method according to claim 11 , wherein the processing device determines the first angle difference according to the first image shooting angle and the second image shooting angle.

14. An endoscopic image correction method according to claim 8, wherein the first image has a first characteristic area at a first position, and the second image has a second characteristic area corresponding to the first characteristic area at a second position; wherein the processing device determines the first angle difference based on the first position and the second position.

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