Capsule endoscope control system and computer program product

Abstract

The application discloses a capsule endoscope control system and a recording method and a playback method thereof, and the system comprises a magnetic ball and a control device, the position and posture change of the magnetic ball causes the magnetic field change, so that the capsule endoscope moves along with the magnetic field change; the control device is connected with the magnetic ball, controls the position and posture change of the magnetic ball, and processes the posture parameters and image information of the capsule endoscope, wherein the control device acquires the state parameters of the magnetic ball, the posture parameters and image information of the capsule endoscope in real time during the examination by the capsule endoscope, and generates the operation record of the state parameters of the magnetic ball, the operation information of the control device and the posture parameters and image information of the capsule endoscope along with the change of time, and converts the operation record into a command sequence to write the storage data. Therefore, the operability of the automatic examination of the capsule endoscope is improved, the repeatability of the recording process and the effectiveness of the examination effect can be considered, and the training efficiency can be effectively improved in professional training.

Description

Capsule endoscope control system and computer program products Technical Field

[0001] This invention relates to the field of intelligent program operation, specifically to a capsule endoscope control system and computer program product. Background Technology

[0002] Gastrointestinal mucosal diseases and the resulting gastrointestinal cancers are among the biggest killers of public health. According to statistics from the American Cancer Society, early detection and diagnosis of gastrointestinal mucosal tumors are key factors in reducing the mortality rate of gastrointestinal cancers (especially colorectal cancer). If colorectal cancer is detected in its early stages and treated, the five-year survival rate can usually exceed 90%; if it is allowed to progress to the middle or late stages, the five-year survival rate drops to less than 10%.

[0003] Currently, a low-power, precisely positioned capsule endoscope has emerged in clinical practice, providing a miniaturized, painless, and convenient method for examining the digestive tract. The patient swallows the capsule with water, similar to taking medication. The capsule then moves with the gastrointestinal muscles, recording pathological images of the digestive tract through a built-in miniature camera, which are then displayed to the doctor to provide a basis for diagnosis.

[0004] With the development of capsule endoscopy technology, passive capsule endoscopes have gradually evolved into actively and precisely controlled capsule endoscopes. Active and precise control of the capsule's movement is crucial during examinations of the human digestive tract. Magnetic control is an excellent control method, and in recent years, magnetically controlled capsule technology has experienced rapid development.

[0005] Magnetically controlled capsule technology essentially comprises two main parts: a capsule endoscope with magnets and the device used to control the movement of the capsule. The control device is currently broadly divided into two types: handheld and mechanical. Handheld devices are more susceptible to human intervention, resulting in lower control precision; while mechanical devices offer more stable control, higher precision, and greater versatility in control direction and angle, enabling more comprehensive endoscopic examinations.

[0006] Mechanical control equipment generally requires professional doctors or trained personnel to operate. Operation training requires a lot of time and effort, which is costly. In addition, the operator's operation record does not have a detailed process record, resulting in low training efficiency. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a capsule endoscope control system and computer program product that can balance the repeatability of the recording process and the effectiveness of the examination results. It is highly practical for automated capsule endoscope examinations and makes the entire magnetically controlled capsule endoscope examination process traceable. This can effectively improve training efficiency in professional training and enhance the control accuracy and examination efficiency of capsule endoscopes in actual clinical practice.

[0008] On one hand, the present invention provides a capsule endoscope control system, wherein:

[0009] The magnetic ball, whose position and orientation change, generates a change in the magnetic field, causing the capsule endoscope to move with the change in the magnetic field;

[0010] A control device, connected to the magnetic ball, controls the position and orientation changes of the magnetic ball, and processes the orientation parameters and image information of the capsule endoscope.

[0011] During the examination using the capsule endoscope, the control device acquires the state parameters of the magnetic ball and the posture parameters and image information of the capsule endoscope in real time. It also generates an operation record based on the changes in the state parameters of the magnetic ball, the operation information of the control device, and the posture parameters and image information of the capsule endoscope over time, and converts them into command sequences to write into the storage data.

[0012] Optionally, during the use of the capsule endoscope, the control device reads the stored data and controls the state changes of the magnetic ball and the orientation changes of the capsule endoscope according to the command sequence.

[0013] Optionally, the stored data is a data file or database record that includes recording time, position parameters, attitude parameters, and image information.

[0014] Optionally, the control device includes:

[0015] A drive unit, connected to the magnetic ball, is used to change the state parameters of the magnetic ball;

[0016] The processing unit is used to acquire and control the state parameters of the magnetic ball and the attitude parameters of the capsule endoscope, as well as to process the image information and operation information of the capsule endoscope.

[0017] The driving unit includes multiple drivers, which receive the operation information and control the changes in the state parameters of the magnetic ball.

[0018] Optionally, the processing unit includes:

[0019] The control module sets the state parameters of the magnetic ball and controls the drive unit to change the state parameters of the magnetic ball.

[0020] The image processing module acquires image information captured by the capsule endoscope in real time and processes the image information to obtain images divided according to the structure of the upper digestive tract.

[0021] The calibration module calibrates the position and orientation of the magnetic ball and / or the position and orientation of the capsule endoscope;

[0022] The position module reads the state parameters of the magnetic ball and the attitude parameters of the capsule endoscope in real time.

[0023] The storage module generates operation records for the state parameters of the magnetic ball, the operation information of the control device, and the attitude parameters and image information of the capsule endoscope, and converts the operation records into command sequence codes and writes them into a storage file;

[0024] The file management module reads and edits the stored files.

[0025] Optionally, the state parameters of the magnetic sphere include:

[0026] The position vector parameters (X, Y, Z, H, V) represent the position of the magnetic ball relative to the origin of the coordinate system on the X, Y, or Z axes, as well as the parallel rotation angle and the vertical rotation angle, respectively.

[0027] and / or velocity vector parameters (V X, V Y V Z V H V V ), which respectively represent the average velocity of the magnetic ball relative to the origin of the coordinate system in the X, Y or Z axis directions during the duration of the operation, as well as the average angular velocity of parallel rotation and the average angular velocity of vertical rotation;

[0028] And / or the magnetic field strength of the magnetic sphere in the X, Y, or Z axes;

[0029] The attitude parameters of the capsule endoscope include:

[0030] The position vector parameters (α, β, γ) are respectively represented by the pitch angle, yaw angle, and roll angle of the capsule endoscope.

[0031] On the other hand, the present invention provides a computer program product applied to the capsule endoscope control system described above, comprising:

[0032] Start recording and record the start time;

[0033] Save the initial state information of the capsule endoscope control system;

[0034] Save the operation log;

[0035] End recording by recording the end time, then convert the operation record into a command sequence and write it to storage.

[0036] The step of saving the operation record includes:

[0037] Real-time acquisition of magnetic ball status parameters, control device operation information, and capsule endoscope attitude parameters and image information;

[0038] The operation record is generated and saved by combining the state parameters of the magnetic ball, the operation information of the control device, and the posture parameters and image information of the capsule endoscope.

[0039] Optionally, the step of saving the initial state information of the capsule endoscope control system includes:

[0040] The initial state parameters of the magnetic ball, the initial setting information of the control device, and the initial posture parameters of the capsule endoscope are saved.

[0041] Optionally, the step of saving the state parameters of the magnetic ball and the attitude parameters of the capsule endoscope includes:

[0042] Based on the origin of the magnetic sphere's coordinates or a relative reference origin, the position state of the magnetic sphere is used as position and attitude parameters for reading and saving.

[0043] Alternatively, the position and orientation parameters of the capsule endoscope can be read and saved based on the origin of the capsule endoscope's coordinates or the origin of the relative reference coordinates.

[0044] Optionally, the step of acquiring the operation information of the control device in real time includes:

[0045] Acquire input and switching operations during the operation of the control device, and / or movement and click events during the operation;

[0046] The step of acquiring the state parameters of the magnetic ball in real time includes:

[0047] Monitor the magnetic field change events of the magnetic sphere, and when an event is triggered, acquire and save the position and attitude parameters of the magnetic sphere.

[0048] Optionally, the step of generating and saving the operation record includes:

[0049] Save the state parameters of the magnetic ball, the operation information of the control device, and the posture parameters and image information of the capsule endoscope corresponding to each operation that generates an operation record;

[0050] The state parameters of the magnetic ball, the operation information of the control device, and the attitude parameters and image information of the capsule endoscope are stored in the same operation program block and saved as a single operation program block.

[0051] The step of saving as a single-operation program block further includes:

[0052] Save the start time and end time, and / or duration of a single operation.

[0053] Optionally, the step of acquiring image information of the capsule endoscope in real time includes:

[0054] Image acquisition: Acquire images captured by the capsule endoscope;

[0055] Image preprocessing involves preprocessing the acquired images, selecting valid images, and deleting invalid images.

[0056] Image feature extraction, which extracts the color features, texture features, and shape features of the effective image from the image;

[0057] Image feature fusion combines the extracted color features, texture features, and shape features to obtain new features;

[0058] The classification training process involves using the fused new features to train a classifier, and then using the classifier to classify the preprocessed image.

[0059] If the preprocessed image after classification is the image of the required area, then multiple frames of images are acquired, saved, and output at this location; otherwise, the attitude parameters of the capsule endoscope are finely adjusted, and the image acquisition steps are returned to repeat the above process.

[0060] Optionally, the image information of the capsule endoscope includes:

[0061] The location information of the capsule endoscope is determined based on the image position divided according to the digestive tract structure.

[0062] Optionally, the step of starting recording and recording the start time includes the following before:

[0063] Locate the capsule endoscope, operate the control device to change the magnetic field of the magnetic ball, drive the capsule endoscope to move with the change of magnetic field, obtain the attitude parameters of the capsule endoscope, and determine whether the capsule endoscope has been found;

[0064] The attitude parameters of the capsule endoscope include the triaxial magnetic field strength of the capsule endoscope.

[0065] Optionally, the state parameters of the magnetic sphere include:

[0066] The position vector parameters (X, Y, Z, H, V) represent, in turn, the position of the magnetic ball relative to the origin of the coordinate system on the X, Y, or Z axes, as well as the parallel rotation angle and the vertical rotation angle, during a single operation.

[0067] and / or velocity vector parameters (V X, V Y V Z V H V V ), which respectively represent the average velocity of the magnetic ball relative to the origin of the coordinate system in the X, Y or Z axis direction during the duration of a single operation, as well as the average angular velocity of parallel rotation and the average angular velocity of vertical rotation;

[0068] And / or the magnetic field strength of the magnetic sphere in the X, Y, or Z axes;

[0069] The attitude parameters of the capsule endoscope include:

[0070] The position vector parameters (α, β, γ) are respectively represented by the pitch angle, yaw angle, and roll angle of the capsule endoscope.

[0071] On the other hand, the present invention provides a computer program product applied to the capsule endoscope control system described above, wherein it includes:

[0072] Read the command sequence from the operation log;

[0073] Load the initial state information of the capsule endoscope control system;

[0074] Initialize the status information of the capsule endoscope control system;

[0075] Load the operation log and restore it to the status parameters of the magnetic ball, the operation information of the control device, the attitude parameters of the capsule endoscope, and the image information;

[0076] Based on the operation information of the control device, perform the corresponding operation at the target location of the control device.

[0077] Optionally, the step of loading the initial state information of the capsule endoscope control system includes:

[0078] The initial state parameters of the magnetic ball, the initial setting information of the control device, and the initial posture parameters and image information of the capsule endoscope in the single operation program block are analyzed.

[0079] Optionally, the step of parsing the operation information of the control device in a single operation procedure block includes:

[0080] Analyze the input and switching operations during the operation of the control device, and / or the movement and click events during the operation.

[0081] Optionally, the step of restoring the loading operation record to the state parameters of the magnetic ball, the operation information of the control device, the attitude parameters of the capsule endoscope, and the image information includes:

[0082] The operation records of the control device are analyzed in relation to the state parameters of the magnetic ball, the posture parameters of the capsule endoscope, and the corresponding state of the image information.

[0083] The operation of the control device is performed according to the order of the operation record, and the magnetic ball and the capsule endoscope are adjusted to the corresponding states.

[0084] Optionally, the step of performing a corresponding operation at the target location of the control device based on the operation information of the control device includes:

[0085] Analyze the operation information of the control device;

[0086] The operation information of the control device and the magnetic field change events of the magnetic ball are acquired sequentially.

[0087] Based on the setting information of the control device in the obtained operation record, and the state parameters of the magnetic ball during the operation, the operation steps of the control device and the magnetic field change events of the magnetic ball are executed sequentially.

[0088] Optionally, the playback method also includes:

[0089] Determine whether the operation information of the control device is completed normally during operation;

[0090] If so, then terminate the current program;

[0091] If not, prompt the user to re-record.

[0092] Optionally, the step of determining whether the operation information during the operation of the control device is completed normally further includes:

[0093] Check whether the initial state parameters of the magnetic ball and the operation information of the control device have been loaded.

[0094] Check whether the operation information in the operation record has been completed.

[0095] The beneficial effects of this invention are as follows: The capsule endoscopy control system and computer program product provided by this invention improve the operability of automated capsule endoscopy examinations. By recording and playing back the complete examination process of a patient using the capsule endoscope, both the repeatability of the recording process and the effectiveness of the examination results can be considered. This method is highly practical for automated capsule endoscopy examinations and can be applied in actual clinical practice. It makes the entire magnetically controlled capsule endoscopy examination process traceable, which is beneficial for doctors to diagnose the patient's condition. Simultaneously, it effectively improves training efficiency in professional training. Furthermore, models can be built based on the recorded data parameters to automatically examine patients with similar body shapes, improving work efficiency. Attached Figure Description

[0096] The above and other objects, features and advantages of the present invention will become clearer from the following description of embodiments of the invention with reference to the accompanying drawings.

[0097] Figure 1 shows a schematic diagram of the capsule endoscope control system according to an embodiment of the present invention;

[0098] Figure 2 shows a flowchart of the recording method of the capsule endoscope control system according to an embodiment of the present invention;

[0099] Figure 3 shows a flowchart of the sub-steps of step S130 in Figure 2;

[0100] Figure 4 shows a flowchart of the sub-step of acquiring real-time operation information of the control device in step S131 of Figure 3;

[0101] Figure 5 shows a flowchart of the sub-steps of step S132 in Figure 3;

[0102] Figure 6 shows a flowchart of the sub-step of saving capsule endoscope image information in step S1321 of Figure 5;

[0103] Figure 7 shows a flowchart of the playback method of the capsule endoscope control system according to an embodiment of the present invention;

[0104] Figure 8 shows a flowchart of the sub-steps of step S320 in Figure 7;

[0105] Figure 9 shows a flowchart of the sub-steps of step S340 in Figure 7;

[0106] Figure 10 shows a flowchart of the sub-step in step S321 of Figure 8, which involves parsing the operation information of the control device in a single operation program block.

[0107] Figure 11 shows a flowchart of the sub-step of step S350 in Figure 7. Detailed Implementation

[0108] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in various forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0109] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0110] The present invention will now be described in detail with reference to the accompanying drawings.

[0111] Figure 1 shows a schematic diagram of a capsule endoscope control system according to an embodiment of the present invention. As shown in Figure 1, the capsule endoscope control system 100 provided in the embodiment of the present invention includes: a magnetic ball 20 and a control device 10. Changes in the position and orientation of the magnetic ball 20 generate changes in the magnetic field, causing the capsule endoscope 30 to move with the changes in the magnetic field. The control device 10 is connected to the magnetic ball 20, controls the changes in the position and orientation of the magnetic ball 20, and processes the orientation parameters and image information of the capsule endoscope 30. During an examination using the capsule endoscope 30, the control device 10 acquires the state parameters of the magnetic ball 20 and the orientation parameters and image information of the capsule endoscope 30 in real time, and generates an operation record by converting the changes in the state parameters of the magnetic ball 20, the operation information of the control device 10, and the orientation parameters and image information of the capsule endoscope 30 over time, and converts them into command sequences and writes them into stored data.

[0112] The process by which the control device 10 generates and stores data during an examination using the capsule endoscope 30 is a recording process of the capsule endoscope control system 100. This recording process can convert the parameters and / or information of the magnetic ball 20, the capsule endoscope 30, and the control device 10 into command sequences and form stored data.

[0113] Subsequently, when controlling the capsule endoscope 30, the stored data can be read and the playback process of the capsule endoscope control system 100 can be completed based on the stored data. The playback process specifically includes: reading the command sequence in the operation record; loading the operation record and restoring it to the state parameters of the magnetic ball 20, the operation information of the control device 10, the posture parameters and image information of the capsule endoscope 30; and performing the corresponding operation at the target position of the control device 10 based on the operation information of the control device 10.

[0114] By recording and playing back the capsule endoscope control system 100, the operability of automated capsule endoscope inspection is improved, and the control accuracy and inspection efficiency of capsule endoscope are enhanced. Furthermore, the repeatability of the recording process and the effectiveness of the inspection results can be taken into account, so as to record and play back the control of experienced operators, thereby effectively improving the training efficiency in professional training.

[0115] In an optional embodiment, the control device 10 reads the stored data during the use of the capsule endoscope 30 and controls the state changes of the magnetic ball 20 and the orientation changes of the capsule endoscope 30 according to the command sequence described above.

[0116] Furthermore, the stored data is stored as a data file or database record that includes recording time, position parameters, attitude parameters, and image information.

[0117] Furthermore, the control device 10 includes a drive unit 12, a processing unit 11, and a display unit 13. The drive unit 12 is connected to the magnetic ball 20 and is used to change the state parameters of the magnetic ball 20. The processing unit 11 is used to acquire and control the state parameters of the magnetic ball 20 and the parameters of the capsule endoscope 30, and to process the image information and operation information of the capsule endoscope 30. Specifically, the drive unit 12 includes, for example, multiple drivers 12a, which receive the aforementioned operation information to control the changes in the state parameters of the magnetic ball 20. Understandably, the aforementioned operation information includes information such as the operation sequence and operation actions (entry operation), to achieve spatial directional and rotational movements of the magnetic ball 20, specifically, for example, movement within space and rotation around space.

[0118] In this embodiment, to facilitate the description of the position and attitude changes of the magnetic ball 20, a three-dimensional spatial reference coordinate system is introduced. For example, the center of the magnetic ball 20 in its initial state is taken as the origin of the coordinate system, and orthogonally extended X-axis and Y-axis directions, as well as a Z-axis direction perpendicular to both the X-axis and Y-axis directions, are drawn from the horizontal plane where the origin of the coordinate system is located. Alternatively, the center of the magnetic ball 20's position when it is about to begin moving is taken as the origin of the reference coordinate system, and its attitude information when it is about to begin moving is taken as the initial attitude information. Further, the movement along space described above and below refers to the linear movement of the magnetic ball 20 along at least one of the X-axis, Y-axis, and Z-axis directions with its center as the origin of the coordinate system, and the rotational movement around the aforementioned space refers to the rotation of the magnetic ball 20 around at least one of the X-axis, Y-axis, or Z-axis. Parallel angle rotation mentioned below refers to angular rotation around the X-axis or Y-axis with the origin of the coordinate system, and perpendicular angle rotation mentioned below refers to angular rotation around the Z-axis with the origin of the coordinate system. Of course, it should be noted that the establishment of the above reference coordinate system is intended to illustrate a method of recording the position movement trajectory of the magnetic ball 20. In other alternative embodiments, those skilled in the art can also describe it in other ways, which are not limited here.

[0119] To achieve the aforementioned movement, in one embodiment, the magnetic ball 20 is, for example, an electromagnet, capable of moving or rotating within the aforementioned space. The processing unit 11 sets the state parameters of the magnetic ball 20, controls multiple actuators 12a connected to the magnetic ball 20 to change its state parameters, and alters the magnitude of the energizing current in the actuators 12a, thereby changing the magnetic field parameters of the magnetic ball 20 (e.g., magnetic field magnitude and direction). This control of the magnetic field parameters then controls the capsule endoscope 30 to achieve linear movement in any direction within space and rotation or flipping in any direction. It should be noted that the movement of the capsule endoscope 30 should minimize the force exerted on the digestive tract wall to reduce patient discomfort. Furthermore, by controlling the capsule endoscope 30 to move linearly, rotate, or in a combination thereof, the most complete and clear image information possible can be obtained, which is beneficial for doctors to make accurate diagnoses of the patient's condition.

[0120] Furthermore, the processing unit 11 further includes, for example, a control module 11a, an image processing module 11b, a calibration module 11c, a position module 11d, a storage module 11e, and a file management module 11f. The control module 11a is used to set the state parameters of the magnetic ball 20 and control the drive unit 12 to change the state parameters of the magnetic ball 20. The image processing module 11b is used to acquire image information captured by the capsule endoscope 30 in real time and process the image information to obtain images divided according to the upper digestive tract structure. The calibration module 11c is used to calibrate the position and orientation of the magnetic ball 20 to reduce the deviation in the motion control of the magnetic ball 20. Specifically, the position and orientation can be calibrated relative to its coordinate origin (such as the center of the magnetic ball 20) or a reference coordinate origin. In addition, in some embodiments, the calibration module 11c can also be used to calibrate the position and orientation of the capsule endoscope 30 to reduce the deviation in the movement of the capsule endoscope 30, and the position and orientation can be calibrated relative to the coordinate origin or a reference coordinate origin of the capsule endoscope 30. The position module 11d is used to read the status parameters of the magnetic ball 20 and the attitude parameters of the capsule endoscope 30 in real time. The storage module 11e is used to generate an operation record based on the status parameters of the magnetic ball 20, the operation information of the control device 10, and the attitude parameters and image information of the capsule endoscope 30, and convert the operation record into a command sequence code and write it into a storage file. The file management module 11f is used to read and edit the above-mentioned storage file. In this embodiment, the control device 10 also includes a display unit 13 for realizing human-computer interaction operation and data display. The display unit 13 is, for example, a display screen.

[0121] Specifically, before operation begins, the control device 10 changes the position and orientation of the magnetic ball 20, thereby generating a change in the magnetic field. The capsule endoscope 30 then moves in response to this change in magnetic field. By acquiring the orientation parameters of the capsule endoscope 30, the device is positioned, and then the position, orientation, and magnetic field of the capsule endoscope 30 and the magnetic ball 20 are calibrated. The orientation parameters of the capsule endoscope 30 include the magnetic field strength (e.g., triaxial magnetic field strength) of the capsule endoscope 30.

[0122] Furthermore, the state parameters of the aforementioned magnetic sphere 20 include:

[0123] The position vector parameters (X,Y,Z,H,V) represent the position of the magnetic ball 20 relative to the origin on the X, Y, or Z axes, as well as the parallel rotation angle (the maximum centrifugal angle when rotating around the X axis) and the vertical rotation angle (the maximum centrifugal angle when rotating around the Z axis).

[0124] and / or velocity vector parameters (V X, V Y V Z V H V V), which respectively represent the average velocity of the magnetic ball 20 relative to the origin of the coordinate system in the X, Y or Z axis directions during the operation time, as well as the average angular velocity of parallel rotation and the average angular velocity of vertical rotation;

[0125] And / or the magnetic field strength of the magnetic sphere 20 in the X, Y or Z axes.

[0126] Furthermore, the attitude parameters of the capsule endoscope 30 include: position vector parameters (α, β, γ), which represent the pitch angle, yaw angle, and roll angle of the capsule endoscope 30, respectively. The aforementioned coordinate origin or reference coordinate origin can be the position center of the capsule endoscope 30 when it is about to begin controlled motion. In a spatial coordinate system established with the aforementioned position center as the origin, initial position information is established by combining its various structural coordinates. Based on the coordinate change trajectory of its initial position information during motion, the motion process of the capsule endoscope 30 can be characterized. Generally, the right, front, and top directions of a carrier are defined as a right-handed system. Rotation around the forward axis is the roll angle, rotation around the right axis is the pitch angle, and rotation around the upward axis is the yaw angle (or yaw angle). In this embodiment, considering the capsule endoscope 30, the roll angle is the spin angle of rotation around the length axis of the capsule endoscope 30, the pitch angle is the angle between the length direction of the capsule endoscope 30 and the horizontal plane (the plane perpendicular to the direction of gravity), and the yaw angle is the angle of rotation of the capsule endoscope 30 around the vertical direction (i.e., the direction of gravity).

[0127] Figure 2 shows a flowchart of the recording method of the capsule endoscope control system according to an embodiment of the present invention. As shown in Figure 2, the present invention provides a computer program product applied to the capsule endoscope control system as described above. This computer program product is used to implement the recording method of the capsule endoscope control system, including:

[0128] Step S110: Start recording and record the start time;

[0129] Step S120: Save the initial state information of the capsule endoscope control system;

[0130] Step S130: Save the operation record;

[0131] Step S140: End recording of the end time, and convert the operation record into a command sequence and write it to storage.

[0132] In a preferred embodiment of the present invention, as shown in FIG3, step S130 may specifically include the following steps:

[0133] Sub-step S131: Real-time acquisition of the status parameters of the magnetic ball 20, the operation information of the control device 10, and the attitude parameters and image information of the capsule endoscope 30;

[0134] Sub-step S132: Generate an operation record and save it by combining the state parameters of the magnetic ball 20, the operation information of the control device 10, and the attitude parameters and image information of the capsule endoscope 30.

[0135] Subsequently, when controlling the capsule endoscope 30, the stored data can be read and the playback process of the capsule endoscope control system 100 can be completed based on the stored data. The playback process specifically includes: reading the command sequence in the operation record; loading the operation record and restoring it to the state parameters of the magnetic ball 20, the operation information of the control device 10, the posture parameters and image information of the capsule endoscope 30; and performing the corresponding operation at the target position of the control device 10 based on the operation information of the control device 10.

[0136] By recording and playing back the capsule endoscope control system 100, the operability of automated capsule endoscope inspection is improved, and the control accuracy and inspection efficiency of capsule endoscope are enhanced. Furthermore, the repeatability of the recording process and the effectiveness of the inspection results can be taken into account, so as to record and play back the control of experienced operators, thereby effectively improving the training efficiency in professional training.

[0137] In a preferred embodiment of the present invention, as shown in FIG4, the real-time acquisition of operation information of the control device 10 in step S131 may specifically include: real-time acquisition of operation information of the control device 10, and / or real-time acquisition of input operations and switching operations during operation of the control device, and / or movement events and click events during operation. The control device 10 may include, for example, a joystick, a mouse, or a keyboard, as long as it can achieve control; details will not be elaborated here. When the control device 10 is a keyboard, its operation is a keyboard input operation; when the control device 10 is a joystick, its operation is a joystick switching operation; when the control device 10 is a mouse, its operation includes mouse movement events and click events. Of course, in practice, the operation device 10 may include at least one of the above methods. In this embodiment, the control device 10 adopts a combination of three input operation methods.

[0138] Furthermore, the step of acquiring the state parameters of the magnetic ball 20 in real time in sub-step S131 includes: monitoring the magnetic field change events of the magnetic ball 20, and when the event is triggered, acquiring and saving the position and attitude parameters of the magnetic ball 20.

[0139] In step S120 of this embodiment, the aforementioned initial state information includes the initial state parameters of the magnetic ball 20, the initial setting information of the control device 10, and the initial posture parameters of the capsule endoscope 30.

[0140] Furthermore, the state parameters of the magnetic ball 20 are saved by reading and saving the position and attitude parameters of the magnetic ball 20 based on the position state of the magnetic ball 20 (center) at the starting position as the origin of the coordinate system or the relative origin of the reference coordinate system; or the attitude parameters of the capsule endoscope are saved by reading and saving the position and attitude parameters of the capsule endoscope 30 based on the position state of the capsule endoscope 30 (center) at the starting position as the origin of the coordinate system or the relative origin of the reference coordinate system.

[0141] Furthermore, before initiating the recording of the start time, the process includes locating the capsule endoscope 30. Specifically, the control device 10 is operated to change the position and orientation of the magnetic ball 20, thereby generating a change in the magnetic field. This causes the capsule endoscope 30 to move in accordance with the change in the magnetic field. The attitude parameters of the capsule endoscope 30 are acquired to determine whether the capsule endoscope 30 has been located. The attitude parameters of the capsule endoscope 30 include, for example, the triaxial magnetic field strength of the capsule endoscope 30.

[0142] Specifically, the control device 10 can control the magnetic field changes of the magnetic ball 20 through the driver 12a to achieve linear motion (e.g., movement along at least one of the X, Y, and Z directions) and rotational motion (rotation around at least one of the X, Y, and Z axes) within its space. The adjustment method is, for example, by adjusting the magnetic field parameters of the magnetic ball 20 through output control current, so as to control the capsule endoscope 30 within the magnetic field to move with the magnetic ball 20. On the other hand, the control device 10 can also receive feedback information from the capsule endoscope 30 and the magnetic ball 20 for adjustment. For example, the capsule endoscope 30 has various sensors (not shown) (e.g., gravity sensors, image sensors, attitude sensors, magnetic sensors, etc.) to obtain its attitude parameters, and feeds them back to the processing unit 11 of the control device 10 via wireless signal transmission. Based on this feedback signal, the control device 10 controls the drive unit 12 through the control module 11a to further precisely regulate the motion state and parameters of the magnetic ball 20. The drive unit 12, by receiving the operation information from the control device 10, controls the changes in the state parameters of the magnetic ball 20, causing the magnetic field change event of the magnetic ball 20 to occur. Furthermore, the magnetic ball 20 can also have various sensors (not shown) (e.g., attitude sensors, magnetic force sensors, and position sensors), and the state parameters of the magnetic ball 20 are fed back to the processing unit 11 for adjustment. Combining the attitude parameters and image information of the capsule endoscope 30 not only enables precise control of the movement of the magnetic ball 20 and the capsule endoscope 30, but also provides a clearer display of the examination process. The changes in the state parameters of the magnetic ball 20, the operation information of the control device 10, and the attitude parameters and image information of the capsule endoscope 30 over time are used to generate an operation record, which is then converted into a command sequence and written into storage data, balancing the repeatability of the recording process with the effectiveness of the examination.

[0143] In a preferred embodiment of the present invention, as shown in FIG5, the step of generating and saving the operation record in S132 may specifically include the following steps:

[0144] S1321: Save the status parameters of the magnetic ball 20, the operation information of the control device 10, and the attitude parameters and image information of the capsule endoscope 30 corresponding to each operation that generates an operation record;

[0145] S1322: The state parameters of the magnetic ball 20, the operation information of the control device 10, and the attitude parameters and image information of the capsule endoscope 30 are stored in the same operation program block as a single operation program block. This single operation program block also stores the start and end times, and / or duration of a single operation. More specifically, for example, the relative time nodes of the start and end of the linear motion of the magnetic ball 20, or the corresponding start and relative end times of special motions of the magnetic ball 20 (motion processes implemented based on other control algorithms, such as rotational motion around an axis). This independent recording of the operation process and parameter changes for a single motion results in low memory usage, convenient operation, and targeted training. Compared to recording the entire process, independently recording and storing each operation and then storing the entire operation process in segments allows for more efficient targeted training, significantly saving resources and costs.

[0146] Specifically, the capsule endoscope 30 moves following the magnetic ball 20, and the movement of the capsule endoscope 30 should minimize the force exerted on the digestive tract wall to reduce patient discomfort. By controlling different operating modes of the device, linear motion, rotational motion, or combinations thereof can be achieved, enabling comprehensive observation of images within the digestive tract. To enable the observer (or trainee) to efficiently review the entire or partial examination process, different magnetic field changes can be segmented and recorded using the relative time points of the start and end of a single operation, and / or its duration, and converted into a command sequence for storage. The operating modes of the control device and the corresponding command types include, but are not limited to, the following:

[0147]

[0148] Before the examination, the control device 10 changes the position and orientation of the magnetic ball 20, generating a magnetic field change. This causes the capsule endoscope 30 to move with the magnetic field change. The device then uses the acquired orientation parameters of the capsule endoscope 30 to locate it. After origin calibration, the examination and recording begin. During a single operation, the general movement of the magnetic ball 20, from start to finish, records the state parameters of the magnetic ball 20, the operation information of the control device 10 (joystick or mouse and keyboard), and the orientation parameters and image information of the capsule endoscope 30. These records are converted into corresponding command sequences and saved, with the start and end times used as time nodes. Special movements of the magnetic ball 20 (such as movements based on other control algorithms) also have their start and end times used as additional time nodes, and the data is recorded and converted into command sequences for saving. Furthermore, segmented storage improves the effectiveness of backtracking the examination process and avoids slow response or lag during file transfer, reading, or editing due to excessively large storage files.

[0149] In a preferred embodiment of the present invention, as shown in FIG6, the step S1321 of saving the image information of the capsule endoscope 30 may specifically include the following sub-steps:

[0150] S210: Image Acquisition. First, acquire endoscopic images of the patient's digestive tract. Take pictures of the patient's digestive tract using a capsule endoscope 30, and then transmit the captured images to the backend for processing.

[0151] S220: Image preprocessing. The acquired images are preprocessed, valid images are selected, invalid images are deleted, and the color images acquired by the capsule endoscope 30 are enhanced to make them more suitable for doctors to observe and diagnose.

[0152] S230: Image Feature Extraction. Extract the color, texture, and shape features of the effective image separately. For example, extract the color features of the image in the HSV color space. The HSV color space has three channel components: channel H (hue), channel S (saturation), and channel V (luminance). Observe the feature selection of each channel component and extract their respective feature values ​​as the feature vector of the color feature. Since there are some differences in the texture features between normal and abnormal images, the texture feature vector of the image can be obtained through the contour and directional texture information in the image using an algorithm, and the shape feature vector of the image can be obtained through another algorithm.

[0153] S240: Image Feature Fusion. The extracted color feature vector, texture feature vector, and shape feature vector are fused using an algorithm or function to obtain a new feature vector, which is then used as the basis for machine learning and classification in a classifier.

[0154] S250: Classification Training Process. The fused new feature vectors are used to train a classifier based on the support vector machine algorithm, and then this classifier is used to classify the preprocessed images.

[0155] S260: Identify whether the preprocessed image after classification is the image of the required area. If yes, pause at that position to acquire multiple frames of images, save and output them. If no, fine-tune the attitude parameters of the capsule endoscope 30 and return to the image acquisition step to repeat the above process.

[0156] Furthermore, in this embodiment, the image information of the capsule endoscope 30 includes, for example, the location information of the capsule endoscope 30 determined by the image location divided according to the upper digestive tract structure. The image location includes, for example, but is not limited to, the esophagus, greater curvature of the stomach, lesser curvature of the stomach, cardia, pylorus, gastric body, gastric fundus, gastric angle and duodenum, thereby linking the location of the capsule endoscope 30 with the image information.

[0157] Furthermore, in embodiments of this application, the state parameters of the magnetic ball 20 include:

[0158] The position vector parameters (X,Y,Z,H,V) represent the position of the magnetic ball 20 relative to the origin on the X, Y, or Z axes, as well as the parallel rotation angle and the vertical rotation angle, respectively, during a single operation.

[0159] and / or velocity vector parameters (V X, V Y V Z V H V V ), where V X V represents the average velocity of the magnetic ball 20 relative to the origin of the coordinate system in the X-axis direction during the duration of a single operation. Y The average velocity, V, of the magnetic ball 20 relative to the origin in the Y-axis direction during the duration of a single operation. Z V represents the average velocity of the magnetic ball 20 relative to the origin in the Z-axis direction during the duration of a single operation. H V represents the average angular velocity of the magnetic ball 20 in the horizontal plane relative to the origin of the coordinate system during the duration of a single operation. V This represents the average vertical rotational angular velocity of the magnetic ball 20 relative to the origin in the vertical plane during the duration of a single operation.

[0160] And / or the magnetic field strength of the magnetic sphere in the X, Y, or Z axes.

[0161] Furthermore, in the embodiments of this application, the attitude parameters of the capsule endoscope 30 include: position vector parameters (α,β,γ), which are respectively represented by the pitch angle, yaw angle and roll angle of the capsule endoscope.

[0162] Furthermore, recording can be started by setting a preset shortcut or hotkey for recording operations, and then clicking the shortcut or hotkey to start recording.

[0163] Furthermore, recording can be ended by clicking a preset shortcut or hotkey, or by deleting the recording record from the generated single-operation block.

[0164] The status parameters of the magnetic ball 20 are realized through the operation information of the control device 10. Its recording function can be realized through an external camera device connected to the interface. The status parameters of the magnetic ball 20 can be monitored and displayed through the connected control device 10. Its operation recording and playback program can be implemented in the form of a plug-in. The two can achieve synchronous processing to complete the recording and storage of data based on the consistency of system time.

[0165] On the other hand, the present invention provides a computer program product applied to the capsule endoscope control system described above. This computer program product is used to implement the playback method of the capsule endoscope control system, as shown in FIG7. The playback method may include the following steps:

[0166] S310: Read the command sequence from the operation log;

[0167] S320: Load the initial status information of the capsule endoscope control system;

[0168] S330: Initialize the status information of the capsule endoscope control system;

[0169] S340: Load the operation record and restore it to the status parameters of the magnetic ball 20, the operation information of the control device 10, the attitude parameters and image information of the capsule endoscope 30;

[0170] Step 350: Perform the corresponding operation at the target position of the control device 10 according to the operation information of the control device 10.

[0171] Before the playback process of the capsule endoscope control system 100, the capsule endoscope control system 100 also includes a recording process, which specifically includes: acquiring the status parameters of the magnetic ball 20, the operation information of the control device 10, and the posture parameters and image information of the capsule endoscope 30 in real time; generating an operation record from the status parameters of the magnetic ball 20, the operation information of the control device 10, and the posture parameters and image information of the capsule endoscope 30, and saving it.

[0172] By recording and playing back the capsule endoscope control system 100, the operability of automated capsule endoscope inspection is improved, and the control accuracy and inspection efficiency of capsule endoscope are enhanced. Furthermore, the repeatability of the recording process and the effectiveness of the inspection results can be taken into account, so as to record and play back the control of experienced operators, thereby effectively improving the training efficiency in professional training.

[0173] In this embodiment, the target position of the control device 10 is used to characterize the position of the magnetic ball 20 and / or the position of the capsule endoscope 30 under its corresponding operation, and the same applies below.

[0174] In a preferred embodiment of the present invention, as shown in FIG8, the step of loading the initial state information of the capsule endoscope control system in S320 may specifically include: parsing the initial state parameters of the magnetic ball 20, the initial setting information of the control device 10, and the initial posture parameters and image information of the capsule endoscope 30 in the single operation program block.

[0175] Furthermore, as shown in Figure 8, the step of loading the operation record in this embodiment may include: obtaining the operation information of the control device 10 in each operation record, as well as the state parameters of the magnetic ball 20 and the attitude parameters and image information of the capsule endoscope 30 during the operation.

[0176] Furthermore, as shown in Figure 10, in S321, parsing the operation information of the control device 10 in the single operation program block may include:

[0177] The analysis control device 10 is used for input and switching operations during keyboard operation, and / or for movement and click events during mouse operation.

[0178] In a preferred embodiment of the present invention, as shown in FIG9, S340 may specifically include the following sub-steps:

[0179] S341: The operation record of the control device 10 under the corresponding state of the state parameters of the magnetic ball 20 and the attitude parameters and image information of the capsule endoscope 30;

[0180] S342: Execute the operation of the control device 10 according to the order of the operation record, and adjust the magnetic ball 20 and capsule endoscope 30 to the corresponding state.

[0181] In this embodiment, following the operation sequence of the control device 10, the state parameters of the magnetic ball 20 and the corresponding posture and position of the capsule endoscope 30 will change. In this step, the aforementioned corresponding state characterizes the state parameters of the magnetic ball 20 and the corresponding posture and position of the capsule endoscope 30 after each operation of the control device 10.

[0182] In a preferred embodiment of the present invention, as shown in FIG11, S350, which executes a corresponding operation at the target position of the control device 10 based on the operation information of the control device 10, may specifically include the following steps:

[0183] Step S351: Analyze the operation information of the control device 10 during operation;

[0184] Step S352: Sequentially acquire the operation information of the control device 10 and the magnetic field change events of the magnetic ball 20;

[0185] Step S353: Based on the setting information of the control device 10 in the obtained operation record and the state parameters of the magnetic ball 20 during operation, execute the operation steps of the control device and the magnetic field change events of the magnetic ball 20 in sequence.

[0186] Specifically, the capsule endoscope control system can complete continuous steps to realize the magnetic field change event of the magnetic ball 20 by parsing and loading multiple single-operation program blocks, or to backtrack on single or several operation steps. During this process, the operation record needs to be converted into an executable command sequence. Each command sequence includes a command type and command parameters. The operation information of the corresponding control device is identified by the command sequence type. Changes in the command parameters are used to change the state parameters of the magnetic ball and the attitude parameters and image information of the capsule endoscope. The command types are divided into the following categories:

[0187]

[0188] It should be noted that, in order to better check the results, T3 type commands can be manually added to the recorded command sequence based on the attitude parameters of the capsule endoscope 30, or the attitude parameters of the capsule endoscope 30 can be saved as independent commands in the operation record data during the recording process.

[0189] For a complete operation log, firstly, based on the system's initial state information, an initialization command is executed to restore the control device 10, magnetic ball 20, and capsule endoscope 30 in the system to their corresponding states before the operation or the final state of the nearest previous record in the time sequence. The type of this instruction can be T1, which is the initial state that the control device 10 needs to reach. Then, a program block is selected, and based on the content of the record and referring to the final state of the nearest previous record in the time sequence, the type and parameters of the instruction after conversion are determined. As listed in the operation code table, the corresponding command type for each operation mode is as follows: M1, M3, M5, and M7 are converted to type T1, using the control device position parameters as command parameters; M2 and M4 are converted to type T2, with the parameter being the incremental value of the rotation of the magnetic ball 20, calculated based on the final state parameters of the current record and the previous record; M6 and M8 are converted to type T3, with the command parameter being the capsule endoscope state parameters in the corresponding record; M9 is converted to type T4, with the parameter being the image position of the corresponding record. This image position is divided according to the upper digestive tract structure, which includes: esophagus, greater curvature of the stomach, lesser curvature of the stomach, cardia, pylorus, gastric body, gastric fundus, gastric angle, and duodenum.

[0190] Playback operation involves executing a pre-recorded command sequence. The operation for each command is as follows: For command type T1, directly operate control device 10 to reach the position specified in the parameters. For command type T2, control magnetic ball 2 to rotate with specified incremental parameters. For command type T3, during execution, the orientation of capsule endoscope 30 needs to be assessed. If the magnetic poles of magnetic ball 20 are vertically upward, the angle of capsule endoscope 30 deviates too much. The action of finding capsule endoscope 30 needs to be performed first, and then the magnetic ball 20 is rotated to control capsule endoscope 30 (lens) to reach the specified orientation. For command type T4, intelligent operation is required in conjunction with the processing unit. First, it automatically determines whether the currently captured image meets the requirements. If it does, it pauses at that position for 1-5 seconds, acquiring multiple frames of images at that position. If it does not meet the requirements, the orientation of capsule endoscope 30 needs to be fine-tuned, and the image position needs to be continuously acquired and identified to ensure it meets the requirements. It should be noted that the execution of each command type is completed independently. During the execution process, there is no need to consider the execution status of other command types. For better backtracking of the operation process, commands of the corresponding types can be executed sequentially or simultaneously to achieve a complete backtracking effect.

[0191] The method for fine-tuning the attitude of the capsule endoscope 30 includes the following steps: In the current attitude, rotate the capsule endoscope 30 vertically by 45 degrees, then vertically by 90 degrees in the opposite direction, and then return to the original attitude; next, rotate the capsule endoscope 30 horizontally by 90 degrees, rotate it vertically by 45 degrees, and then vertically by 90 degrees in the opposite direction. If the image position specified by command type T4 cannot be found during this process, the position of the capsule endoscope 30 can be fine-tuned, and then the attitude of the capsule endoscope 30 can be adjusted.

[0192] Furthermore, in this embodiment, the playback method further includes: determining whether the operation information of the control device 10 is completed normally; if yes, then ending the current program; if no, then prompting the user to re-record. The above determination process can be implemented by existing control algorithms or functions, which will not be elaborated here.

[0193] Furthermore, the steps for determining whether the operation information of the control device 10 is completed normally include: checking whether the initial state parameters of the magnetic ball 20 and the operation information of the control device 10 are loaded; and checking whether the operation information in the operation record is executed.

[0194] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) containing computer-usable program code.

[0195] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0196] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0197] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0198] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0199] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A capsule endoscope control system, characterized in that, include: A magnetic ball, whose position and orientation changes generate a magnetic field change, causing the capsule endoscope to move accordingly; a control device, connected to the magnetic ball, controls the position and orientation changes of the magnetic ball and processes the orientation parameters and image information of the capsule endoscope. During examinations using the capsule endoscope, the control device acquires the state parameters of the magnetic ball and the orientation parameters and image information of the capsule endoscope in real time, and generates an operation record based on the changes in the state parameters of the magnetic ball, the operation information of the control device, and the orientation parameters and image information of the capsule endoscope over time, converting this record into a command sequence and writing it into stored data. The step of acquiring the operation information of the control device in real time includes: acquiring the input and switching operations during the operation of the control device, and / or... The steps for real-time acquisition of the magnetic ball's state parameters include: monitoring magnetic field change events of the magnetic ball; when an event is triggered, acquiring and saving the magnetic ball's position and attitude parameters; and generating and saving operation records, including: saving the magnetic ball's state parameters, the control device's operation information, and the capsule endoscope's attitude parameters and image information corresponding to each operation for generating an operation record; saving the magnetic ball's state parameters, the control device's operation information, and the capsule endoscope's attitude parameters and image information in the same operation program block as a single operation program block; and saving the single operation program block as a single operation program block further includes: saving the start time and end time of the single operation, and / or the duration.

2. The capsule endoscope control system according to claim 1, characterized in that, During the use of the capsule endoscope, the control device reads the stored data and controls the state changes of the magnetic ball and the orientation changes of the capsule endoscope according to the command sequence.

3. The capsule endoscope control system according to claim 1, characterized in that, The stored data includes data files or database records that record time, position parameters, attitude parameters, and image information.

4. The capsule endoscope control system according to claim 1, characterized in that, The control device includes: a drive unit connected to the magnetic ball for changing the state parameters of the magnetic ball; and a processing unit for acquiring and controlling the state parameters of the magnetic ball and the posture parameters of the capsule endoscope, as well as processing the image information of the capsule endoscope and the operation information. The drive unit includes multiple drivers that receive the operation information and control the changes in the state parameters of the magnetic ball.

5. The capsule endoscope control system according to claim 4, characterized in that, The processing unit includes: a control module for setting the state parameters of the magnetic ball and controlling the drive unit to change the state parameters of the magnetic ball; an image processing module for acquiring image information captured by the capsule endoscope in real time and processing the image information to obtain images divided according to the upper digestive tract structure; a calibration module for calibrating the position and orientation of the magnetic ball and / or the position and orientation of the capsule endoscope; a position module for reading the state parameters of the magnetic ball and the orientation parameters of the capsule endoscope in real time; a storage module for generating operation records based on the state parameters of the magnetic ball, the operation information of the control device, and the orientation parameters and image information of the capsule endoscope, and converting the operation records into command sequence codes and writing them into a storage file; and a file management module for reading and editing the storage file.

6. The capsule endoscope control system according to claim 1, characterized in that, The state parameters of the magnetic sphere include: position vector parameters (X, Y, Z, H, V), which represent the position of the magnetic sphere relative to the origin of the coordinate system on the X, Y, or Z axes, as well as the parallel rotation angle and the vertical rotation angle; and / or velocity vector parameters (V... X, V Y V Z V H V V The values ​​(α, β, γ) represent the average velocity of the magnetic ball relative to the origin of the coordinate system in the X, Y, or Z axis directions during the duration of the operation, as well as the average angular velocity of parallel rotation and the average angular velocity of vertical rotation; and / or the magnetic field strength of the magnetic ball in the X, Y, or Z axis directions; the attitude parameters of the capsule endoscope include: position vector parameters (α, β, γ), which represent the pitch angle, yaw angle, and roll angle of the capsule endoscope, respectively.

7. A computer program product, applied to a capsule endoscope control system as described in any one of claims 1-6, characterized in that, include: Start recording and record the start time; Save the initial state information of the capsule endoscope control system; Save the operation log; The recording ends at the end time, and the operation record is converted into a command sequence and written to storage. The step of saving the operation record includes: acquiring the status parameters of the magnetic ball, the operation information of the control device, and the posture parameters and image information of the capsule endoscope in real time; generating an operation record from the status parameters of the magnetic ball, the operation information of the control device, and the posture parameters and image information of the capsule endoscope, and saving it.

8. The computer program product according to claim 7, characterized in that, The step of saving the initial state information of the capsule endoscope control system includes: saving the initial state parameters of the magnetic ball, the initial setting information of the control device, and the initial posture parameters of the capsule endoscope.

9. The computer program product according to claim 8, characterized in that, The steps of saving the state parameters of the magnetic ball and the attitude parameters of the capsule endoscope include: reading and saving the position state of the magnetic ball as position parameters and attitude parameters based on the origin of the magnetic ball's coordinates or the relative origin of the reference coordinates; or reading and saving the position state of the capsule endoscope as position parameters and attitude parameters based on the origin of the capsule endoscope's coordinates or the relative origin of the reference coordinates.

10. The computer program product according to claim 7, characterized in that, The steps for real-time acquisition of image information from the capsule endoscope include: image acquisition, acquiring images captured by the capsule endoscope; image preprocessing, preprocessing the acquired images, selecting valid images, and deleting invalid images; image feature extraction, extracting color features, texture features, and shape features from the valid images; image feature fusion, fusing the extracted color features, texture features, and shape features to obtain new features; classification training, using the fused new features to train a classifier, and using the classifier to classify the preprocessed images; identifying whether the preprocessed image after classification is an image of the required location; if so, acquiring multiple frames of images at this location, saving them, and outputting them; if not, fine-tuning the attitude parameters of the capsule endoscope and returning to the image acquisition step to repeat the above process.

11. The computer program product according to claim 10, characterized in that, The image information of the capsule endoscope includes: image location information determined by dividing the image according to the digestive tract structure, which indicates the location of the capsule endoscope.

12. The computer program product according to claim 7, characterized in that, Before the step of starting recording and recording the start time, the steps include: locating the capsule endoscope, operating the control device to change the magnetic field of the magnetic ball, driving the capsule endoscope to move with the change in magnetic field, acquiring the attitude parameters of the capsule endoscope, and determining whether the capsule endoscope has been found; wherein, the attitude parameters of the capsule endoscope include the triaxial magnetic field strength of the capsule endoscope.

13. The computer program product according to claim 7, characterized in that, The state parameters of the magnetic sphere include: position vector parameters (X, Y, Z, H, V), which sequentially represent the position of the magnetic sphere relative to the origin on the X, Y, or Z axes during a single operation, as well as the parallel rotation angle and the vertical rotation angle; and / or velocity vector parameters (V... X, V Y V Z V H V V The values ​​(α, β, γ) represent the average velocity of the magnetic ball relative to the origin of the coordinate system in the X, Y, or Z axis directions during the duration of a single operation, as well as the average angular velocity of parallel rotation and the average angular velocity of vertical rotation; and / or the magnetic field strength of the magnetic ball in the X, Y, or Z axis directions; the attitude parameters of the capsule endoscope include: position vector parameters (α, β, γ), which represent the pitch angle, yaw angle, and roll angle of the capsule endoscope, respectively.

14. A computer program product, applied to a capsule endoscope control system as described in any one of claims 1-6, characterized in that, include: Read the command sequence from the operation log; Load the initial state information of the capsule endoscope control system; Initialize the status information of the capsule endoscope control system; The operation record is loaded and restored to include the state parameters of the magnetic ball, the operation information of the control device, the posture parameters of the capsule endoscope, and image information. Based on the operation information of the control device, a corresponding operation is performed at the target position of the control device, wherein the target position of the control device characterizes the position of the magnetic ball and / or the position of the capsule endoscope under the corresponding operation. The step of performing the corresponding operation at the target position of the control device based on the operation information of the control device includes: parsing the operation information of the control device; sequentially acquiring the operation information of the control device and the magnetic field change events of the magnetic ball; and, based on the setting information of the control device in the acquired operation record and the state parameters of the magnetic ball during the operation, sequentially executing the operation steps of the control device and the magnetic field change events of the magnetic ball.

15. The computer program product according to claim 14, characterized in that, The step of loading the initial state information of the capsule endoscope control system includes: parsing the initial state parameters of the magnetic ball, the initial setting information of the control device, and the initial posture parameters and image information of the capsule endoscope in the single operation program block.

16. The computer program product according to claim 15, characterized in that, The steps for parsing the operation information of the control device in a single operation program block include: parsing the input and switching operations during the operation of the control device, and / or the movement and click events during the operation.

17. The computer program product according to claim 14, characterized in that, The steps of restoring the loading operation record into the state parameters of the magnetic ball, the operation information of the control device, the posture parameters of the capsule endoscope, and the image information include: parsing the operation record of the control device under the corresponding states of the state parameters of the magnetic ball and the posture parameters of the capsule endoscope and the image information; executing the operation of the control device according to the order of the operation record, and adjusting the magnetic ball and the capsule endoscope to the corresponding states.

18. The computer program product according to claim 14, characterized in that, Also includes: Determine whether the operation information of the control device is completed normally during operation; If so, then terminate the current program; If not, prompt the user to re-record.

19. The computer program product according to claim 18, characterized in that, The step of determining whether the operation information during the operation of the control device is completed normally further includes: checking whether the initial state parameters of the magnetic ball and the operation information during the operation of the control device have been loaded; and checking whether the operation information in the operation record has been executed.

Images