Thermal image endoscope system, abnormal region display method and display device thereof, and thermal image processing computer

Abstract

The present application discloses a thermal image endoscope system, an endoscope catheter thereof, an abnormal area judgment method and display device thereof, and a thermal image processing computer thereof. The thermal image endoscope system comprises a thermal image endoscope catheter and a control device. The thermal image endoscope catheter comprises a tube body, a thermal image capturing assembly, a treatment element and a linkage element. One end of the thermal image capturing assembly and the treatment element is located at the head of the tube body. The thermal image capturing assembly is used to capture thermal images from the camera area and convert them into image signals. The linkage element is located in the tube body and connected to the head. The control device comprises a receiving element, a driving element, a light guide assembly and a controller. The driving element is connected to the linkage element. The light guide assembly comprises a light guide and a gate. The controller actuates the driving element to make the linkage element move the head according to the treatment command received by the receiving element, and actuates the gate to selectively couple or not couple the light guide to the treatment element. The controller receives and outputs the image signals.

Description

TECHNICAL FIELD

[0001] The present invention relates to an endoscope system, in particular, an endoscope system capable of acquiring thermal images of tissue and / or selectively treating abnormal tissue. BACKGROUND

[0002] Endoscopes generally include an endoscope catheter and a visible light source. During some surgical procedures, the endoscope uses the visible light source to illuminate tissue in the human body and a contrast agent as a foreign substance to produce fluorescence differences in tissue through cell metabolic differences to assist in identifying abnormal tissue in the human body. With the advancement of technology, some endoscopes begin to cooperate with tumor ablation devices, which require users to manually control the position of the ablation device to align with the abnormal tissue for ablation.

[0003] The present inventor designs an endoscope system to avoid the use of a contrast agent, which increases the burden on human tissue, and to avoid the situation where the endoscope cannot detect abnormal tissue in the visible light wavelength band due to no obvious color change in the tissue. At the same time, the inventor needs to ensure that the abnormal tissue can be objectively and accurately aimed and that the user can conveniently ablate the abnormal tissue. SUMMARY

[0004] In view of the above needs of the present inventor, the present invention provides a thermal image endoscope system. According to an embodiment, the thermal image endoscope system includes a thermal image endoscope catheter and a control device. The thermal image endoscope catheter includes a tube, a thermal image acquisition component, a treatment element, and a linkage element. The tube has a head at one end. The thermal image acquisition component is located at the head and is used to acquire thermal images from an imaging area and convert them into image signals. The thermal image acquisition component has an imaging area. The treatment element is located inside the tube, and one end of the treatment element is located at the head. The treatment element has a treatment area, which is located inside the imaging area. The linkage element is located inside the tube and is connected to the head. The control device includes a receiving element, a driving element, a light guide component, and a controller. The receiving element is used to receive a treatment command. The driving element is connected to the linkage element. The light guide component includes a light guide and a gate. The light guide includes an input end and an output end. The gate is actuated to selectively couple and decouple the output end of the light guide to the treatment element. The controller is used to receive and output image signals. The controller actuates the driving element to make the linkage element move the head and actuates the gate according to the treatment command.

[0005] In some embodiments, the thermal image endoscope system includes a computer. The computer includes a display, an input element, and a processor. The input element is used to receive an input signal. The processor causes the display to display a visual image according to the image signal. The processor outputs a treatment command according to the input signal.

[0006] In some embodiments, the thermal imaging endoscope system includes a laser device. The laser device includes a light emitting tube. The light emitting tube is coupled to an input end of the light guide. When the laser device is actuated, the laser is emitted from the light emitting tube.

[0007] The present disclosure also provides a thermal imaging endoscope catheter. According to an embodiment, the thermal imaging endoscope catheter includes a tube, a thermal image capturing assembly, a treatment element, and a linkage element. The tube has a head at one end and a connection at the other end. The thermal image capturing assembly is located at the head and is configured to capture a thermal image from an imaging area and convert the thermal image into an image signal for output from the connection. The thermal image capturing assembly has the imaging area. The treatment element includes a treatment head and an optical fiber. The optical fiber is located within the tube and the treatment head is located at the head. The optical fiber has one end at the connection and the other end coupled to the treatment head. The treatment element has a treatment area, which is located within the imaging area. The linkage element is located within the tube and is connected to the head. When the linkage element is actuated, the head of the tube is actuated.

[0008] The present disclosure also provides a thermal image abnormal area determination method. According to an embodiment, the thermal image abnormal area determination method includes receiving a visual image. The visual image includes a plurality of thermal sensing points arranged in two dimensions, each thermal sensing point having a respective temperature. An average temperature is obtained based on the temperatures. It is determined whether the temperatures of adjacent thermal sensing points are respectively higher than a predetermined temperature difference from the average temperature. If so, the adjacent thermal sensing points are determined as an abnormal area.

[0009] The present disclosure also provides a thermal image abnormal area display device. According to some embodiments, the thermal image abnormal area display device includes a receiving module, a processing module, and a display module. The receiving module is configured to receive a visual image. The visual image includes a plurality of thermal sensing points arranged in two dimensions, each thermal sensing point having a respective temperature. The processing module is configured to obtain an average temperature based on the temperatures, determine whether the temperatures of adjacent thermal sensing points are respectively higher than a predetermined temperature difference from the average temperature, and determine the adjacent thermal sensing points as an abnormal area if so. The display module is configured to display the visual image and the abnormal area.

[0010] The present disclosure also provides a thermal image processing computer. According to some embodiments, the thermal image processing computer includes a display and a processor. The processor is configured to receive an image signal corresponding to a visual image. The visual image includes a plurality of thermal sensing points arranged in two dimensions, each thermal sensing point having a temperature. An average temperature is obtained based on the temperatures. It is determined whether the temperatures of adjacent thermal sensing points are respectively higher than a predetermined temperature difference from the average temperature. If so, the adjacent thermal sensing points are determined as an abnormal area. The display is controlled to display the thermal visual image and the abnormal area.

[0011] The specific features and advantages of the present application are described in detail in the following embodiments, which are sufficient to enable any person skilled in the relevant art to understand the technical content of the present application and to implement it, and any person skilled in the relevant art can easily understand the related purposes and advantages of the present application according to the content disclosed in the specification, the scope of claims and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 A perspective view of a thermal image endoscope system according to some embodiments.

[0013] Figure 2 A control device structure diagram of a thermal image endoscope system according to some embodiments.

[0014] Figure 3 A partial cross-sectional view of a thermal image endoscope catheter according to some embodiments.

[0015] Figure 4 A head end surface view of a thermal image endoscope catheter according to some embodiments.

[0016] Figure 5 A head and camera area and treatment area diagram according to some embodiments.

[0017] Figure 6 A visual image diagram according to some embodiments.

[0018] Figure 7A A flowchart of an abnormality marking process of a visual image according to some embodiments.

[0019] Figure 7B A visual image diagram (one) showing an abnormality marking process according to some embodiments.

[0020] Figure 7C A visual image diagram (two) showing an abnormality marking process according to some embodiments.

[0021] Figure 7D A visual image diagram (three) showing an abnormality marking process according to some embodiments.

[0022] Figure 8 A flowchart of a thermal image abnormality area determination method according to some embodiments.

[0023] Figure 9 A functional block diagram of a thermal image abnormality area display device according to some embodiments.

[0024] Figure 10 A functional block diagram of a thermal image processing computer according to some embodiments.

[0025] Figure 11 An abnormal region determination step of a processor of a thermal image processing computer according to some embodiments.

[0026] Wherein the reference signs:

[0027] 10: thermal image endoscope catheter

[0028] 12: tube body

[0029] 120: head

[0030] 122: connecting portion

[0031] 13: metal collar

[0032] 14: thermal image capturing assembly

[0033] 16: treatment element

[0034] 160: treatment head

[0035] 162: optical fiber

[0036] 18: linkage element

[0037] 20: control device

[0038] 22: receiving element

[0039] 24: driving element

[0040] 26: light guide assembly

[0041] 260: light guide

[0042] 262: input end

[0043] 264: output end

[0044] 266: shutter

[0045] 27: remote lever

[0046] 28: controller

[0047] 30: computer

[0048] 32: display

[0049] 34: input element

[0050] 36: processor

[0051] 40: laser device

[0052] 400: light outlet tube

[0053] 50: thermal image abnormal region display device

[0054] 500: receiving module

[0055] 520: processing module

[0056] 540: display module

[0057] 60: thermal image processing computer

[0058] 600: display

[0059] 620: processor

[0060] A, A34, A43, A44, A45, A54: thermal sensing point

[0061] D1: predetermined distance

[0062] R1: imaging area

[0063] R2: treatment area

[0064] R3, R4: abnormal area

[0065] P1: central position

[0066] P2: treatment position

[0067] P3: abnormal area

[0068] S10-S14, S140-S144, S20-S24, S80-S82: steps DETAILED DESCRIPTION

[0069] Please refer to Figure 1 and Figure 3 , Figure 1 is a perspective view of a thermal image endoscope system according to some embodiments, Figure 3 is a partial cross-sectional view of a thermal image endoscope catheter according to some embodiments. The thermal image endoscope system includes a thermal image endoscope catheter 10 and a control device 20. When used by a user, one end of the thermal image endoscope catheter 10 can be inserted into a human body, and through the control of the control device 20, the imaging area of the thermal image capturing assembly 14 of the thermal image endoscope catheter 10 can be controlled in the human body. In some embodiments, the thermal image endoscope system further includes a computer 30, which includes a display 32 that displays the image signal captured by the thermal image capturing assembly 14 from the imaging area as a visual image for the user to view. In some embodiments, the thermal image endoscope system further includes a laser device 40. When the laser device 40 is actuated, it is used to emit laser light. When the user observes an abnormal tissue in the visual image, the laser device 40 can be driven to emit laser light to ablate the abnormal tissue through the treatment element 16 of the thermal image endoscope catheter 10.

[0070] Please refer toFigures 1 to 5 , Figure 2 This is a schematic diagram of the control device structure of a thermal imaging endoscope system according to some embodiments. Figure 4 A schematic diagram of the head end face of a thermal imaging endoscopic catheter according to some embodiments. Figure 5 Based on some implementation diagrams of the head, imaging area, and treatment area, the thermal imaging endoscope system includes a thermal imaging endoscope catheter 10 and a control device 20. The thermal imaging endoscope catheter 10 includes a tube body 12, a thermal image acquisition component 14, a treatment element 16, and a linkage element 18. One end of the tube body 12 has a head 120 (see...). Figure 1 The thermal image capturing component 14 is located at the head 120 of the tube body 12. When the head 120 enters the human body to capture thermal images, the thermal image capturing component 14 captures images from the imaging area R1 (see...). Figure 5 The thermal image is captured and converted into an image signal. The processing element 16 is located within the tube body 12, and the processing element 16 (see...) Figure 3 One end of the treatment element 16 is located at the head 120. The treatment element 16 has a treatment area R2 (see...). Figure 5 The treatment area R2 is located within the camera area R1, such as... Figure 5 As shown. The linkage element 18 is located inside the tube body 12 and connected to the head 120, as shown. Figure 3 and Figure 4 As shown. The control device 20 includes a receiving element 22, a driving element 24, a light guide assembly 26, and a controller 28. The receiving element 22 is used to receive processing commands from the computer 30 (described in detail later). The driving element 24 is connected to the linkage element 18. The light guide assembly 26 includes a light guide 260 and a gate 266. The light guide 260 includes an input terminal 262 and an output terminal 264. The input terminal 262 can receive a light source from the laser device 40, while the output terminal 264 is connected to the processing element 16. The gate 266 is actuated to selectively couple or decouple the output terminal 264 of the light guide 260 to the processing element 16. For example, when the gate 266 is open, the laser source can be coupled from the light guide 260 to the processing element 16 via the output terminal 264. When the gate 266 is closed, the light source is blocked by the gate 266 at the light guide 260 and will not reach the processing element 16. An optical connector can be added to the gate 266 to achieve optical coupling. The controller 28 actuates the drive element 24 according to the processing command, so that the linkage element 18 actuates the head 120 and actuates the gate 266.

[0071] Therefore, when a user inserts the head 120 of the thermal imaging endoscope catheter 10 into the human body, the angle of the head 120 can be adjusted by the control device 20, which in turn drives the linkage element 18 via the drive element 24, thereby adjusting the position of the imaging area R1 of the thermal image acquisition component 14 (explained later).

[0072] In some embodiments, the tube 12 has a head 120 at one end and a connection 122 at the other end. The connection 122 is connected to the control device 20. When the connection 122 is connected to the control device 20, it serves to electrically connect the thermal image capturing assembly 14 to the control device, connect the linkage element 18 to the driving element 24, and connect the treatment element 16 to the light guide 260. The connection 122 can be a commonly known connector or a specially designed connector.

[0073] Please refer to Figure 3 In some embodiments, the thermal image endoscope catheter 10 includes a metal collar 13. The metal collar 13 is located at the head 120 of the tube 12 and serves to fix the thermal image capturing assembly 14 and one end of the treatment element 16, so that the thermal image capturing assembly 14 and the treatment element 16 maintain a fixed relative position at the head 120 of the tube 12. Since different models, focal lengths, and view angles of the thermal image capturing assembly 14 can be used, and different sizes and treatment depths of the treatment element 16 can be used, the relative position of the thermal image capturing assembly 14 and the treatment element 16 is not necessarily a certain distance, but is determined by the lens diameter of the thermal image capturing assembly 14, the size of one end of the treatment element 16, and the diameter (thickness) of the tube 12. For example, if the lens diameter of the thermal image capturing assembly 14 used is 5 millimeters (mm), the diameter of the treatment element 16 at one end of the head 120 is 1.8 millimeters, and the diameter of the cross section of the tube 12 is 10 millimeters, the relative position of the thermal image capturing assembly 14 and the treatment element 16 (i.e., the distance between the center of the lens of the thermal image capturing assembly 14 and the center of the treatment element 16) can be 3.6 millimeters. The thermal image capturing assembly 14 and the treatment element 16 maintain a fixed relative position to facilitate the calculation of the rotation angle of the driving element 24.

[0074] Please refer to Figure 5 The imaging area R1 of the thermal image capturing assembly 14 is the focal length area of the thermal image capturing assembly 14, that is, the thermal image captured in the focal length area is clearer. Similarly, the treatment area R2 of the treatment element 16 refers to the focal length area (e.g., the focal length area of the laser used to treat the tissue) of the treatment element 16 when treating the tissue. The imaging area R1 and the treatment area R2 have a predetermined distance D1, which can be but is not limited to the distance between the center of the imaging area R1 and the center of the treatment area R2. The purpose of the predetermined distance D1 will be described later.

[0075] Please refer to Figure 2 and Figure 3 In some embodiments, the thermal image endoscope catheter 10 includes a plurality of linkage elements 18, such as but not limited to Figure 2The embodiment includes four linkage elements 18. Each linkage element 18 can be a traction wire, and its material can be shape memory metal. One end of each linkage element 18 is connected to the drive element 24, and the other end is connected to the head 120 of the tube body 12 of the thermal imaging endoscope catheter 10. Figure 4 As can be seen, the four linkage elements 18 are connected at the quarter points of the head 120 (i.e., each approximately 90 degrees apart). Figure 2 , Figure 3 and Figure 4 In this embodiment, the drive element 24 is exemplified by a dual-axis motor, and the linkage element 18 is exemplified by four traction lines. The dual-axis motor may include an X-axis and a Y-axis. One end of each of the two linkage elements 18 is connected to the X-axis of the dual-axis motor, and the other end is connected to... Figure 4 Located at 90 degrees and 270 degrees of the head 120. One end of the other two linkage elements 18 is connected to the Y-axis of the dual-axis motor, and the other end is connected to... Figure 4 Located at 0° and 180° positions of the head 120. Dual-axis motors control the speed and / or rotation angle of the X-axis and / or Y-axis respectively. Therefore, when the X-axis of drive element 24 is driven to traction... Figure 4 When the two linkage elements 18 are located at 90 degrees and 270 degrees, the head 120 will face... Figure 4 The oscillation occurs in the +X or -X direction; similarly, when the drive element 24 is driven to traction... Figure 4 When the two linkage elements 18 are located at the 0-degree and 180-degree positions, the head 120 will face... Figure 1 The head 120 can oscillate in the +Y or -Y direction. Therefore, the controller 28 can rotate the head 120 in the +X, -X, +Y, and / or -Y directions according to a processing command. In some embodiments, the drive element 24 is, but is not limited to, a dual-axis motor, a servo motor, or a stepper motor.

[0076] Please refer to Figure 6 In some embodiments, the control device 20 includes a joystick 27, which can be controlled by a user to control the rotation angle of the head 120 of the thermal imaging endoscope catheter 10. The joystick 27 can be a joystick that provides two-dimensional input. The joystick 27 is coupled to the controller 28. After the user inputs a direction command through the joystick 27, the joystick 27 transmits the corresponding signal to the controller 28. The controller 28 then controls the drive element 24 to cause the linkage element 18 to move the head 120.

[0077] In the above embodiments, the thermal image acquisition component 14 can be used to detect human body thermal radiation, such as an infrared imaging component. The infrared imaging component can detect wavelengths of 7.5–14 micrometers (μm), while the infrared radiation emitted by the human body is between 8 and 12 micrometers. Abnormal tissues and normal tissues in the human body exhibit differences in metabolic and behavioral characteristics, resulting in regional temperature differences in abnormal tissues. Therefore, the temperature of human tissues can be obtained through the thermal image acquisition component 14 to determine whether abnormal tissues are present. Besides the infrared imaging component, other thermal image components whose receiving wavelengths cover the range of thermal radiation can achieve this effect. Since the thermal radiation of the human body itself is used as the detection target of the thermal image acquisition component 14, no developing agent is needed to increase the burden on the body. The thermal image acquisition component 14 is primarily selected based on its small size but large field of view. Furthermore, thermal image acquisition components 14 capable of outputting images with different spatial resolutions can be installed according to user needs. Spatial resolution affects the clarity of images of abnormal tissues. When detecting abnormal tissues in the human body, a higher spatial resolution allows the thermal imaging endoscopy system to identify smaller abnormal tissues and obtain more precise measurements of those abnormal tissues. For example, using the thermal image acquisition component 14 with a spatial resolution of 10–20 micrometers, precise readings at the scale of cancer cells can be observed, thereby achieving the effect of detecting abnormal tissues such as cancer cells. The thermal imaging endoscopy system can be applied to the detection of the human abdominal cavity and upper and lower digestive tracts. It can be directly inserted into the abdominal cavity during abdominal surgery for image assistance, and can also be used for the detection of the upper and lower digestive tracts, as well as for postoperative monitoring.

[0078] In some embodiments, the thermal imaging endoscopy system may include a computer 30. The computer 30 includes a display 32, an input element 34, and a processor 36. The input element 34 is used to receive input signals. The processor 36, based on the image signals, causes the display 32 to display visual images. The processor 36 outputs processing commands based on the input signals. In some embodiments, the computer 30 is coupled to a receiving element 22, for example, but not limited to, via a USB connection. The thermal image capturing component 14 captures thermal images from the imaging area R1 and converts them into image signals, which are then transmitted to the processor 36 via the control device 20. The control device 20 can transmit image signals to the computer 30 via wired or wireless means.

[0079] The processor 36 causes the display 32 to display a visual image based on the image signal. The visual image may include, but is not limited to, images such as... Figure 6 The visual image shown is intended to allow users to intuitively identify the presence of abnormal tissue. In some embodiments, the visual image displays different colors for different temperatures; alternatively, abnormal tissue can be presented in a prominent manner to provide users with intuitive identification of abnormal areas. Figure 6 For example, in the implementation example, Figure 6The normal temperature tissue is presented in a lighter gray color, while the abnormal temperature tissue is presented in a darker gray color. The visual image includes a plurality of thermal sensing points A arranged in two dimensions, each thermal sensing point A having a respective temperature corresponding to the temperature of the area of tissue. The visual image maps the imaging area Rl of the thermal image capturing assembly 14, and thus each thermal sensing point A of the visual image corresponds to a respective tissue point of the imaging area Rl, and the temperature of each thermal sensing point A corresponds to the temperature of the respective tissue point. The processor 36 can also determine the size of the abnormal area based on the number of thermal sensing points A and the area of the respective tissue points corresponding to the thermal sensing points A, and mark the size of the abnormal area in the visual image, such as Figure 6 the size of the area in the darker gray color is 10 mm.

[0080] Please refer to Figures 7A to 7D In some embodiments, the processor 36 performs an abnormal marking process on the image signal, so that the display 32 can selectively display abnormal markings on the visual image. The selectivity means that when the processor 36 determines that there is an abnormal area in the partial tissue of the human body captured by the thermal image capturing assembly 14, the display 32 displays the area in the abnormal marking manner; if the processor 36 does not detect an abnormal area, no abnormal marking is marked in the visual image. The abnormal marking in the visual image is not limited to one, and multiple abnormal markings can be displayed at the same time.

[0081] For the foregoing abnormal marking process, please refer to Figure 7A , Figures 7B to 7D Fig. 8 is a flowchart of an abnormal marking process of a visual image according to some embodiments. Figure 7B Figs. 9(a), 9(b), and 9(c) are schematic diagrams of visual images according to some embodiments, respectively, showing the abnormal marking process. The abnormal marking process is performed by the controller 28, and the abnormal marking process includes:

[0082] Step S80: determining whether there is an abnormal area, the abnormal area including adjacent thermal sensing points A and the temperatures of the adjacent thermal sensing points A being greater than a predetermined temperature difference from the average temperature; and

[0083] Step S82: in response to the abnormal area, determining whether the abnormal area is less than or equal to an upper limit size, and if so, marking the abnormal area as an abnormal marking. That is, when the abnormal area exists and one size of the abnormal area is less than or equal to the upper limit size, the thermal sensing points A in the abnormal area are marked as an abnormal marking, and the processor 36 controls the display 32 to display the abnormal marking on the visual image.

[0084] In some embodiments, the abnormal area includes two or more adjacent thermal sensing points A, and the temperatures of the thermal sensing points A are greater than a predetermined temperature difference from the temperatures of other thermal sensing points A around the thermal sensing points A. For example, in Figure 7CThe temperature of the heat-sensitive point A 44 and the temperature of the other heat-sensitive points A 45 around it have a temperature difference, which is greater than a predetermined temperature difference, and the heat-sensitive points A 44 , 45 are adjacent to each other, so the processor 36 determines that the heat-sensitive points A 44 and A 45 are abnormal regions when executing step S80 of the abnormality marking process. Similarly, please refer to Figure 7D , the temperatures of the heat-sensitive points A 34 , A 43 , A 44 , A 45 and A 54 and the temperatures of the other heat-sensitive points A around them have a temperature difference, which is greater than a predetermined temperature difference, and the heat-sensitive points A 34 , 43 , 44 , 45 , 54 are adjacent to each other, so the processor 36 determines that the heat-sensitive points A 34 , 43 , 44 , 45 , 54 are abnormal regions when executing step S80 of the abnormality marking process. Please refer to Figure 7B , although the temperature of the heat-sensitive point A 44 and the temperatures of the other heat-sensitive points A around it have a temperature difference, which is greater than a predetermined temperature difference, there are no other heat-sensitive points A around the heat-sensitive point A 44 that have a temperature difference greater than the predetermined temperature difference, so the heat-sensitive point A 44 is not determined to be an abnormal region when the processor 36 executes step S80 of the abnormality marking process. The aforementioned predetermined temperature difference can be, but is not limited to, 3°C. Generally, the temperature difference between the temperature of an adjacent heat-sensitive point A and the average temperature of the other heat-sensitive points A is higher than 3°C, so the adjacent heat-sensitive point A can be determined to be an abnormal tissue. This abnormal tissue can be a tumor in the early stage or a small tumor (the temperature is higher than the average temperature by 3°C), or a fishbone or other foreign matter (the temperature is lower than the average temperature by 3°C).

[0085] In some embodiments, the visual image displays different temperatures in different colors, Figure 7C the heat-sensitive points A 44 and A 45 are displayed in gray, and the other heat-sensitive points A are displayed in white, so the user can visually determine which points have abnormal temperatures. Figure 7D and Figure 7BThe same applies, and will not be repeated. In some embodiments, the processor 36 performs the judgment of step S80 to obtain the abnormal region, and does not mark the abnormal region. Only after step S82 is performed, the abnormal region is marked.

[0086] In some embodiments, the upper limit size of step S82 can be the size of the abnormal tissue suitable for treatment by the treatment element 16. The upper limit size is, but not limited to, 10 millimeters. When the abnormal region exists and the size of the abnormal region is less than or equal to the upper limit size, the processor 36 marks some of the heat-sensitive points A in the abnormal region as abnormal marks. The processor 36 controls the display 32 to display the abnormal marks on the visual image (as shown in Figure 7C and Figure 7B The dashed box in Figure 7C , Figure 7D and Figure 7B indicates the abnormal region R3 and the abnormal region R4). In some embodiments, the processor 36 displays each heat-sensitive point A of the visual image according to its temperature, that is, the user can determine the temperature-abnormal heat-sensitive point A from the color of each heat-sensitive point A, as shown in Figure 7C and Figure 7D . The processor 36 also marks the abnormal marks with a dashed box, as shown in Figure 5 and . The heat-sensitive point A44 in

[0087] is only a temperature-abnormal heat-sensitive point A, and has no abnormal mark.

[0087] The aforementioned size of the abnormal tissue suitable for treatment by the treatment element 16 is related to the treatment element 16 and the treatment temperature. For example, when a pulsed laser of Nd:YAG 1,064 nanometer (nm) wavelength is selected as the laser source connected to the treatment element 16, and the treatment temperature is about 50°C, when the size of the tissue is greater than 10 millimeters, the treatment time will be too long and the temperature of the tissue to be treated will be too high. Therefore, 10 millimeters is used as the upper limit size.

[0088] The input element 34 can be used to receive an input signal from the user. For example, when the user learns from the visual image that there is an abnormal mark and wants to treat the abnormal tissue corresponding to the abnormal mark, the user can issue an instruction (input signal) to treat the abnormal tissue through the input element 34. The aforementioned input element 34 is, for example but not limited to, a keyboard. The processor 36 outputs a treatment command according to the input signal. The controller 28 receives the treatment command through the receiving element 22 and moves the head 120 and opens the gate 266 according to the treatment command. The treatment command can include a moving instruction, an opening or closing gate instruction, and / or a length of irradiation time instruction.

[0089] Figure 7B Regarding the treatment command, please refer to Figure 7B and Figure 5 In some embodiments, the visual image in Figure 4The camera area R1 is defined as follows: the visual image may correspond to a portion of the camera area R1, such as, but not limited to, the largest rectangular area in the camera area R1. The center point of the camera area R1 corresponds to the central position P1 of the visual image, and the processing area R2 corresponds to the processing position P2 of the visual image. The predetermined distance D1 between the camera area R1 and the processing area R2 corresponds to the distance between the central position P1 and the processing position P2. When an abnormal area R3 exists and the input signal is an automatic processing command, the processor 36 will generate a processing command based on the central position P1, the processing position P2, and the abnormal indicator. The processing command includes movement parameters and time parameters. The movement parameter may be the swing angle of the head 120. The controller 28 actuates the drive element 24 according to this movement parameter, causing the linkage element 18 connected to the drive element 24 to pull the head 120 to adjust to a certain angle (i.e., the head 120 moves along the axis of the head 120). Figure 1 The processor 36 rotates in the +X, -X, +Y, and / or -Y directions to align the treatment position P2 with a point in the abnormal region R3 (e.g., but not limited to the upper left corner P3 of the abnormal region R3), and then moves and scans along the X or Y direction from this point until the treatment position P2 has traversed the entire abnormal region R3. Since the predetermined distance D1 between the imaging area R1 and the treatment area R2 corresponds to the distance between the central position P1 and the treatment position P2, the processor 36 can calculate how much distance and angle the treatment element 16 needs to move to align the treatment area R2 with the abnormal region R3. The time parameter is the time required for the abnormal tissue to be ablated, calculated by the processor 36. The calculation of the time parameter requires reference to the size of the abnormal region and the laser power parameter. In some embodiments, the user can input the power of the laser used at the input element 34, and the computer 30 can then calculate the corresponding time parameter. The controller 28 first actuates the drive element 24 to move the head 120 according to the movement parameters. After the treatment area R2 is aligned with the abnormal area R3, the controller 28 actuates the gate 266 to optically couple the output end 264 of the light guide 260 with the treatment element 16. At this time, the laser output by the treatment element 16 can ablate the abnormal tissue in the abnormal area R3. After the time parameter expires, the controller 28 actuates the gate 266 to close, thereby stopping the ablation of the abnormal tissue in the abnormal area R3. In this embodiment, the laser device 40 is manually activated, that is, when the user inputs the automatic treatment command, the laser device 40 is manually turned on to emit laser light.

[0090] In some embodiments, after the processing element 16 stops ablation of the abnormal area, the controller 28 will actuate the drive element 24 according to the movement parameters to cause the linkage element 18 to pull the head 120 to adjust by a certain angle. The adjustment angle and displacement value remain unchanged, but the adjustment direction is opposite to the original direction, so that the thermal image capturing component 14 can recapture the thermal image of the processed abnormal area to determine whether the abnormal area still exists.

[0091] In some embodiments, the thermal imaging endoscope system comprises a laser device 40, such as a 532 nm waveband of Nd:YAG laser, a 532 nm waveband of KTP laser, a 2,940 nm waveband of Er:YAG laser, or a diode laser of 800-980 nm. The laser device 40 comprises a light pipe 400. The light pipe 400 is coupled to the input end 262 of the light guide 260. When the laser device 40 is actuated, a laser source is emitted from the light pipe 400 to the input end 262. The laser device 40 can be manually turned on by the user or actuated by the controller 28 according to a treatment command.

[0092] In some embodiments, when the input signal is an automatic treatment instruction, the processor 36 generates a treatment command. The controller 28 actuates the laser device 40 before actuating the shutter 266 to couple the output end 264 of the light guide 260 to the treatment element 16 according to the treatment command. In this way, when the controller 28 controls the shutter 266 to open, a laser source can be irradiated to the treatment area R2 via the light pipe 400, the light guide 260, and the treatment element 16.

[0093] In some embodiments, when the input signal received by the input element 34 is an automatic movement instruction, the processor 36 generates a movement parameter according to the central position PI, the treatment position P2, and the abnormality indication. The movement parameter is an angle of oscillation of the head 120. The controller 28 actuates the driving element 24 to oscillate according to the movement parameter, so that the linkage element 18 connected to the driving element 24 pulls the head 120 to adjust by a certain angle, thereby aligning the treatment area R2 to the abnormality area.

[0094] Please refer to Figure 3 , the thermal imaging endoscope system can comprise a laser device 40, which comprises a light pipe 400. The light pipe 400 is coupled to the input end 262 of the light guide 260. When the laser device 40 is actuated, a laser source is emitted from the light pipe 400 to the input end 262.

[0095] In some embodiments, the user has aligned the treatment area R2 to the treatment position P2 by the joystick 27 of the controller 28, so the user can only use the input element 34 to perform a treatment action. When the input signal received by the input element 34 is a manual treatment instruction, the controller 28 actuates the shutter 266 to optically couple the output end 264 of the light guide 260 to the treatment element 16 according to the manual treatment instruction. When the laser device 40 is turned on, a laser source can be irradiated to the abnormality area via the light pipe 400, the light guide 260, and the treatment element 16.

[0096] In some embodiments, when the input signal is a manual stop instruction, the controller 28 actuates the shutter 266 to stop the output end 264 of the light guide 260 from being optically coupled to the treatment element 16 according to the manual treatment instruction, i.e. even if the laser device 40 is turned on, the laser source cannot irradiate the abnormal region to stop the ablation of the abnormal tissue.

[0097] In some embodiments, the laser device 40 can also be actuated by the controller 28, when the controller 28 has aligned the treatment region R2 to the abnormal region according to the movement parameters, and the input signal is a manual treatment instruction, the controller 28 actuates the laser device 40; when the input signal is a manual stop instruction, the controller 28 does not actuate the laser device 40. Thus, the laser device 40 can be turned on or off according to the manual treatment instruction and the manual stop instruction. If the selected laser device 40 is a laser device 40 with a non-fixed wavelength of the light source, when the controller 28 actuates the laser device 40, the power of the light source of the laser emitted by the laser device 40 can also be adjusted according to the power parameters, the laser is set and started at a predetermined power to meet the user's needs and achieve the effect of ablation of the abnormal tissue.

[0098] In some embodiments, the controller 28 first actuates the driving element 24 to move the head 120 according to the movement parameters, and then actuates the shutter 266 to optically couple the output end 264 of the light guide 260 to the treatment element 16, at this time the laser output by the treatment element 16 can ablate the abnormal tissue of the abnormal region. After the time parameters are over, the controller 28 actuates the shutter 266 to close to stop the ablation of the abnormal tissue of the abnormal region.

[0099] In some embodiments, if the abnormal region exists and its size is greater than the upper limit size, the processor 36 takes these heat-sensitive points A in the abnormal region as another abnormal mark. The other abnormal mark is different from the abnormal mark when the size is less than the upper limit size, for example, it can be a solid line frame, so that the user can intuitively identify whether the abnormal region is greater than the upper limit size. The processor 36 also controls the display 32 to display another abnormal mark on the visual image, and records the position and size of the abnormal region, so that the user can process the abnormal tissue in other ways. In some embodiments, the upper limit size of the abnormal region can be 10 millimeters.

[0100] Please refer to Figure 3 , Figure 8Figure 1 is a cross-sectional view of a thermal image endoscope catheter according to some embodiments. The thermal image endoscope catheter 10 includes a tube 12, a thermal image capturing assembly 14, a treatment element 16, and a linkage element 18. The tube 12 has a head 120 at one end and a connection 122 at the other end. The thermal image capturing assembly 14 is located at the head 120. When the head 120 is inserted into a human body for thermal image capturing, the thermal image capturing assembly 14 captures thermal images from an image capturing area Rl and converts the thermal images into image signals which are outputted from the connection 122. The treatment element 16 includes a treatment head 160 and an optical fiber 162. The treatment head 160 is located at the head 120, and the optical fiber 162 is located in the tube 12. One end of the optical fiber 162 is located at the connection 122, and the other end is coupled to the treatment head 160. The treatment element 16 has a treatment area R2 which is located in the image capturing area Rl. The linkage element 18 is located in the tube 12 and is connected to the head 120. When the linkage element 18 is actuated, the head 120 of the tube 12 is actuated.

[0101] In some embodiments, the thermal image endoscope catheter 10 can be used as a disposable catheter of an endoscope system. A user can manually push the tube 12 with the head 120 into a region of a human body where thermal image detection is needed. In some embodiments, the user can use a controller 28 to actuate the driving element 24 to make fine adjustments to the head 120. The controller 28 can also be connected to a computer 30, and the user can input movement instructions on the computer 30 to cause the controller 28 to actuate the driving element 24.

[0102] Referring to Figure 8 , Figure 7C Figure 2 is a flow chart of a method for determining abnormal regions of thermal images according to some embodiments. The order of the steps S10-S14 in the flow chart does not limit the order of execution of the steps of the method for determining abnormal regions of thermal images according to the present application, unless otherwise specified. First, a processor 36 receives a visual image which includes a plurality of thermal sensing points A arranged in two dimensions, each thermal sensing point A having a respective temperature (step S10). Based on the temperatures of the thermal sensing points A, an average temperature of the visual image is obtained (step S12). Then, it is determined whether the temperatures of the thermal sensing points A are higher than the average temperature by a predetermined temperature difference, and whether the thermal sensing points A have two or more adjacent relationships, and if so, the adjacent thermal sensing points A are determined as abnormal regions (step S14).

[0103] In some embodiments, the two-dimensional arrangement includes a first axis and a second axis, for example, the plurality of thermal sensing points A are divided into a horizontal X axis and a vertical Y axis. The method for determining abnormal regions further includes determining whether the difference between the temperature of each thermal sensing point A and the average temperature is greater than the predetermined temperature difference along the first axis. Referring back to Figure 9 , for example, it is determined that the thermal sensing points A 43A 44 A 45 A 43 A 44 A 45 A 43 A 44 A 45 A 34 A 44 A 54 A 34 A 44 A 54 A 34 A 44 A 54 A

[0104] Please refer to Figure 9 , Figure 10 is a functional block diagram of a thermal image abnormal region display device according to some embodiments. The thermal image abnormal region display device 50 comprises a receiving module 500, a processing module 520, and a display module 540. The receiving module 500 is configured to receive a visual image, the visual image comprising a plurality of thermal sensing points A arranged in two dimensions, each thermal sensing point A having a temperature. The receiving module 500 can be connected to a thermal image endoscope catheter 10 or the like to receive a captured visual image. The size of the field of view represented by each thermal sensing point A in the visual image is not limited, as long as it can accurately represent individual units of the detected object (e.g. human tissue). The processing module 520 is configured to: obtain an average temperature based on the temperatures of the thermal sensing points A; and determine whether the difference between the temperature of each thermal sensing point A having an adjacent relationship and the average temperature is greater than a predetermined temperature difference, and if so, the processing module 520 identifies these adjacent thermal sensing points A as an abnormal region. The processing module 520 transmits the visual image and the identified abnormal region to the display module 540, and the display module 540 displays the visual image and the abnormal region. The non-abnormal region and the abnormal region in the visual image can be displayed in different colors or marked in different ways, so that the user can intuitively obtain information about the abnormal region.

[0105] Please refer to Figure 10 , Figure 11A functional block diagram of a thermal image processing computer according to some embodiments. The thermal image processing computer 60 includes a display 600 and a processor 620. The display 600 is connected to the processor 620. The processor 620 is configured to:

[0106] receive an image signal corresponding to a visual image, the visual image including a plurality of thermal sensing points A arranged in two dimensions, each thermal sensing point A having a temperature; obtain an average temperature based on the temperatures of the thermal sensing points A;

[0107] determine whether a difference between the temperatures of thermal sensing points A having a neighboring relationship and the average temperature is greater than a predetermined temperature difference, and if so, the thermal sensing points A having the neighboring relationship are determined to be abnormal regions; and

[0108] control the display 600 to display the visual image and the abnormal regions. The abnormal regions can be one or more, and are visually distinguished from non-abnormal regions on the display 600 by color or other marking.

[0109] Reference is made to Figure 11 , ​ A step of determining abnormal regions by the processor 620 of the thermal image processing computer 60 according to some embodiments. In some embodiments, the two-dimensional arrangement includes a first axis and a second axis. The processor 620 determines abnormal regions by:

[0110] determining whether a difference between the temperatures of a plurality of thermal sensing points A having a neighboring relationship along the first axis and the average temperature is greater than a predetermined temperature difference, and if so, the thermal sensing points A having the neighboring relationship along the first axis are determined to be a first sub-region (step S20);

[0111] determining whether a difference between the temperatures of the thermal sensing points A having the neighboring relationship along the second axis and the average temperature is greater than a predetermined temperature difference, and if so, the thermal sensing points A having the neighboring relationship along the second axis are determined to be a second sub-region (step S22); and

[0112] after each thermal sensing point A in the visual image is determined, the first sub-region and the second sub-region are determined to be abnormal regions (step S24).

[0113] In some embodiments, the processor 620 can further determine the abnormal region. The processor 620 determines whether the size of the abnormal region is less than or equal to an upper limit size. If yes, the processor 620 controls the display 600 to display the visual image and the abnormal region in the first manner. The processor 620 also determines whether the size of the abnormal region is greater than the upper limit size. If yes, the processor 620 controls the display 600 to display the visual image and the abnormal region in the second manner. The upper limit size can be determined according to the ablation range or the treatment region of the selected laser. For example, when a pulsed laser with a wavelength of 1,064 nm of Nd:YAG is used, the laser source can cause the cells within a range of 10 mm of the tissue to die. Thus, the upper limit size can be 10 mm. If the size of the abnormal region is less than or equal to 10 mm, the processor 620 controls the display 600 to display in the first manner. If the size of the abnormal region is greater than 10 mm, the processor 620 controls the display 600 to display in the second manner.

[0114] In summary, in some embodiments, the thermal image endoscope system can achieve the effect of detecting abnormal tissue and performing treatment by using the thermal image endoscope catheter 10 and the control device 20. The thermal image abnormal region determination method can determine the abnormal region by using the thermal sensing point A of the visual image. The thermal image abnormal region display device 50 and the thermal image processing computer 60 can determine the abnormal region by using the processing module 520 or the processor 620 and display the visual image and the abnormal region by using the display module 540 or the display 600.

[0115] Of course, the present application can have other various embodiments. Those skilled in the art can make various corresponding changes and modifications according to the present application without departing from the spirit and essence of the present application. These corresponding changes and modifications should all belong to the protection scope of the claims of the present application.

Claims

1. A thermal imaging endoscope system, characterized in that, include: Thermal imaging endoscopic catheter, comprising: A tube body, one end of which has a head; A thermal image capturing component is located in the head and is used to capture thermal images from the camera area and convert them into image signals, wherein the spatial resolution of the thermal image capturing component is 10 to 20 micrometers; A treatment element is located within the tube body, with one end of the treatment element located at the head. The treatment element has a treatment area located within the camera area. A linkage element is located inside the tube and connected to the head; Control device, comprising: A receiving element, used to receive processing commands; Drive element, connected to the linkage element; A light guide assembly includes a light guide element and a gate, the light guide element including an input end and an output end, the gate being actuated to selectively couple and decouple the output end of the light guide element to the processing element; and The controller, according to the processing command, actuates the drive element to cause the linkage element to actuate the head, and actuates the gate; and A computer receives an image signal, wherein the image signal corresponds to a visual image, the visual image comprising a plurality of thermal sensing points arranged in two dimensions, each of the thermal sensing points having its own temperature; The computer obtains the average temperature based on the temperature of the thermal sensing point, and then performs the following: Step 1: Determine whether the difference between the temperature of adjacent thermal sensing points and the average temperature is greater than a predetermined temperature difference. If so, designate the adjacent thermal sensing points as abnormal areas; and Step 2: Display the visual image and the abnormal area.

2. The thermal imaging endoscope system according to claim 1, characterized in that, Include: A computer, comprising: monitor; Input elements, used to receive input signals; and The processor outputs the processing command based on the input signal.

3. The thermal imaging endoscope system according to claim 2, characterized in that, The processor performs an anomaly marking process on the image signal so that the display selectively shows anomaly markings on the visual image.

4. The thermal imaging endoscope system according to claim 3, characterized in that, The processor executes the exception indication process by performing: Step 1; and Step 2: When the abnormal region exists and the size of the abnormal region is less than or equal to the upper limit size, the thermal sensing point in the abnormal region is used as the abnormal indicator, and the processor controls the display to display the abnormal indicator on the visual image.

5. The thermal imaging endoscope system according to claim 4, characterized in that, The visual image has a central position and a processing position. The central position corresponds to the camera area, and the processing position corresponds to the processing area. When the abnormal area exists and the input signal is an automatic processing command, the processor outputs the processing command based on the central position, the processing position, and the abnormal indicator. The processing command includes movement parameters and time parameters. The controller actuates the driving element based on the movement parameters to cause the linkage element to move the head, and actuates the gate to couple the output end of the light guide to the processing element until the time parameter ends.

6. The thermal imaging endoscope system according to claim 5, characterized in that, The device includes a laser device, the laser device including a light-emitting tube; the light-emitting tube is coupled to the input end of the light guide; when the laser device is actuated, laser light is emitted from the light-emitting tube.

7. The thermal imaging endoscope system according to claim 6, characterized in that, Before the step of actuating the gate to couple the output end of the light guide to the processing element, the controller actuates the laser device.

8. The thermal imaging endoscope system according to claim 4, characterized in that, The visual image has a central position and a processing position. The central position corresponds to the camera area, and the processing position corresponds to the processing area. When the abnormal area exists and the input signal is an automatic movement command, the processor outputs a processing command containing movement parameters based on the central position, the processing position, and the abnormal indicator. The controller actuates the driving element based on the movement parameters to cause the linkage element to move the head.

9. The thermal imaging endoscope system according to claim 4 or 8, characterized in that, The device includes a laser device, the laser device including a light-emitting tube; the light-emitting tube is coupled to the input end of the light guide; when the laser device is actuated, laser light is emitted from the light-emitting tube.

10. The thermal imaging endoscope system according to claim 9, characterized in that, When the input signal is a manual processing command, the controller actuates the gate to couple the output end of the light guide to the processing element.

11. The thermal imaging endoscope system according to claim 10, characterized in that, When the input signal is a stop processing command, the controller actuates the gate to decouple the output terminal of the light guide from the processing element.

12. The thermal imaging endoscope system according to claim 11, characterized in that, When the input signal is the manual processing command, the controller activates the laser device; when the input signal is the stop processing command, the controller does not activate the laser device.

13. The thermal imaging endoscope system according to claim 4, characterized in that, When the abnormal area exists and is larger than the upper limit size, the thermal sensing point within the abnormal area is used as another type of abnormality indicator, and the processor controls the display to show the other type of abnormality indicator on the visual image.

14. A method for displaying abnormal regions in a thermal image, wherein all steps of the method are executed by a computer, characterized in that, Include: Receive a visual image, the visual image comprising a plurality of thermal sensing points arranged in two dimensions, each of the thermal sensing points having its own temperature, wherein the visual image is an endoscopic thermal image with a spatial resolution of 10 to 20 micrometers; Based on the stated temperature, the average temperature is obtained; Determine whether the difference between the temperature of adjacent thermal sensing points and the average temperature is greater than a predetermined temperature difference; if so, designate the adjacent thermal sensing points as abnormal areas; and The visual image and the abnormal area are displayed.

15. The method for displaying abnormal areas in a thermal image according to claim 14, characterized in that, The two-dimensional space includes a first axis and a second axis, and the determination step includes: Along the first axis, determine whether the difference between the temperature of the adjacent thermal sensing point and the average temperature is greater than the predetermined temperature difference. If so, the adjacent thermal sensing point is taken as the first sub-region. Along the second axis, determine whether the difference between the temperature of an adjacent thermal sensing point and the average temperature is greater than the predetermined temperature difference; if so, then designate the adjacent thermal sensing point as a second sub-region; and The first sub-region and the second sub-region are designated as the abnormal regions.

16. A thermal image abnormality area display device, characterized in that, Include: A receiving module is used to receive a visual image, the visual image comprising a plurality of thermal sensing points arranged in two dimensions, each of the thermal sensing points having its own temperature, wherein the visual image is an endoscopic thermal image with a spatial resolution of 10 to 20 micrometers. The processing module is used to: Based on the stated temperature, the average temperature is obtained; and Determine whether the difference between the temperature of adjacent thermal sensing points and the average temperature is greater than a predetermined temperature difference; if so, designate the adjacent thermal sensing points as abnormal areas; and The display module is used to display the visual image and the abnormal area.

17. A thermal image processing computer, characterized in that, Include: Displays; and Processor, used for: Receive an image signal, the image signal corresponding to a visual image, the visual image containing a plurality of thermal sensing points arranged in two dimensions, each of the thermal sensing points having its own temperature, wherein the visual image is an endoscopic thermal image with a spatial resolution of 10 to 20 micrometers; Based on the stated temperature, the average temperature is obtained; Determine whether the difference between the temperature of adjacent thermal sensing points and the average temperature is greater than a predetermined temperature difference; if so, designate the adjacent thermal sensing points as abnormal areas; and Control the display to show the visual image and the abnormal area.

18. The thermal image processing computer according to claim 17, characterized in that, The two dimensions include a first axis and a second axis, and the processor's determination step is executed by the processor as follows: Along the first axis, determine whether the difference between the temperature of the adjacent thermal sensing point and the average temperature is greater than the predetermined temperature difference. If so, the adjacent thermal sensing point is taken as the first sub-region. Along the second axis, determine whether the difference between the temperature of an adjacent thermal sensing point and the average temperature is greater than the predetermined temperature difference; if so, then designate the adjacent thermal sensing point as a second sub-region; and The first sub-region and the second sub-region are designated as the abnormal regions.

19. The thermal image processing computer according to claim 18, characterized in that, The processor executes: When it is determined that the size of the abnormal region is less than or equal to the upper limit size, the display is controlled to display the visual image and the abnormal region in a first manner. and When it is determined that the size of the abnormal region is greater than the upper limit size, the display is controlled to display the visual image and the abnormal region in a second manner.

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