Endoscope scope and endoscope, endoscope field center distance measuring method, endoscope field size acquisition method

Abstract

The present application relates to the technical field of medical apparatus and instruments, in particular to an endoscope mirror body, an endoscope, an endoscope field of view center distance measuring method and an endoscope field of view size obtaining method. The endoscope mirror body comprises a first light beam emitter and a second light beam emitter arranged at the head end of the mirror body, and the first light beam emitter has a larger light beam angle than the second light beam emitter. The present application has the advantages of simple structure, less measurement environment restriction, fast measurement speed, high measurement accuracy, real-time feedback of the distance between the head end of the mirror body and the measured tissue, the angle between the surface of the measured tissue and the end face of the mirror body, the size of the surface of the measured tissue, provision of complete three-dimensional space information, effective improvement of the lesion grade determination accuracy in the early cancer screening of the electronic endoscope, guidance of the mirror body operation and reduction of the operation risk.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an endoscope body and endoscope, a method for measuring the distance between the centers of the endoscopic field of view, and a method for obtaining the size of the endoscopic field of view. Background Technology

[0002] During the use of gastrointestinal electronic endoscopy, because there are no standard reference objects within the field of view, doctors can only roughly determine the size of lesions or tissues within the body cavity and the distance from the endoscope tip to the tissue based on experience. The inability to accurately determine size affects the accuracy of lesion severity assessment; and the inability to determine the distance from the endoscope tip to the tissue particularly affects the accuracy of maneuvering auxiliary instruments through the endoscope's forceps, increasing operational risks. Currently, there is no reliable solution in the industry, and doctors can only rely on continuous practice to become proficient. This undoubtedly raises the training threshold for new clinicians, prolongs the training period, and limits the rapid popularization of gastrointestinal electronic endoscopy.

[0003] Therefore, those skilled in the art are dedicated to developing an endoscope body and endoscope, a method for measuring the distance between the center of the endoscope's field of view, and a method for obtaining the size of the endoscope's field of view, which can measure and calculate the distance between the center of the endoscope's field of view and the size of the endoscope's field of view, thereby increasing the convenience of using the endoscope and the accuracy of judgment. Summary of the Invention

[0004] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide an endoscope body and endoscope, a method for measuring the distance between the center of the endoscope field of view and the endoscope field of view size, which can measure and calculate the distance between the center of the endoscope field of view and the endoscope field of view size, thereby increasing the convenience of endoscope use and the accuracy of judgment.

[0005] To achieve the above objectives, the present invention provides an endoscope body, including a first beam emitter and a second beam emitter disposed at the head end of the endoscope body, wherein the beam angle of the first beam emitter is greater than the beam angle of the second beam emitter.

[0006] Preferably, the emission radii of the first beam emitter and the second beam emitter are the same.

[0007] Preferably, the beam axes of the first beam emitter and the second beam emitter are perpendicular to the end face of the mirror head.

[0008] The present invention also provides an endoscope, including the endoscope body as described above.

[0009] The present invention also provides a method for measuring the distance between the centers of an endoscopic field of view, comprising the following steps:

[0010] 1) A first beam emitter and a second beam emitter are installed at the tip of the endoscope body, and the first beam and the second beam are emitted respectively;

[0011] 2) Obtain the angle between the end face of the endoscope tip and the surface of the tissue being observed;

[0012] 3) The axial distance from the center of the exit port of the first beam emitter and / or the second beam emitter to the surface of the tissue being observed is the distance to the center of the endoscopic field of view.

[0013] Preferably, step 2) includes:

[0014] 21) Set a standard plane, which is parallel to the end face of the endpiece of the scope and perpendicular to the beam axis of the first beam and the second beam. The distance between the standard plane and the end face of the endpiece of the scope is equal to the axial distance from the center of the exit port of the first beam emitter and / or the second beam emitter to the surface of the tissue being observed, and is set as h.

[0015] 22) Calculate the included angle α

[0016] Since the standard plane is parallel to the end face of the microscope head, the angle between the standard plane and the surface of the observed tissue is the same as the angle between the end face of the microscope head and the surface of the observed tissue; let the angle between the standard plane and the surface of the observed tissue be α; let the diameter of the circular spot produced by the first beam hitting the standard plane be L1, and the diameter of the circular spot produced by the second beam hitting the standard plane be L2; let the beam angle of the first beam be 2θ1, and the beam angle of the second beam be 2θ2; therefore, for the first beam, the following formula applies:

[0017]

[0018]

[0019] Among them, b 11 b 12 These are the maximum and minimum centrifugal radii of the first beam spot on the surface of the observed tissue, respectively.

[0020] According to the trigonometric function theorem, formulas (1) and (2) can be simplified to:

[0021]

[0022]

[0023] Combining (3) and (4) yields

[0024]

[0025] The number of pixels used to obtain the maximum and minimum centrifugal radii of the first beam spot is n. 11 and n12 ,

[0026] b11 / b12=n11 / n12

[0027] Substituting this into equation (5), the formula for solving the included angle α is:

[0028]

[0029] The angle between the end face of the end of the endoscope and the surface (5) of the tissue being observed can be obtained by equation (6).

[0030] Preferably, step 3) includes:

[0031] Determine the diameter of the circular spot produced by the first beam hitting the standard plane as L1 and the diameter of the circular spot produced by the second beam hitting the standard plane as L2;

[0032] According to the principle of beam emission, the diameter L1 of the circular spot produced by the first beam hitting the standard plane (4) can be obtained by the following formula:

[0033] L1=R+2tan(θ1)·h (7)

[0034] Where R is the emission radius of the first beam emitter (1) and the second beam emitter (2), and the two have the same radius;

[0035] Similarly, the diameter L2 of the circular spot produced by the second beam body in the standard plane (4) can be obtained by the following formula:

[0036] L2=R+2tan(θ2)·h (8)

[0037] The number of pixels used to obtain the maximum and minimum centrifugal radii of the second beam spot is n. 21 and n 22 ,

[0038] It is also known that:

[0039]

[0040] In the formula, b 21 b is the maximum centrifugal radius of the second beam spot on the surface (5) of the observed tissue. 22 η is the minimum centrifugal radius of the second beam spot on the surface of the observed tissue, and η is the ratio of the major axis dimensions of the spots formed by the first beam and the second beam on the surface of the observed tissue.

[0041] Combining equations (7), (8), and (9), we obtain:

[0042]

[0043] Therefore, the formula can be obtained:

[0044]

[0045] h is the distance from the center of the endoscopic field of view.

[0046] The present invention also provides a method for obtaining the size of an endoscopic field of view, which uses the above-described method for measuring the distance between the centers of the endoscopic field of view, and further includes the following steps:

[0047] Simultaneous formulas (3), (9), (10),

[0048] We can obtain:

[0049]

[0050] The actual size S of the observed tissue surface corresponding to each pixel in the endoscopic output image can then be calculated using the following formula:

[0051] s=b11 / n11 (13);

[0052] Therefore, the endoscopic field of view size can be obtained by multiplying the number of pixels on the surface of the currently observed tissue (5) by S.

[0053] Preferably, a size scale is set and displayed in the endoscope UI, defining the number of pixels for each standard size.

[0054] Preferably, the number of pixels per standard size is n11 / b11.

[0055] The beneficial effects of this invention are: the invention has a simple structure, few limitations in the measurement environment, fast measurement speed, and high measurement accuracy; using this invention, the distance between the endoscope tip and the tissue being measured, the angle between the surface of the tissue being measured and the endoscope tip, and the dimensions of the surface of the tissue being measured can be fed back in real time, providing relatively complete three-dimensional spatial information; it can effectively improve the accuracy of lesion grade determination in early cancer screening with electronic endoscopy, guide endoscope operation, and reduce surgical operation risks. Attached Figure Description

[0056] Figure 1 This is a schematic diagram of the structure of the end of the lens body in a specific embodiment of the present invention.

[0057] Figure 2 This is a cross-sectional structural diagram of the head end of the lens body in a specific embodiment of the present invention.

[0058] Figure 3 This is a schematic diagram of the light spots emitted by the first and second beam emitters onto planar tissue.

[0059] Figure 4 This is a schematic diagram illustrating the principle of the first beam irradiation in a specific embodiment of the present invention.

[0060] Figure 5 This is a schematic diagram of the size scale of the endoscope UI interface in a specific embodiment of the present invention. Detailed Implementation

[0061] The present invention will be further described below with reference to the accompanying drawings and embodiments. It should be noted that in the description of the present invention, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific manner, and therefore should not be construed as a limitation of the present invention. The terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0062] like Figure 1 and Figure 2 As shown, an endoscope body includes a first beam emitter 1 and a second beam emitter 2 disposed at the end 3 of the endoscope body. The beam angle of the first beam emitter 1 is greater than the beam angle of the second beam emitter 2. This invention uses two beam emitters with different beam angles to obtain the angle between the end face of the endoscope body and the surface of the observed tissue, thereby allowing the endoscope's field of view size and the distance to the center of the field of view to be obtained using the method described below. The first beam emitter 1 and the second beam emitter 2 have the same exit radius, and the beam axes of the first beam emitter 1 and the second beam emitter 2 are perpendicular to the end face 31 of the endoscope body. This arrangement simplifies the calculation of the endoscope's field of view size and the distance to the center of the field of view. This invention also provides an endoscope including the endoscope body described above.

[0063] This invention also provides a method for measuring the distance between the centers of the endoscopic field of view. Before describing this method, it is known from common knowledge that if the surface 5 of the observed tissue is a plane and parallel to the end face 31 of the endoscope tip, such as Figure 3 As shown, the first spot 11 generated by the first beam and the second spot 12 generated by the second beam in the endoscope output image are both circular.

[0064] The endoscopic field of view center distance measurement method of the present invention can utilize the above-mentioned endoscopic field of view size and distance measurement system, and includes the following steps:

[0065] 1) A first beam emitter 1 and a second beam emitter 2 are provided at the tip of the endoscope body, and the first beam and the second beam are emitted respectively;

[0066] 2) Obtain the angle between the end face of the end of the microscope and the surface 5 of the tissue being observed.

[0067] 3) The axial distance h from the center of the exit port of the first beam emitter 1 or / and the second beam emitter 2 to the surface of the tissue being observed is the distance to the center of the endoscope field of view.

[0068] Step 2) specifically includes:

[0069] 21) A standard plane 4 is set. The standard plane 4 is parallel to the end face 31 of the microscope head and perpendicular to the beam axes of the first beam and the second beam. The distance between the standard plane 4 and the end face of the microscope head is equal to the axial distance from the center of the exit port of the first beam emitter 1 and / or the second beam emitter 2 to the surface 5 of the observed tissue, and is set as h. In this invention, since the distance between the first beam emitter and the second beam emitter is extremely close, generally less than 1 mm, the minor unevenness that may occur on the surface of the observed tissue within the irradiation range of the first beam and the second beam is ignored. Therefore, it is assumed that the axial distance from the center of the exit port of the first beam emitter 1 and the second beam emitter 2 to the surface 5 of the observed tissue is the same, which is h.

[0070] 22) Calculate the included angle α

[0071] Since the standard plane 4 is parallel to the end face 31 of the microscope head, the angle between the standard plane 4 and the surface 5 of the observed tissue is the same as the angle between the end face 31 of the microscope head and the surface 5 of the observed tissue. Let the angle between the standard plane 4 and the surface 5 of the observed tissue be α, then the angle between the end face 31 of the microscope head and the surface 5 of the observed tissue is also α. The diameter of the circular spot produced by the first beam hitting the standard plane 4 is L1, and the diameter of the circular spot produced by the second beam hitting the standard plane 4 is L2; ​​the beam angle of the first beam is 2θ1, and the beam angle of the second beam is 2θ2; therefore, if... Figure 4 As shown, the first beam has the following formula (according to the sine law, regardless of the size of the spot, it conforms to the following formula):

[0072]

[0073]

[0074] Among them, b 11 b 12 These are the maximum and minimum centrifugal radii of the first beam spot on the surface 5 of the observed tissue, respectively.

[0075] According to the trigonometric function theorem, formulas (1) and (2) can be simplified to:

[0076]

[0077]

[0078] Combining (3) and (4) yields

[0079]

[0080] The number of pixels used to obtain the maximum and minimum centrifugal radii of the first beam spot is n. 11 and n 12 n 11 and n 12 ,n 11 and n 12 The number of pixels can be obtained by identifying the light spot region in the image and reading the corresponding number of pixels using software. There are several methods for identifying the light spot region, such as including abnormally high brightness in a preset area (the center of the light spot), or using a specific monochromatic light from the LED that generates the light source, so that the light spot appears in a specific color.

[0081] Since the image center has virtually no distortion, or distortion correction can be performed further, the displayed size of the image center region is directly proportional to the actual size. The displayed size is the number of pixels multiplied by the pixel size. Dividing these two displayed sizes results in the pixel size being canceled out; therefore, the pixel ratio equals the actual size ratio.

[0082] b11 / b12=n11 / n12

[0083] Substituting this into equation (5), the formula for solving the included angle α is:

[0084]

[0085] The angle α between the end face of the endoscope and the surface of the tissue being observed can be obtained by equation (6).

[0086] Step 3) includes:

[0087] Find the diameter of the circular spot L1 produced by the first beam incident on the standard plane 4, and the diameter of the circular spot L2 produced by the second beam incident on the standard plane 4:

[0088] According to the principle of beam emission, the diameter L1 of the circular spot produced by the first beam striking the standard plane 4 can be obtained by the following formula:

[0089] L1=R+2tan(θ1)·h (7)

[0090] Where R is the emission radius of the first beam emitter 1 and the second beam emitter 2, and the two radii are the same;

[0091] Similarly, the diameter L2 of the circular spot formed by the second beam in the standard plane 4 can be obtained by the following formula:

[0092] L2=R+2tan(θ2)·h (8)

[0093] It is also known that:

[0094]

[0095] In the formula, b 21 b is the maximum centrifugal radius of the second beam spot on the surface 5 of the observed tissue. 22 η is the minimum centrifugal radius of the second beam spot on the surface 5 of the observed tissue, and η is the ratio of the major axis dimensions of the spots formed by the first beam and the second beam on the surface of the observed tissue.

[0096] Combining equations (7), (8), and (9), we can obtain:

[0097]

[0098] Therefore, the formula can be obtained:

[0099]

[0100] h is the distance from the center of the endoscopic field of view.

[0101] The present invention also provides a method for obtaining the endoscopic field of view size, which uses the above-described method for measuring the distance between the centers of the endoscopic field of view, and further includes the following steps:

[0102] Based on the above method, the included angle α and the distance h between the centers of the endoscopic field of view have been obtained.

[0103] Simultaneous formulas (3), (9) (10),

[0104] We can obtain:

[0105]

[0106] Since the number of pixels corresponding to b11 is n11, the actual size S of the observed tissue surface (5) corresponding to each pixel in the endoscopic output image can be calculated by the following formula:

[0107] S = b11 / n11 (13).

[0108] Obtain the current 5-pixel measurement of the observed tissue surface, and multiply the current 5-pixel measurement of the observed tissue surface by S to obtain the endoscopic field of view size.

[0109] To more intuitively understand the dimensions of the observed tissue surface 5, in this invention, as shown... Figure 5 As shown, a size scale of 32 is set and displayed in the endoscope UI, defining the number of pixels for each standard size. Thus, the observer can determine the actual length of the observed tissue surface by viewing the size scale. In this embodiment, the number of pixels for each standard size is n. 11 / b 11 Its unit is the same as b 11 Using the same units makes the calculation process simpler and the results more accurate.

[0110] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A method for measuring the distance between the centers of an endoscopic field of view, characterized in that, Includes the following steps: 1) A first beam emitter (1) and a second beam emitter (2) are set at the tip of the endoscope body, and the first beam and the second beam are emitted respectively; 2) Obtain the angle between the end face of the end of the microscope and the surface of the tissue being observed (5); 3) The axial distance from the center of the outlet of the first beam emitter (1) or / and the second beam emitter (2) to the surface of the tissue being observed (5) is the distance from the center of the endoscope field of view. Step 2) includes: 21) Set a standard plane (4), which is parallel to the end face of the microscope head and perpendicular to the beam axes of the first beam and the second beam. The distance between the standard plane (4) and the end face of the microscope head is equal to the axial distance from the center of the exit port of the first beam emitter (1) or / and the second beam emitter (2) to the surface of the tissue being observed (5). ; 22) Calculate the included angle Since the standard plane (4) is parallel to the end face of the endoscope head, the angle between the standard plane (4) and the surface of the tissue being observed (5) is the same as the angle between the end face of the endoscope head and the surface of the tissue being observed (5); the angle between the standard plane (4) and the surface of the tissue being observed (5) is set as... The diameter of the circular spot produced by the first beam hitting the standard plane (4) is... The diameter of the circular spot produced by the second beam hitting the standard plane (4) is The beam angle of the first beam is 2. The beam angle of the second beam is 2. Therefore, for the first beam, the following equation holds: （1） （2） in, , The maximum and minimum centrifugal radius of the first beam spot on the surface (5) of the observed tissue are given; According to the trigonometric function theorem, formulas (1) and (2) can be simplified to: （3） （4） Combining (3) and (4) yields （5） The number of pixels used to obtain the maximum and minimum centrifugal radii of the first beam spot is: and , / = / Substitute it into equation (5) for the included angle. The solution formula is: （6） The angle between the end face of the end of the microscope body and the surface (5) of the tissue being observed can be obtained by formula (6); Step 3) includes: Find the diameter of the circular spot produced by the first beam incident on the standard plane (4). The diameter of the circular spot produced by the second beam striking the standard plane (4) is ; According to the principle of beam emission, the diameter of the circular spot produced by the first beam striking the standard plane (4) is... It can be obtained by the following formula: （7） in, The emission radius of the first beam emitter (1) and the second beam emitter (2) is the same; Similarly, the diameter of the circular spot produced by the second beam body in the standard plane (4) is It can be obtained by the following formula: （8） The number of pixels used to obtain the maximum and minimum centrifugal radii of the second beam spot is and , It is also known that: （9） In the formula, The maximum centrifugal radius of the second beam spot on the surface (5) of the observed tissue is given. The minimum centrifugal radius of the second beam spot on the surface (5) of the observed tissue is given. The ratio of the major axis dimensions of the light spots formed by the first and second beams on the surface of the observed tissue (5); Combining equations (7), (8), and (9), we can obtain: （10） Therefore, the formula can be obtained: （11） This is the distance between the center of the endoscopic field of view.

2. A method for obtaining the size of an endoscopic field of view, employing the endoscopic field of view center distance measurement method as described in claim 1, characterized in that, It also includes the following steps: Simultaneous formulas (3), (9), (10), We can obtain: （12） The actual size of the observed tissue surface (5) corresponding to each pixel in the endoscopic output image. It can be calculated using the following formula: （13）； Therefore, the number of pixels (5) on the surface of the currently observed tissue is obtained and Multiplying them together gives the endoscopic field of view size.

3. The method for obtaining endoscopic field of view size as described in claim 2, characterized in that: Set the size scale and display it in the endoscope UI, defining the number of pixels for each standard size.

4. The method for obtaining endoscopic field of view size as described in claim 3, characterized in that: The number of pixels per standard size is .

5. An endoscope body, used in the endoscopic field of view center distance measurement method as described in claim 1, characterized in that: It includes a first beam emitter (1) and a second beam emitter (2) disposed at the head end (3) of the mirror body, wherein the beam angle of the first beam emitter (1) is greater than the beam angle of the second beam emitter (2).

6. The endoscope body as described in claim 5, characterized in that: The first beam emitter (1) and the second beam emitter (2) have the same emission radius.

7. The endoscope body as described in claim 5, characterized in that: The beam axes of the first beam emitter (1) and the second beam emitter (2) are perpendicular to the end face (31) of the mirror head end (3).

8. An endoscope, characterized in that, Includes the endoscope body as described in any one of claims 5 to 7.

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