A laser positioning ruler and laser measurement system for endoscopic detection of tumor size

Abstract

The present invention discloses a laser positioning ruler used for endoscopic detection of tumor size, and the laser positioning ruler includes a ruler body, a laser light source, a light guide fiber and a light-transmitting sheet. The ruler body is provided with a hollow inner cavity penetrating the ruler body, the laser light source is provided at the tail end of the ruler body, the light guide fiber is provided in the hollow inner cavity, and one end is connected to the laser light source signal, and the other end is fixed at a first position of the hollow inner cavity. The light-transmitting sheet is provided at a second position of the hollow inner cavity, and the first position is located at the light incident side of the light-transmitting sheet. Compared with the traditional endoscopic physical ruler, the present invention only needs to adjust the distance between the end of the endoscope and the tumor so that the emitted light can be located at the two boundaries of the tumor, and no additional angle adjustment is required, which reduces the pain of the patient, and the ruler does not need to be folded, and long-term storage and repeated use will not affect its accuracy, which is conducive to more accurate measurement of the size of the endoscopic tumor.

Description

Technical Field

[0001] The invention relates to the technical field of tumor measurement medical instruments, in particular to a laser positioning ruler and a laser measurement system used for endoscopic detection of tumor size. Background Art

[0002] Accurate assessment of laryngeal tumor size, boundaries, and range of involvement under electronic laryngoscopy is an important reference for the diagnosis and staging of laryngeal tumors, especially malignant tumors, and the formulation of treatment plans. During routine electronic laryngoscopy, operators usually rely on personal experience or use surrounding anatomical structures as reference standards to visually estimate tumor size.

[0003] The measurement methods reported in the prior art basically use a physical ruler. For example, Wang Xiangqian et al. developed a 2-4 cm physical ruler that can be inserted through a cannula and unfolded under endoscopy; Lu Youke et al. developed an endoscopic measurement method using a virtual internal standard and an object distance measurement device thereof. The method establishes a virtual internal standard by photographing standard endoscopic plane images at different distances, and measures the distance between the lens and the tumor in combination with a biopsy forceps or guide wire with a standard scale, thereby calculating the size of the lesion.

[0004] In summary, existing measurement methods rely on experience or physical rulers, and physical rulers need to adjust angles, distances, etc. under endoscopy to ensure accurate measurement of lesion size, which prolongs the examination time to a certain extent. The laryngeal cavity space is small, and the diameter of the endoscope channel is limited. If the ruler is too large, it will be difficult to enter and unfold. If the ruler is too small, the corresponding measurement range will be sacrificed. Moreover, since the physical ruler is stored in a folded state for a long time, it may be deformed after repeated use, affecting accuracy. Summary of the invention

[0005] In view of the deficiencies of the prior art mentioned above, the present application provides a laser positioning ruler for endoscopic detection of tumor size. Compared with the traditional endoscopic physical ruler, the present invention only needs to adjust the distance between the end of the endoscope and the tumor so that the emitted light can be located at the two boundaries of the tumor. No additional angle adjustment is required, which reduces the patient's pain. The ruler does not need to be folded, and long-term storage and repeated use will not affect its accuracy, which is conducive to more accurate measurement of the size of the endoscopic tumor.

[0006] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present application provides a laser positioning ruler for endoscopic detection of tumor size, comprising a ruler body, a laser light source, a light guide fiber and a light-transmitting sheet. The ruler body is provided with a hollow inner cavity penetrating the ruler body, the laser light source is provided at the tail end of the ruler body; the light guide fiber is provided in the hollow inner cavity, and one end thereof is connected to the laser light source signal, and the other end thereof is fixed at a first position of the hollow inner cavity; the light-transmitting sheet is provided at a second position of the hollow inner cavity, and the first position is located at the light-entering side of the light-transmitting sheet.

[0007] In some feasible embodiments, the ruler body is provided with a scale area and an adjustment card slidably arranged outside the scale area, the scale area is arranged close to the laser light source side and scale lines are arranged in the scale area.

[0008] In some feasible embodiments, the second position is the head end of the hollow cavity.

[0009] In some feasible embodiments, the method for endoscopically detecting the size of a tumor comprises the following steps:

[0010] 1) A colored visible light beam is generated by a laser light source (7), and after passing through a light-guiding fiber (8) and a light-transmitting sheet (9), at least two colored light beams having an angle with the center line of the head end of the light-guiding fiber (8) are dispersed from the inner lens end;

[0011] Wherein, the light emitting position of the light-transmitting sheet is kept flush with the entrance end of the imaging passage; after the colored visible light beam passes through the light-transmitting sheet, it disperses and emits 2N+1 colored light rays, and the angle between each adjacent light ray is α, and α is 1° to 30°; the middle light ray located in the middle of the 2N+1 colored light rays is parallel to the imaging passage, and the middle light ray coincides with the center of the head end of the light-guiding fiber, and N is an integer greater than or equal to 1;

[0012] 2) by adjusting the light output position of the light-transmitting sheet and the distance between the entrance end of the imaging passage of the endoscope and the tumor, at least two colored light rays are projected on the tumor to form light spots, and the two light spots with the farthest distance are used as a marking point group, and the tumor is imaged by the imaging passage and the endoscope imaging system to form a tumor image with the marking point group;

[0013] The relative positions of the light-emitting position of the light-transmitting sheet and the entrance of the imaging passage are kept unchanged, and the distance between the light-emitting position of the light-transmitting sheet and the tumor is adjusted so that at least two colored light rays other than the middle light ray are projected on the tumor to form light spots, and the two light spots with the farthest distance are respectively used as a marking point group, wherein the marking point group includes a first marking point and a second marking point, and the middle light ray forms a middle marking point on the tumor; an imaging system is used to obtain a tumor image with the first marking point imaging point, the second marking point imaging point and the middle marking point imaging point at the same time;

[0014] 3) According to the relative position of the light-emitting position of the light-transmitting sheet and the imaging pathway, the angle between the colored light rays forming the marking point group, the field of view angle of the endoscopic imaging system and the geometric correspondence between the tumor image with the marking point group, the distance between the two light spots of the tumor marking point group after each distance adjustment is calculated;

[0015] The distance between the first marker point and the second marker point in the tumor marker group is calculated according to the following steps:

[0016] (1) On the first virtual plane, if the vertical projections of the first mark point and the middle mark point are located on the same side of the vertical projection of the center of the imaging system, the distance H1 between the first virtual plane and the inner lens end is calculated using Formula 1:

[0017] Formula 1:

[0018] If the first marking point and the middle marking point are located on both sides of the vertical projection of the center of the imaging system, the distance H1 between the first virtual plane and the inner lens end is calculated using Formula 2:

[0019] Formula 2:

[0020] Wherein, α1 is the angle between the colored light forming the first marking point on the tumor and the intermediate light;

[0021] W is the distance between the center of the light-emitting position of the light-transmitting sheet and the center of the imaging path;

[0022] R is the radius of the tumor image;

[0023] β is the field of view angle of the endoscopic imaging system;

[0024] d1 is the distance from the imaging point of the first marking point on the tumor image to the center point of the tumor image;

[0025] (2) On the second virtual plane, if the vertical projections of the second mark point and the middle mark point are located on the same side of the vertical projection of the center of the imaging system, the distance H2 between the second virtual plane circle and the inner lens end is calculated using Formula 3:

[0026] Formula 3:

[0027] If the vertical projections of the second marking point and the middle marking point are located on both sides of the vertical projection of the center of the imaging system, the distance H2 between the second virtual plane circle and the inner lens end is calculated using Formula 4:

[0028] Formula 4:

[0029] Wherein, α2 is the angle between the colored light forming the second marking point on the tumor and the intermediate light;

[0030] d2 is the distance from the imaging point of the second marking point on the tumor image to the center point of the tumor image;

[0031] (3) Formula 5 is used to calculate the actual spatial distance X between the first marking point and the second marking point in the marking point group:

[0032] Formula 5:

[0033] To achieve the above-mentioned purpose and other related purposes, the second aspect of the present application provides a laser measurement system for endoscopic detection of tumor size, including an endoscopic detector with an imaging system, the endoscopic detector being provided with an imaging passage and a biopsy channel; including an endoscopic detector with an imaging system, the endoscopic detector being provided with an imaging passage and a biopsy channel; also including the laser positioning ruler and a controller; in use, the laser positioning ruler is arranged on the biopsy channel; the controller is electrically connected to the laser light source of the positioning ruler and the imaging system of the endoscopic detector.

[0034] As mentioned above, the present application has the following beneficial effects:

[0035] 1) Compared with the traditional endoscopic physical ruler, the present invention only needs to adjust the distance between the end of the endoscope and the tumor so that the emitted light can be located at the two boundaries of the tumor. There is no need to adjust the angle additionally. The size of the tumor can be measured only by the original one-handed operation, which greatly saves the inspection time and alleviates the pain of the patient.

[0036] 2) The laser measurement method designed in the present invention does not need to be folded, and long-term storage and repeated use will not affect its accuracy, which is conducive to more accurate measurement of the size of endoscopic tumors. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a close-up plan view schematic diagram of the actual measurement situation of the laser measurement method for endoscopic detection of tumor size according to the present invention;

[0038] Figure 2 A schematic diagram of a tumor image obtained by an imaging system using the laser measurement method for endoscopic detection of tumor size according to the present invention;

[0039] Figure 3 It is a three-dimensional application schematic diagram of the actual measurement situation of the laser measurement method for endoscopic detection of tumor size according to the present invention;

[0040] Figure 4 A schematic diagram of a three-dimensional tumor image obtained by an imaging system in the laser measurement method for endoscopic detection of tumor size according to the present invention;

[0041] Figure 5It is a schematic structural diagram of the laser measuring device for endoscopically detecting the size of a tumor according to the present invention;

[0042] Figure 6 It is a schematic diagram of a laser measurement terminal used for endoscopic detection of tumor size according to the present invention;

[0043] Figure 7 It is a structural schematic diagram of the laser positioning scale of the present invention;

[0044] Figure 8 This is a schematic diagram of the positional relationship between the laser positioning scale head end, the light-transmitting sheet and the light-guiding fiber;

[0045] Fig. 9 The schematic diagram is a positional relationship diagram of the inner lens end and the ruler applied to the biopsy channel and the imaging system passage;

[0046] Fig.10 The figure is a flow chart of the laser measurement method for endoscopically detecting tumor size according to the present invention.

[0047] Markings in the figure:

[0048] 1 Endoscopy

[0049] 2 At least two colored rays

[0050] 21 Middle light

[0051] 22 The First Colored Ray

[0052] 23 Second Colored Ray

[0053] 3 Imaging pathway

[0054] 4 Biopsy channel

[0055] A The first virtual plane

[0056] B Second virtual plane

[0057] a1 first mark point

[0058] a2 Second marking point

[0059] a3 middle mark point

[0060] a1' The first marking point imaging point

[0061] a2' The second marking point imaging point

[0062] a3' middle marker imaging point

[0063] 6. Ruler body

[0064] 61 scale area

[0065] 62 Adjustment Card

[0066] 7 Laser light source

[0067] 8 Optical fiber

[0068] 9 Transparent film

[0069] c1 first position

[0070] c2 second position DETAILED DESCRIPTION

[0071] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0072] In order to solve the problems in the above-mentioned background technology, the present invention provides a laser measurement method for endoscopic detection of tumor size, a laser measurement device for endoscopic detection of tumor size, a computer-readable storage medium, a terminal, a laser positioning scale for endoscopic detection of tumor size, and a laser measurement system for endoscopic detection of tumor size. At the same time, in order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution in the embodiment of the present invention is further described in detail through the following embodiments and in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the invention.

[0073] In a first aspect, an embodiment of the present invention provides a laser positioning scale for endoscopically detecting the size of a tumor, such as Figure 7-9 As shown, the laser positioning ruler includes a ruler body 6, a laser light source 7, a light guide fiber 8 and a light-transmitting sheet 9. The ruler body 6 is provided with a hollow inner cavity penetrating the ruler body 6, and the laser light source 7 is provided at the tail end of the ruler body 6. The light guide fiber 8 is provided in the hollow inner cavity, and one end thereof is connected to the laser light source 7 for signal communication, and the other end thereof is fixed at a first position c1 of the hollow inner cavity. The light-transmitting sheet 9 is provided at a second position c2 of the hollow inner cavity, and the first position c1 is located on the light incident side of the light-transmitting sheet 4. The laser light source 7 uses a visible light laser light source. The light-transmitting sheet 9 plays the role of dispersing light beams, for example, a grating composed of parallel slits of equal width and spacing is used, and the distance P from the end of the light guide fiber to the light-transmitting sheet and the length Q of the ruler-like hollow pattern on the light-transmitting sheet are controlled, and the ratio of P and Q is controlled to determine the angle between each light beam.

[0074] Specifically, the ruler body 6 is provided with a scale area 61 and an adjustment card 62 slidably arranged outside the scale area 61, the scale area 61 is arranged close to the laser light source 7 and the scale area 61 is provided with scale lines; the second position c2 is the head end of the hollow inner cavity. When the ruler device enters through the biopsy channel provided by the endoscope, the adjustment card port can be used for calibration to ensure that the head end of the ruler and the endoscope lens are in the same plane for subsequent calculation and measurement.

[0075] The above laser positioning ruler is used for endoscopic detection of tumor size. The specific method is as follows:

[0076] Figure 1 This is a close-up plan view of the actual measurement situation. Figure 2 Figure 1 is a schematic diagram of a tumor image obtained by an imaging system. Figure 1 and Figure 2 , laser measurement methods used for endoscopic detection of tumor size, including:

[0077] 1) A colored visible light beam is generated by a laser light source, and after passing through a light guide fiber and a light-transmitting sheet, at least two colored light beams 2 are dispersed from the end of the endoscope 1 and are angled with the center line of the end of the light guide fiber;

[0078] 2) by adjusting the light output position of the light-transmitting sheet and the distance between the entrance end of the imaging passage 3 of the endoscope and the tumor, at least two colored light rays 2 are projected on the tumor to form light spots, and the two light spots with the farthest distance are used as the marking point group (a1, a2), and the tumor is imaged by the imaging passage and the endoscope imaging system to form a tumor image with the marking point group (a1', a2') corresponding to the marking point group (a1, a2);

[0079] 3) According to the relative position of the light emitting position of the light-transmitting sheet and the imaging pathway, the angle between the colored light rays forming the marking point group, the field of view angle of the endoscopic imaging system and the geometric correspondence between the tumor image with the marking point group, the distance between the two light spots of the tumor marking point group is calculated after each distance adjustment.

[0080] The testing principle of this application is as follows: Figure 1It is a schematic diagram of the close-up plane of the actual measurement situation, that is, the first virtual plane formed under the actual measurement situation. Two colored light rays are projected on the two boundaries of the tumor to form a group of marking points (a1, a2). The angle between the two colored light rays is 2α. 2α can be obtained or known according to the selection or calculation of the prior art device and changes according to the distance between the light-emitting position of the light-transmitting sheet and the tumor. The field of view angle of the endoscopic imaging system is β (known and a constant value). It is preferred that the center of the light-emitting position of the light-transmitting sheet coincides with the center of the biopsy channel 4. The distance between the center of the biopsy channel and the center of the imaging passage is W (known). The distance between the first virtual plane and the lens is H (unknown). Specifically, the circle where the field of view of the endoscopic imaging system is located is called the first virtual plane circle.

[0081] Figure 2 Schematic diagram of a tumor image obtained by an imaging system, wherein the tumor image has a group of marked points (a1', a2') on the tumor corresponding to the group of marked points (a1, a2) in the real scene, the radius of the circle on the tumor image corresponding to the first virtual plane circle in the real scene is R (known, obtained by measuring the tumor image), and the distance from the group of marked points (a1', a2') to the center point of the tumor image is d1, d2 (known, obtained by measuring the tumor image).

[0082] It is known that the geometric correspondence between the first virtual plane and the tumor image is:

[0083]

[0084] Since α, β, W, R, and d are all known,

[0085]

[0086] The distance between the first virtual plane and the lens is calculated by the above geometric correspondence as H. By adjusting the distance H between the near view plane and the lens, the two colored rays can be projected on any other two boundaries of the tumor, and a three-dimensional application is performed according to the geometric correspondence.

[0087] In a specific embodiment, the light-emitting position of the light-transmitting sheet is kept flush with the entrance end of the imaging passage.

[0088] In a specific embodiment, after the colored visible light beam passes through the light-transmitting sheet, it disperses and emits 2N+1 colored light rays, the angle between each adjacent light ray is α, α is 1°~30°, the size of the angle α is set by the parameters of the laser light source and the light-transmitting sheet, the size of the angle α is customized according to needs, and can be selected from 1°~5°, 5°~10°, 10°~15°, 15°~20°, 20°~25°, 25°~30°; the middle light 21 located in the middle of the 2N+1 colored light rays is parallel to the imaging path 3 and the middle light 21 coincides with the center of the head end of the light guide fiber, N is an integer greater than or equal to 1, and N is generally 1~5.

[0089] In a specific embodiment, in step 2), the relative position of the light emitting position of the light-transmitting sheet and the entrance of the imaging passage 3 is kept unchanged, and by adjusting the distance between the light emitting position of the light-transmitting sheet and the tumor, at least two light rays 2 and colored light rays other than the middle light ray 21 are projected on the tumor to form a light spot, and the two light spots farthest away are respectively used as a three-dimensional marking point group, the three-dimensional marking point group includes a first marking point a1 and a second marking point a2, and the middle light ray 21 forms a middle marking point a3 on the tumor; an imaging system is used to obtain a tumor image with the first marking point imaging point a1', the second marking point imaging point a2' and the middle marking point imaging point a3'.

[0090] Figure 3 This is a three-dimensional application diagram of the actual measurement situation. Figure 4 Schematic diagram of a tumor image obtained by an imaging system, a three-dimensional application is specifically described. In a specific embodiment, in step 3), the distance between the first marking point a1 and the second marking point a2 in the tumor marking point group is calculated according to the following steps:

[0091] 1) On the first virtual plane A, if the vertical projections of the first marking point a1 and the middle marking point a3 are located on the same side of the vertical projection of the center of the imaging system, the distance H1 between the first virtual plane and the inner lens end is calculated using Formula 1:

[0092] Formula 1:

[0093] If the first marking point a1 and the middle marking point a3 are located on both sides of the vertical projection of the center of the imaging system, the distance H1 between the first virtual plane A and the inner lens end is calculated using Formula 2:

[0094] Formula 2:

[0095] Wherein, α1 is the angle between the colored light forming the first marking point on the tumor and the intermediate light;

[0096] W is the distance between the center of the light-emitting position of the light-transmitting sheet and the center of the imaging path;

[0097] R is the radius of the tumor image;

[0098] β is the field of view angle of the endoscopic imaging system;

[0099] d1 is the distance from the imaging point of the first marking point on the tumor image to the center point of the tumor image;

[0100] 3) On the second virtual plane B, if the vertical projections of the second mark point a2 and the middle mark point a3 are located on the same side of the vertical projection of the center of the imaging system, the distance H2 between the second virtual plane circle and the inner lens end is calculated using Formula 3:

[0101]

[0102] If the vertical projections of the second marking point a2 and the middle marking point a3 are located on both sides of the vertical projection of the center of the imaging system, the distance H2 between the second virtual plane circle and the inner lens end is calculated using Formula 4:

[0103]

[0104] Wherein, α2 is the angle between the colored light forming the second marking point on the tumor and the middle colored light;

[0105] d2 is the distance from the imaging point of the second marking point on the tumor image to the center point of the tumor image;

[0106] 4) Use formula 5 to calculate the actual spatial distance X between the first marking point and the second marking point in the marking point group:

[0107] Formula 5:

[0108] In a specific embodiment, step 3) also includes: taking the distance obtained for the first time as the maximum diameter of the measured tumor; or, based on the distance between the light emitting position of the light-transmitting sheet and the entrance end of the imaging passage of the endoscope and the tumor after several changes, the marking group generated by each change and the corresponding tumor image with the marking point group, calculating the distance between the two light spots of the marking point group after each change, and the maximum distance value obtained is taken as the maximum diameter of the measured tumor.

[0109] The second aspect of the embodiment of the present invention provides a laser measurement system for endoscopic detection of tumor size, including an endoscopic detector with an imaging system, the endoscopic detector is provided with an imaging channel and a biopsy channel; and the laser positioning ruler and controller as described above; in the use state, the laser positioning ruler is arranged in the biopsy channel; the controller is electrically connected to the laser light source of the positioning ruler and the imaging system of the endoscopic detector. The controller can select a terminal to control the opening and closing of the circuit, process or store data, such as a mobile phone, computer equipment, tablet device, personal digital processing device, factory background processing equipment, etc. Preferably, in the use state, the light outlet position of the light-transmitting sheet is flush with the entrance end of the imaging channel.

[0110] Example 1

[0111] Laser positioning ruler used for endoscopic detection of tumor size, see Figure 7 , including a ruler body 6, a laser light source 7, a light guide fiber 8 and a light-transmitting sheet 9. The ruler body 6 is provided with a hollow inner cavity penetrating the ruler body, and the laser light source 7 is provided at the tail end of the ruler body 6. The light guide fiber 8 is provided in the hollow inner cavity, and one end thereof is connected to the laser light source 7 for signal communication, and the other end thereof is fixed at a first position c1 of the hollow inner cavity. The light-transmitting sheet 9 is provided at a second position c2 of the hollow inner cavity, and the first position c1 is located at the light incident side of the light-transmitting sheet 9, and the second position c2 is the head end of the hollow inner cavity. The ruler body is made of a bendable hose.

[0112] More specifically, the ruler body 6 is provided with a scale area 61 and an adjustment card 62 slidably arranged outside the scale area 61, the scale area 61 is arranged close to the laser light source 7 and the scale area 61 is provided with scale lines. The depth of the ruler body entering the biopsy channel can be known through the adjustment card 62, so as to ensure that the head end of the ruler is in the same plane as the endoscope lens, so as to facilitate subsequent calculation and measurement. In addition, a power supply 64 for providing electric energy to the laser light source and a switch 63 for controlling the on and off of the laser light source are also provided.

[0113] Specifically, taking the currently used Olympus ENF TYPE VT2 electronic nasopharyngeal endoscope as an example, its optical field of view angle β = 90°, the total diameter of the head end is 4.8 mm, the diameter of the biopsy channel 4 is 2.0 mm, and the actual distance W between the center of the biopsy channel (i.e., the center of the light emitting position of the light-transmitting sheet after the laser positioning ruler is inserted) and the center of the imaging passage 3 is 2.0 mm; the diameter of the image collected on the screen by the acquisition system is 1080 pixels, then R = 540 pixels.

[0114] See also Figure 6 As shown, by engraving a ruler-like pattern on the light-transmitting sheet 9 And control the distance P from the end of the light-guiding fiber 8 to the light-transmitting sheet 9 and the length Q of the ruler-like hollow pattern on the light-transmitting sheet 9 so that Then a laser positioning scale device is obtained which can emit one intermediate light beam and two angled marking light beams, wherein the angle between each light beam is 30°, that is, α=30°;

[0115] The laser positioning ruler device was placed into the biopsy channel of the VT2 endoscope and a tumor with a diameter of 10 mm and growing in a three-dimensional manner in the lateral direction was measured. Figure 3 By adjusting the distance between the lens (i.e., the light output position and the entrance end of the imaging path) and the tumor, the two outer marking rays are projected onto the two boundaries of the tumor to form the first marking point a1 and the second marking point a2. Figure 4 , collect the tumor image with the first marking imaging point a1' and the second marking imaging point a2', such as Figure 3 As shown. At this time, the angle between the two outer marking rays and the middle ray is a1=a2=α=30°; the distance between the first marking point imaging point a1' and the second marking point imaging point a2' is measured on the image, d1=405 pixels, d2=216 pixels, and the above formula can be used to calculate:

[0116]

[0117]

[0118] Then, the maximum diameter of the tumor measured is:

[0119]

[0120] Also, see Figure 6 In the three-dimensional application process, the data acquisition module is used to provide the relative position of the light-emitting position of the light-transmitting sheet and the imaging path, the angle between the colored light rays forming the marking point group, the field of view angle of the endoscopic imaging system and the geometric correspondence between the tumor image with the marking point group; the calculation module is used to realize the calculation. The measurement method using the algorithm is as follows,

[0121] S1, providing the distance W between the center of the light-emitting position of the light-transmitting sheet and the center of the imaging path; providing the field of view angle β of the endoscope imaging system, Y=0, i=0;

[0122] S2, obtaining an angle α1 between the colored light forming the first marking point on the tumor and the intermediate light;

[0123] Obtaining an angle α2 between the colored light forming a second marking point on the tumor and the intermediate light;

[0124] Obtaining the distance d1 from the imaging point of the first marking point on the tumor image to the center point of the tumor image;

[0125] Obtaining a distance d2 from the imaging point of the second marking point on the tumor image to the center point of the tumor image;

[0126] Get the radius R of the tumor image;

[0127] Obtaining a vertical projection relationship between the first marking point and the middle marking point and the vertical projection relationship between the center of the imaging system;

[0128] Obtaining a vertical projection relationship between the second marking point and the middle marking point and the vertical projection relationship between the center of the imaging system;

[0129] S3, determining the relationship between the vertical projections of the first marking point and the middle marking point and the vertical projection of the center of the imaging system,

[0130] If it is on the same side, use the above formula 1, if it is on both sides, use the above formula 2;

[0131] S4, determining the relationship between the vertical projection of the second marking point and the middle marking point and the vertical projection of the center of the imaging system,

[0132] If it is on the same side, use the above formula 3; if it is on both sides, use the above formula 4;

[0133] S5, using the above formula 5 to calculate the actual spatial distance X between the first marking point and the second marking point;

[0134] S6, determine whether X is greater than Y; 1) If X is greater than Y, then S7, Y = X, S8, i = i + 1; S9, determine i

[0135] Is it less than M (M is a manually set integer value), if i is less than M, then return to S2 and readjust the position to obtain a new value; if i is not less than M, then the calculation ends and the Y value is output;

[0136] 2) If X is not greater than Y, S8, i=i+1;

[0137] S9, determine whether i is less than M (M is a manually set integer value), if i is less than M, return to S2,

[0138] Re-adjust the position to obtain a new value; if i is not less than M, then S10, the calculation ends and the Y value is output;

[0139] S11. End.

[0140] Example 2

[0141] A laser measurement system for endoscopic detection of tumor size includes an endoscopic detector with an imaging system, wherein the endoscopic detector is provided with an imaging channel 3 and a biopsy channel 4. The laser measurement system also includes the laser positioning ruler and controller of Example 3. In use, the laser positioning ruler is arranged at the biopsy channel 4, and the light outlet position of the light-transmitting sheet is kept flush with the entrance end of the imaging channel. The controller is electrically connected to the laser light source of the positioning ruler and the imaging system of the endoscopic detector. The controller can control the opening and closing of the laser light source of the positioning ruler, obtain the imaging of the imaging system through the controller, and perform the calculation method described in Examples 1 and 2 according to the computer program and algorithm. The controller can select a terminal, such as a mobile phone, a computer device, a tablet device, a personal digital processing device, a factory background processing device, etc.

[0142] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0143] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A laser positioning scale for endoscopic detection of tumor size, characterized in that: It comprises a scale body (6), a laser light source (7), a light-guiding fiber (8) and a light-transmitting sheet (9); The ruler body (6) is provided with a hollow inner cavity penetrating the ruler body (6), and the laser light source (7) is arranged at the rear end of the ruler body (6); The optical fiber (8) is arranged in the hollow inner cavity, and one end of the optical fiber is in signal communication with the laser light source (7), and the other end is fixed at a first position in the hollow inner cavity; The light-transmitting sheet (9) is arranged at a second position of the hollow inner cavity, and the first position is located at the light-entering side of the light-transmitting sheet (9), and the second position is the head end of the hollow inner cavity; The method for applying the laser positioning ruler to endoscopically detect the size of a tumor comprises the following steps: 1) A colored visible light beam is generated by a laser light source (7), and after passing through a light-guiding fiber (8) and a light-transmitting sheet (9), at least two colored light beams having an angle with the center line of the head end of the light-guiding fiber (8) are dispersed from the inner lens end; Wherein, the light emitting position of the light-transmitting sheet is kept flush with the entrance end of the imaging passage; after the colored visible light beam passes through the light-transmitting sheet, it disperses and emits 2N+1 colored light rays, and the angle between each adjacent light ray is α, and α is 1° to 30°; the middle light ray located in the middle of the 2N+1 colored light rays is parallel to the imaging passage, and the middle light ray coincides with the center of the head end of the light-guiding fiber, and N is an integer greater than or equal to 1; 2) by adjusting the light output position of the light-transmitting sheet and the distance between the entrance end of the imaging passage of the endoscope and the tumor, at least two colored light rays are projected on the tumor to form light spots, and the two light spots with the farthest distance are used as a marking point group, and the tumor is imaged by the imaging passage and the endoscope imaging system to form a tumor image with the marking point group; The relative positions of the light-emitting position of the light-transmitting sheet and the entrance of the imaging passage are kept unchanged, and the distance between the light-emitting position of the light-transmitting sheet and the tumor is adjusted so that at least two colored light rays other than the middle light ray are projected on the tumor to form light spots, and the two light spots with the farthest distance are respectively used as a marking point group, wherein the marking point group includes a first marking point and a second marking point, and the middle light ray forms a middle marking point on the tumor; an imaging system is used to obtain a tumor image with the first marking point imaging point, the second marking point imaging point and the middle marking point imaging point at the same time; 3) According to the relative position of the light-emitting position of the light-transmitting sheet and the imaging pathway, the angle between the colored light rays forming the marking point group, the field of view angle of the endoscopic imaging system and the geometric correspondence between the tumor image with the marking point group, the distance between the two light spots of the tumor marking point group after each distance adjustment is calculated; The distance between the first marker point and the second marker point in the tumor marker group is calculated according to the following steps: (1) On the first virtual plane, if the vertical projections of the first mark point and the middle mark point are located on the same side of the vertical projection of the center of the imaging system, the distance H1 between the first virtual plane and the inner lens end is calculated using Formula 1: Formula 1: If the first marking point and the middle marking point are located on both sides of the vertical projection of the center of the imaging system, the distance H1 between the first virtual plane and the inner lens end is calculated using Formula 2: Formula 2: Wherein, α1 is the angle between the colored light forming the first marking point on the tumor and the intermediate light; W is the distance between the center of the light-emitting position of the light-transmitting sheet and the center of the imaging path; R is the radius of the tumor image; β is the field of view angle of the endoscopic imaging system; d1 is the distance from the imaging point of the first marking point on the tumor image to the center point of the tumor image; (2) On the second virtual plane, if the vertical projections of the second mark point and the middle mark point are located on the same side of the vertical projection of the center of the imaging system, the distance H2 between the second virtual plane circle and the inner lens end is calculated using Formula 3: Formula 3: If the vertical projections of the second mark point and the middle mark point are located on both sides of the vertical projection of the center of the imaging system, the distance H2 between the second virtual plane circle and the inner lens end is calculated using Formula 4: Formula 4: Wherein, α2 is the angle between the colored light forming the second marking point on the tumor and the intermediate light; d2 is the distance from the imaging point of the second marking point on the tumor image to the center point of the tumor image; (3) Formula 5 is used to calculate the actual spatial distance X between the first marking point and the second marking point in the marking point group: Formula 5:

2. The laser positioning scale for endoscopically detecting tumor size according to claim 1, characterized in that: The ruler body (6) is provided with a scale area (61) and an adjustment card (62) slidably arranged outside the scale area (61); the scale area (61) is arranged close to the laser light source (7) and the scale area (71) is provided with scale lines.

3. The laser positioning scale for endoscopic detection of tumor size according to claim 1, characterized in that: Step 3) also includes: The distance obtained for the first time is taken as the maximum diameter of the measured tumor; or, based on several changes in the light-emitting position of the light-transmitting sheet and the distance between the entrance end of the imaging passage of the endoscope and the tumor, the marking group generated by each change and the corresponding tumor image with the marking point group are calculated, and the distance between the two light spots of the marking point group after each change is calculated, and the maximum distance value obtained is taken as the maximum diameter of the measured tumor.

4. A laser measurement system for endoscopic detection of tumor size, characterized in that: An endoscopic detector with an imaging system is included, wherein the endoscopic detector is provided with an imaging passage and a biopsy channel; Also includes the laser positioning scale and controller as described in any one of claims 1 to 3; In the use state, the laser positioning ruler is arranged on the biopsy channel; The controller is electrically connected to the laser light source of the positioning scale and the image system of the endoscope detector.

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