Image pickup system, method and equipment for endoscopy and storage medium

Abstract

The invention discloses a camera shooting system, method and equipment for endoscopy and a storage medium. The system comprises a camera shooting optical fiber used for collecting image data during endoscopy, an illumination optical fiber used for providing illumination during endoscopy, an image element detection unit used for detecting imaging elements of the camera shooting system, a camera shooting direction detection unit used for detecting the camera shooting direction of the camera shooting optical fiber, and an illumination direction detection unit used for detecting the illumination direction of the illumination optical fiber. The lighting direction adjusting unit is used for adjusting the lighting direction of the lighting optical fiber to be matched with the shooting direction, the first water spraying cleaning unit is used for cleaning a shooting optical fiber lens, and the second water spraying cleaning unit is used for cleaning liquid between the shooting optical fiber and a shooting target. According to the invention, the imaging quality during endoscopy can be improved, the examination efficiency and the examination effect are improved, and the energy consumption and the operation difficulty are reduced at the same time.

Description

Technical Field

[0001] The present invention belongs to the technical field of endoscopy camera technology, and in particular relates to an endoscopy camera system, method, device and storage medium. Background Art

[0002] In the oral field, during the periodontal scaling surgery, due to the small space of the periodontal pocket formed between the gums and the root of the teeth and the complex structure inside the periodontal pocket, the plaque, tartar and other lesions formed in the periodontal pocket often require doctors to operate without visual contact; this situation requires high skills and experience of doctors, so incomplete scaling often occurs, resulting in the periodontal scaling surgery effect not meeting expectations or even directly failing, causing secondary damage to patients. The endoscope is a detection instrument that integrates traditional optics, ergonomics, precision machinery, modern electronics, mathematics, software, etc.; it has image sensors, optical lenses, light sources, mechanical devices, etc. It can enter the stomach through the mouth or enter the body through other natural channels.

[0003] However, the existing endoscopes are relatively rough in the use of the camera fiber and the lighting fiber. Although the preset camera fiber and the lighting fiber are in a coordinated relationship in direction, due to the complex endoscopic environment (such as Figure 1 As shown in the figure, and the fiber is relatively soft, during the movement, there may be slight deviations in the direction of the camera fiber and the lighting fiber, which may affect the subsequent imaging.

[0004] Therefore, at this stage, a camera technology for endoscopy needs to be designed to solve the above problems. Summary of the invention

[0005] The present invention provides an imaging system, method, device and storage medium for endoscopy, aiming to solve the above-mentioned problems.

[0006] In order to solve the above technical problems, the first aspect of the present invention provides a camera system for endoscopy, comprising a camera optical fiber, an illumination optical fiber, an image element detection unit, a camera direction detection unit, an illumination direction detection unit, an illumination direction adjustment unit, a first water spray cleaning unit, a second water spray cleaning unit and a main control unit;

[0007] The imaging optical fiber is used to collect image data during endoscopy;

[0008] The illumination optical fiber is used to provide illumination during endoscopy;

[0009] The image element detection unit is used to detect the imaging elements of the camera system;

[0010] The imaging direction detection unit is used to detect the imaging direction of the imaging optical fiber;

[0011] The lighting direction detection unit is used to detect the lighting direction of the lighting optical fiber;

[0012] The lighting direction adjustment unit is used to adjust the lighting direction of the lighting optical fiber to match the camera direction;

[0013] The first water spray cleaning unit is used to clean the lens of the camera optical fiber;

[0014] The second water spray cleaning unit is used to clean the liquid between the imaging optical fiber and the imaging target;

[0015] The main control unit receives data collected by the camera fiber, lighting fiber, image element detection unit, camera direction detection unit and lighting direction detection unit, and sends control instructions to the lighting direction adjustment unit, the first water spray cleaning unit and the second water spray cleaning unit according to preset rules.

[0016] Preferably, the initial states of the camera direction detection unit, the lighting direction detection unit, the lighting direction adjustment unit, the first water spray cleaning unit and the second water spray cleaning unit are closed; the initial states of the camera optical fiber, the lighting optical fiber and the image element detection unit are opened.

[0017] Preferably, the conditions for starting the camera direction detection unit and the lighting direction detection unit are: the clarity of the imaging element is lower than the set clarity;

[0018] The activation condition of the lighting direction adjustment unit is: the camera direction does not match the lighting direction;

[0019] The activation condition of the first water spray cleaning unit is: the camera direction matches the lighting direction;

[0020] The activation condition of the second water spray cleaning unit is: after the first water spray cleaning unit completes cleaning, the clarity of the imaging element is lower than the set clarity.

[0021] Preferably, the camera system also includes a manual intervention alarm unit, which receives control instructions from the main control unit and issues an alarm requiring manual intervention according to the control instructions; the initial state of the manual intervention alarm unit is a closed state, and the opening condition is: after the second water spray cleaning unit completes cleaning, the clarity of the imaging element is lower than the set clarity.

[0022] Preferably, the camera system also includes a cleaning direction detection unit, which is used to detect the water spray direction of the first water spray cleaning unit and send the detection result to the main control unit; the initial state of the cleaning direction detection unit is a closed state, and the opening condition is: after the first water spray cleaning unit is cleaned, the clarity of the imaging element is lower than the set clarity.

[0023] Preferably, the camera system also includes a cleaning direction adjustment unit, which receives control instructions from the main control unit and adjusts the water spray direction of the first water spray cleaning unit to match the lens direction of the camera optical fiber according to the control instructions; the initial state of the cleaning direction adjustment unit is a closed state, and the opening condition is: the cleaning direction detection unit detects that the water spray direction of the first water spray cleaning unit does not match the lens direction of the camera optical fiber.

[0024] Preferably, the camera system further includes a communication unit and a remote monitoring center;

[0025] The communication unit sends the image data processed by the main control unit, the system status data, and the original data collected by the image element detection unit, the camera direction detection unit, and the lighting direction detection unit to the remote monitoring center;

[0026] The remote monitoring center provides remote diagnosis, monitoring and collaboration functions.

[0027] A second aspect of the present invention further provides a camera method for endoscopy, the method using the camera system as described in the first aspect of the present invention, comprising the following steps:

[0028] S1: Use the illumination fiber to provide illumination for the endoscopy process, and the camera fiber to collect endoscopy image data;

[0029] S2: Detect the clarity of the imaging elements of the endoscopic image data by the image element detection unit, and compare it with the preset clarity. If the clarity comparison is qualified, execute step S10; if the clarity comparison is unqualified, execute step S3;

[0030] S3: Turn on the camera direction detection unit and the lighting direction detection unit to detect whether the camera method and the lighting direction match the camera direction. If the camera direction matches the lighting direction, execute step S5; if the camera direction does not match the lighting direction, execute step S4;

[0031] S4: After adjusting the illumination direction of the illumination optical fiber to match the camera direction through the illumination direction adjustment unit, the image element detection unit is used to detect the clarity of the imaging elements of the endoscopic image data, and the clarity is compared with the preset clarity. If the clarity comparison is qualified, step S10 is executed, and if the clarity comparison is unqualified, step S5 is executed;

[0032] S5: starting the first water spray cleaning unit to clean the lens of the camera optical fiber. After the cleaning is completed, the image element detection unit detects the clarity of the imaging element of the endoscopic image data and compares it with the preset clarity. If the clarity comparison is qualified, step S10 is executed; if the clarity comparison is unqualified, step S6 is executed;

[0033] S6: If the camera system is equipped with a cleaning direction detection unit and a cleaning direction adjustment unit, the cleaning direction detection unit detects whether the water spraying direction of the first water spray cleaning unit matches the lens direction, and if they match, step S8 is executed, and if they do not match, step S7 is executed; if the camera system is not equipped with a cleaning direction detection unit and a cleaning direction adjustment unit, step S8 is executed;

[0034] S7: Start the cleaning direction adjustment unit, adjust the water spray direction of the first water spray cleaning unit to match the lens direction of the camera optical fiber, detect the clarity of the imaging elements of the endoscopic image data through the image element detection unit, and compare it with the preset clarity. If the clarity comparison is qualified, execute step S10, and if the clarity comparison is unqualified, execute step S8;

[0035] S8: Start the second water spray cleaning unit to clean the liquid between the imaging optical fiber and the imaging target. After the cleaning is completed, the image element detection unit detects the clarity of the imaging element of the endoscopic image data and compares it with the preset clarity. If the clarity comparison is qualified, step S10 is executed, and if the clarity comparison is unqualified, step S9 is executed;

[0036] S9: If the camera system is equipped with a manual intervention alarm unit, stop collecting and output alarm information through the manual intervention alarm unit; if the camera system is not equipped with a manual intervention alarm unit, stop collecting;

[0037] S10: Continue collecting until all collection operations are completed.

[0038] According to a third aspect of the present invention, an electronic device is provided, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the imaging method as described in the second aspect of the present invention is implemented.

[0039] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the imaging method according to the second aspect of the present invention is implemented.

[0040] Compared with the prior art, the present invention has the following technical effects:

[0041] 1. The camera system proposed in the present invention can quickly determine image blur through the cooperation of an image element detection unit, a camera direction detection unit, a lighting direction detection unit, a lighting direction adjustment unit, a first water spray cleaning unit and a second water spray cleaning unit, and restore image quality through automatic adjustment or cleaning means, thereby avoiding imaging problems caused by optical fiber direction deviation or lens contamination, improving imaging quality during endoscopic inspection, and achieving improved inspection efficiency and inspection effect.

[0042] 2. The camera system image proposed in the present invention can quickly determine whether the camera direction and the lighting direction match through the cooperation of the element detection unit, the camera direction detection unit, and the lighting direction detection unit; if the two do not match, the lighting direction can be adjusted to match the camera direction through the lighting direction adjustment unit; if the two match, the lens and the obstacle liquid between the lens and the camera target can be cleaned respectively through the first water spray cleaning unit and the second water spray cleaning unit, so that there will be no slight deviation in the direction of the camera optical fiber and the lighting optical fiber, and the subsequent imaging will not be affected.

[0043] 3. The camera system proposed by the present invention starts up the units in an orderly manner, such as the camera direction detection unit, the lighting direction detection unit, the lighting direction adjustment unit and the water spray cleaning unit, which are all kept in a closed state when not necessary and are only started when the image clarity is lower than the threshold. This can reduce the energy consumption of the system, and the cleaning or adjustment unit is only started when necessary, thereby reducing ineffective power consumption.

[0044] 4. The camera system proposed in the present invention can automatically adapt to problems such as direction deviation and dirt coverage in complex endoscopic environments (such as periodontal pockets), without the need to frequently rely on manual operation, thereby improving operational reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic diagram of an endoscopy environment according to an embodiment of the present invention;

[0046] Figure 2 is a structural schematic diagram of the camera system of the present invention;

[0047] Figure 3 It is a flowchart of the imaging method described in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to make the objectives, technical solutions and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in combination with specific embodiments of the present application and with reference to the accompanying drawings.

[0049] Embodiment 1

[0050] This embodiment is a camera system for endoscopy, such as Figure 1 As shown, it includes a camera optical fiber, a lighting optical fiber, an image element detection unit, a camera direction detection unit, a lighting direction detection unit, a lighting direction adjustment unit, a first water spray cleaning unit, a second water spray cleaning unit and a main control unit.

[0051] The imaging optical fiber is used to collect image data during endoscopy. The imaging optical fiber collects image data and converts it into an electrical signal through an image sensor. The signal processing circuit pre-processes the image (such as amplification, filtering, analog-to-digital conversion), and then transmits the digital image data to the main control unit. The main control unit performs image enhancement, compression and other processing according to the algorithm.

[0052] The illumination optical fiber is used to provide illumination during endoscopy, ensuring that the imaging optical fiber can collect clear image data.

[0053] The image element detection unit is used to detect the imaging elements of the camera system (such as clarity, contrast and other elements). The image collected by the camera fiber is analyzed in real time to evaluate whether the imaging elements meet the set standards. Specifically, the image parameters such as clarity, brightness, contrast and the like can be analyzed based on the module of the image processing algorithm, and the results can be sent to the main control unit. Among them, the clarity detection can use the edge detection algorithm to evaluate the clarity.

[0054] The imaging direction detection unit is used to detect the imaging direction of the imaging optical fiber so as to match it with the illumination direction later.

[0055] The lighting direction detection unit is used to detect the lighting direction of the lighting optical fiber, providing a basis for adjusting the lighting direction.

[0056] One way to implement the direction detection of the camera direction detection unit and the lighting direction detection unit is to use a micro gyroscope or an accelerometer. When it is detected that the camera direction does not match the lighting direction, the main control unit controls the lighting direction adjustment unit to adjust the direction of the lighting optical fiber to align it with the camera direction.

[0057] The lighting direction adjustment unit is used to adjust the lighting direction of the lighting optical fiber to match the camera direction.

[0058] The first water spray cleaning unit is used to clean the lens of the imaging optical fiber. When dirt adheres to the lens surface, the sprayed liquid is used to clean it to keep the lens clean. It can be seen that the water spray direction of the first water spray cleaning unit is toward the lens surface.

[0059] The second water spray cleaning unit is used to clean the liquid between the imaging optical fiber and the imaging target to further improve the imaging quality. It can be seen that the water spraying direction of the second water spray cleaning unit is toward the space between the lens and the imaging target.

[0060] One implementation of the first water spray cleaning unit and the second water spray cleaning unit is to integrate a micro water pump and a nozzle for cleaning the lens of the camera optical fiber. The nozzle can be annular or multi-hole in design to ensure uniform cleaning.

[0061] The main control unit receives data collected by the camera fiber, the lighting fiber, the image element detection unit, the camera direction detection unit and the lighting direction detection unit, and sends control instructions to the lighting direction adjustment unit, the first water spray cleaning unit and the second water spray cleaning unit according to preset rules. As the core of the system, the main control unit integrates the data collected by each unit and coordinates and controls various parts of the system based on preset rules.

[0062] In the above scheme, through the cooperation of the image element detection unit, the camera direction detection unit, and the lighting direction detection unit, it can be quickly determined whether the camera direction and the lighting direction match; if the two do not match, the lighting direction can be adjusted to match the camera direction through the lighting direction adjustment unit; if the two match, the lens and the obstacle liquid between the lens and the camera target can be cleaned respectively through the first water spray cleaning unit and the second water spray cleaning unit, so that there will be no slight deviation in the direction of the camera optical fiber and the lighting optical fiber, and the subsequent imaging will not be affected.

[0063] The initial states of the camera direction detection unit, the lighting direction detection unit, the lighting direction adjustment unit, the first water spray cleaning unit and the second water spray cleaning unit are closed; the initial states of the camera optical fiber, the lighting optical fiber and the image element detection unit are opened.

[0064] The conditions for starting the camera direction detection unit and the lighting direction detection unit are: the clarity of the imaging element is lower than the set clarity;

[0065] The activation condition of the lighting direction adjustment unit is: the camera direction does not match the lighting direction;

[0066] The activation condition of the first water spray cleaning unit is: the camera direction matches the lighting direction;

[0067] The activation condition of the second water spray cleaning unit is: after the first water spray cleaning unit completes cleaning, the clarity of the imaging element is lower than the set clarity.

[0068] In the above scheme, the orderly opening of each unit can reduce energy consumption as much as possible; and it can effectively and gradually determine the possible limitations in the camera process, and make targeted adjustments to ensure the normal operation of the camera process.

[0069] The camera system also includes a manual intervention alarm unit, which receives control instructions from the main control unit and issues an alarm requiring manual intervention according to the control instructions; the initial state of the manual intervention alarm unit is a closed state, and the opening condition is: after the second water spray cleaning unit completes cleaning, the clarity of the imaging element is lower than the set clarity. The purpose of setting up the manual intervention alarm unit is that if the targeted adjustment designed in this solution cannot overcome the problem and must be solved through manual intervention, a corresponding alarm will be issued to warn the staff. The manual intervention alarm unit includes a speaker, a buzzer or an indicator light for issuing an audible and visual alarm signal.

[0070] The camera system also includes a cleaning direction detection unit, which is used to detect the water spraying direction of the first water spray cleaning unit and send the detection result to the main control unit; the initial state of the cleaning direction detection unit is a closed state, and the opening condition is: after the first water spray cleaning unit completes cleaning, the clarity of the imaging element is lower than the set clarity.

[0071] The camera system also includes a cleaning direction adjustment unit, which receives control instructions from the main control unit and adjusts the water spray direction of the first water spray cleaning unit to match the lens direction of the camera optical fiber according to the control instructions; the initial state of the cleaning direction adjustment unit is a closed state, and the opening condition is: the cleaning direction detection unit detects that the water spray direction of the first water spray cleaning unit does not match the lens direction of the camera optical fiber.

[0072] Through the cooperation of the cleaning direction detection unit and the cleaning direction adjustment unit, it is ensured that the lens of the camera optical fiber is effectively cleaned.

[0073] The camera system also includes a communication unit and a remote monitoring center. The communication unit sends the image data processed by the main control unit, the system status data, and the original data collected by the image element detection unit, the camera direction detection unit, and the lighting direction detection unit to the remote monitoring center. The remote monitoring center provides remote diagnosis, monitoring, and collaboration functions, such as image display, remote consultation, data storage, system monitoring, etc. Doctors can view endoscopic images in real time through the client software.

[0074] The application examples of this embodiment are as follows:

[0075] During an endoscopic examination, if the camera fiber lens is stained with mucus, the image will be blurred. The system will automatically start the following process: first, check whether the lighting direction is correct, and adjust it if it is wrong; if the lighting direction is correct or the image is still blurred after adjustment, start the first water spray cleaning unit to clean the lens; if it is still blurred after cleaning, start the second water spray cleaning unit to clean the liquid between the camera fiber and the camera target. If the image is still blurred after the above steps, an alarm will be issued to prompt the doctor to perform manual processing. At the same time, the doctor can observe the inspection process in real time through the remote monitoring center and provide remote guidance when necessary.

[0076] Embodiment 2

[0077] A camera method for endoscopy, the method using the camera system as described in the first embodiment, comprising the following steps:

[0078] S1: Use the illumination fiber to provide illumination for the endoscopy process, and the camera fiber to collect endoscopy image data;

[0079] S2: Detect the clarity of the imaging elements of the endoscopic image data by the image element detection unit, and compare it with the preset clarity. If the clarity comparison is qualified, execute step S10; if the clarity comparison is unqualified, execute step S3;

[0080] S3: Turn on the camera direction detection unit and the lighting direction detection unit to detect whether the camera method and the lighting direction match the camera direction. If the camera direction matches the lighting direction, execute step S5; if the camera direction does not match the lighting direction, execute step S4;

[0081] S4: After adjusting the illumination direction of the illumination optical fiber to match the camera direction through the illumination direction adjustment unit, the image element detection unit is used to detect the clarity of the imaging elements of the endoscopic image data, and the clarity is compared with the preset clarity. If the clarity comparison is qualified, step S10 is executed, and if the clarity comparison is unqualified, step S5 is executed;

[0082] S5: starting the first water spray cleaning unit to clean the lens of the camera optical fiber. After the cleaning is completed, the image element detection unit detects the clarity of the imaging element of the endoscopic image data and compares it with the preset clarity. If the clarity comparison is qualified, step S10 is executed; if the clarity comparison is unqualified, step S6 is executed;

[0083] S6: If the camera system is equipped with a cleaning direction detection unit and a cleaning direction adjustment unit, the cleaning direction detection unit detects whether the water spraying direction of the first water spray cleaning unit matches the lens direction, and if they match, step S8 is executed, and if they do not match, step S7 is executed; if the camera system is not equipped with a cleaning direction detection unit and a cleaning direction adjustment unit, step S8 is executed;

[0084] S7: Start the cleaning direction adjustment unit, adjust the water spray direction of the first water spray cleaning unit to match the lens direction of the camera optical fiber, detect the clarity of the imaging elements of the endoscopic image data through the image element detection unit, and compare it with the preset clarity. If the clarity comparison is qualified, execute step S10, and if the clarity comparison is unqualified, execute step S8;

[0085] S8: Start the second water spray cleaning unit to clean the liquid between the imaging optical fiber and the imaging target. After the cleaning is completed, the image element detection unit detects the clarity of the imaging element of the endoscopic image data and compares it with the preset clarity. If the clarity comparison is qualified, step S10 is executed, and if the clarity comparison is unqualified, step S9 is executed;

[0086] S9: If the camera system is equipped with a manual intervention alarm unit, stop collecting and output alarm information through the manual intervention alarm unit; if the camera system is not equipped with a manual intervention alarm unit, stop collecting;

[0087] S10: Continue collecting until all collection operations are completed.

[0088] Embodiment 3

[0089] An electronic device comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein the processor implements the imaging method as described in the second embodiment when executing the computer program.

[0090] Embodiment 4

[0091] A computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the imaging method as described in the second embodiment.

[0092] The above is only a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A camera system for endoscopy, characterized in that: It includes a camera optical fiber, an illumination optical fiber, an image element detection unit, a camera direction detection unit, an illumination direction detection unit, an illumination direction adjustment unit, a first water spray cleaning unit, a second water spray cleaning unit and a main control unit; The imaging optical fiber is used to collect image data during endoscopy; The illumination optical fiber is used to provide illumination during endoscopy; The image element detection unit is used to detect the imaging elements of the camera system; The imaging direction detection unit is used to detect the imaging direction of the imaging optical fiber; The lighting direction detection unit is used to detect the lighting direction of the lighting optical fiber; The lighting direction adjustment unit is used to adjust the lighting direction of the lighting optical fiber to match the camera direction; The first water spray cleaning unit is used to clean the lens of the camera optical fiber; The second water spray cleaning unit is used to clean the liquid between the imaging optical fiber and the imaging target; The main control unit receives data collected by the camera fiber, lighting fiber, image element detection unit, camera direction detection unit and lighting direction detection unit, and sends control instructions to the lighting direction adjustment unit, the first water spray cleaning unit and the second water spray cleaning unit according to preset rules.

2. The camera system for endoscopy according to claim 1, characterized in that: The initial states of the camera direction detection unit, the lighting direction detection unit, the lighting direction adjustment unit, the first water spray cleaning unit and the second water spray cleaning unit are closed; the initial states of the camera optical fiber, the lighting optical fiber and the image element detection unit are opened.

3. The camera system for endoscopy according to claim 2, characterized in that: The conditions for starting the camera direction detection unit and the lighting direction detection unit are: the clarity of the imaging element is lower than the set clarity; The activation condition of the lighting direction adjustment unit is: the camera direction does not match the lighting direction; The activation condition of the first water spray cleaning unit is: the camera direction matches the lighting direction; The activation condition of the second water spray cleaning unit is: after the first water spray cleaning unit completes cleaning, the clarity of the imaging element is lower than the set clarity.

4. The camera system for endoscopy according to claim 1, characterized in that: The camera system also includes a manual intervention alarm unit, which receives control instructions from the main control unit and issues an alarm requiring manual intervention according to the control instructions; the initial state of the manual intervention alarm unit is a closed state, and the opening condition is: after the second water spray cleaning unit completes cleaning, the clarity of the imaging element is lower than the set clarity.

5. The camera system for endoscopy according to claim 1, characterized in that: The camera system also includes a cleaning direction detection unit, which is used to detect the water spraying direction of the first water spray cleaning unit and send the detection result to the main control unit; the initial state of the cleaning direction detection unit is a closed state, and the opening condition is: after the first water spray cleaning unit completes cleaning, the clarity of the imaging element is lower than the set clarity.

6. The camera system for endoscopy according to claim 5, characterized in that: The camera system also includes a cleaning direction adjustment unit, which receives control instructions from the main control unit and adjusts the water spray direction of the first water spray cleaning unit to match the lens direction of the camera optical fiber according to the control instructions; the initial state of the cleaning direction adjustment unit is a closed state, and the opening condition is: the cleaning direction detection unit detects that the water spray direction of the first water spray cleaning unit does not match the lens direction of the camera optical fiber.

7. The camera system for endoscopy according to claim 1, characterized in that: The camera system also includes a communication unit and a remote monitoring center; The communication unit sends the image data processed by the main control unit, the system status data, and the original data collected by the image element detection unit, the camera direction detection unit, and the lighting direction detection unit to the remote monitoring center; The remote monitoring center provides remote diagnosis, monitoring and collaboration functions.

8. A method for endoscopy, characterized in that: The method adopts the camera system according to any one of claims 1 to 7, comprising the following steps: S1: Use the illumination fiber to provide illumination for the endoscopy process, and the camera fiber to collect endoscopy image data; S2: Detect the clarity of the imaging elements of the endoscopic image data by the image element detection unit, and compare it with the preset clarity. If the clarity comparison is qualified, execute step S10; if the clarity comparison is unqualified, execute step S3; S3: Turn on the camera direction detection unit and the lighting direction detection unit to detect whether the camera method and the lighting direction match the camera direction. If the camera direction matches the lighting direction, execute step S5; if the camera direction does not match the lighting direction, execute step S4; S4: After adjusting the illumination direction of the illumination optical fiber to match the camera direction through the illumination direction adjustment unit, the image element detection unit is used to detect the clarity of the imaging elements of the endoscopic image data, and the clarity is compared with the preset clarity. If the clarity comparison is qualified, step S10 is executed, and if the clarity comparison is unqualified, step S5 is executed; S5: starting the first water spray cleaning unit to clean the lens of the camera optical fiber. After the cleaning is completed, the image element detection unit detects the clarity of the imaging element of the endoscopic image data and compares it with the preset clarity. If the clarity comparison is qualified, step S10 is executed; if the clarity comparison is unqualified, step S6 is executed; S6: If the camera system is equipped with a cleaning direction detection unit and a cleaning direction adjustment unit, the cleaning direction detection unit detects whether the water spraying direction of the first water spray cleaning unit matches the lens direction, and if they match, step S8 is executed, and if they do not match, step S7 is executed; if the camera system is not equipped with a cleaning direction detection unit and a cleaning direction adjustment unit, step S8 is executed; S7: Start the cleaning direction adjustment unit, adjust the water spray direction of the first water spray cleaning unit to match the lens direction of the camera optical fiber, detect the clarity of the imaging elements of the endoscopic image data through the image element detection unit, and compare it with the preset clarity. If the clarity comparison is qualified, execute step S10, and if the clarity comparison is unqualified, execute step S8; S8: Start the second water spray cleaning unit to clean the liquid between the imaging optical fiber and the imaging target. After the cleaning is completed, the image element detection unit detects the clarity of the imaging element of the endoscopic image data and compares it with the preset clarity. If the clarity comparison is qualified, step S10 is executed, and if the clarity comparison is unqualified, step S9 is executed; S9: If the camera system is equipped with a manual intervention alarm unit, stop collecting and output alarm information through the manual intervention alarm unit; if the camera system is not equipped with a manual intervention alarm unit, stop collecting; S10: Continue collecting until all collection operations are completed.

9. An electronic device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, characterized in that: When the processor executes the computer program, the imaging method according to claim 8 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the imaging method according to claim 8 is implemented.

Images