Endoscope system, passive synchronous exposure method, and active synchronous exposure method

Abstract

The invention relates to an endoscope system, a passive synchronous exposure method and an active synchronous exposure method, the system comprises a first endoscope module and a second endoscope module, and a first video output interface of the first endoscope module is connected with a second video input interface of the second endoscope module; the first endoscope module responds to an input time sequence signal to drive a first sensor to expose to obtain a first video stream; outputting a time relationship among the first video stream, the exposure starting moment of the first sensor and the video frame output moment of the first video stream to a second video input interface; the second endoscope module is used for analyzing the first video stream to obtain a frame start signal; carrying out delay processing on the frame start signal based on a time relation; and in response to the delayed frame start signal, driving exposure of a second sensor in the second endoscope module to obtain a second video stream. By adopting the method, the problem of poor video acquisition synchronism of a plurality of camera devices in an endoscope system can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of endoscope imaging, in particular to an endoscope system, a passive synchronous exposure method and an active synchronous exposure method. BACKGROUND

[0002] An endoscope can present the tissue morphology of internal organs and the lesion condition in a patient's body during a minimally invasive surgery, facilitating diagnosis and implementation of the surgery, and is one of important tools for modern medical diagnosis and treatment. When a doctor uses an endoscope system to perform an examination or a surgery, the doctor sometimes needs to refer to images collected by other medical devices.

[0003] In the related art, different camera devices in an endoscope system are not associated, and it is impossible to ensure that different camera devices are turned on for exposure at the same time, resulting in a large delay between video display results of different camera systems obtained by the doctor on the same display, affecting surgical judgment, and bringing a large risk to the surgical result.

[0004] At present, there is no effective solution to the problem of poor video collection synchronization of multiple camera devices in an endoscope system in the related art. SUMMARY

[0005] Therefore, it is necessary to provide an endoscope system, a passive synchronous exposure method and an active synchronous exposure method capable of solving the problem of poor video collection synchronization of multiple camera devices in an endoscope system.

[0006] In a first aspect, an endoscope system is provided in the present embodiment, the endoscope system comprising a first endoscope module and a second endoscope module, a first video output interface of the first endoscope module being connected with a second video input interface of the second endoscope module; wherein,

[0007] The first endoscope module drives a first sensor in the first endoscope module to be exposed in response to an input timing signal, to obtain a first video stream; the first endoscope module outputs, to the second video input interface, a time relationship between a start exposure time of the first sensor and a video frame output time of the first video stream based on the first video output interface, the video frame output time being a time when a video frame corresponding to the start exposure time is output to the first video output interface;

[0008] The second endoscope module is configured to analyze the first video stream to obtain a frame start signal, to perform delay processing on the frame start signal based on the time relationship, and to drive exposure of a second sensor in the second endoscope module in response to the frame start signal after the delay processing, to obtain a second video stream.

[0009] In some embodiments, the first endoscope module includes: a first image processing unit and a first camera unit, the first image processing unit being connected to the first camera unit, and the first image processing unit including a first processing block; wherein,

[0010] The first camera unit responds to the input timing signal to drive the exposure of the first sensor and sends the first sensing data collected by the first sensor to the first image processing unit;

[0011] The first processing block in the first image processing unit is used to generate the first video stream based on the first sensing data; and to output the first video stream and the time relationship to the second video input interface based on the first video output interface.

[0012] In some embodiments, the first image processing unit further includes: a first isolation block, wherein the first camera unit is connected to the first isolation block, and the first isolation block is connected to the first processing block; wherein,

[0013] The first isolation block is used to block the electrical connection between the first camera unit and the first processing block.

[0014] In some embodiments, the second endoscope module includes: a second image processing unit and a second camera unit, the second image processing unit being connected to the second camera unit, and the second image processing unit including a second processing block; wherein,

[0015] The second camera unit responds to the delayed frame start signal by driving the second sensor to expose; and sends the second sensor data collected by the second sensor to the second image processing unit;

[0016] The second processing block in the second image processing unit is used to parse the first video stream to obtain the frame start signal, and to perform delay processing on the frame start signal based on the time relationship; the second image processing unit is also used to generate the second video stream according to the second sensor data.

[0017] In some embodiments, the second image processing unit further includes: a second isolation block, the second camera unit being connected to the second isolation block, and the second isolation block being connected to the second processing block; wherein,

[0018] The second isolation block is used to block the electrical connection between the second camera unit and the second processing block.

[0019] In some embodiments, the system further includes: a display module, the input interface of which is connected to the first video output interface, and a second video output interface of the second endoscope module connected to the first video input interface of the first endoscope module; wherein,

[0020] The second video output interface is used to input the second video stream to the first endoscope module;

[0021] The first video output interface is used to input the first video stream and the second video stream to the display module;

[0022] The display module is used to display the first video stream and the second video stream.

[0023] In some embodiments, the system further includes: a video allocation module; the input interface of the video allocation module is connected to the first video output interface, the first output interface of the video allocation module is connected to the input interface of the display module, and the second output interface of the video allocation module is connected to the second video input interface; wherein,

[0024] The video distribution module is used to output the first video stream to the second video input interface and the input interface of the display module, respectively.

[0025] Secondly, this embodiment provides a passive synchronous exposure method applied to the second endoscope module of the endoscope system described in the first aspect above, the method comprising:

[0026] The first video stream input from the first endoscope module to the second endoscope module in the endoscope system is analyzed to obtain the frame start signal;

[0027] The frame start signal is delayed based on the aforementioned time relationship;

[0028] In response to the frame start signal after delay processing, the second sensor in the second endoscope module is driven to expose, thereby obtaining the second video stream.

[0029] Thirdly, this embodiment provides an active synchronous exposure method applied to the first endoscope module of the endoscope system described in the first aspect above, the method comprising:

[0030] In response to the input timing signal driving the exposure of the first sensor in the first endoscope module, a first video stream is obtained;

[0031] Based on the first video output interface in the first endoscope module, the time relationship between the first video stream, the start exposure time of the first sensor in the first endoscope module, and the video frame output time of the first video stream is output to the second video input interface of the second endoscope module in the endoscope system; wherein, the video frame output time is the time when the video frame collected corresponding to the start exposure time is output to the first video output interface.

[0032] In some embodiments, the endoscope system further includes a display module, the input interface of which is connected to the first video output interface, and the second video output interface of the second endoscope module is connected to the first video input interface of the first endoscope module; the second endoscope module outputs a second video stream to the first endoscope module through the second video output interface, and the method further includes:

[0033] Receive the second video stream acquired by the second endoscope module;

[0034] The first video stream and the second video stream are output to the display module.

[0035] The aforementioned endoscope system, passive synchronous exposure method, and active synchronous exposure method transmit the time relationship between the first video stream, the first sensor's start exposure time, and the video frame output time of the first video stream to the second endoscope module through the first endoscope module. This allows the second endoscope module to parse the frame start signal, enabling the second sensor and the first sensor to be exposed synchronously, thus solving the problem of poor video acquisition synchronization of multiple camera devices in the endoscope system. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of an endoscope system in one embodiment;

[0037] Figure 2 This is a schematic diagram of the display module screen in one embodiment;

[0038] Figure 3 This is a schematic diagram of an endoscope module in an endoscope system according to one embodiment;

[0039] Figure 4 This is a schematic diagram of the wiring process for an endoscope system in one embodiment;

[0040] Figure 5 This is a schematic diagram of an endoscope system that transmits data via an SDI link in one embodiment.

[0041] Figure 6 This is a flowchart illustrating a method for implementing synchronous exposure between master and slave devices in one embodiment;

[0042] Figure 7 This is a flowchart illustrating a passive synchronous exposure method in one embodiment;

[0043] Figure 8 This is a flowchart illustrating an active synchronous exposure method in one embodiment. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0045] In traditional camera systems, after the auxiliary image processor (AIP) is connected to a camera that acquires video, the AIP inputs the video from the corresponding camera to the main image processor via an SDI interface. The main image processor then outputs the video input from the AIP and the video acquired by the camera connected to the main image processor to the monitor. As a result, the displayed screen may show a lack of synchronization between the images acquired by the AIP and the main image processor.

[0046] To achieve synchronized display between the main and auxiliary image processors in a photographic system, methods such as independent synchronization signal lines, network time synchronization, and GPS positioning are often used to enable different camera devices to capture video synchronously. Synchronous shooting using independent synchronization signal lines requires the main camera to output a synchronization signal via the independent signal line, and the sub-cameras synchronize their shutter speeds based on this signal. However, independent synchronization signal lines are difficult to install and have weak anti-interference capabilities. Synchronizing exposure across multiple cameras via network time synchronization is greatly affected by communication issues and carries the risk of privacy leaks. Synchronization triggered by GPS positioning signals also carries the risk of privacy leaks.

[0047] Applying these synchronous display solutions to endoscope systems would change the current form factor of endoscope products, bring additional hardware costs, and fail to meet the strict privacy protection requirements of endoscope applications, nor solve the problem of poor synchronization of video acquisition from multiple camera devices in endoscope systems.

[0048] Based on this, in one embodiment, such as Figure 1 As shown, an endoscope system is provided, which includes a first endoscope module and a second endoscope module. The first video output interface of the first endoscope module is connected to the second video input interface of the second endoscope module.

[0049] The first endoscope module responds to the input timing signal to drive the first sensor in the first endoscope module to expose, thereby obtaining a first video stream; based on the first video output interface, the time relationship between the first video stream, the start exposure time of the first sensor and the video frame output time of the first video stream is output to the second video input interface, and the video frame output time is the time when the video frame corresponding to the start exposure time is output to the first video output interface.

[0050] The first endoscope module includes at least a first sensor, which acquires video of the internal region of the observed object. A first video output interface is used to output video frames; this interface can be SDI (Serial Digital Interface), HDMI (High-Definition Multimedia Interface), DVI (Digital Visual Interface), DP (DisplayPort), etc. The input timing signal is a sequence of image data acquired by the first sensor over time. The time relationship between the start of exposure of the first sensor and the output time of the video frame of the first video stream indicates the time difference between the start of exposure and the point at which the acquired signal is organized into standard format video frames.

[0051] Optionally, starting from the initial exposure time of the first sensor, the pixels on the sensor begin to accumulate photons and convert them into electrical signals; a series of image processing steps are performed on the electrical signals to obtain the first video stream. Based on the first video stream, video frames and their output timing can be obtained. The timing relationship is based on the configuration of the first endoscope module, meaning it is fixed.

[0052] The second endoscope module is used to parse the first video stream to obtain a frame start signal; to perform delay processing on the frame start signal based on the time relationship; and to drive the exposure of the second sensor in the second endoscope module in response to the delayed frame start signal to obtain the second video stream.

[0053] The second endoscope module includes at least a second sensor and acquires video of the internal region of the observed object based on the second sensor. A second video input interface is used to receive video frames input from the outside. Optionally, the second endoscope module parses the information of the first video stream according to the video encoding protocol corresponding to the first video stream to obtain the output timing sequence contained in the first video stream, and parses the frame start signal based on the timing sequence signal. Further, according to the horizontal and vertical synchronization mechanism indicated by the video encoding protocol and the frame start signal, an input timing signal for instructing the second sensor to expose is obtained, enabling the second endoscope module to acquire the second video stream.

[0054] The frame start signal obtained by the second endoscope module based on the first video stream is out of sync with the frame start signal indicated by the timing signal input to the first endoscope module, resulting in a desynchronization between the first video stream acquired by the first endoscope module and the second video stream acquired by the second endoscope module. Since the second endoscope module can obtain the time relationship between the start exposure time of the first sensor and the video frame output time of the first video stream through the second video input interface, the second endoscope module can delay the obtained frame start signal based on this time relationship. Optionally, the second endoscope module obtains the first time difference between two adjacent frames of the first video stream, and obtains the second time difference between the start exposure time and the video frame output time based on the time relationship; subtracts the second time difference from the first time difference to obtain the target time; and delays the target time based on the obtained frame start signal, so that the start exposure time of the current frame of the second sensor is aligned with the image sensor exposure start signal of the next frame of the first sensor.

[0055] In the aforementioned endoscope system, the first endoscope module transmits the video frame and time relationship to the second endoscope module through the first video output interface. This allows the second endoscope module to obtain the frame start signal to guide the exposure of the second sensor based on the start exposure time of the first sensor, ensuring that the first and second endoscope modules can be exposed synchronously. Furthermore, this system does not require the addition of new hardware or the application of new video transmission protocols, making it highly applicable and cost-effective.

[0056] In one embodiment, the first endoscope module includes: a first image processing unit and a first camera unit, the first image processing unit being connected to the first camera unit, the first image processing unit including a first processing block; wherein, the first camera unit, in response to an input timing signal driving the exposure of a first sensor, sends first sensing data collected by the first sensor to the first image processing unit; the first processing block in the first image processing unit is used to generate a first video stream based on the first sensing data; and output the first video stream and its timing relationship to a second video input interface based on a first video output interface.

[0057] The first camera unit includes a first sensor for capturing internal images of the observed object. Optionally, the first camera unit can be a CMOS (Complementary Metal-Oxide-Semiconductor) camera, a 3D imaging camera, a CCD (Charge-Coupled Device) camera, etc. The input timing signal can be generated by the driving circuit of the first sensor itself, or it can be obtained from the input of the first processing block in the first image processing unit.

[0058] The first processing block in the first image processing unit has at least image processing and video output functions. Optionally, the first processing block acquires first sensor data obtained by the first camera unit, performs image processing on the first sensor data such as noise reduction, color correction, and contrast adjustment, and combines the processed data to generate a first video stream that satisfies the video encoding protocol based on the first video output interface.

[0059] Furthermore, the first image processing unit further includes: a first isolation block, the first camera unit is connected to the first isolation block, and the first isolation block is connected to the first processing block; wherein, the first isolation block is used to block the electrical connection between the first camera unit and the first processing block.

[0060] The first isolation block can be composed of a transformer or opto-isolator, or other device with the function of isolating electrical connections. The first isolation block is used to reduce the impact of static electricity, electromagnetic interference, and other problems accumulated by the first camera unit during use on the first processing block through electrical isolation. Optionally, the first isolation block can also block noise and electromagnetic interference, improving the quality of sensor data transmission. For example, the first camera unit can be connected to the first isolation block via a transmission medium such as a cable or optical fiber.

[0061] In this embodiment, a first camera unit and a first image processing unit are respectively provided in the first endoscope module, which improves the flexibility of the endoscope system in acquiring the first video stream through the first endoscope module and reduces system complexity. Furthermore, a first processing block and a first isolation block are provided in the first endoscope module. The first isolation block can protect the first processing block from electrical interference, improve the integrity of sensor data transmission, and enhance the stability of the first endoscope module.

[0062] In one embodiment, the second endoscope module includes: a second image processing unit and a second camera unit, the second image processing unit being connected to the second camera unit, and the second image processing unit including a second processing block; wherein, the second camera unit drives the second sensor to expose in response to a delayed frame start signal; and sends the second sensing data collected by the second sensor to the second image processing unit; the second processing block in the second image processing unit is used to parse the first video stream to obtain the frame start signal, and to perform delay processing on the frame start signal based on a time relationship; the second image processing unit is also used to generate a second video stream based on the second sensing data.

[0063] The second camera unit includes a second sensor for capturing internal images of the observed object. Optionally, the second camera device can be a CMOS camera, a 3D imaging camera, a CCD camera, etc.; the first camera device can be the same as or different from the second camera device, and no limitation is imposed here.

[0064] The second processing block in the second image processing unit has at least image processing and signal processing functions. Optionally, the second processing block utilizes the received frame start signal and timing relationship, and performs delay processing on the signal to align it with the sensor exposure start signal of the next frame from the first image processing unit. The delayed signal is then used to guide the second sensor to start exposure. Further, the second processing block acquires second sensor data obtained by the second camera unit, performs image processing on the second sensor data such as noise reduction, color correction, and contrast adjustment, and combines the processed data to generate a second video stream.

[0065] Optionally, if it is not necessary to synchronize the first endoscope module and the second endoscope module, the second processing block of the second image processing unit can also generate input timing signals for guiding the second sensor according to a preset fixed timing sequence after being powered on independently.

[0066] Furthermore, the second image processing unit also includes a second isolation block, the second camera unit is connected to the second isolation block, and the second isolation block is connected to the second image block; wherein, the second isolation block is used to block the electrical connection between the second camera unit and the second image block.

[0067] The second isolation block can be composed of a transformer or opto-isolator, or other device with the function of isolating electrical connections. The structure of the second isolation block and the first isolation block can be the same or different. The second isolation block, through electrical isolation, can also reduce the impact of static electricity and electromagnetic interference accumulated by the second camera unit during use on the second processing block. Optionally, the second isolation block can also block noise and electromagnetic interference, improving the quality of sensor data transmission. For example, the second camera unit is connected to the second isolation block via a transmission medium such as a cable or optical fiber.

[0068] In this embodiment, two relatively independent second camera units and second image processing units are set in the second endoscope module, which improves the flexibility of the second endoscope module and reduces system complexity. Furthermore, a second image block and a second isolation block are set in the second endoscope module. The second isolation block can protect the second image block from electrical interference, improve the integrity of data transmission between the second image processing unit and the second camera unit, and improve the stability of the second endoscope module.

[0069] In one embodiment, the endoscope system further includes: a display module, wherein the input interface of the display module is connected to a first video output interface, and the second video output interface of the second endoscope module is connected to the first video input interface of the first endoscope module; wherein the second video output interface is used to input a second video stream to the first endoscope module; the first video output interface is used to input the first video stream and the second video stream to the display module; and the display module is used to display the first video stream and the second video stream.

[0070] The display module can be used to form a visually visible image, and can be a display screen, a projection device, or a virtual reality imaging device. Figure 2 A schematic diagram of the display module screen is provided, such as... Figure 2 As shown, the endoscope system includes two second endoscope modules and a first endoscope module. The second video streams acquired by the two second endoscope modules are displayed as auxiliary camera system image 1 and auxiliary camera system image 2, respectively, while the first video stream acquired by the first endoscope module is displayed as the main camera system image. It is understood that the number of second endoscope modules and the image allocation method in the display modules can be modified according to actual needs.

[0071] In this embodiment, the first video stream and the second video stream are output simultaneously by the first endoscope module, thereby improving the synchronization of the displayed images in the display module.

[0072] Furthermore, in one embodiment, if the first endoscope module needs to output a first video stream to the second endoscope module and the display module via a first video output interface, and the first endoscope module does not have two or more first video output interfaces, a video distribution module can be set up in the endoscope system, and the output of the first video stream can be configured through the video distribution module. The input interface of the video distribution module is connected to the first video output interface, the first output interface of the video distribution module is connected to the input interface of the display module, and the second output interface of the video distribution module is connected to the second video input interface; wherein, the video distribution module is used to output the first video stream to the second video input interface and the input interface of the display module respectively. The video distribution module is used to copy and distribute a single input video signal into multiple identical video signals, thereby allowing the same video stream to be transmitted to multiple modules.

[0073] In this embodiment, the video distribution module avoids the situation where the number of first video output interfaces in the first endoscope module is insufficient, which would prevent the first video stream and the second video stream from being output to the display module simultaneously, thereby improving the applicability of the endoscope system.

[0074] In one embodiment, Figure 3 A schematic diagram of an endoscope module in an endoscope system is provided, such as... Figure 3As shown, the endoscope module includes at least two separate components: an endoscope camera handle and an image processor. The endoscope camera is responsible for acquiring image data and converting the video signal into a transmission format supported by the cable, which is then transmitted to the endoscope image processor via the handle cable. The camera handle and the image processor are separate, and the handle can be removed. The endoscope camera is the camera unit in the above embodiment; the endoscope image processor is the image processing unit in the above embodiment. The image processor includes a processing block and an isolation block. The isolation block is used to block the electrical connection between the camera and the processing block. The processing block has the functions of image processing of the data input from the isolation block, controlling video output, and processing external video input. The image processor includes a video input interface and a video output interface, allowing access to monitoring images from other auxiliary camera systems. The image processor supports receiving auxiliary video input through the video input interface, such as SDI, HDMI, and DVI video input. The video output interface can be an SDI, HDMI, DVI, or DP interface. The camera handle can be a white light camera handle, a fluorescent camera handle, or a 3D camera handle, etc.

[0075] An endoscope system can be constructed based on at least two endoscope modules that support video output and video input. Figure 4 A schematic diagram of the wiring process for an endoscope system is provided, such as... Figure 4 As shown, the steps include:

[0076] Step 401: Specify the master and slave image processors. This can be done by designating one endoscope module as the first endoscope module, with its internal image processor being the master image processor; and designating one or more other endoscope modules as the second endoscope modules, with their internal image processors being slave image processors.

[0077] Step 402: Install wiring to connect the first video output interface of the master device's image processor to the second video input interface of the slave device's image processor, and vice versa. (This is an example using two sets of endoscope modules.) Figure 5 A schematic diagram of an endoscope system that transmits data via an SDI link is provided, such as... Figure 5As shown, the first endoscope module includes a master image processor and a camera handle connected to the master image processor via a cable. The second endoscope module includes a slave image processor and a camera handle connected to the slave image processor via a cable. The master image processor uses an SDI interface in its first video output interface to connect to the second video input interface of the slave image processor, forming an exposure reference channel for transmitting the first video stream of the first endoscope module. The slave image processor also uses an SDI interface in its second video output interface to connect to the first video input interface of the master image processor, forming an auxiliary video input channel for transmitting the second video stream of the second endoscope module. Optionally, the second endoscope module can use a white light camera handle or a fluorescent camera handle; the first endoscope module can use a 3D camera handle.

[0078] Optionally, the first video output interface of the master device image processor can not only output video to the second video input interface of the slave device image processor, but also output video to a display: the second video output interface of the slave device image processor can output a second video stream to the first video input interface of the master device image processor, enabling the master device image processor to acquire and process the image input from the auxiliary video interface and ultimately present it according to the display format required by the doctor. For example, it can be based on... Figure 3 The format is as follows. If the number of first video output interfaces inside the master device's image processor is insufficient, and the first video output interfaces cannot simultaneously output video to the slave device's image processor and the display, an external video distributor can be used to assist in video output. The video distributor is the video distribution module described in the above embodiment.

[0079] Furthermore, in one embodiment, Figure 6 A method for synchronous exposure using master and slave devices is provided. The master device is a first endoscope module, and the slave device is a second endoscope module. For example... Figure 6 As shown, it includes the following steps:

[0080] Step 601: Power on the master and slave devices.

[0081] Step 602: The main device image processor acquires the input timing signal and generates the output timing signal based on the input timing signal.

[0082] The output timing signal is used to provide a synchronization reference for the generation of the first video stream. Different video interface standards for the first video output interface result in different output timing signals. Optionally, the main device image processor generates a first video stream conforming to the video interface standard of the first video output interface based on the sensor data collected by the camera unit and the corresponding output timing signal, and outputs the first video stream to the second video input interface through the first video output interface.

[0083] Step 603: The second video input interface of the slave device image processor obtains the input timing signal from the first video output interface of the master device image processor, and the slave device image processor guides the camera in the slave device to generate the exposure timing based on the input timing signal.

[0084] Optionally, the first video stream output from the first video output interface is acquired from the second video input interface of the device image processor, and the frame start signal is parsed from the first video stream based on the video encoding protocol of the first video stream.

[0085] In an endoscopic camera system, the time from the start of exposure of the camera handle at the image sensor to the output of the corresponding video frame through the image processor's video output interface is fixed. In other words, the positional relationship between the exposure start signal of the image sensor and the frame start synchronization signal in the video encoding of the image processor's output interface is determined. Based on this common knowledge, the time relationship from the start of exposure of the image sensor at the master device to the output of the corresponding video frame through the image processor's video output interface can be transmitted to the slave device. The master device image sensor is the first sensor in the above embodiment.

[0086] The slave device's image processor uses the frame start signal, which can be parsed from the received first video stream, and delays the frame start signal based on the aforementioned timing relationship, aligning the frame start signal of the current frame in the slave device's image processor with the exposure start signal of the next frame in the master device's image processor. Since SDI, HDMI, DVI, and DP video encoding protocols all contain horizontal and vertical synchronization protocols, indicating the relative positions of different lines and pixels relative to the frame start signal, after obtaining the frame start signal, the input timing signal for the slave device's image processor can be generated according to the horizontal and vertical synchronization protocol, guiding the image sensor of the camera in the slave device to start exposure, thus obtaining the exposure timing. The image sensor of the slave device's camera is the second sensor in the above embodiment.

[0087] Step 604: The device image processor generates an output timing signal based on the input timing signal and the image processing time.

[0088] Optionally, the device image processor generates a second video stream conforming to the video interface standard of the second video output interface based on the sensing data collected by the second camera unit and the corresponding output timing signal, and outputs the second video stream to the first video input interface through the second video output interface.

[0089] Furthermore, the slave device receives an input timing signal from its image sensor that is synchronized with the activation of the master endoscope camera system, and simultaneously activates exposure. After the slave device completes the acquisition, transmission, and processing of images and video, it connects to the master device's first video input interface via the second video output interface, completing the synchronized display of master and slave video. Since no special processing of the video encoding protocol is required, such as embedding special user-defined information, it does not affect the first video output interface from the master device's image processor to the slave device's image processor, synchronously outputting the first video stream to the display.

[0090] Optionally, the master and slave devices can support two exposure guidance modes. In active mode, the master and slave devices automatically generate exposure guidance signals according to a fixed timing sequence after power-on. In passive mode, the slave device guides its own sensor exposure based on the timing signal input by the master device. When the slave processor guides the image sensor exposure, an I / O interrupt signal is added to the cable, or the data interaction interface protocol built into the processor and the controller is used. Data interaction interface protocols include, but are not limited to, I2C (Inter-Integrated Circuit) protocol and SPI (Serial Peripheral Interface) protocol.

[0091] In this embodiment, the master device actively transmits the output timing signal to the slave device through the first video output interface, so that the slave device can obtain the exposure guidance signal of the slave device's image sensor based on the timing signal of the master device, thereby realizing the function of synchronous exposure of the master and slave endoscope devices. This makes it convenient for doctors to observe the same lesion location or different lesion locations at the same time when using different camera systems.

[0092] Furthermore, this embodiment utilizes the existing video input and output interfaces in the endoscope module, eliminating the need for additional hardware to interconnect master and slave devices. This makes construction convenient, provides strong anti-interference capabilities, and incurs no additional hardware costs. It employs horizontal and vertical synchronization signals from standard video encoding protocols, eliminating the need to embed proprietary protocols and ensuring direct output to the display without affecting the video interface. This results in strong compatibility and ease of implementation. Moreover, it eliminates the need for technologies such as GPS or Ethernet, which may involve privacy leaks and incur additional costs, thus achieving low implementation costs.

[0093] Based on the same inventive concept, this application also provides a passive synchronous exposure method for implementing the aforementioned endoscope system. In the one or more passive synchronous exposure method embodiments provided below, the specific limitations of the endoscope system can be found in the limitations of the endoscope system embodiments described above, and will not be repeated here.

[0094] In one embodiment, such as Figure 7As shown, a passive synchronous exposure method is provided, applied to the second endoscope module in the above-described embodiments of the endoscope system. The passive synchronous exposure method includes:

[0095] Step 701: Analyze the first video stream input from the first endoscope module to the second endoscope module in the endoscope system to obtain the frame start signal.

[0096] Optionally, based on the video transmission protocol of the first video stream, the first video stream is parsed to obtain an input timing signal including a frame start signal.

[0097] Step 702: Delay the frame start signal based on the time relationship.

[0098] Step 703: In response to the delayed frame start signal, drive the second sensor in the second endoscope module to expose, and obtain the second video stream.

[0099] Optionally, by driving the second sensor to expose based on the delayed processing frame start signal, the exposure time of the second sensor in the current frame can be synchronized with the exposure time of the first sensor in the next frame, thereby enabling the first video stream and the second video stream to be exposed synchronously. Furthermore, the second endoscope module can also output the second video stream to the first video input interface in the first endoscope module via the second video output interface.

[0100] Optionally, the image processing unit in the second endoscope module is connected to the second camera unit containing the second sensor via a cable. When the image processing unit drives the second sensor in the second endoscope module to expose, an IO interrupt signal can be added to the cable, or the data interaction interface protocol between the image processing unit and the camera unit can be used to transmit the signal used to drive the sensor exposure.

[0101] Based on the same inventive concept, this application also provides an active synchronous exposure method for implementing the aforementioned endoscope system. In the one or more passive synchronous exposure method embodiments provided below, the specific limitations of the endoscope system can be found in the limitations of the endoscope system embodiments described above, and will not be repeated here.

[0102] In one embodiment, such as Figure 8 As shown, an active synchronous exposure method is provided, applied to the first endoscope module in the above-described embodiments of the endoscope system. The method includes:

[0103] Step 801: In response to the input timing signal driving the exposure of the first sensor in the first endoscope module, a first video stream is obtained.

[0104] Step 802: Based on the first video output interface in the first endoscope module, output the first video stream, the time relationship between the start exposure time of the first sensor in the first endoscope module and the video frame output time of the first video stream to the second video input interface of the second endoscope module in the endoscope system; wherein, the video frame output time is the time when the video frame collected at the start exposure time is output to the first video output interface.

[0105] In one embodiment, the endoscope system further includes a display module, the input interface of which is connected to a first video output interface, and the second video output interface of the second endoscope module is connected to the second video input interface of the first endoscope module; the second endoscope module outputs a second video stream to the first endoscope module through the second video output interface, and the method further includes: receiving the second video stream acquired by the second endoscope module; and outputting the first video stream and the second video stream to the display module.

[0106] In one embodiment, a computer device is also provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described active synchronous exposure method embodiment or passive synchronous exposure method embodiment.

[0107] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps in the above-described active synchronous exposure method embodiment or passive synchronous exposure method embodiment.

[0108] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described active synchronous exposure method embodiment or passive synchronous exposure method embodiment.

[0109] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0110] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An endoscope system, characterized in that, The endoscopic system includes a first endoscope module and a second endoscope module, wherein a first video output interface of the first endoscope module is connected to a second video input interface of the second endoscope module; wherein... The first endoscope module responds to the input timing signal to drive the first sensor in the first endoscope module to expose, thereby obtaining a first video stream; based on the first video output interface, the time relationship between the first video stream, the start exposure time of the first sensor and the video frame output time of the first video stream is output to the second video input interface, wherein the video frame output time is the time when the video frame corresponding to the start exposure time is output to the first video output interface; The second endoscope module is used to parse the first video stream to obtain a frame start signal; to perform delay processing on the frame start signal based on the time relationship; and to drive the exposure of the second sensor in the second endoscope module in response to the delayed frame start signal to obtain a second video stream.

2. The system according to claim 1, characterized in that, The first endoscope module includes: a first image processing unit and a first camera unit, wherein the first image processing unit is connected to the first camera unit, and the first image processing unit includes a first processing block; wherein, The first camera unit responds to the input timing signal to drive the exposure of the first sensor and sends the first sensing data collected by the first sensor to the first image processing unit; The first processing block in the first image processing unit is used to generate the first video stream based on the first sensing data; and to output the first video stream and the time relationship to the second video input interface based on the first video output interface.

3. The system according to claim 2, characterized in that, The first image processing unit further includes: a first isolation block, wherein the first camera unit is connected to the first isolation block, and the first isolation block is connected to the first processing block; wherein, The first isolation block is used to block the electrical connection between the first camera unit and the first processing block.

4. The system according to claim 1, characterized in that, The second endoscope module includes: a second image processing unit and a second camera unit, wherein the second image processing unit is connected to the second camera unit, and the second image processing unit includes a second processing block; wherein, The second camera unit responds to the delayed frame start signal by driving the second sensor to expose; and sends the second sensor data collected by the second sensor to the second image processing unit; The second processing block in the second image processing unit is used to parse the first video stream to obtain the frame start signal, and to perform delay processing on the frame start signal based on the time relationship; the second image processing unit is also used to generate the second video stream according to the second sensor data.

5. The system according to claim 4, characterized in that, The second image processing unit further includes: a second isolation block, wherein the second camera unit is connected to the second isolation block, and the second isolation block is connected to the second processing block; wherein, The second isolation block is used to block the electrical connection between the second camera unit and the second processing block.

6. The system according to claim 1, characterized in that, The system further includes: a display module, the input interface of which is connected to the first video output interface, and a second video output interface of the second endoscope module connected to the first video input interface of the first endoscope module; wherein... The second video output interface is used to input the second video stream to the first endoscope module; The first video output interface is used to input the first video stream and the second video stream to the display module; The display module is used to display the first video stream and the second video stream.

7. The system according to claim 6, characterized in that, The system further includes: a video allocation module; the input interface of the video allocation module is connected to the first video output interface, the first output interface of the video allocation module is connected to the input interface of the display module, and the second output interface of the video allocation module is connected to the second video input interface; wherein... The video distribution module is used to output the first video stream to the second video input interface and the input interface of the display module, respectively.

8. A passive synchronous exposure method, characterized in that, The method comprises: a second endoscope module applied to an endoscope system according to any one of claims 1 to 7, the method comprising: The first video stream input from the first endoscope module to the second endoscope module in the endoscope system is analyzed to obtain the frame start signal; The frame start signal is delayed based on the aforementioned time relationship; In response to the frame start signal after delay processing, the second sensor in the second endoscope module is driven to expose, thereby obtaining the second video stream.

9. An active synchronous exposure method, characterized in that, The method comprises: a first endoscope module applied to an endoscope system according to any one of claims 1 to 7, the method comprising: In response to the input timing signal driving the exposure of the first sensor in the first endoscope module, a first video stream is obtained; Based on the first video output interface in the first endoscope module, the time relationship between the first video stream, the start exposure time of the first sensor in the first endoscope module, and the video frame output time of the first video stream is output to the second video input interface of the second endoscope module in the endoscope system; wherein, the video frame output time is the time when the video frame collected corresponding to the start exposure time is output to the first video output interface.

10. The method according to claim 9, characterized in that, The endoscope system also includes a display module, the input interface of which is connected to the first video output interface, and the second video output interface of the second endoscope module is connected to the first video input interface of the first endoscope module. The second endoscope module outputs a second video stream to the first endoscope module through the second video output interface, and the method further includes: Receive the second video stream acquired by the second endoscope module; The first video stream and the second video stream are output to the display module.

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