Field-of-view fusion system and method based on magnetic intracavity wireless camera

Abstract

The invention discloses a field-of-view fusion system and method based on a magnetic intracavity wireless camera. The system comprises an intracavity view field acquisition mechanism, the intracavity view field acquisition mechanism comprises a plurality of camera acquisition modules, and each camera acquisition module is tightly attached to a cavity wall; the endoscope with the marking points is arranged in the cavity; the power supply signal host is electrically connected with each camera acquisition module and the endoscope with the mark points, receives video signals acquired by all the camera acquisition modules and the endoscope with the mark points, and fuses videos of all the camera acquisition modules and the endoscope with the mark points according to all the video signals; the main control display is electrically connected with the power supply signal host and is used for displaying the fused view field; and the intra-cavity calibration plate is arranged in the cavity during calibration and is used for calibrating the arrangement of each camera acquisition module in the cavity. Through software and hardware design and combination, the visual field of the minimally invasive surgery is effectively expanded, the influence caused by limitation of the visual angle of the endoscope is solved, the surgery efficiency is improved, and the surgery risk is reduced.

Description

Technical Field

[0001] This invention belongs to the field of intracavitary surgical vision, and specifically relates to a field-of-view fusion system and method based on a magnetic intracavitary wireless camera. Background Technology

[0002] Laparoscopic surgery is an important surgical procedure with a large number of cases and various procedures performed annually. In these surgeries, the confined space within the cavity limits the location of the observation port, and the size of the laparoscope restricts the field of view, resulting in a narrow surgical field of view. This greatly limits the surgeon's efficiency and threatens surgical safety. Insufficient field of view can easily lead to complications such as accidental injury to blood vessels or incomplete removal of diseased tissue, resulting in surgical failure. Current intraoperative laparoscopic systems can only use a single camera for observation, making it difficult to provide surgeons with multi-view feedback. At the same time, due to the limited access in minimally invasive surgery, it is difficult to add additional wired equipment for observation. Furthermore, due to the complex surgical environment, it is difficult for surgeons to rely on experience to fuse multiple images when observing with multiple cameras. Summary of the Invention

[0003] To address the problems existing in the background technology, this invention provides a field-of-view fusion system and method based on a magnetically attached intracavitary wireless camera. This solves the technical problems of existing laparoscopic systems' inability to provide multi-view feedback to surgeons, the difficulty in adding additional wired equipment for observation due to limited access in minimally invasive surgery, and the difficulty for surgeons to fuse multiple images based on experience when observing multiple cameras in complex surgical environments. This invention can provide surgeons with multi-view observation feedback without increasing surgical access, and can automatically fuse the observation results of multiple images, effectively increasing the surgical field of view, improving surgical efficiency, and reducing surgical risks.

[0004] The technical solution adopted in this invention is: I. A field-of-view fusion system based on a magnetic cavity wireless camera: The intracavitary field-of-view acquisition mechanism includes several camera acquisition modules, each of which is arranged close to the cavity wall and is used to acquire video signals of the cavity environment.

[0005] An endoscope with markers is placed inside the cavity to acquire video signals of the cavity environment.

[0006] The power supply signal host is electrically connected to each camera acquisition module and the endoscope with marked points, and receives the video signals acquired by all camera acquisition modules and the video signals acquired by the endoscope with marked points. Based on all the video signals, it performs field fusion on all camera acquisition modules and the endoscope with marked points to obtain the fused field of view.

[0007] The main control display is electrically connected to the power supply signal host and is used to display the fused field of view.

[0008] An intracavity calibration plate is placed inside the cavity during calibration to calibrate the arrangement of each camera acquisition module within the cavity.

[0009] Each camera acquisition module includes an in-body magnetic acquisition module and an external electromagnetic power supply module. The in-body magnetic acquisition module is attached to the inner wall of the cavity and is used to acquire video signals from the cavity and transmit the acquired video signals to the power supply signal host. The external electromagnetic power supply module is attached to the outer wall of the cavity corresponding to the location of the in-body magnetic acquisition module and is electrically connected to the power supply signal host. The in-body magnetic acquisition module and the external electromagnetic power supply module are magnetically coupled, and the external electromagnetic power supply module drives the in-body magnetic acquisition module to move, thereby achieving synchronous movement.

[0010] The in-body magnetic acquisition module includes a transparent front cover for the camera, a camera, a main control communication chip, a camera cavity, a wireless charging coil at the camera end, a ring magnet array at the camera end, and a rear cover for the camera. The camera cavity is a hollow cylinder with annular grooves at both ends. The transparent front cover has a first annular protrusion, which is installed in the annular groove at one end of the camera cavity and fixed with bolts. The camera and the main control communication chip are both fixedly installed in the camera cavity. The camera acquires video signals from inside the cavity through the transparent front cover, and the camera is electrically connected to the main control communication chip. The main control communication chip is connected to the power supply signal host; a second annular protrusion is provided on the camera rear cover, which is installed in the annular groove at the other end of the camera cavity and fixed by bolts; the camera-end wireless charging coil and the camera-end annular magnet array are both arranged inside the camera cavity; a first frustum-shaped groove is provided in the middle of the camera rear cover; the outer annular circumference of the camera-end annular magnet array is fixedly installed against the wall of the first frustum-shaped groove; the camera-end wireless charging coil is fixedly installed concentrically against the inner annular circumference of the camera-end annular magnet array; the camera-end wireless charging coil is electrically connected to the main control communication chip.

[0011] The external electromagnetic attraction module includes a power supply wireless charging coil, a power supply annular magnet array, and a wireless power supply coil base plate. The base plate has a second frustum-shaped groove in its center. The outer circumference of the power supply annular magnet array is fixedly installed against the wall of the second frustum-shaped groove. The wireless charging coil is concentrically installed against the inner circumference of the power supply annular magnet array. The wireless charging coil is electrically connected to the power supply signal host. The base plate with the power supply wireless charging coil and the power supply annular magnet array is arranged against the outer wall of the cavity. The power supply annular magnet array forms a magnetic attraction coupling with the corresponding camera annular magnet array arranged inside the cavity. The wireless charging coil is coupled to the camera wireless charging coil, providing wireless power to the camera wireless charging coil inside the cavity.

[0012] The field-of-view fusion system also includes: several electromagnetic or optical positioning sensors, each of which is installed on the corresponding external electromagnetic attraction module and communicates with the power supply signal host. The electromagnetic or optical positioning sensors are used to locate the position information of the external electromagnetic attraction module in the external environment and transmit the position information to the power supply signal host.

[0013] II. A field-of-view fusion method based on a magnetic cavity wireless camera: S1. Use the cavity calibration plate to obtain the position of each internal magnetic acquisition module inside the cavity, and use electromagnetic or optical positioning sensors to obtain the relative position of each internal magnetic acquisition module outside the cavity.

[0014] S2. Place the endoscope with marked points and the instrument with marked points into the cavity respectively, and obtain the positions of the endoscope with marked points and the instrument with marked points in the cavity respectively.

[0015] S3. The video signals acquired by the endoscope with marked points and the video signals acquired by each in vivo magnetic acquisition module are transmitted to the power supply signal host. The power supply signal host fuses the fields of view of all in vivo magnetic acquisition modules and the endoscope with marked points according to all video signals to obtain the fused field of view. The power supply signal host transmits the fused field of view to the main control display for separate display.

[0016] S4. The doctor performs the operation as needed based on the multiple positions obtained and the fused field of view until the operation is completed.

[0017] The specific steps of step S1 are as follows: S11, the cavity calibration plate is placed inside the cavity, and each internal acquisition magnetic module transmits the video signal including the cavity calibration plate acquired in real time to the power supply signal host. The power supply signal host processes the video signal including the cavity calibration plate to obtain the position of each internal acquisition magnetic module inside the cavity.

[0018] S12. The electromagnetic or optical positioning sensor transmits the located position information to the power supply signal host. The power supply signal host processes the located position information to obtain the relative position of each internal magnetic acquisition module outside the cavity.

[0019] Step S2 specifically involves: S21, placing the endoscope with marked points into the cavity, and transmitting the video signal containing the endoscope with marked points, which is collected in real time by each in vivo magnetic acquisition module, to the power supply signal host. The power supply signal host processes the video signal containing the endoscope with marked points to obtain the position of the endoscope with marked points in the cavity in real time.

[0020] S22. Place the marked instrument into the cavity. Each internal magnetic acquisition module transmits the video signal containing the marked instrument to the power supply signal host. The power supply signal host processes the video signal containing the marked instrument to obtain the position of the marked instrument in the cavity in real time.

[0021] Step S4 specifically involves the doctor continuously moving the various in vivo magnetic acquisition modules and the marked endoscope according to the operational requirements based on the positions of each in vivo magnetic acquisition module inside the cavity, the relative positions of each in vivo magnetic acquisition module outside the cavity, the real-time position of the marked endoscope inside the cavity, the position of the marked instruments inside the cavity, and the fused field of view displayed on the main control monitor. This changes the fused field of view, and the doctor then continuously moves the marked instruments to perform the operation until it is completed.

[0022] The beneficial effects of this invention are: This invention effectively saves circuit volume. Waterproof grooves are designed on both the front and rear end covers of the camera to allow the in vivo acquisition magnetic suction module to be sterilized together with surgical instruments, facilitating clinical use. The invention mounts the power supply wireless charging coil and the power supply ring magnet array on the same base plate, enabling simultaneous power supply and magnetic suction functions. Concentric mounting ensures no interference between the two and maximizes their effectiveness. The open structure design of the external electromagnetic suction module allows it to be sterilized together with medical instruments, facilitating clinical application. This invention combines multiple in vivo acquisition magnetic suction modules, an intracavitary calibration plate, marked instruments, and marked endoscopes to achieve multi-position positioning and field-of-view fusion. This invention effectively expands the usable intracavitary observation angle without adding additional observation holes and further integrates multi-camera images, expanding the original endoscopic field of view or providing doctors with a freely observable three-dimensional scene. Through hardware and software design and integration, this invention effectively expands the field of view in minimally invasive surgery, overcomes the limitations of endoscopic field of view, improves surgical efficiency, and reduces surgical risks. Attached Figure Description

[0023] Figure 1 A schematic diagram of a scene where a field-of-view fusion system is in operation.

[0024] Figure 2 An exploded view of the magnetic suction module inside the body.

[0025] Figure 3 This is an exploded view of the external electromagnetic suction module.

[0026] In the diagram: 1. Intra-body magnetic acquisition module; 2. External electromagnetic attraction module; 3. Power supply signal host; 4. Intracavitary calibration plate; 5. Instrument with markers; 6. Endoscope with markers; 7. Main control display; 8. Power connection cable; 10. Transparent front cover of camera; 11. Camera; 12. Main control communication chip; 13. Camera-end wireless charging coil; 14. Camera-end ring magnet array; 15. Camera-end rear cover; 16. Power supply-end wireless charging coil; 17. Power supply-end ring magnet array; 18. Wireless power supply coil base plate; 19. Electromagnetic or optical positioning sensor; 20. Detailed Implementation

[0027] The present invention will now be described in more detail with reference to the accompanying drawings and embodiments. However, the present invention is not limited thereto. For those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention. Contents not described in detail in this specification are prior art known to those skilled in the art.

[0028] like Figure 1 As shown, the field-of-view fusion system of this embodiment includes: The intracavitary field-of-view acquisition mechanism includes several camera acquisition modules, each of which is arranged close to the cavity wall and is used to acquire video signals of the cavity environment.

[0029] The endoscope 6 with marking points is placed inside the cavity to acquire video signals of the cavity environment.

[0030] The power supply signal host 3 is electrically connected to each camera acquisition module and the endoscope with marked points 6, and receives the video signals acquired by all camera acquisition modules and the video signals acquired by the endoscope with marked points 6. Based on all the video signals, it performs field fusion on all camera acquisition modules and the endoscope with marked points 6 to obtain the fused field of view.

[0031] In practice, the field of view is the range of visual field. The video signal includes field of view information, and field of view fusion is the fusion of various visual field ranges into a large visual field range.

[0032] Each camera acquisition module includes an in-body magnetic acquisition module 1 and an external electromagnetic power supply module 2. The in-body magnetic acquisition module 1 is attached to the inner wall of the cavity and is used to acquire video signals from inside the cavity and transmit the acquired field of view to the power supply signal host 3. The external electromagnetic power supply module 2 is attached to the outer wall of the cavity corresponding to the location of the in-body magnetic acquisition module 1 and is electrically connected to the power supply signal host 3, which supplies power to the external electromagnetic power supply module 2. The in-body magnetic acquisition module 1 and the external electromagnetic power supply module 2 are magnetically coupled, and the external electromagnetic power supply module 2 drives the in-body magnetic acquisition module 1 to move, thereby achieving synchronous movement.

[0033] like Figure 2 As shown, the in-body magnetic acquisition module 1 includes a transparent front cover 10 for the camera, a camera 11, a main control communication chip 12, a camera cavity 13, a wireless charging coil 14 for the camera end, a ring magnet array 15 for the camera end, and a rear cover 16 for the camera. The camera cavity 13 is a hollow cylinder with annular grooves at both ends. The transparent front cover 10 has a first annular protrusion, which is fitted into the annular groove at one end of the camera cavity 13 and fixed with bolts. The camera 11 and the main control communication chip 12 are both fixedly installed inside the camera cavity 13. The camera 11 acquires video signals from inside the cavity through the transparent front cover 10. The camera 11 is electrically connected to the main control communication chip 12, and transmits the acquired video signals to the main control communication chip 12. The main control communication chip 12 also indirectly supplies power to the camera 11. The camera back cover 16 is connected to the power supply signal host 3 and transmits the received video signal to the power supply signal host 3. A second annular protrusion is provided on one side of the camera back cover 16. The second annular protrusion is installed in the annular groove at the other end of the camera cavity 13 and is fixed by bolts. The other side of the camera back cover 16 is arranged to be close to the inner wall of the cavity. The camera-end wireless charging coil 14 and the camera-end annular magnet array 15 are both arranged inside the camera cavity 13. A first frustum-shaped groove is provided in the middle of the camera back cover 16. The annular outer periphery of the camera-end annular magnet array 15 is fixedly installed close to the annular wall of the first frustum-shaped groove. The camera-end wireless charging coil 14 is concentrically fixedly installed close to the annular inner periphery of the camera-end annular magnet array 15. The camera-end wireless charging coil 14 is electrically connected to the main control communication chip 12 and supplies power to the main control communication chip 12.

[0034] like Figure 3 As shown, the external electromagnetic attraction module 2 includes a power supply wireless charging coil 17, a power supply annular magnet array 18, and a wireless power supply coil base plate 19. The base plate 19 has a second frustum-shaped groove in its center. The outer circumference of the power supply annular magnet array 18 is fixedly mounted against the annular wall of the second frustum-shaped groove. The wireless charging coil 17 is concentrically mounted against the inner circumference of the power supply annular magnet array 18. The wireless charging coil 17 is electrically connected to the power supply signal host 3 via a power connection line 8, and the power supply signal host 3 supplies power to the wireless charging coil 17. The base plate 19, with the wireless charging coil 17 and the annular magnet array 18 arranged on one side, is positioned against the outer wall of the cavity. The annular magnet array 18 forms a magnetic coupling with the corresponding camera annular magnet array 15 arranged inside the cavity. The wireless charging coil 17 is coupled to the camera wireless charging coil 14, providing wireless power to the camera wireless charging coil 14 inside the cavity.

[0035] Furthermore, the wireless charging coil 14 at the camera end inside the cavity has an open structure, which can be sterilized together with the medical device after power is cut off, facilitating clinical application.

[0036] The main control display 7 is electrically connected to the power supply signal host 3 and is used to display the fused field of view.

[0037] The cavity calibration plate 4 is arranged inside the cavity during calibration and is used to calibrate the arrangement of each camera acquisition module inside the cavity.

[0038] Several electromagnetic or optical positioning sensors are installed on the corresponding external electromagnetic attraction module 2 and are connected to the power supply signal host 3. The electromagnetic or optical positioning sensors are used to locate the position information of the external electromagnetic attraction module 2 in the external environment and transmit the position information to the power supply signal host 3.

[0039] At the start of the surgery, the surgeon will first establish a surgical pathway to allow the necessary instruments to enter the patient's cavity. After the pathway is established, the field fusion system will be deployed according to the following steps: D1. Arrange several camera acquisition modules close to the cavity wall at each required location.

[0040] The specific arrangement method for each camera acquisition module is as follows: After placing the in vivo acquisition magnetic attraction module 1 inside the cavity and closely adhering to the inner wall of the cavity using instruments, the corresponding external electromagnetic attraction module 2 is placed on the outer wall of the cavity where the in vivo acquisition magnetic attraction module 1 is located, so that the in vivo acquisition magnetic attraction module 1 and the external electromagnetic attraction module 2 form a magnetic attraction coupling.

[0041] D2. Connect the external electromagnetic attraction module 2 of each camera acquisition module to the power supply signal host 3 to power the internal acquisition magnetic attraction module 1 of the camera acquisition module.

[0042] D3. Install each electromagnetic or optical positioning sensor on the corresponding external electromagnetic attraction module 2.

[0043] This embodiment is implemented according to the following steps of the field-of-view fusion method: S1. Use the cavity calibration plate 4 to obtain the position of each internal acquisition magnetic module 1 inside the cavity, and use electromagnetic or optical positioning sensors to obtain the relative position of each internal acquisition magnetic module 1 outside the cavity.

[0044] S11. Place the intracavitary calibration plate 4 into the cavity. Each internal acquisition magnetic module 1 transmits the video signal, including the intracavitary calibration plate 4, acquired in real time to the power supply signal host 3. The power supply signal host 3 processes the video signal including the intracavitary calibration plate 4 to obtain the position of each internal acquisition magnetic module 1 in the cavity.

[0045] In specific implementation, the power supply signal host 3 uses a multi-view joint calibration algorithm based on existing technology to process video signals from multiple cameras, including the intracavity calibration plate 4, to achieve spatial positioning of each internal acquisition magnetic module 1 within the cavity. This algorithm extracts feature points from the calibration plate 4 images captured by each camera 11, uses the coordinate system of a dominant camera 11 as a unified reference coordinate system (i.e., the world coordinate system), and calculates the extrinsic parameter matrices (rotation matrix R and translation vector t) of all other cameras 11 relative to this dominant camera 11. This process establishes the spatial relative relationship between all cameras 11, which remains unchanged even if the calibration plate 4 is subsequently removed, thereby achieving stable fusion of the fields of view of multiple cameras 11 and collaborative positioning within a unified space.

[0046] S12. The electromagnetic or optical positioning sensor transmits the located position information to the power supply signal host 3. The power supply signal host 3 processes the located position information to obtain the relative position of each internal magnetic acquisition module 1 outside the cavity.

[0047] When multiple in vivo acquisition magnetic modules 1 can simultaneously capture images of the calibration plate 4 inside the cavity, the images are recorded. Based on the internal parameters of the camera, the design dimensions of the calibration plate inside the cavity, and the images containing the calibration plate, the relative poses of the multiple in vivo acquisition magnetic modules 1 can be calculated, thereby enabling multi-camera registration and image fusion.

[0048] S2. Place the marked endoscope 6 and the marked instrument 5 outside the field fusion system into the cavity respectively, and obtain the position of the marked endoscope 6 and the position of the marked instrument 5 in the cavity respectively.

[0049] S21. The endoscope 6 with marked points is placed into the cavity. The magnetic attraction modules 1 in each body transmit the video signal containing the endoscope 6 with marked points, which is collected in real time, to the power supply signal host 3. The power supply signal host 3 processes the video signal containing the endoscope 6 with marked points to obtain the real-time position of the endoscope 6 with marked points in the cavity.

[0050] S22. The marked instrument 5 outside the field of view fusion system is placed into the cavity. The magnetic acquisition module 1 in each body transmits the video signal containing the marked instrument 5 to the power supply signal host 3. The power supply signal host 3 processes the field of view containing the marked instrument 5 to obtain the position of the marked instrument 5 in the cavity in real time.

[0051] Specifically, when multiple intracavitary acquisition magnetic modules 1 can simultaneously capture images of the endoscope 6 with markers, the spatial pose of the markers can be calculated based on the aforementioned calibrated relative poses of the multiple intracavitary acquisition magnetic modules 1, the camera's internal parameters, and the marker design parameters. The markers are relatively fixed to the endoscopes, and their relative positions are preset and determined. Thus, the spatial pose of the endoscope 6 with markers can be calculated. When multiple intracavitary acquisition magnetic modules 1 can simultaneously capture images of the instrument 5 with markers, the spatial pose of the markers can be calculated based on the aforementioned calibrated relative poses of the multiple intracavitary acquisition magnetic modules 1, the camera's internal parameters, and the marker design parameters. The markers are relatively fixed to the instrument, and their relative positions are preset and determined. Thus, the spatial pose of the instrument 5 with markers can be calculated.

[0052] S3. The video signals collected by the endoscope with marked points 6 and the video signals collected by each in vivo magnetic acquisition module 1 are transmitted to the power supply signal host 3. The power supply signal host 3 performs fusion processing on all the video signals to obtain the fused field of view of all the in vivo magnetic acquisition modules 1 and the endoscope with marked points 6. The power supply signal host 3 transmits the fused field of view to the main control display 7 for display.

[0053] Specifically, the endoscope 6 with marked points transmits the video signals it collects to the power supply signal host 3 in real time, and each of the in-body acquisition magnetic modules 1 also transmits the video signals it collects to the power supply signal host 3 in real time. The power supply signal host 3 fuses the fields of view of all the in-body acquisition magnetic modules 1 and the endoscope 6 with marked points according to all the video signals to obtain the fused field of view, and transmits the fused field of view to the main control display 7 for display.

[0054] The video signal contains field of view information, so multiple fields of view can be fused based on the video signal.

[0055] Furthermore, based on the image fusion, this invention allows for the arbitrary movement of the in-body acquisition magnetic module 1 and the marked endoscope 6, thereby adjusting the fused expanded field of view. By generating a virtual perspective, this invention provides doctors with a more comprehensive surgical view by allowing observation of the fused expanded field of view from any angle.

[0056] In specific implementation, the power supply signal host 3 uses a real-time visual SLAM and dynamic view fusion algorithm based on visual markers, which is based on existing technology, to fuse the field of view of each in vivo acquisition magnetic suction module 1 and the field of view of the endoscope 6 with marker points, thereby obtaining the fused field of view.

[0057] The core of this algorithm lies in utilizing a fixed transformation matrix, pre-obtained through hand-eye calibration, from the coordinate system of the endoscope 6 lens with marked points to the coordinate system of the marked points on its body. During system operation, multiple uniformly calibrated in vivo acquisition magnetic modules 1 (including multiple cameras 11) continuously track the marked points on the endoscope 6, calculating the pose of the marked points in the world coordinate system (i.e., the coordinate system of the dominant camera 11) in real time using visual positioning technology. Subsequently, through chain transformation and the fixed transformation matrix from the coordinate system of the endoscope 6 lens with marked points to the coordinate system of the marked points on its body, the pose of the endoscope 6 lens with marked points in the current world coordinate system can be accurately calculated. Thus, the field of view of the endoscope 6 with marked points and the field of view of all in vivo acquisition magnetic modules 1 are unified to the same spatial coordinate system, providing a precise geometric alignment basis for subsequent pixel-level image stitching, field-of-view overlay, or 3D reconstruction.

[0058] S4. The doctor performs the operation as needed based on the multiple positions obtained and the fused field of view until the operation is completed.

[0059] Specifically, the doctor continuously moves the various in vivo acquisition magnetic modules 1 and the marked endoscope 6 according to the operational requirements based on the positions of each in vivo acquisition magnetic module 1 inside the cavity, the relative positions of each in vivo acquisition magnetic module 1 outside the cavity, the real-time position of the marked endoscope 6 inside the cavity, the position of the marked instrument 5 inside the cavity, and the fused field of view displayed on the main control monitor 7. This changes the fused field of view, and the doctor then continuously moves the marked instrument 5 to perform the operation until it is completed.

[0060] This invention, through the design and integration of hardware and software, can effectively expand the field of vision in minimally invasive surgery, solve the problem of limited laparoscopic perspective, improve surgical efficiency, and reduce surgical risks.

[0061] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention. The scope of protection of the present invention is defined by the claims.

Claims

1. A magnetic cavity-based wireless camera field-of-view fusion system, comprising: include: The intracavitary field-of-view acquisition mechanism includes several camera acquisition modules, each of which is arranged close to the cavity wall and is used to acquire video signals of the cavity environment. An endoscope with marking points (6) is placed inside the cavity to collect video signals of the environment inside the cavity; The power supply signal host (3) is electrically connected to each camera acquisition module and the endoscope with marker points (6) respectively, and receives the video signals acquired by all camera acquisition modules and the video signals acquired by the endoscope with marker points (6). Based on all video signals, the host performs field fusion on all camera acquisition modules and the endoscope with marker points (6) to obtain the fused field of view. The main control display (7) is electrically connected to the power supply signal host (3) and is used to display the fused field of view; The cavity calibration plate (4) is arranged inside the cavity during calibration and is used to calibrate the arrangement of each camera acquisition module inside the cavity.

2. The field-of-view fusion system based on a magnetic cavity wireless camera according to claim 1, characterized in that: Each of the camera acquisition modules includes an in-body acquisition magnetic suction module (1) and an external power supply magnetic suction module (2); the in-body acquisition magnetic suction module (1) is attached to the inner wall of the cavity and is used to acquire video signals from the cavity and transmit the acquired video signals to the power supply signal host (3); the external power supply magnetic suction module (2) is attached to the outer wall of the cavity corresponding to the location of the in-body acquisition magnetic suction module (1) and is electrically connected to the power supply signal host (3); the in-body acquisition magnetic suction module (1) and the external power supply magnetic suction module (2) are magnetically coupled, and the external power supply magnetic suction module (2) drives the in-body acquisition magnetic suction module (1) to move, thereby achieving synchronous movement.

3. The field-of-view fusion system based on a magnetic cavity wireless camera according to claim 2, characterized in that: The in-body magnetic acquisition module (1) includes a camera transparent front cover (10), a camera (11), a main control communication chip (12), a camera cavity (13), a camera-end wireless charging coil (14), a camera-end annular magnet array (15), and a camera rear cover (16). The camera cavity (13) is a hollow cylinder with annular grooves at both ends. The camera transparent front cover (10) has a first annular protrusion, which is installed in the annular groove at one end of the camera cavity (13) and fixed by bolts. The camera (11) and the main control communication chip (12) are both fixedly installed inside the camera cavity (13). The camera (11) acquires video signals from inside the cavity through the camera transparent front cover (10). The camera (11) communicates with the main control communication chip (12). The communication chip (12) is electrically connected, and the main control communication chip (12) is communicatively connected to the power supply signal host (3); the camera back cover (16) is provided with a second annular protrusion, which is installed in the annular groove at the other end of the camera cavity (13) and fixed by bolts; the camera end wireless charging coil (14) and the camera end annular magnet array (15) are both arranged inside the camera cavity (13), the middle part of the camera back cover (16) is provided with a first frustum-shaped groove, the annular outer periphery of the camera end annular magnet array (15) is fixedly installed close to the wall of the first frustum-shaped groove, and the camera end wireless charging coil (14) is fixedly installed concentrically close to the annular inner periphery of the camera end annular magnet array (15); the camera end wireless charging coil (14) is electrically connected to the main control communication chip (12).

4. The field-of-view fusion system based on a magnetic cavity wireless camera according to claim 3, characterized in that: The external electromagnetic attraction module (2) includes a power supply wireless charging coil (17), a power supply annular magnet array (18), and a wireless power supply coil base plate (19). The center of the wireless power supply coil base plate (19) is provided with a second frustum-shaped groove. The outer annular circumference of the power supply annular magnet array (18) is fixedly installed against the wall of the second frustum-shaped groove. The inner annular circumference of the power supply wireless charging coil (17) is concentrically fixedly installed against the inner annular circumference of the power supply annular magnet array (18). The power supply wireless charging coil (17) is electrically connected to the power supply signal host (3). The wireless power supply coil base plate (19) with the power supply wireless charging coil (17) and the power supply annular magnet array (18) arranged on one side is arranged against the outer wall of the cavity. The power supply annular magnet array (18) and the corresponding camera annular magnet array (15) arranged in the cavity form a magnetic attraction coupling. The power supply wireless charging coil (17) is coupled with the camera wireless charging coil (14). The power supply wireless charging coil (17) provides wireless power to the camera wireless charging coil (14) in the cavity.

5. The field of view fusion system based on magnetic suction cavity wireless camera according to claim 2, characterized in that, Also includes: Several electromagnetic or optical positioning sensors are installed on the corresponding external electromagnetic suction module (2) and communicate with the power supply signal host (3). The electromagnetic or optical positioning sensors are used to locate the location information of the external electromagnetic suction module (2) in the external environment and transmit the location information to the power supply signal host (3).

6. A field of view fusion method using the field of view fusion system based on the magnetic suction cavity wireless camera according to any one of claims 1-5, characterized in that, Includes the following steps: S1. Use the cavity calibration plate (4) to obtain the position of each in-body acquisition magnetic module (1) in the cavity, and use electromagnetic or optical positioning sensors to obtain the relative position of each in-body acquisition magnetic module (1) outside the cavity. S2. Place the endoscope (6) with marked points and the instrument (5) with marked points into the cavity respectively, and obtain the positions of the endoscope (6) with marked points and the instrument (5) with marked points in the cavity respectively; S3. The video signal collected by the endoscope with marked points (6) and the video signal collected by each in vivo magnetic acquisition module (1) are transmitted to the power supply signal host (3). The power supply signal host (3) fuses the fields of view of all in vivo magnetic acquisition modules (1) and the endoscope with marked points (6) according to all video signals to obtain the fused field of view. The power supply signal host (3) transmits the fused field of view to the main control display (7) for separate display. S4. The doctor performs the operation as needed based on the multiple positions obtained and the fused field of view until the operation is completed.

7. The field of view fusion method of claim 6, wherein, Step S1 specifically involves: S11. Place the cavity calibration plate (4) into the cavity. Each internal acquisition magnetic module (1) transmits the video signal containing the cavity calibration plate (4) acquired in real time to the power supply signal host (3). The power supply signal host (3) processes the video signal containing the cavity calibration plate (4) to obtain the position of each internal acquisition magnetic module (1) in the cavity. S12. The electromagnetic or optical positioning sensor transmits the located position information to the power supply signal host (3). The power supply signal host (3) processes the located position information to obtain the relative position of each in-body magnetic acquisition module (1) outside the cavity.

8. The field-of-view fusion method according to claim 6, characterized in that, Step S2 specifically involves: S21. Place the endoscope (6) with marking points into the cavity. Each in vivo magnetic acquisition module (1) transmits the video signal containing the endoscope (6) acquired in real time to the power supply signal host (3). The power supply signal host (3) processes the video signal containing the endoscope (6) with marking points to obtain the position of the endoscope (6) in the cavity in real time. S22. Place the marked instrument (5) into the cavity. Each internal magnetic acquisition module (1) transmits the video signal containing the marked instrument (5) to the power supply signal host (3). The power supply signal host (3) processes the video signal containing the marked instrument (5) to obtain the position of the marked instrument (5) in the cavity in real time.

9. The field-of-view fusion method according to claim 6, characterized in that, Step S4 specifically involves: The doctor continuously moves the various in vivo magnetic acquisition modules (1) and the marked endoscope (6) according to the operation requirements based on the positions of the various in vivo magnetic acquisition modules (1) in the cavity, the relative positions of the various in vivo magnetic acquisition modules (1) outside the cavity, the real-time position of the marked endoscope (6) in the cavity, the position of the marked instrument (5) in the cavity, and the fusion field of view displayed on the main control display (7). This changes the fusion field of view, and then the marked instrument (5) is continuously moved to perform the operation until the operation is completed.

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