Capsule endoscope device and control method

Abstract

The present application discloses a capsule endoscope device and a control method. The capsule endoscope device comprises: a capsule endoscope provided with a magnet unit; a human body modeling assembly comprising an image acquisition unit and a data processing unit, wherein the image acquisition unit is used for acquiring a human body feature image, and the data processing unit is used for generating position coordinates on the basis of the human body feature image; and a control assembly comprising a mechanical arm, a magnetic control unit, and an information processing unit, wherein a magnetic ball matched with the magnet unit is arranged on the mechanical arm, the magnetic control unit is used for controlling the mechanical arm to cause the magnetic ball to move to the position coordinates, so as to pull the capsule endoscope to move to a target part, and the information processing unit is used for analyzing the image captured by the capsule endoscope, so as to determine whether image acquisition is completed or not. The present application can automatically perform image acquisition on a subject, thereby improving the examination efficiency and accuracy.

Description

Capsule endoscope device and control method

[0001] Cross-references

[0002] The present disclosure claims priority to Chinese patent application number 2023108048351, filed on June 30, 2023, entitled “Capsule Endoscopy Device and Control Method”, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to a capsule endoscope device and a control method thereof. Background Art

[0004] A capsule endoscope is an endoscope made in the shape of a capsule and is used to examine the human intestines. It can enter the human body and check the health of the gastrointestinal tract and esophagus, and can help doctors diagnose patients' digestive system diseases.

[0005] The traditional working mode of capsule endoscope requires the operator to manually control the robotic arm to pull the capsule endoscope to move, which places high technical requirements on the operator. In addition, this detection mode is inefficient and may even lead to operator misjudgment, resulting in under-detection or missed detection.

[0006] In some public technical solutions, the movement route of the capsule endoscope can be preset, and a robotic arm can be used to automatically pull the capsule endoscope to the preset point for multi-angle shooting. However, this method is not ideal in actual applications. Since there are individual differences among the examinees, the movement route of the capsule endoscope and the preset shooting points are not automatically adjusted according to the differences between the examinees, and it is impossible to determine whether all the targets that need to be inspected are captured.

[0007] Public content

[0008] The purpose of this application is to provide a capsule endoscope device and a control method, which can automatically capture images of target parts of a subject and improve the efficiency and accuracy of image acquisition.

[0009] A first aspect of the present application provides a capsule endoscopy device, comprising:

[0010] A capsule endoscope, provided with a magnet unit, for photographing a target area;

[0011] A human body modeling component includes an image acquisition unit and a data processing unit, wherein the image acquisition unit is used to acquire a human body feature image, and the data processing unit is used to generate position coordinates according to the human body feature image, wherein the position coordinates correspond to the target part;

[0012] The control component includes a robotic arm, a magnetic control unit and an information processing unit. The robotic arm is provided with a magnetic ball that cooperates with the magnet unit. The magnetic control unit is used to control the robotic arm to move the magnetic ball to the position coordinates to pull the capsule endoscope to the target site. The information processing unit is used to analyze the image taken by the capsule endoscope to determine whether the image acquisition is completed.

[0013] In an exemplary embodiment of the present application, the output end of the image acquisition unit is connected to the input end of the data processing unit to transmit the human body feature image to the data processing unit;

[0014] The output end of the data processing unit is connected to the input end of the magnetic control unit to transmit the position coordinates to the magnetic control unit;

[0015] The capsule endoscope is communicatively connected to the information processing unit to transmit images captured by the capsule endoscope to the information processing unit.

[0016] In an exemplary embodiment of the present application, the image acquisition unit includes a photographing device, which is installed on the robotic arm and is used to photograph a human body.

[0017] In an exemplary embodiment of the present application, the human body features include one or a combination of right shoulder, left shoulder, xiphoid process, left waist and right waist.

[0018] In an exemplary embodiment of the present application, the information processing unit includes an image processing unit and an image storage unit. The image processing unit is connected to the capsule endoscope and is used to receive images taken by the capsule endoscope and identify the target part image. The image storage unit is connected to the image processing unit and is used to store the target part image.

[0019] In an exemplary embodiment of the present application, the control component further includes a signal input unit, the input end of the signal input unit is used to input a control instruction, the output end of the signal input unit is connected to the input end of the magnetic control unit, and the control instruction is transmitted to the magnetic control unit for execution.

[0020] In an exemplary embodiment of the present application, the magnetic control unit further includes a rotation angle sensor, which is provided on the robotic arm and is used to record the rotation angle of the magnetic ball;

[0021] The control component further includes a counter, which is connected to the rotation angle sensor and is used to record the number of rotations of the magnetic ball.

[0022] In an exemplary embodiment of the present application, the capsule endoscope device further includes a display unit, which is connected to the image storage unit and is used to display the image acquisition process and operation results.

[0023] A second aspect of the present application discloses a method for controlling a capsule endoscope device, for controlling the capsule endoscope device, the method comprising:

[0024] Acquire a human body feature image through an image acquisition unit;

[0025] Generating position coordinates corresponding to the human body features through a data processing unit, and transmitting the position coordinates to a magnetic control unit;

[0026] Utilizing the magnetic control unit to control the robotic arm to move the magnetic ball to the corresponding position coordinates, thereby pulling the capsule endoscope to the corresponding target site;

[0027] The capsule endoscope is used to capture an image of the target part, and the captured image of the target part is transmitted to an information processing unit. The information processing unit analyzes the image of the target part and displays the result on a display unit.

[0028] In an exemplary embodiment of the present application, the information processing unit includes an image processing unit, the image processing unit is connected to the capsule endoscope, and the capsule endoscope is used to transmit the captured image to the image processing unit; wherein,

[0029] When the image processing unit identifies that the image is of a target part, the magnetic control unit is used to control the magnetic ball to be stationary for a preset time, and at the same time, the capsule endoscope is used to take multiple pictures of the target part.

[0030] In an exemplary embodiment of the present application, when the magnetic control unit controls the magnetic ball to rotate one circle and the image processing unit has not yet recognized the image of the target part, the magnetic control unit is used to control the magnetic ball to adjust the angle.

[0031] In an exemplary embodiment of the present application, the magnetic control unit further includes a rotation angle sensor, which is provided on the robotic arm and is used to record the rotation angle of the magnetic ball;

[0032] The control component further includes a counter, which is connected to the rotation angle sensor and is used to record the number of rotations of the magnetic ball; wherein,

[0033] When the count value N of the counter is less than or equal to a preset value, the magnetic control unit is used to control the magnetic ball to adjust the angle;

[0034] When the count value N of the counter is greater than the preset value, the image acquisition is ended.

[0035] In an exemplary embodiment of the present application, the display unit includes a display screen, and the display screen divides the area into zones according to the target parts; wherein,

[0036] Before image acquisition, each of the subareas is filled with a first color, and when image acquisition of the target part is completed, its corresponding subarea is filled with a second color.

[0037] This application has the following beneficial effects:

[0038] The present application obtains human body feature images through an image acquisition unit, and generates corresponding position coordinates by a data processing unit. The magnetic control unit controls the movement of the magnetic ball to the corresponding position according to the position coordinates, so that the capsule endoscope reaches the target part for automatic image acquisition, realizing automatic entry and automatic image acquisition of the capsule endoscope, with high work efficiency, saving labor costs and higher accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0040] FIG1 is a principle block diagram of a capsule endoscopy device according to this embodiment.

[0041] FIG2 is a flow chart of a method for controlling a capsule endoscope device according to this embodiment.

[0042] FIG3 is a flow chart of a method for controlling a capsule endoscope device according to this embodiment.

[0043] FIG4 is a block diagram of a computer system structure of an electronic device suitable for implementing an embodiment of the present application according to the present embodiment.

[0044] Figure numerals: 1. Capsule endoscope; 11. Magnet unit; 2. Human body modeling component; 21. Image acquisition unit; 211. Photographing device; 22. Data processing unit; 3. Control component; 31. Robotic arm; 32. Magnetic ball; 33. Magnet control unit; 34. Information processing unit; 341. Image processing unit; 342. Image storage unit; 35. Rotation angle sensor; 36. Counter; 37. Signal input unit; 4. Display unit; 700. Computer system; 701. Central processing unit; 702. Read-only memory; 703. Random access memory; 704. Bus; 705. Input / output interface; 706. Input part; 707. Output part; 708. Storage part; 709. Communication part; 710. Drive; 711. Removable medium. DETAILED DESCRIPTION

[0045] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this application will be thorough and complete and will fully convey the concepts of the example embodiments to those skilled in the art.

[0046] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner.In the following description, many specific details are provided so as to provide a full understanding of the embodiments of the present application. However, it will be appreciated by those skilled in the art that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps etc. can be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0047] The present application is further described below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be understood as limiting the present application.

[0048] 1 , this embodiment provides a capsule endoscope device, including a capsule endoscope 1 , a human body modeling component 2 , a control component 3 , and a display unit 4 .

[0049] In other embodiments of the application, the capsule endoscope device may be composed of a capsule endoscope 1 , a human body modeling component 2 , and a control component 3 .

[0050] In another embodiment of the present application, the capsule endoscope device may be composed of a capsule endoscope 1 , a human body modeling component 2 , a control component 3 and a display unit 4 .

[0051] The capsule endoscope 1 includes a shell and a light source (not shown) disposed inside the shell, a camera (not shown), a battery (not shown), a communication module (not shown), and a magnet unit 11. The light source is used to illuminate the surrounding environment, such as the inside of the digestive tract, so that the camera can easily capture the target area. The communication module is used to transmit the image captured by the camera to the control component 3 for analysis and display the result on the display unit 4. The battery provides power to the light source, the camera, and the communication module. The magnet unit 11, under the guidance of the external control component 3, drives the capsule endoscope 1 to the area to be captured. In the embodiment of the present application, the capsule endoscope is used to capture digestive tract images, and the target area is the stomach of the digestive tract as an example for illustration.

[0052] The control assembly 3 includes a robotic arm 31, a magnetic control unit 33, a counter 36, an information processing unit 34, and a signal input unit 37. The robotic arm 31 is mounted on an examination bed, which can be horizontal or vertical. The patient lies flat on the bed, and the robotic arm 31 is positioned above or in front of the patient. The robotic arm 31 can move freely in space, for example, in an XYZ spatial coordinate system with the width of the bed as the X direction, the length of the bed as the Y direction, and the thickness of the bed as the Z direction. The plane on which the bed is located is a horizontal plane.

[0053] A magnetic ball mount (not shown) is mounted on the robotic arm 31, on which a magnetic ball 32 is mounted. The magnetic ball mount is also equipped with a horizontal motor for controlling the horizontal rotation of the magnetic ball 32 and a vertical motor for controlling the vertical rotation of the magnetic ball 32. This allows the rotation of the magnetic ball 32 to be controlled, and the movement of the robotic arm 31 can cause the magnetic ball 32 to move in space. Because the magnetic ball 32 is magnetically coupled to the magnet unit 11 of the capsule endoscope 1, the movement of the magnetic ball 32 can pull the capsule endoscope 1 to rotate. The movement of the robotic arm 31 can also simultaneously pull the capsule endoscope 1 to the target site.

[0054] The human body modeling component 2 includes an image acquisition unit 21 and a data processing unit 22. The image acquisition unit 21 is used to acquire human body feature images. It can be understood that human body features refer to the body features of the subject when lying flat on the examination bed facing the image acquisition unit 21.

[0055] The image acquisition unit 21, the data processing unit 22, and the magnetic control unit 33 each have an output and an input. The output of the image acquisition unit 21 is connected to the input of the data processing unit 22 to transmit the human body feature image to the data processing unit 22. The data processing unit 22 is used to generate position coordinates based on the human body feature image. The position coordinates correspond to the target part. The output of the data processing unit 22 is connected to the input of the magnetic control unit 33 to transmit the position coordinates to the magnetic control unit 33. The magnetic control unit 33 is used to control the movement of the robotic arm 31 to move the magnetic ball 32 to the position coordinates, thereby enabling the magnetic ball 32 to pull the capsule endoscope 1 to the corresponding target part. After the capsule endoscope 1 captures the corresponding target part, the capsule endoscope 1 is connected to the information processing unit 34 to transmit the image captured by the capsule endoscope 1 to the information processing unit 34. The information processing unit 34 is used to analyze the image captured by the capsule endoscope 1 to determine whether the image acquisition is complete.

[0056] Specifically, the image acquisition unit 21 includes a camera 211, which can be mounted on the robotic arm 31 to photograph the human body and capture images of human body features. Preferably, the camera 211 can be mounted on a magnetic ball mount to obtain more comprehensive human body features in the image. It is understandable that the camera 211 faces the examination bed and photographs the subject located on the examination bed. The camera 211 can be a monocular or multi-camera, and after the photographing is completed, the image can be transmitted to the data processing unit 22 for image processing.

[0057] The human body features include one or a combination of the right shoulder, left shoulder, xiphoid process, left waist, and right waist. The left shoulder and right shoulder are located in the center of the left and right shoulders, respectively. The left waist and right waist are located on the left and right sides of the waist, respectively. The xiphoid process is located at the lower end of the sternum and the angle between the two arches. For a person of a certain height, the height of the stomach from the ground is within a certain small range, or the height of the stomach from the navel or the height of the xiphoid process is also within a certain small range, or the coordinates of the stomach and the coordinates of the xiphoid process are related, or the waist circumference and the position of the stomach are related.

[0058] After the image acquisition unit 21 acquires an image of the human body, it is transmitted to the data processing unit 22. The data processing unit 22 can identify various human body features based on the image and generate corresponding position coordinates based on the acquired human body feature image. For example, the XYZ spatial coordinate system described above and the initial position of the magnetic ball 32 are used as the coordinate origin for calibration. For example, the width direction of the examination bed is the X direction, the length direction of the examination bed is the Y direction, and the thickness direction of the examination bed is the Z direction. The initial position of the magnetic ball 32 is set to (x, y). Then, according to the image, the coordinates of the right shoulder position can be set to (x_1, y_1), and the coordinates of the navel position can be set to (x_2, y_2). The coordinates of the position of each human feature can be obtained based on experience, such as the coordinates of the xiphoid process position are (x_1, (y_1+y_2) / 2), the coordinates of the left waist position are (x_2+150, y_2+30), and the coordinates of the right waist position are (x_2-150, y_2-30).

[0059] In some other embodiments, after the data processing unit 22 obtains the human body feature image captured by the image acquisition unit 21, the operator can mark the stomach area on the image based on the image, and infer the position of each human body feature based on the height and weight data of the examinee, and the data processing unit 22 calibrates the position coordinates.

[0060] Each human feature corresponds to a target location, which includes, for example, one or more of the following: the cardia, fundus, corpus, lesser curvature, greater curvature, angle, antrum, and pylorus. In this embodiment, to ensure comprehensive image capture of the target locations, the human features include at least the aforementioned right shoulder, left shoulder, xiphoid process, left lumbar, and right lumbar positions, and the target locations include at least the aforementioned cardia, fundus, corpus, lesser curvature, greater curvature, angle, antrum, and pylorus. Based on examination experience and the positional relationship between human features and target locations, it has been found that when capturing an image of the cardia, the optimal image capture position is when the robotic arm 31 controls the magnetic ball 32 to be positioned at the left shoulder position. Similarly, the optimal image capture position for the fundus corresponds to the right shoulder position, the optimal image capture position for the corpus, lesser curvature, and greater curvature corresponds to the xiphoid process position, the optimal image capture position for the angle corresponds to the left lumbar position, and the optimal image capture position for the antrum and pylorus is the right lumbar position. In other words, the coordinates of each human feature position correspond to the target location.

[0061] Since the magnetic ball 32 is connected to the magnet unit 11 on the capsule endoscope 1 by magnetic force, the magnetic ball 32 has a constraint on the capsule endoscope 1. When the magnetic ball 32 moves to a certain characteristic position of the human body, during stomach image acquisition, such as when it moves to the left shoulder position, the magnetic ball 32 pulls the capsule endoscope 1 to move to the left shoulder position. However, due to the structure of the surrounding environment and other reasons, the capsule endoscope 1 moves to abut the inner wall of the stomach and cannot move further. At this time, the capsule endoscope 1 is located at the cardia, which is convenient for photographing the cardia. The same applies to other parts.

[0062] The information processing unit 34 includes an image processing unit 341 and an image storage unit 342. The image processing unit 341 is connected to the capsule endoscope 1 and is used to receive images captured by the capsule endoscope 1. It is understood that the two can be connected via wireless communication. The image processing unit 341 pre-stores characteristic stomach image information and can use artificial intelligence and big data technologies to conduct massive gastrointestinal image training and establish a gastrointestinal image classification model. It can accurately distinguish the gastrointestinal features and precise locations involved in the images captured by the capsule endoscope 1. At the same time, the image processing unit 341 can filter the captured images to obtain high-quality images of the target area. The image storage unit 342 is connected to the image processing unit 341 and is used to store the images of the target area for subsequent display on the display unit 4.

[0063] The signal input unit 37 has corresponding input and output ends, wherein the output end of the signal input unit 37 is connected to the input end of the magnetic control unit 33, and the input end of the signal input unit 37 is used to input control instructions, such as target site instructions and shooting direction and angle instructions of the capsule endoscope 1. Specifically, the input end of the signal input unit 37 receives the control instructions of the operator. It is understandable that the instructions can be input through peripheral hardware such as a keyboard or mouse.

[0064] Taking the cardia image acquisition as an example, the control command inputted into the input terminal of the signal input unit 37 is: gastric fundus, the imaging direction of the capsule endoscope 1 is: horizontal upward, and the imaging angle can be: 20° or 30°. During image acquisition, the signal input unit 37 transmits the control command to the magnetic control unit 33 for execution. The magnetic control unit 33 controls the movement of the magnetic ball 32 to the left shoulder position and controls the rotation of the magnetic ball 32, so that the imaging direction of the capsule endoscope 1 is adjusted to 20° upward from the horizontal plane, thereby capturing an image of the cardia. If, after scanning at this position, the image processing unit 341 does not identify the target area, the magnetic control unit 33 controls the movement of the magnetic ball 32 to adjust the imaging direction of the capsule endoscope 1 to 30° upward from the horizontal plane, and scans and captures again. After completing image acquisition of each area, the operator can input new control commands through the signal input unit 37 to examine other target areas.

[0065] In other embodiments of the present application, the magnetic control unit 33 also includes a rotation angle sensor 35, which is arranged on the robotic arm 31, specifically on the magnetic ball mounting seat, for recording the rotation angle of the magnetic ball 32. The counter 36 is connected to the rotation angle sensor 35, for recording the number of rotations of the magnetic ball 32. One rotation of the magnetic ball 32 is 360°.

[0066] During an examination, the operator inputs control instructions in advance through the signal input unit 37. After the capsule endoscope 1 is swallowed and enters the subject, the magnetic control unit 33 controls the robotic arm 31 to drive the magnetic ball 32 to the target area based on the human body feature position coordinate information provided by the human body modeling component 2. The magnetic ball 32 rotates horizontally one circle, driving the capsule endoscope 1 to scan the stomach and transmits the captured image to the image processing unit 341 to determine whether the target area is captured. If the target area is captured, the magnetic control unit 33 controls the magnetic ball 32 to remain stationary for a preset time, capture multiple images, and terminate the image acquisition of the target area. If the target area is not captured, the magnetic ball 32 continues to rotate or the capsule endoscope 1 adjusts its shooting angle and direction according to the control instructions of the signal input unit 37, and scans again to capture the target area.

[0067] Among them, by setting a rotation angle sensor 35 to record the rotation angle of the magnetic ball 32, if the target part is not identified, it is first determined whether the magnetic ball 32 has rotated a circle (that is, whether the magnetic ball has rotated 360° horizontally), so as to determine whether the capsule endoscope 1 has been pulled to perform a complete scan. If the capsule endoscope 1 has not completed a complete scan, no action is taken; if the capsule endoscope 1 has completed a complete scan and still has not found the target part, the capsule endoscope 1 is controlled to adjust the shooting direction and angle. In this embodiment, the preset time can be 5s-15s. In a specific embodiment, the preset time is 5s. In another specific embodiment, the preset time is 10s. In another specific embodiment, the preset time is 15s.

[0068] When the capsule endoscope 1 is performing image acquisition, the subject is often not well prepared, such as with bubbles, mucus or gastric contraction. In this case, it is difficult for the capsule endoscope 1 to observe and photograph the target area. If the stomach image acquisition is still performed in the above manner, the capsule endoscope 1 image acquisition steps of "scan - no target found - adjust angle - scan" will appear in a cycle.

[0069] To this end, this embodiment provides a counter 36 to record the number of rotations of the magnetic ball 32. The counter 36 counts once every 360° rotation of the magnetic ball 32 in the same direction. Its initial value, N, is 0, where N is a natural number. Before the capsule endoscope 1 adjusts its angle, the counter 36 counts N. If the count N of the counter 36 is less than or equal to a preset value, the magnetic control unit controls the capsule endoscope 1 to adjust its angle. If the count N of the counter 36 is greater than the preset value, image acquisition is terminated. That is, if the capsule endoscope 1 still cannot capture an image of the target area after adjusting its angle three times, the current image acquisition is terminated, and the operator determines the working environment to avoid repeated operations when the working environment is not satisfied. The preset value can be 3, 4, or 5, and can be adjusted according to actual conditions. Furthermore, the image processing unit 341 can be trained using images from situations where the working environment is not satisfied. If the image processing unit 341 identifies an image captured from a situation where the working environment is not satisfied, the current image acquisition is directly terminated.

[0070] For example, the display unit 4 is connected to the image storage unit 342 and is used to display the image acquisition process and results. The results are determined based on the comparison between the image processing unit 341 and the captured image. All possible results are displayed, and the operator can select one of the displayed results. The display unit 4 can be a display screen. When displaying the image acquisition process, the screen displays a schematic diagram of the internal stomach outline, illustrated with solid lines, and the regions are divided according to the target areas. For example, the internal stomach is divided into eight closed regions using dashed lines: the cardia, fundus, body, lesser curvature, greater curvature, angle, antrum, and pylorus. Before image acquisition, each region is filled with a first color. When image acquisition of a target area is completed, the corresponding region is filled with a second color. When all regions are filled with the second color, image acquisition of all regions is complete. At this point, the operator can manually stop image acquisition or set a control command to stop image acquisition. It is understood that the first color and the second color are different colors, such as white and red, so that they can be distinguished.

[0071] According to this method, the operator can directly select and confirm the judgment results given on the display screen under certain circumstances to form a report, which greatly saves time costs. At the same time, the operator can also more intuitively understand the image acquisition process and the status of each target part from the display screen.

[0072] This embodiment also provides a method for controlling a capsule endoscope device, which is used to control the capsule endoscope device. In conjunction with Figures 1 and 2, the method includes the following steps:

[0073] Step S200 : Acquire a human body feature image through the image acquisition unit 21 .

[0074] Step S300 : generating position coordinates corresponding to the human body features through the data processing unit 22 , and transmitting the position coordinates to the magnetic control unit 33 .

[0075] In step S400 , the magnetic control unit 33 is used to control the robotic arm 31 to move the magnetic ball 32 to a corresponding position coordinate, thereby pulling the capsule endoscope 1 to a corresponding target site.

[0076] Step S500 : Using the capsule endoscope 1 to capture an image of the target part, and transmitting the captured image of the target part to the information processing unit 34 , the information processing unit 34 analyzes the image of the target part and displays the result on the display unit 4 .

[0077] In this application, the image acquisition unit 21 acquires the human body feature image, and the data processing unit 22 generates the corresponding position coordinates. The magnetic control unit 33 controls the magnetic ball 32 to move to the corresponding position according to the position coordinates, so that the capsule endoscope 1 reaches the target part for automatic image acquisition, realizing the automatic entry and automatic image acquisition of the capsule endoscope 1, saving labor costs, and improving accuracy and work efficiency.

[0078] In other embodiments of the present application, the capsule endoscope device control method only includes the following steps:

[0079] Step S200 : Acquire a human body feature image through the image acquisition unit 21 .

[0080] Step S300 : generating position coordinates corresponding to the human body features through the data processing unit 22 , and transmitting the position coordinates to the magnetic control unit 33 .

[0081] In step S400 , the magnetic control unit 33 is used to control the robotic arm 31 to move the magnetic ball 32 to a corresponding position coordinate, thereby pulling the capsule endoscope 1 to a corresponding target site.

[0082] Step S500 : Using the capsule endoscope 1 to capture an image of the target part, and transmitting the captured image of the target part to the information processing unit 34 , the information processing unit 34 analyzes the image of the target part and displays the result on the display unit 4 .

[0083] Taking the control instructions into consideration, the capsule endoscope device control method provided in this application only includes the following steps:

[0084] Step S100: receiving a control instruction.

[0085] Step S200 : Acquire a human body feature image through the image acquisition unit 21 .

[0086] Step S300 : generating position coordinates corresponding to the human body features through the data processing unit 22 , and transmitting the position coordinates to the magnetic control unit 33 .

[0087] In step S400 , the magnetic control unit 33 is used to control the robotic arm 31 to move the magnetic ball 32 to a corresponding position coordinate, thereby pulling the capsule endoscope 1 to a corresponding target site.

[0088] Step S500 : Using the capsule endoscope 1 to capture an image of the target part, and transmitting the captured image of the target part to the information processing unit 34 , the information processing unit 34 analyzes the image of the target part and displays the result on the display unit 4 .

[0089] 3 , before step S400 , the operator inputs control instructions through the signal input unit 37 , and the control instructions include target part instructions and shooting direction and angle instructions of the capsule endoscope 1 . Step S500 also includes the following steps.

[0090] In step S501 , the magnetic ball 32 rotates to drive the capsule endoscope 1 to scan.

[0091] Step S502: Determine whether the target part is identified. If so, execute step S503; if not, execute step S504.

[0092] Step S503: The magnetic ball remains stationary for 5s-15s, and the capsule endoscope captures images.

[0093] Step S504: determine whether the magnetic ball has rotated 360° horizontally. If so, execute step S505; if not, execute step S501.

[0094] Step S505 , determining whether the value of the counter 36 satisfies N≤preset value (eg 3); if so, executing step S506 ; if not, ending the image acquisition.

[0095] Step S506: The capsule endoscope adjusts the shooting direction and angle. After the adjustment is completed, step S501 is executed.

[0096] In step S501, the magnetic ball 32 rotates to drive the capsule endoscope 1 to scan, thereby capturing an image of the target area. In step S502, the image of the area captured by the capsule endoscope 1 after scanning is transmitted to the information processing unit 34, and the image processing unit 341 determines whether the target area has been identified. In step S503, the magnetic ball 32 is controlled to remain stationary for 5-15 seconds, allowing the capsule endoscope 1 to capture multiple images and improve the accuracy of the analysis. In addition, in one specific embodiment, the magnetic ball can be controlled to remain stationary for 5 seconds. In another specific embodiment, the magnetic ball can be controlled to remain stationary for 10 seconds. In another specific embodiment, the magnetic ball can be controlled to remain stationary for 15 seconds.

[0097] In step S504, the rotation angle sensor 35 determines whether the magnetic ball has rotated 360° horizontally. In step S505, the counter 36 determines whether the count value N is less than or equal to a preset value (e.g., 3). In step S506, the capsule endoscope adjusts the shooting direction and angle. The direction and angle adjustments can be executed according to the control instructions in step S100. After the adjustments are completed, the process returns to step S501, completing the image acquisition process of a target area.

[0098] Furthermore, in order to ensure the comprehensiveness of image acquisition, in this embodiment, the display unit 4 may be a display screen. When displaying the image acquisition process, the display screen displays a schematic diagram of the internal outline of the stomach, shown with solid lines, and divides the area into zones according to each target site. For example, the internal part of the stomach is divided into eight closed areas, such as the cardia, fundus, body, lesser curvature, greater curvature, angle, antrum, and pylorus, using dotted lines. Before image acquisition, each zone is filled with a first color. When the image acquisition of the target site is completed, its corresponding zone is filled with a second color. When all zones are filled with the second color, it means that the image acquisition of all sites is completed. At this time, the operator can manually stop the image acquisition or stop the image acquisition by setting a control command. It is understandable that the first color and the second color are different colors, such as white and red, so that the two can be distinguished.

[0099] Through this method, the capsule endoscope 1 can take multiple shots of the target area, and by setting the rotation angle sensor 35 and the counter 36, it avoids the device from working repeatedly when the working conditions are not met, thereby improving the image acquisition efficiency.

[0100] The embodiment of the present application further provides a capsule endoscope control system, which is stored in an image storage unit and runs on an information processing unit 34. The information processing unit 34 performs the following steps:

[0101] Acquire human body feature images;

[0102] Generating position coordinates corresponding to the human body features according to the human body feature image, and transmitting the position coordinates to the magnetic control unit;

[0103] Control the magnetic ball 32 to move to the corresponding position coordinates, thereby pulling the capsule endoscope 1 to the corresponding target site;

[0104] The capsule endoscope 1 is controlled to acquire images of a target site.

[0105] Controlling the capsule endoscope 1 to acquire images of the target part includes:

[0106] Determining whether the image captured by the capsule endoscope 1 contains the target part;

[0107] When it is determined that the image contains the target part, the magnetic ball 32 remains stationary for a preset time, and the capsule endoscope 1 takes multiple pictures of the target part within the preset time;

[0108] When it is determined that the image does not contain the target part, a scanning judgment is performed.

[0109] When it is determined that the image does not contain the target part, it can only be considered that the currently captured image does not contain the target part. Therefore, further confirmation can be performed through scanning judgment, which includes:

[0110] Controlling the rotation of the magnetic ball 32, during which the capsule endoscope 1 takes a picture and determines whether the taken image contains the target part;

[0111] When it is determined that the image contains the target part, the magnetic ball 32 remains stationary for a preset time, and the capsule endoscope 1 takes multiple pictures of the target part within the preset time;

[0112] When it is determined that the image does not contain the target part, the image acquisition is terminated.

[0113] In order to further improve the efficiency of scanning judgment and reduce the judgment of repeated images to improve the judgment efficiency, the step of "controlling the magnetic ball 32 to rotate, during the rotation of the magnetic ball 32, the capsule endoscope 1 to take pictures, and judging whether the taken images contain the target part" also includes:

[0114] After each rotation of the magnetic ball 32, it is determined whether the image captured during the rotation contains the target position;

[0115] When it is determined that the image contains the target part, the magnetic ball 32 remains stationary for a preset time, and the capsule endoscope 1 takes multiple pictures of the target part within the preset time;

[0116] When it is determined that the image does not contain the target part, the magnetic ball 32 is controlled to adjust its angle, and the rotation angle sensor 35 records the adjusted angle.

[0117] In order to prevent the occurrence of a cycle of "scanning - not finding the target - adjusting the angle - scanning", the step of "controlling the magnetic ball 32 to rotate, during the rotation of the magnetic ball 32, the capsule endoscope 1 to take a picture, and determining whether the taken image contains the target part" further includes:

[0118] Obtaining the number of rotations of the magnetic ball 32 recorded by the counter 36, and comparing the number of rotations of the magnetic ball 32 with a preset value;

[0119] If the count value of the number of revolutions of the magnetic ball 32 is less than or equal to the preset value, the magnetic ball 32 is controlled to adjust its angle;

[0120] If the count value of the number of revolutions of the magnetic ball 32 is greater than a preset value, the image acquisition is terminated.

[0121] In order to further understand the image acquisition situation of the capsule endoscope 1, the information processing unit 34 may perform the following steps after controlling the capsule endoscope 1 to acquire images of the target part:

[0122] The area is divided into sections according to each target part;

[0123] Before image acquisition, each partition is filled with a first color, and when image acquisition of the target part is completed, its corresponding partition is filled with a second color.

[0124] FIG4 schematically shows a block diagram of a computer system structure of an electronic device for implementing an embodiment of the present application.

[0125] It should be noted that the computer system 700 of the electronic device shown in FIG4 is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0126] As shown in Figure 4, the computer system 700 includes a central processing unit (CPU) 701, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 702 or the program loaded from the storage part 708 into the random access memory (RAM) 703. Various programs and data required for system operation are also stored in the random access memory 703. The CPU 701, the read-only memory 702, and the random access memory 703 are connected to each other via a bus 704. An input / output interface 705 (i.e., an I / O interface) is also connected to the bus 704.

[0127] The following components are connected to the input / output interface 705: an input section 706 including a keyboard, mouse, and the like; an output section 707 including devices such as a cathode ray tube (CRT), a liquid crystal display (LCD), and speakers; a storage section 708 including a hard disk; and a communication section 709 including a network interface card such as a local area network card or a modem. The communication section 709 performs communication processing via a network such as the Internet. A drive 710 is also connected to the input / output interface 705 as needed. Removable media 711, such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory, is installed in the drive 710 as needed, so that computer programs read from the media can be installed into the storage section 708 as needed. In this embodiment, the read-only memory 702 can be the image storage unit 342, and the central processing unit 701 can be the image processing unit 341.

[0128] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0129] In this application, unless otherwise specified or limited, terms such as "assembly" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0130] In the description of this specification, the reference terms "some embodiments", "exemplarily", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0131] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application. Therefore, any changes or modifications made in accordance with the claims and description of the present application should fall within the scope of the patent application.

Claims

1. A capsule endoscope device, characterized in that: include: A capsule endoscope, provided with a magnet unit, for photographing a target part; A human body modeling component, comprising an image acquisition unit and a data processing unit, wherein the image acquisition unit is used to acquire a human body feature image, and the data processing unit is used to generate position coordinates according to the human body feature image, wherein the position coordinates correspond to a target part; The control component includes a mechanical arm, a magnetic control unit and an information processing unit. The mechanical arm is provided with a magnetic ball that cooperates with the magnet unit. The magnetic control unit is used to control the mechanical arm to move the magnetic ball to the position coordinates to pull the capsule endoscope to move to the target part. The information processing unit is used to analyze the image taken by the capsule endoscope to determine whether the image acquisition is completed.

2. The capsule endoscope device according to claim 1, characterized in that: The output end of the image acquisition unit is connected to the input end of the data processing unit to transmit the human body feature image to the data processing unit; The output end of the data processing unit is connected to the input end of the magnetron unit to transmit the position coordinates to the magnetron unit; The capsule endoscope is communicatively connected to the information processing unit so as to transmit images captured by the capsule endoscope to the information processing unit.

3. The capsule endoscope device according to claim 2, characterized in that: The image acquisition unit includes a photographing device, which is installed on the mechanical arm and is used to photograph a human body.

4. The capsule endoscope device according to claim 2, characterized in that: The human body features include one or a combination of right shoulder, left shoulder, xiphoid process, left waist and right waist.

5. The capsule endoscope device according to claim 2, characterized in that: The information processing unit includes an image processing unit and an image storage unit. The image processing unit is connected to the capsule endoscope and is used to receive the image taken by the capsule endoscope and identify the target part image. The image storage unit is connected to the image processing unit and is used to store the target part image.

6. The capsule endoscope device according to claim 2, characterized in that: The control component also includes a signal input unit, the input end of the signal input unit is used to input control instructions, the output end of the signal input unit is connected to the input end of the magnetron unit, and the control instructions are transmitted to the magnetron unit for execution.

7. The capsule endoscope device according to claim 1, characterized in that: The magnetic control unit further includes a rotation angle sensor, which is arranged on the mechanical arm and is used to record the rotation angle of the magnetic ball; The control component also includes a counter, which is connected to the rotation angle sensor and is used to record the number of rotations of the magnetic ball.

8. The capsule endoscope device according to claim 5, characterized in that: The capsule endoscope device further comprises a display unit, which is connected to the image storage unit and is used to display the image acquisition process and operation results.

9. A method for controlling a capsule endoscope device, for controlling the capsule endoscope device as claimed in claim 1, characterized in that: The method comprises: Acquire a human body feature image through an image acquisition unit; Generating position coordinates corresponding to the human body features through a data processing unit, and transmitting the position coordinates to a magnetic control unit; The magnetic control unit is used to control the mechanical arm to move the magnetic ball to the corresponding position coordinates, thereby pulling the capsule endoscope to the corresponding target part; The capsule endoscope is used to capture an image of the target part, and the captured image of the target part is transmitted to an information processing unit. The information processing unit analyzes the image of the target part and displays the result on a display unit.

10. The method for controlling a capsule endoscope device according to claim 9, characterized in that: The information processing unit includes an image processing unit, the image processing unit is connected to the capsule endoscope, and the capsule endoscope is used to transmit the captured image to the image processing unit; wherein, When the image processing unit recognizes that the image is the target part, the magnetic control unit is used to control the magnetic ball to be stationary for a preset time, and at the same time, the capsule endoscope is used to take multiple photos of the target part.

11. The method for controlling a capsule endoscope device according to claim 10, characterized in that: When the image processing unit has not yet identified the target part image after the magnetic control unit controls the magnetic ball to rotate one circle, the magnetic control unit is used to control the magnetic ball to adjust the angle.

12. The method for controlling a capsule endoscope device according to claim 11, characterized in that: The magnetic control unit further includes a rotation angle sensor, which is arranged on the mechanical arm and is used to record the rotation angle of the magnetic ball; the control component further includes a counter, which is connected to the rotation angle sensor and is used to record the number of rotations of the magnetic ball; wherein, When the count value N of the counter is less than or equal to the preset value, the magnetic control unit is used to control the magnetic ball to adjust the angle; When the count value N of the counter is greater than the preset value, the image acquisition is terminated.

13. The method for controlling a capsule endoscope device according to claim 9, wherein: The display unit includes a display screen, and the display screen divides the area into zones according to each of the target parts; wherein, Before image acquisition, each of the subareas is filled with a first color, and when image acquisition of the target part is completed, its corresponding subarea is filled with a second color.

Images