311 results about "Capsule Endoscopes" patented technology

The invention provides a splicing method and a splicing device for a magnetic control capsule endoscope image of a digestive tract. The method comprises the following steps: screening out a candidate lesion area image sequence from an original alimentary canal image sequence collected by a magnetic control capsule endoscope; preprocessing the candidate lesion area image sequence to obtain a preprocessed candidate lesion area image sequence; performing feature extraction on the preprocessed candidate lesion area image sequence based on an OfficientLoFTR improved model, further performing feature matching on the preprocessed candidate lesion area image sequence to obtain matched feature point pairs, and performing image registration processing on each image of the preprocessed candidate lesion area image sequence according to the matched feature point pairs to obtain a pre-processed candidate lesion area image sequence; the improved model can improve the accuracy of feature detection and matching, a good foundation is laid for subsequent image registration and image fusion, image registration can be carried out by combining global homography transformation and local thin plate spline transformation, and the problem of non-rigid deformation is solved.

The invention relates to the technical field of medical detection, and discloses a capsule endoscope image auxiliary diagnosis method based on deep learning, which comprises the following steps: acquiring an original image sequence of an alimentary canal shot by a wireless capsule endoscope, screening out an image sequence related to the alimentary canal in the original image sequence, and labeling the image sequence; sequentially performing data enhancement, geometric transformation and standardization processing on the marked image sequence, and clustering a prior anchor frame by using a K-means algorithm to form a capsule endoscope image data set; a deep learning model LD-YOLO is built, a YOLOv5 model is selected as a basis, optimization is carried out on the basis of the basic model, and a capsule endoscope image auxiliary diagnosis model is built; and training a capsule endoscope image auxiliary diagnosis model through the capsule endoscope image data set, and detecting an image to be diagnosed by using the trained capsule endoscope image auxiliary diagnosis model. According to the invention, the workload of doctors in image analysis can be greatly reduced, and the film reading efficiency is improved.

The invention provides a capsule endoscope intestinal panoramic image splicing method and device, a computer readable storage medium and computer equipment. The method comprises the following steps: performing feature matching on an original intestinal tract image set acquired by a capsule endoscope to obtain a feature point set of each image of the original intestinal tract image set; performing polar coordinate expansion on each original intestinal image to obtain a rectangular intestinal image and a new feature point set corresponding to the feature point set in the rectangular intestinal image; calculating the displacement difference of each new feature point according to the coordinates of each new feature point of the new feature point sets of the two adjacent frames of rectangular intestinal tract images; cutting according to the displacement difference to obtain a stepping region image between two adjacent frames of original intestinal tract images; performing polar coordinate expansion on the stepping area image to obtain a newly added image segment; and splicing the newly added image segments in sequence to obtain an intestinal panoramic image. According to the method, a more accurate real stepping distance is obtained through calculation, and the smoothness and continuity of the image splicing position can be improved.

The invention provides a feature point matching method for digestive tract capsule endoscope images. The method comprises the following steps: after preprocessing, converting each image into a grayscale image, sequentially rotating each grayscale image from an initial angle according to different angles, carrying out feature point identification on the image after each rotation, and taking a subsequent feature point set with the maximum number of feature points as a feature point set; feature point matching is carried out on the feature point sets of the two adjacent frames of grayscale images, and part of matched feature points in the matched feature point sets are removed according to feature point position threshold conditions, feature point density threshold conditions and feature point brightness threshold conditions; and according to a geometric consistency condition and a confidence threshold condition, removing a part of matched feature points in the preliminary matched feature point set to obtain a final matched feature point set. According to the method, more feature points can be obtained, the distribution uniformity of the feature points is improved, and the quality of the feature points is improved.

The utility model relates to a lens structure of a double-lens capsule endoscope, which comprises two capsule endoscope lenses with different imaging functions, namely a lens with a narrow-band imaging characteristic and a high-definition ultra-wide-angle lens, the optical system of the first lens comprises a first lens group, a first diaphragm, a second lens group and first protective glass; the first lens group comprises a meniscus negative lens with negative focal power, a convex-concave negative lens with negative focal power and a meniscus lens with positive focal power; the second lens group comprises a biconvex lens with positive focal power and a biconcave lens with negative focal power; the optical system of the second lens comprises a third lens group, a second diaphragm, a fourth lens group and second protective glass; the third lens group comprises a convex-concave positive lens with positive focal power; and the fourth lens group comprises a bonding lens and a convex-concave lens with positive focal power, and the bonding lens is formed by bonding a biconvex lens with positive focal power and a concave-convex lens with negative focal power and has the positive focal power. The lens can enlarge the view field coverage range and improve the detection accuracy.

The invention relates to the technical field of medical instruments, in particular to a magnetic control capsule endoscope driving method and device based on a three-dimensional space and a medium. The method comprises the steps that based on the position relation between an external permanent magnet and the magnetic control capsule endoscope in a three-dimensional space and the relation of a rotating shaft during rotating driving, the relation between the magnetic force borne by the magnetic control capsule endoscope and the driving angle is determined by combining the relation between a magnetic field and the magnetic moment in a dipole model; based on stress analysis when the magnetic control capsule endoscope is driven by rotation of an external permanent magnet, horizontal direction force borne by the magnetic control capsule endoscope is determined, and the horizontal direction force is the difference between magnetic force and friction force in the horizontal direction; when the horizontal force is greater than or equal to zero, determining the range of a driving angle; and driving the magnetic control capsule endoscope based on the range of the driving angle. According to the invention, the magnetic control capsule endoscope is driven by the external permanent magnet in the determined driving angle range, so that the magnetic control capsule endoscope can be stably driven.

Methods of enhancing visualization of a body lumen. A device including a capsule endoscope and a plurality of struts attached thereto may be positioned into the body lumen. The plurality of struts of the device may self-expand within the body lumen from a constrained configuration to an expanded configuration in which the plurality of struts extend both radially and axially away from a camera lens of the capsule endoscope so as to form a frame around the camera lens in the expanded configuration. The camera lens may image through the frame into the body lumen. At least a portion of the frame or a material constraining the struts of the frame may dissolve to allow passage of the device from the body lumen.

The invention discloses a capsule endoscope system and method for positioning through an antenna matrix, and the system comprises a capsule endoscope, a receiving waistband, a data recorder, and an in-vitro work station. A vibration module, a main control board, a radio frequency module and a power module are arranged in a shell of the capsule endoscope. The receiving waistband comprises a waistband, a receiving antenna, a noise processing module, a position sensing module and a reflecting layer; the receiving antenna, the processing module, the sensor and the reflecting layer are all arranged between the two layers of structures of the waistband, the receiving antenna surrounds the waistband for one circle, and the periphery of the receiving antenna is comb-shaped; the noise processing module and the position sensing module are respectively connected with the receiving antenna through the FPC board; the reflecting layer is arranged along the circumference of the waistband; a spacing layer is arranged between the receiving antenna and the reflecting layer; a containing bag is arranged on the outer side of the waistband, and the data recorder is located in the containing bag on the outer side of the waistband. And the receiving waistband, the data recorder and the in-vitro workstation are connected in sequence. The method improves the inspection efficiency and accuracy, and is safe, reliable and stable.

The utility model belongs to the technical field of medical instruments and equipment, and discloses a cover plate assembly, a minicell and a capsule endoscope, the cover plate assembly comprises a cover plate, a pole structure and a sealing ring, the cover plate is used for sealing an opening and is in sealing fit with the side wall of the opening, so that sealing is formed between the cover plate and a shell; a sealing ring accommodating groove is formed in the peripheral side wall of the pole structure; the sealing ring is arranged on the peripheral side wall of the pole structure, is accommodated in the sealing ring accommodating groove and is in sealing fit with the sealing ring accommodating groove, so that the sealing performance between the sealing ring and the pole structure is enhanced, the position of the sealing ring relative to the pole structure is fixed, the assembly is convenient, and the service life is prolonged. The outer peripheral side wall of the sealing ring is in sealing fit with the inner peripheral side wall of the cover plate, so that the inner side and the outer side of the sealing ring can form good sealing with the pole structure and the cover plate respectively, liquid leakage is avoided, meanwhile, a traditional glass sealing structure is replaced by the sealing ring, and the machining and precision control difficulty can be reduced.

The present invention discloses an imaging apparatus and method, and a capsule endoscope. The imaging apparatus includes a lighting assembly and a camera, the camera is used for imaging a subject to be tested. The lighting assembly includes a first light source and a second light source, the first light source is used for emitting white light to provide light for the camera to image the subject, and the second light source is used for emitting near-infrared light to provide light for the camera to image the subject. A superficial layer of the subject is irradiated with white light, so as to observe superficial layer tissue of the subject, and intermediate layer tissue and deep tissue of the subject are irradiated with near-infrared light, so as to observe the intermediate layer tissue and the deep tissue of the subject.

An image processing method and a data set collection method is disclosed. The image processing method includes: making a high-resolution high-definition image interact with a calibrated blur kernel to obtain a blurred image; injecting calibrated noise to form a first noise image; degrading, by using a downsampling method, the first noise image into a low-resolution image; performing lossy compression on the low-resolution image to obtain a compressed image; adding into the compressed image random noise points that simulate a transmission process, to form a second noise image; and performing lossy compression on the second noise image to obtain a low-definition image, where the high-definition image is an image that is formed by means of photographing an organ in a body using a capsule endoscope, and the calibrated blur kernel and calibrated noise are results that are obtained by means of fitting a photographing process of the high-definition image.

The invention relates to the technical field of medical instruments, in particular to a capsule endoscopy focus automatic identification and positioning system. The system comprises an image acquisition module, an intelligent analysis module and a space positioning module. The image acquisition module receives an alimentary canal image sequence captured by the capsule endoscopy; the intelligent analysis module is integrated with a pre-trained deep convolutional neural network, analyzes the image frame by frame, and outputs a pixel-level segmentation mask identifying the contour and type of the focus; and the spatial positioning module estimates the pose of the capsule endoscopy and constructs a topological map of the inner wall of the digestive tract by analyzing the motion of feature points in the image sequence and combining a visual odometer and a graph optimization SLAM algorithm, and finally maps the recognized focus to specific coordinates of the map. According to the invention, automatic identification and accurate positioning of the nidus of the digestive tract are realized.

The present disclosure provides a digestive cavity inner wall three-dimensional model reconstruction method and apparatus, a device, and a medium. The method comprises: acquiring an image set collected by a capsule endoscope inside a digestive cavity; determining, in the image set, a plurality of first image frames formed under the influence of digestive cavity wall peristalsis, and determining a folded area in each first image frame; restoring the folded area in each first image frame into a smooth area to obtain a plurality of processed first image frames; and obtaining a digestive cavity three-dimensional model on the basis of the plurality of processed first image frames. The folded areas in the plurality of first image frames, influenced by digestive cavity wall peristalsis, in the image set are restored into the smooth areas, so that more stable images are obtained; and three-dimensional model construction is performed on the basis of these stable images, facilitating the construction of more accurate digestive cavity models, helping doctors to determine the lesions of patients more accurately, and improving the medical treatment efficiency and satisfaction of the patients.

The utility model relates to the field of medical instruments, in particular to a capsule core and a capsule endoscopy. The capsule core comprises a lens base plate and a lamp panel which are connected through an FPC, an inner hole is formed in the lamp panel, a lens is arranged on the lens base plate and penetrates through the inner hole, and a fixing device which is matched with the lamp panel and used for installing the lamp panel on a base of the lens is arranged on the base of the lens. According to the invention, the lamp panel is fixed on the lens base through the fixing device, so that the lamp panel can be prevented from rebounding and tilting.

The utility model discloses a capsule endoscope convenient for on-off control, which comprises a capsule shell, and a battery, a circuit board, a chip, an antenna, a lens module and an LED (light-emitting diode) are arranged in the capsule shell; the device further comprises an infrared photoresistor, an infrared laser light source, an ultraviolet photoresistor and an ultraviolet laser light source. The LED, the infrared photoresistor and the ultraviolet photoresistor are all installed on the lens module, and the infrared photoresistor and the ultraviolet photoresistor are connected with the chip and controlled by the chip. The infrared laser light source and the ultraviolet laser light source are positioned outside the capsule shell; the infrared laser light source is matched with an infrared photoresistor; and the ultraviolet laser light source is matched with the ultraviolet photoresistor. On and off of the capsule endoscope are achieved through irradiation of the infrared laser light source and the ultraviolet laser light source, the capsule endoscope can be matched with a single-lens capsule endoscope and a double-lens capsule endoscope, contact between the capsule endoscope and the outside is reduced under the condition that the size and the shell integrity of the capsule endoscope are not changed, and regular inspection tour and electric quantity checking of the capsule endoscope are facilitated.

A system for imaging one or more particular structures in the stomach within a workspace is provided. In one embodiment, the system comprises: a) an active capsule endoscope positionable in the stomach, comprising a camera, an inertial measurement unit, and a permanent magnet; the driving unit comprises a Hall sensor array located at the bottom of the working space and a plurality of magnetic field generators used for generating expected magnetic fields; and c) a control unit.

The invention discloses a video image fusion processing method and device for a capsule endoscope, and the method comprises the steps: loading a plurality of segments of videos at different angles, which are shot by the capsule endoscope, into a processing module, carrying out the image enhancement preprocessing of the nth frame of each segment of video, carrying out the rough image registration of the preprocessed image through the pose data of a camera, and carrying out the image fusion processing; and carrying out image fine registration by using an SURF algorithm to determine an overlapping region, searching an optimal suture line in the overlapping region by using an optimal suture line image fusion algorithm, carrying out image stitching, and carrying out video stitching on the processed stitching image set. According to the invention, image coarse registration is carried out according to the pose data of the capsule endoscope, an SURF image registration algorithm is improved, and optimization and improvement are carried out in a feature point matching stage, so that the accuracy and timeliness of the algorithm are improved.

The invention discloses an automatic medical report generation method and system based on a capsule endoscope, and the method comprises the steps: obtaining a capsule endoscope video, and removing redundant frames of the capsule endoscope video, and obtaining a plurality of representative frames; inputting each representative frame into a preset detection model, determining an initial key frame and a classification result, and performing fine reduction on the initial key frame by using the classification result to obtain a plurality of target key frames; inputting each target key frame into a preset multi-modal model, extracting a corresponding first visual feature, splicing the first visual feature and the text feature to obtain an initial text description, performing iterative prediction on the initial text description until a first iteration termination condition is met, and outputting a target text description; and inputting the target text description into the large language model, predicting the first word segmentation sequence step by step by using an autoregression method until a second iteration termination condition is met, and generating a corresponding structured medical report based on the second word segmentation sequence. The diagnosis report can be automatically generated.

The utility model discloses an antenna positioning structure, an antenna structure and a double-lens capsule endoscope, and relates to the technical field of capsule endoscopes, and the antenna positioning structure comprises a positioning part which is arranged between two circuit boards and comprises an upper positioning part and a lower positioning part which are respectively clamped with a first circuit board and a second circuit board in a limiting manner, the upper positioning part and the lower positioning part are fixedly connected, and an arc-shaped bulge is arranged on one side, facing the upper positioning part, of the lower positioning part; the supporting part comprises a supporting ring, one end of the supporting ring abuts against the lower positioning part, the inner ring of the supporting ring further abuts against the arc-shaped outer side wall of the arc-shaped protrusion, the other end of the supporting ring extends towards the upper positioning part, and the antenna is arranged on the periphery of the supporting ring used for limiting the antenna in a sleeving mode. The risks of antenna deformation, displacement and the like after antenna assembly can be reduced, the stability of antenna signals is improved, and the capsule assembly difficulty is reduced.

A medical image processing system according to the present invention comprises: a communication unit for receiving photographic images captured by a capsule endoscope; and a processing unit for generating a read image from the photographic images by using results of a lesion model trained through lesion classification, wherein the processing unit applies the photographic images to a pre-trained abnormal lesion classification model so as to classify images including a preset lesion, then re-classifies the classified images into lesion images and normal images, selects a representative image representing the lesion images from the classified lesion images, and generates the selected representative image as the read image.

The invention relates to the technical field of image processing, in particular to a small intestine capsule endoscope target detection method which comprises the following steps: acquiring a small intestine capsule endoscope image; the method comprises the following steps: constructing an improved RT-DETR network, inserting an SCSA module between a backbone network and a neck network of the RT-DETR, and introducing a DFM module behind a three-branch Fusion module of the neck network; and the improved RT-DETR network adopts a Focaler-IoU loss function. According to the method, the problem that the accuracy of recognizing the tumor target by using the small intestine capsule endoscope image through RT-DETR needs to be further improved is solved.

The invention provides a magnetic control capsule endoscope steering control device and method based on a rotation strategy, belongs to the technical field of medical image diagnosis, and utilizes an external permanent magnet to form a rotating magnetic field in an intestinal tract to accurately control the movement of a magnetic control capsule endoscope. The magnetic force and the torque between the permanent magnet and the capsule endoscope are accurately modeled, the complex structure of the intestinal tract and the rotating motion of the endoscope are considered, and a more flexible and safer driving scheme is provided. By optimizing the key driving angles (such as alpha and beta), the capsule endoscope can accurately advance in the intestinal tract, the influence of friction force and static friction force is effectively overcome, it is ensured that the endoscope can smoothly pass through bent and folded areas of the intestinal tract, high safety is achieved, and the potential intestinal injury risk is reduced.

The invention relates to a medical magnetic drive capsule endoscope coated with a lubricating soft shell and a preparation method of the medical magnetic drive capsule endoscope. The medical magnetically-driven capsule endoscope comprises an inner shell, an endoscope assembly, a water-soluble protective cover, a medicine applying assembly and a hydrogel shell, the inner shell is provided with a sealing cavity and a pesticide applying cavity; the endoscope assembly is located in the sealing cavity and comprises a camera module and an illumination module. The inner shell is provided with a pesticide application window which is communicated with the pesticide application cavity and faces the second direction, and the water-soluble protective cover is connected with the inner shell and covers the pesticide application window; the pesticide applying assembly is located in the pesticide applying cavity; the hydrogel shell covers the inner shell, and the hydrogel shell is provided with a medicine applying opening, a camera shooting opening and a lighting opening. According to the medical magnetic drive capsule endoscope, when the medical magnetic drive capsule endoscope advances in the intestinal tract of a patient, friction between the hydrogel shell and the intestinal wall is small, the intestinal wall is not prone to being damaged by friction, safety and comfort are improved, the advancing speed of the medical magnetic drive capsule endoscope can be increased, and examination efficiency is improved.

The present invention relates to a capsule endoscope, comprising an outer shell and a capsule core arranged in the outer shell. The capsule core comprises a magnet unit, and the distance between the magnetic force center of the magnet unit and the center of gravity of the capsule endoscope is no greater than a threshold value, thereby ensuring the balance force inside and outside the capsule endoscope, improving the control accuracy of the capsule endoscope, and thereby improving work efficiency and reducing costs.

The utility model provides a control circuit of a capsule endoscope system, which comprises a protection unit and a working unit, two ends of the protection unit are respectively connected with a power supply and the working unit, and the protection unit comprises a fuse, a leakage protection switch, a reactor, a filter and an isolation transformer which are connected in series. The reactor is closer to the power supply than the isolation transformer. According to the control circuit of the capsule endoscope system, the safety of the control circuit can be improved.

The present application relates to the field of medical equipment, and in particular to an endoscopic imaging device, an imaging system, and a method thereof having a diagnostic imaging device. The device comprises: a diagnostic imaging device, an external control device, and an ingestible capsule endoscope. The external control device is used to control the position and / or posture of the capsule endoscope within a target area; the diagnostic imaging device is disposed within the capsule endoscope and is used to perform diagnostic imaging of the target area under the control of the external control device. The endoscopic imaging device and the imaging method thereof provided in the present application utilize a diagnostic imaging device to examine the target area without the need for a tissue biopsy, thereby not only improving the accuracy of the examination of the lesion area, but also reducing the risk of infection in the patient.

The present invention relates to a chair-based capsule endoscope control device and system for controlling a capsule endoscope that is inserted into the human digestive system and acquires images of organs. The present invention provides a capsule endoscope control device that is inserted into the digestive tract of a subject and controls the position or posture of a capsule endoscope equipped with a magnet. The device comprises: a chair for the subject to sit on, comprising a seat portion and a backrest connected to the seat portion; and a magnet controller disposed on the backrest. The magnet controller includes a control magnetic force generator for adjusting the position or posture of the capsule endoscope, wherein the control magnetic force generator is movable in at least one direction.

The present application discloses an image stabilization correction method for capsule gastroscopy image acquisition, which relates to the technical field of medical diagnosis, and includes the following steps: image acquisition: taking the original image of the stomach wall through a capsule endoscope; image preprocessing: performing data enhancement processing on the original image, and then performing plane projection processing to obtain a two-dimensional projection plane image; generating a coordinate sequence: extracting a feature point sequence of the two-dimensional projection plane image, and generating a matching feature point pair coordinate sequence; correcting the lens posture: by calculating the lens posture, generating an image data sequence after posture correction, and correcting the lens posture; generating a stable image sequence: by calculating the path of the device, forming a lens space posture control sequence, thereby eliminating images that deviate from the predetermined path, and forming stable and reliable image data. The present application can make the acquired image more stable and reduce the impact of rotation and shaking on the image.

According to aspects of the present disclosure, a system includes at least one processor and at least one memory storing instructions that, when executed by the processor(s), cause the system to: obtain images of a portion of a gastrointestinal tract (GIT) captured by a capsule endoscopy device; for each of the images, provide, by a deep learning neural network, a score classifying the image into each of successive segments of the GIT; classify each image of a subset of the images for which the score meets a confidence criterion into one of the successive segments of the GIT; refine the classification of the images in the subset by processing signals corresponding to the classification of the images in the subset over time; and estimate, among the images in the subset, a transition between two adjacent segments of the GIT based on the refined classification of the images in the subset (1010).

The present disclosure describes a communication system and a communication method for receiving data of a capsule endoscope, the communication system comprising a receiving device and a processing device, the receiving device comprising a plurality of receivers in communication connection with each other, the capsule endoscope processing image data into a plurality of data packet sets, each data packet set comprises at least one data packet and the number information of the data packets, the capsule endoscope sends the plurality of data packet sets to each receiver in sequence, and the receivers receive the plurality of data packet sets in sequence and identify the integrity of the data packets to generate an identification result; the receiver judges the integrity of the data packet set based on the identification result and the quantity information to generate a target instruction and broadcasts the target instruction to other receivers in the processing device and the receiving device, and at least one receiver transmits the data packets to the processing device based on the target instruction to enable the processing device to obtain the complete data packet set. As a result, it is possible to provide a communication system for receiving data of a capsule endoscope, which improves the efficiency of receiving image data.