58 results about "Wireless capsule endoscope" patented technology

Wireless capsule endoscope technology has been used to image portions of the gastrointestinal (GI) tract, particularly the small bowel. However in other GI organs, especially those having larger-lumens, the capsule may become destabilized and tumble, precluding meaningful interpretation of the acquired images. The present invention describes a method and apparatus for permitting capsule imaging of organs having larger-lumens without tumbling, and includes an outer shell surrounding the capsule that targets the colon, as an example. Once the colon has been reached, the shell breaks or dissolves, and allows expansion of expandable materials attached to each end of the capsule, thereby stabilizing the capsule in the targeted organ, while permitting it to be moved by peristalsis and / or other means for locating the capsule. Imagers and light emitting diodes (LEDs) are activated during the expansion process, and enable overlapping of images. The capsule is moved through the colon, taking images at chosen frame rates with data being wirelessly transmitted by means of an RF transmitter, and is eventually expelled from the body.

The invention discloses a wireless capsule endoscope small intestine lesion computer auxiliary detection system and method. At present, the technology of the capsule endoscope in the aspect of intelligent lesion identification and accurate positioning is very limited. The data input module is used for acquiring the video data of the wireless capsule endoscope of the patient, and an image of the capsule endoscope is obtained by extracting a video frame technology; the image preprocessing module is used for preprocessing the image of the wireless capsule endoscope, the small intestine image recognition module is used for recognizing and extracting a small intestine image and an image sequence in the preprocessed capsule endoscope image; the small intestine lesion analysis and positioning module is used for identifying and classifying the small intestine lesion and extracting the specific position of the focus; the user interaction module forms an auxiliary diagnosis result according to the small intestine lesion information and the analysis result of the positioning module, and the doctor can confirm, modify or input the medical advice so as to form a diagnosis report. According to the invention, the practical value of the capsule endoscope in clinic is promoted, so that a more efficient and more standard diagnosis mode is formed.

The present invention relates to a wireless capsule endoscope and a power supply control method thereof. The method includes controlling the power supply of the capsule endoscope wirelessly and automatically adjusting power consumption of the power supply in the capsule endoscope. The wireless capsule endoscope includes a capsule casing, a light generator arranged at outside of the capsule casing, an opto-electronic switching starter arranged in the capsule casing, a power supply, a control module, a posture sensor, an illumination unit, an image processing device and a radio frequency transmission unit. The power supply being driven by the light generator in the present invention can effectively solve the incompatible problem between a traditional magnetic switch and a magnetic control device. Meanwhile, the control module and the posture detector enable the power supply to be in different working status under different states, which can prolong the service life of the power supply of the capsule endoscope.

The present invention provides a wireless capsule endoscopy redundant image screening method based on multi-feature fusion. The method comprises the steps of extracting the color feature vector and the texture feature vector of an image through an HSV color feature histogram and a gray level co-occurrence matrix, a step of calculating the color feature normalized mutual information amount of an adjacent image and a texture feature mean square error value as similarity measurement, a step of considering the robustness of the method, a step of proposing the mean value method setting adaptive similarity determination threshold based on a W parameter, a step of dividing an WCE image with certain time correlation and color-texture similarity into a same sub image segment through comparing the similarity measurement value of the adjacent WCE image and a judgment threshold value orderly, and a step of using an adaptive K-means clustering algorithm to carry out key frame extraction on each sub image clip to achieve the purpose of filtering a redundant image. According to the method, the redundant image can be effectively filtered, and thus the efficiency of doctors is improved.

A method for detecting polyps in endoscopy images includes pruning a plurality of two dimensional digitized images received from an endoscopy apparatus to remove images that are unlikely to depict a polyp, where a plurality of candidate images remains that are likely to depict a polyp, pruning non-polyp pixels that are unlikely to be part of a polyp depiction from the candidate images, detecting polyp candidates in the pruned candidate images, extracting features from the polyp candidates, and performing a regression on the extracted features to determine whether the polyp candidate is likely to be an actual polyp.

The invention provides a positioning system and a positioning method for a three-dimensional position and a three-dimensional attitude of a wireless capsule endoscope. The positioning system comprises a three-axis-orthogonal transmitting coil outside a human body, an in vitro wireless receiving module, an in vitro position and attitude calculating module, and an in vivo wireless capsule endoscope. The three-axis-orthogonal transmitting coil is arranged outside the human body; only a two-axis-orthogonal induction coil is arranged in the wireless capsule endoscope; the transmitting coil is close to the human body; a coil I, a coil II and a coil III of the transmitting coil transmit signals with respective fixed frequencies in order; the time spent by the three-axis transmitting coil for completing transmission of signals once is called a cycle; the two-axis induction coil inductively outputs three groups of voltage signals with different frequencies in one cycle; thus an equation set can be built for calculation of a three-dimensional position and a three-dimensional attitude. The method is convenient in integration; the two-axis induction coil only occupies a little place in the wireless capsule endoscope; the wireless capsule endoscope can be positioned continuously in real time; subsequent operations are facilitated; the system and the method are safe and reliable and are low in cost.

The invention discloses a wireless capsule endoscope system for gastrointestinal tract diagnosis and treatment. The wireless capsule endoscope system for gastrointestinal tract diagnosis and treatment comprises an intelligent capsule, a wearable device and a displayer, wherein the wearable device comprises a transmitting circuit, a transmitting coil and an image data processor. A capsule casing comprises a head, a neck, a body and a tail, the head is connected with the neck in a swingable manner, the neck is provided with a swing driving portion and a motor, a push spiral is arranged on the outer surface of the body, two ends of the body are rotatably connected with the neck and the tail respectively, and the tail is provided with a second motor for driving the body to rotate. A receiving coil is electromagnetically coupled with the transmitting coil to generate induction current, the input end of a receiving circuit is connected with the receiving coil to receive the induction current, and the output end of the receiving circuit is used for providing powder for all components. The wireless capsule endoscope system for gastrointestinal tract diagnosis and treatment has the advantages that a lens shift adjuster adjusts a focal distance of a lens so as to obtain clearer images, and the swing design of the head is beneficial to achievement of omni-directional examination.

The invention discloses a wireless capsule endoscope video saliency detection method based on an attention mechanism, and belongs to the technical field of image processing. The method solves the problem that the WCE video is checked manually and is easily influenced by the complex environment of the alimentary canal, so that the salient region cannot be quickly positioned. According to the invention, video image data in the alimentary canal are obtained through a capsule endoscope imaging technology. After the video is preprocessed, the CNN classification model and the LSTM segmentation model are trained respectively, the CNN classification model and the LSTM segmentation model complement each other and are optimized, the saliency detection result of the image in the WCE video can be rapidly obtained, and the defect that the saliency area cannot be rapidly positioned in a manual mode is overcome. The method can be applied to the technical field of image processing.

The invention discloses a redundancy elimination method and system for a capsule endoscope video image. The system includes an initialization module, an NCC function calculation module, a first judgment processing module, a second judgment processing module and a third judgment processing module. The method includes: taking out N non-repeated frames after a key frame and adopting an NCC function to calculate the key frame and the N non-repeated frames one by one; judging whether the NCC function value is larger than a threshold, if so, deleting corresponding non-repeated frames; if not so, reserving the non-repeated frames; judging whether the taken-out N non-repeated frames are all deleted, if so, keeping the key frame unchanged and if not so, using a non-repeated frame closest to the key frame as a new key frame; and judging whether the number of current non-repeated frames is smaller than N, if so, ending the process. The redundancy elimination method and system for the capsule endoscope video image is capable of solving a problem of video redundancy resulted from front and back movements of the capsule and improving the identification rate of the video redundancy. The method and system are widely applied to the field of WCE (wireless capsule endoscope) video image redundancy processing.

The invention discloses a method for pylorus and ileocecal valve positioning through wireless capsule endoscope images. When a wireless capsule endoscope is used for examination, the starting point and the stopping point of the small intestine are accurately found so that the workload of a doctor for viewing the images can be reduced, and missed diagnosis is reduced. According to the method, a deep learning thought serves as a technical core, a transfer learning strategy is also used, and a convolution neural network algorithm in a deep learning model is used for building an area image classifier; features of the wireless capsule endoscope images are obtained through automatic learning by means of training of the model, and then an area image identification result sequence is analyzed through an area positioning algorithm, so that pylorus and ileocecal valve positioning in the wireless capsule endoscope images is achieved. The method makes up for the blank of an existing capsule endoscope in the field of intelligent identification and accurate positioning, the working intensity of a doctor is greatly reduced, the working efficiency and the diagnosis rate are improved, the practicalvalue of the capsule endoscope in the clinical diagnosis of digestive tract diseases is further promoted, and a more efficient and more standard diagnosis mode is formed.

The invention provides a time series based method for positioning bleeding segments in a WCE (wireless capsule endoscope) video. The method comprises the following steps: firstly, video frames are pre-processed, and specifically, black holes and edges are removed; then each video frame is subjected to superpixel segmentation, multiple image blocks are obtained, and whether each image block is a bleeding block or a normal block is judged according to a pre-trained color model and the color value of the image block; the red ratio characteristic value and a space characteristic value of each video frame are selected for description; finally, a red ratio characteristic value curve and a space characteristic value curve are fused averagely under time series, and the bleeding segments are determined. With adoption of the scheme, the positioning efficiency and accuracy of the bleeding segments in the WCE video can be improved.

The embodiment of the invention is suitable for the technical field of medical examination and inspection instruments and services, and provides a driving method, device and system for a wireless capsule endoscope. The method comprises the steps that a cavity environment where a wireless capsule is located at present is determined in a process of driving the wireless capsule to move through an in-vitro driver, and the cavity channel environment comprises a straight cavity channel or a bent cavity channel; a target value of a driving angle of the in-vitro driver is determined according to the current cavity environment of the wireless capsule, and the driving angle is an included angle between a connecting line between a central point of the in-vitro driver and a central point of the wireless capsule and a vertical line; the driving angle of the in-vitro driver is adjusted according to the target value; and the in-vitro driver is controlled to drive the wireless capsule to move at the adjusted driving angle. By adopting the method, the problem that the movement process of a wireless capsule endoscope cannot be actively driven in the prior art can be solved.

The invention provides a wireless capsule endoscope 5 degree-of-freedom positioning system and a positioning method thereof. The positioning system includes a transmitter coil which is disposed outside a human body and orthogonal to three axes, a sampling module, a position and direction calculation module, a wireless transmission module, an external wireless receiving module and a wireless capsule endoscope located in the human body. The transmitter coil which is disposed outside the human body and orthogonal to three axes is adopted, only one single-axis induction coil is arranged inside thewireless capsule endoscope, the transmitter coil is placed near the human body, and a coil I, a coil II and a coil III of the transmitter coil sequentially emit six signals having different frequencies and amplitudes to form one cycle, that is each coil transmits two signals having different frequencies and amplitudes within one cycle; an equation set is established for calculating a three-dimensional position and a three-dimensional posture. The method is easy to integrate, the single-axis induction coil occupies less space in the wireless capsule endoscope, the wireless capsule endoscope can be positioned continuously in real time, subsequent operations can be performed conveniently, and the method is safe, reliable and low in cost.

The invention discloses a wireless capsule endoscope system. A wireless capsule endoscope at least comprises a first wireless capsule endoscope and a second wireless capsule endoscope, wherein the first wireless capsule endoscope is put into a body first and shoots images which serve as reference images inside the body; and the second wireless capsule endoscope adjusts the shooting speed of the second wireless capsule endoscope according to the information of the reference images shot by the first wireless capsule endoscope inside the body. Based on a suspected diseased area, the wireless capsule endoscope system changes the shooting speed in a targeted way, so the number of pictures of the suspected diseased area is increased effectively, namely the ratio of the pictures which need more observation to the total number of the pictures is raised, the burden of post image processing and screening is lowered, and doctors can diagnose more conveniently.

The embodiment of the invention is suitable for the technical field of medical examination and inspection instruments and services, and provides a tracking and positioning method and system for a wireless capsule endoscope, and the method comprises the steps: activating a sensor subarray for measuring a current magnetic field from a magnetic sensor array, wherein the current magnetic field is generated by interaction of a permanent magnet ring contained in the wireless capsule and an in-vitro permanent magnet, determining the current five-dimensional pose of the wireless capsule based on the sensor subarray, the five-dimensional pose including a three-dimensional position and a two-dimensional magnetic moment direction of the wireless capsule; and then determining the sixth-dimensional pose of the wireless capsule according to the three-dimensional position and the two-dimensional magnetic moment direction, wherein the positioning pose of the wireless capsule is composed of the five-dimensional pose and the sixth-dimensional pose. By adopting the method, the wireless capsule endoscope can be accurately positioned.

The present invention discloses one kind of radio endoscope capsule based on JPEG2000 including one CPU set in the center of the casing. The radio endoscope capsule features the CPU with output connected electrically to an image sensor, an image compression module, a data buffering memory, an RF transmitter and a controllable lighting device, and input connected electrically to a low frequency receiver; and the successive electric connection of the optical system, the image sensor, the image compression module, the data buffering memory and the RF transmitter. The radio endoscope capsule has no magnetically controlled power switch, no inconvenience in storing and transportation and low power consumption device resulting in microampere level current consumption of the system and long effective work time; and can send image data and change the image decoding parameter according to requirement.

The embodiment of the invention is suitable for the technical field of medical examination and inspection instruments and services, and provides a wireless capsule endoscope positioning method and apparatus, and terminal equipment. The method comprises the following steps: activating a sensor sub-array from a magnetic sensor array when an in-vitro driver is used for driving a wireless capsule to move; measuring a magnetic field by the sensor sub-array to obtain current magnetic field data; calculating a current five-dimensional pose of the wireless capsule based on the magnetic field data, wherein the five-dimensional pose comprises three-dimensional positions and two-dimensional magnetic moment directions of the wireless capsule; and carrying out normal vector fitting on the two-dimensional magnetic moment directions to obtain a sixth-dimensional pose of the wireless capsule, wherein the five-dimensional pose and the sixth-dimensional pose jointly form a positioning pose of the wireless capsule. By adopting the method to position the wireless capsule endoscope, certain positioning precision can be maintained while the positioning updating frequency is increased.

The invention discloses a dual-frequency microstrip antenna applied to a wireless capsule?endoscope. The microstrip antenna is attached to the outer wall of the capsule of the wireless capsule?endoscope. The dual-frequency microstrip antenna applied to the wireless capsule?endoscope is characterized in that the microstrip antenna comprises a feeder terminal, an outer loop antenna part and an inner loop antenna part, wherein the feeder terminal serves as the input end of the microstrip antenna; the outer loop antenna part and the inner loop antenna part are electrically connected with the feeder terminal; the length of the outer loop antenna part is corresponding to the full wavelength of the center frequency of a first desired frequency band; the length of the inner loop antenna part is corresponding to the full wavelength of the center frequency of a second desired frequency band; the inner loop antenna part is embedded inside the outer loop antenna part; and the center frequencies of the first desired frequency band and the second desired frequency band are no more than 1 Ghz. The antenna is a wall-attaching antenna attached to the outer wall of the capsule, the working frequency is lower than 1Ghz, an ultra?bandwidth is provided, the size is small, and the antenna is suitable to work inside the small intestine of a human body.

The invention relates to a method for identifying capsule endoscope images. The method comprises the following steps that digestive tract images of patients are obtained; the obtained images are preprocessed; a lacuna curve chart under HSV space is drawn for the preprocessed images, and a threshold value is set; the images are screened and classified through the set threshold value. The invention further relates to a system for identifying the capsule endoscope images. According to the method and system, the workload of a doctor can be reduced, and identifying accuracy is improved.

The invention discloses a dual-frequency microstrip antenna applied to a wireless capsule endoscope. The dual-frequency microstrip antenna is attached to the capsule outer wall of the wireless capsule endoscope. The dual-frequency microstrip antenna of the wireless capsule endoscope is characterized in that a feeder line end, an outer hollow-square-shaped antenna part and an inner hollow-square-shaped antenna part are included, and the two antenna parts are electrically connected with the feeder line end. The length of the outer hollow-square-shaped antenna part corresponds to the full wave length of the center frequency of a first expectation frequency band, and the length of the inner hollow-square-shaped antenna part corresponds to the full wave length of the center frequency of a second expectation frequency band. The inner hollow-square-shaped antenna part is embedded in the outer hollow-square-shaped antenna part, and the center frequency of the first expectation frequency band and the center frequency of the second expectation frequency band are both smaller than and equal to 1 GHz. A third antenna part is embedded in the inner hollow-square-shaped antenna part, and the third antenna part is provided with a plurality of sets of hollow-square-shaped attaching pieces which are electrically connected with the inner hollow-square-shaped antenna part and is used for improving the matching impedance of the feeder line end. The dual-frequency microstrip antenna is a capsule outer wall attaching antenna, the working frequency is lower than 1 GHz, the advantages of ultra bandwidths and small sizes are achieved, and the dual-frequency microstrip antenna is suitable for working in the small intestine of a human body.

The embodiment of the invention is suitable for the technical field of medical equipment, and provides a trajectory tracking system and device of a wireless capsule endoscope and a medium, the system comprises a trajectory generator, a controller, a magnetic force generator, a driver and the wireless capsule endoscope; the trajectory generator is used for receiving a plurality of input key points in an abdominal cavity and generating an expected trajectory according to the plurality of key points; the controller is used for outputting expected magnetic force according to a preset kinetic model of the wireless capsule endoscope; the magnetic force generator is used for calculating configuration information of a driver according to the expected magnetic force and configuring the driver according to the configuration information so as to generate the expected magnetic force; and the driver is used for enabling the expected magnetic force to act on the wireless capsule endoscope so as to control the wireless capsule endoscope to move along the expected track. By adopting the trajectory tracking system, the wireless capsule endoscope can be driven to move according to a specified trajectory.

The invention is applicable to the technical field of image processing, and provides a lesion position relative positioning method and device, terminal equipment and a computer readable storage medium, and the method comprises the steps: obtaining a wireless capsule endoscope picture sequence of an organ; partitioning each frame of wireless capsule endoscope picture by using a superpixel algorithm; detecting each block in each frame of wireless capsule endoscope picture, and identifying a road sign feature block in each frame of wireless capsule endoscope picture; matching the road sign characteristic blocks of all two adjacent frames of wireless capsule endoscope pictures in the wireless capsule endoscope picture sequence; numbering all road sign characteristic blocks in the wireless capsule endoscope picture sequence according to a matching result; and obtaining the distance between the lesion position in the organ and the entrance of the organ according to the numbers of all the road sign characteristic blocks and the length of the organ. According to the invention, the lesion position in the organ can be relatively positioned, and the determination of the lesion position is facilitated.

The invention provides a wireless capsule endoscope lesion automatic detection method and device and a storage medium. The method mainly comprises the steps that a video file is converted into an image sequence with a timestamp, and a data set with labels is obtained through key frame expert labeling and target tracking of a similar interval sequence; a focus detection model is trained through a convolutional neural network, the trained model is loaded to predict a focus detection result of the to-be-detected video, and the focus detection result comprises timestamps, focus positions, focus categories and confidence coefficients of all images with focuses; obtaining a manual correction result of an expert for a'difficult example 'sample in the detection result, and obtaining an error detection area; and transforming the error detection area, re-synthesizing the error detection area and the background into a new data set, and finely adjusting the original model to gradually optimize the model effect. According to the method, the high-performance focus detection model is obtained under the condition that expert annotation data is as few as possible, so that experts are assisted to complete focus automatic detection, and the film reading efficiency and the detection performance are improved.

The invention is applicable to the technical field of image processing, and particularly relates to a wireless capsule endoscope image detection system and method. The system comprises an endoscopic image acquisition module used for acquiring a to-be-detected endoscopic image and inputting the endoscopic image to a convolution feature extraction module and an artificial feature extraction module;the convolution feature extraction module is used for carrying out feature extraction on the endoscope image to obtain convolution features of the endoscope image, and inputting the convolution features into the feature fusion module; the artificial feature extraction module is used for carrying out feature extraction on the endoscope image to obtain color features, texture features and morphological features of the endoscope image and inputting the color features, texture features and morphological features into the feature fusion module; the feature fusion module is used for carrying out fusion processing on the convolution features, the color features, the texture features and the morphological features to obtain fusion features, and inputting the fusion features into the detection module; and the detection module is used for obtaining a detection result of the endoscope image according to the fusion features.

Methods and apparatus for image processing suitable for use in wireless capsule endoscopy are provided. The image processing techniques exploit characteristic features of endoscopic images to enable low complexity compression. A color space conversion, coupled with lossless predictive coding and variable length coding are employed. Sub-sampling and clipping may also be used. The described image processing can be used both with both white-band imaging and narrow-band-imaging.

The invention discloses a display method for highlighting a vessel mutation and a projection. The wireless capsule endoscope image display method comprises steps of 1) obtaining original image data of an intestine and a stomach which is obtained by a wireless capsule endoscope, wherein the a doctor determines that blood mutation or the projection is not obvious according to the original image data of the stomach and intestine, 2) finding out a singular point which is not obvious in mutation, designing an operator mask layer for enhancing vessel mutation according to theories of image rim enhancement and image texture enhancement, and 3) using modified various parameters to perform corresponding processing on images of various parts to obtain an image highlighting the mutation part for doctors to detect according to images of various parts. The wireless capsule endoscope image display method can perform processing of highlighting the vessel mutation on the wireless endoscope image, enables the doctor to better diagnose patients and is applicable to computer medical image processing.

The embodiment of the invention is suitable for the technical field of medical equipment, and provides a reciprocating rotation driving system and device of a wireless capsule endoscope, and a medium. The system comprises a driver magnet and the wireless capsule endoscope, wherein the driver magnet is configured with a corresponding reciprocating rotation interval; and the driver magnet is used for rotating in a reciprocating mode in the reciprocating rotation interval so as to generate magnetic force of which the direction changes periodically, wherein the magnetic force of which the direction changes periodically is used for driving the wireless capsule endoscope to rotate in the abdominal cavity of the human body in a reciprocating way. The system is adopted to drive the wireless capsule endoscope to move, and the risk of abdominal cavity distortion caused by continuous rotating movement of the wireless capsule endoscope can be reduced.