Intestinal tract integrity detection system based on multi-sensor multi-data fusion 3D-SLAM modeling
阅读说明：本技术 一种基于多传感多数据融合的3d-slam建模的肠道完整度检测系统 (Intestinal tract integrity detection system based on multi-sensor multi-data fusion 3D-SLAM modeling ) 是由 王玉峰 于 2019-04-25 设计创作，主要内容包括：本发明公开了一种基于多传感多数据融合的3D-SLAM建模的肠道完整度检测系统,包括：图像采集单元和三维UWB接受器系统、以及图像处理单元,图像采集单元为装有高速摄像机和能够发送数据的RFID标签的肠镜；三维UWB接受器系统包括：6个位置固定信号接收器,通过6个信号接收器接收信号的时间差来分三个维度去定位相机的位置,经过多次拍照标记位置,获得患者的带有坐标的肠道内部图库；图像处理单元,能够利用图像处理融合技术,根据这些图片的定位信息和图片信息将这些图片融合成一张完整的患者肠道内部图。本发明的有益效果为,通过上述方法能够快速、准确地生成患者肠道内部图,能够满足使用的需求,便于在产业上推广和应用。(The invention discloses a multi-sensor multi-data fusion based intestinal integrity detection system for 3D-SLAM modeling, which comprises: the system comprises an image acquisition unit, a three-dimensional UWB receiver system and an image processing unit, wherein the image acquisition unit is an enteroscope provided with a high-speed camera and an RFID (radio frequency identification) tag capable of sending data; a three-dimensional UWB receiver system comprising: the 6 position fixing signal receivers are used for positioning the position of the camera in three dimensions according to the time difference of signals received by the 6 signal receivers, and the positions are marked through multiple times of photographing to obtain an intestinal tract interior map library with coordinates of the patient; and the image processing unit can fuse the pictures into a complete internal map of the intestinal tract of the patient according to the positioning information and the picture information of the pictures by utilizing an image processing fusion technology. The method has the advantages that the internal map of the intestinal tract of the patient can be generated quickly and accurately, the using requirement can be met, and the method is convenient to popularize and apply in industry.)
1. A3D-SLAM modeling intestinal tract integrity detection system based on multi-sensor multi-data fusion is characterized in that,
the method comprises the following steps: an image acquisition unit and a three-dimensional UWB receiver system, and an image processing unit,
the image acquisition unit is an enteroscope (11) provided with a high-speed camera (2) and an RFID label (3) capable of sending data;
The three-dimensional UWB receiver system comprises: the 6 position fixing signal receivers are used for positioning the position of the camera in three dimensions according to the time difference of signals received by the 6 signal receivers, and the positions are marked through multiple times of photographing to obtain an intestinal tract interior map library with coordinates of the patient;
the image processing unit can fuse the pictures into a complete internal map of the intestinal tract of the patient according to the positioning information and the picture information of the pictures by utilizing an image processing fusion technology.
Technical Field
The invention relates to the technical field of medical equipment, in particular to a multi-sensor multi-data fusion-based intestinal tract integrity detection system based on 3D-SLAM modeling.
Background
With the development and popularization of intelligent medicine, medical detection and surgery are more developed towards painless and noninvasive directions, and anorectal detection is inevitable for patients with intestinal polyps. Intestinal polyps refer to abnormally growing tissue protruding from the surface of the intestinal mucosa and are collectively referred to as polyps until the nature of the pathology is not determined. Polyps are mainly classified into inflammatory and adenomatous types. Inflammatory polyp can disappear by itself after the inflammation is cured; adenomatous polyps generally do not disappear by themselves and tend to become malignant. The most effective means of detecting polyps and determining the nature of their lesions is to conduct a full-length colonoscopic (including pathological) examination at regular intervals and to conduct interventional treatments under enteroscopy. However, the accuracy of enteroscopy is only relied on, and living body detection is not required to determine whether the cancer is prone to be cancerated. This brings secondary injury to the patient, and if the living body sample can be brought out of the body through the intestinal robot or the diseased tissue can be directly excised, the pain of the patient can be greatly relieved.
Before the intestinal robot performs the task, the structure of the intestinal tract of the patient and the position of the lesion tissue must be known, so that navigation control advocates the robot to find the lesion tissue smoothly without damaging the intestinal tract structure. In view of the above, the present invention provides a novel endoscopic intelligent navigator system.
Disclosure of Invention
The invention aims to provide a multi-sensor multi-data fusion-based intestinal tract integrity detection system based on 3D-SLAM modeling.
In order to realize the aim of the invention, the invention provides an intestinal tract integrity detection system based on multi-sensor multi-data fusion 3D-SLAM modeling,
the method comprises the following steps: an image acquisition unit and a three-dimensional UWB receiver system, and an image processing unit,
the image acquisition unit is an enteroscope 11 provided with a high-
the three-dimensional UWB receiver system comprises: the 6 position fixing signal receivers are used for positioning the position of the camera in three dimensions according to the time difference of signals received by the 6 signal receivers, and the positions are marked through multiple times of photographing to obtain an intestinal tract interior map library with coordinates of the patient;
the image processing unit can fuse the pictures into a complete internal map of the intestinal tract of the patient according to the positioning information and the picture information of the pictures by utilizing an image processing fusion technology.
Compared with the prior art, the method has the advantages that the internal map of the intestinal tract of the patient can be generated quickly and accurately, the using requirement can be met, and the method is convenient to popularize and apply in industry.
Drawings
FIG. 1 is a schematic view of the enteroscope operation of the present application;
fig. 2 is a schematic diagram of a three-dimensional UWB receiver system arrangement according to the present application.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that "connected" and words used in this application to express "connected," such as "connected," "connected," and the like, include both direct connection of one element to another element and connection of one element to another element through another element.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when used in this specification the singular forms "a", "an" and/or "the" include "specify the presence of stated features, steps, operations, elements, or modules, components, and/or combinations thereof, unless the context clearly indicates otherwise.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Spatially relative terms, such as "above … …", "above … …", "above … …", "above", and the like, may be used herein for ease of description to describe the spatial relationship of one component or module or feature to another component or module or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the component or module in use or operation in addition to the orientation depicted in the figures. For example, if a component or module in the figures is turned over, components or modules described as "above" or "above" other components or modules or configurations would then be oriented "below" or "beneath" the other components or modules or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The components or modules may also be oriented in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.
The acquisition of an image of the patient's intestine, combining the images of the intestine inside and the intestine outside, is intended to enable the knowledge of the specific location of the patient's intestine. Therefore, the process requires the cooperation of the positioning system and the photographing system to restore the intestinal condition of the patient. Namely, 3D-SLAM real-time modeling is carried out.
Referring to fig. 1-2, the invention provides a multi-sensor multi-data fusion based intestinal integrity detection system based on 3D-SLAM modeling,
the method comprises the following steps: the enteroscope 11 is characterized in that an
A three-dimensional UWB receiver system is constructed, which has 6 fixed-position signal receivers, as shown in fig. 2, which are respectively the positions marked with 5, 6, 7, 8, 9 and 10 in the figure, so that the time difference from the signal received by the receiver to each receiver can be calculated according to the same time ratio. It can be determined where the camera is capturing the content of the bowel. And continuously photographing and marking the positions to obtain an intestinal tract interior gallery with coordinates of the patient. And fusing the pictures into a complete internal map of the intestinal tract of the patient according to the positioning information and the picture information of the pictures by utilizing an image processing and fusing technology.
When the system is applied specifically, a patient 4 is examined on a hospital bed, the enteroscope 11 with the telling
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.