阅读说明：本技术 一种具有三维重建功能的在线疾病识别内窥镜 (Online disease identification endoscope with three-dimensional reconstruction function ) 是由 马晋平 杨杰 杨光谱 张天豪 王颖钊 陈松林 李少军 杨习锋 曾晨光 于 2019-12-05 设计创作，主要内容包括：本发明提供一种具备三维重建功能的内窥镜,其能够基于计算机单目视觉的方式,在行内窥镜检查过程中针对病变三维形态进行实时重建,丰富了内窥镜系统标准病例数据库信息采集方式、提高了病症形态可视化水平,兼容性强,同时通过将采集得到的疾病局部特征三维形态集合成数据库,能够更精确的进行疾病匹配,提高了临床早筛过程检测出病变的效率。本发明一种具有三维重建功能的在线疾病识别内窥镜,包括内窥镜本体、显示器、内窥镜处理系统；内窥镜本体、显示器均与内窥镜处理系统连接,内窥镜处理系统根据接收到的内窥镜本体发送的二维图像生成三维重建图像,并将三维重建图像与标准病例数据库信息进行匹配,根据匹配度判断疾病类型及位置结果。(The invention provides an endoscope with a three-dimensional reconstruction function, which can perform real-time reconstruction aiming at three-dimensional forms of pathological changes in the process of in-line endoscopy based on a computer monocular vision mode, enriches the information acquisition modes of a standard case database of an endoscope system, improves the visualization level of the forms of the pathological changes, has strong compatibility, can perform more accurate disease matching by integrating the acquired three-dimensional forms of local characteristics of diseases into a database, and improves the efficiency of detecting the pathological changes in the process of clinical early screening. The invention relates to an online disease identification endoscope with a three-dimensional reconstruction function, which comprises an endoscope body, a display and an endoscope processing system, wherein the endoscope body is provided with a plurality of endoscope channels; the endoscope body and the display are connected with the endoscope processing system, the endoscope processing system generates a three-dimensional reconstruction image according to the received two-dimensional image sent by the endoscope body, the three-dimensional reconstruction image is matched with the standard case database information, and the disease type and position result is judged according to the matching degree.)

1. An online disease identification endoscope with a three-dimensional reconstruction function is characterized by comprising an endoscope body, a display and an endoscope processing system; the endoscope body and the display are connected with the endoscope processing system, the endoscope processing system generates a three-dimensional reconstruction image according to the received two-dimensional image sent by the endoscope body, matches the three-dimensional reconstruction image with standard case database information, and judges disease types and position results according to matching degrees.

2. The endoscope of claim 1, wherein the endoscope body is comprised of an endoscope distal end, an endoscope proximal end, and an endoscope handle.

3. The endoscope of claim 2, wherein the distal end of the endoscope is made of a soft material and has a multi-lumen structure, and a camera, an illumination light source, a water outlet, an air outlet and a biopsy channel are respectively distributed on a cross section of the distal end of the endoscope.

4. An endoscope according to claim 2 and wherein said proximal and distal endoscope ends are joined and formed of a rigid material in a multilumen configuration.

Technical Field

The invention relates to the technical field of medical instruments, in particular to an online disease identification endoscope with a three-dimensional reconstruction function.

Background

Colonoscopy is a diagnostic and therapeutic method for examining the pathological changes in the intestinal tract, and is suitable for diagnosing, treating and treating polyps, ulcerative colitis, chronic colitis, colon cancer and the like. 40.5 new gastric cancers and 32.5 deaths of gastric cancers in China are public health problems to be urgently solved. Research shows that if a patient can receive endoscopic examination and treatment in time at the early cancer stage, the five-year survival rate can be greatly improved (up to 90 percent), and the method has important significance for reducing the incidence rate and the death rate of gastric cancer and saving medical resources. At present, suspicious lesion can be detected by an endoscope for early cancer, and final judgment is carried out in a pathological mode. However, the doctor sees a local two-dimensional image in the current endoscopic process, and the overall shape, lesion and the like of the colon and rectum are not displayed comprehensively; the method of making slices/smears on pathology and observing whether cells become cancerous under a microscope is also time-consuming, which is not favorable for the detection efficiency and the detection cost of early cancer.

Disclosure of Invention

The invention provides an endoscope with a three-dimensional reconstruction function, which can perform real-time reconstruction aiming at three-dimensional forms of pathological changes in the process of in-line endoscopy based on a computer monocular vision mode, enriches the information acquisition modes of a standard case database of an endoscope system, improves the visualization level of the forms of the pathological changes, has strong compatibility, can perform more accurate disease matching by integrating the acquired three-dimensional forms of local characteristics of diseases into a database, and improves the efficiency of detecting the pathological changes in the process of clinical early screening.

The invention relates to an online disease identification endoscope with a three-dimensional reconstruction function, which comprises an endoscope body, a display and an endoscope processing system, wherein the endoscope body is provided with a plurality of endoscope channels; the endoscope body and the display are connected with the endoscope processing system, the endoscope processing system generates a three-dimensional reconstruction image according to the received two-dimensional image sent by the endoscope body, matches the three-dimensional reconstruction image with standard case database information, and judges disease types and position results according to matching degrees.

Preferably, the endoscope body consists of an endoscope distal end, an endoscope proximal end and an endoscope handle.

Preferably, the distal end of the endoscope is made of a soft material and has a multi-channel structure, and a camera, an illumination light source, a water outlet, an air outlet and a biopsy channel are respectively distributed on the section of the distal end of the endoscope.

Preferably, the endoscope proximal end and the endoscope distal end are connected, and are made of hard materials and have a multi-lumen structure.

The invention provides an endoscope with a three-dimensional reconstruction function, which can perform real-time reconstruction aiming at three-dimensional forms of pathological changes in the process of in-line endoscopy based on a computer monocular vision mode, enriches the acquisition modes of endoscope information, improves the visualization level of the forms of pathological changes, and can perform disease matching more accurately and quickly by integrating the acquired three-dimensional forms of local characteristics of diseases into a database, thereby improving the efficiency of detecting the pathological changes in the process of clinical early screening.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is an overall block diagram of an online disease recognition endoscope with a three-dimensional reconstruction function according to the present invention;

FIG. 2 is a schematic diagram of a process for three-dimensional reconstruction of an endoscopic disease morphology;

FIG. 3 is a diagram of endoscopic disease data collection and disease intelligence determination.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The invention relates to an online disease identification endoscope with a three-dimensional reconstruction function. Referring to fig. 1, the display is connected to the endoscope processing system, and the endoscope body is connected to the endoscope processing system.

The endoscope body consists of an endoscope far end, an endoscope near end and an endoscope handle.

The distal end of the endoscope is made of soft materials, is of a multi-cavity structure and at least has the function of turning in four directions in a single plane. The section of the distal end of the endoscope is respectively distributed with a camera, an illumination light source, a water outlet, an air outlet and a biopsy channel.

The endoscope near end is connected with the endoscope far end, is made of hard materials and has a multi-cavity structure. The near end of the endoscope mainly plays a role in rigid support and corresponding smoothness of light, electricity, gas, water paths and biopsy channels in the endoscopic examination process.

The endoscope handle mainly plays a role in controlling water, electricity, gas and light and adjusting the steering of the distal end of the endoscope.

The endoscope display mainly displays the shape of an endoscope insertion section in real time in the process of endoscopy, displays a two-dimensional image and a three-dimensional reconstruction image of related diseases, and displays the judgment result of the type and the position of the related diseases.

The endoscope processing system has the functions of collecting two-dimensional images and videos, integrating three-dimensional reconstruction model information by using a related algorithm, matching diseases and intelligently diagnosing diseases, and is specifically shown in fig. 2 and 3.

The specific process is as follows: the monocular vision mode of the computer is started in the endoscope body endoscope entering process, the reconstruction mode does not change the information obtaining mode of the existing mainstream endoscope, and the compatibility is strong. When suspicious lesions are found, a clinician can select the suspicious lesion positions in a key mode through an endoscope handle to acquire two-dimensional information of relevant positions (an endoscope camera acquires two-dimensional images and sends the two-dimensional images to an endoscope processing system), the endoscope processing system extracts image feature points and three-dimensional coordinates according to the acquired two-dimensional images, online three-dimensional reconstruction is automatically carried out after 3D point cloud data are extracted, colorectal color textures are generated based on color adjustment images, after reconstruction is completed, the endoscope processing system can match the two-dimensional images and three-dimensional reconstruction results with information in a standard case database, and intelligently judges and outputs disease types and position results, so that online auxiliary diagnosis of diseases is completed.

The disease standard case database can be based on the existing database, can also be automatically acquired based on clinical lesion data (including but not limited to two-dimensional and three-dimensional image information of lesion positions), and can introduce analysis results such as later-stage corresponding pathological smears/slices, metabolic mass spectrometry and the like to supplement, perfect and standardize the database data. The disease matching and intelligent judgment can be achieved through a disease recognition model, the model is mainly obtained through training based on an artificial intelligence deep learning network, a certain threshold value can be set according to the matching degree of the disease information, and when the matching degree of the intelligent diagnosis information and the standard case data exceeds or equals to the threshold value, the disease is judged to belong to; otherwise, if the matching degree of the intelligent diagnosis information and the standard case data is smaller than the threshold value, the endoscope system prompts manual intervention, and a clinician judges the disease and manually adds the disease to a corresponding disease database. The disease identification model can correct and perfect relevant model parameters by contacting new cases or feeding back the results of later intelligent diagnosis.

In addition, the endoscope processing system can complete the reconstruction of the integral colorectal track while entering the scene, corresponding electronic tags can be added on a colorectal model at the first time when a lesion is found, the electronic tags can be used for disease position backtracking after disease intelligent judgment, and certain help is provided for the collection of subsequent possible pathological samples.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.