CN108124087B - Image processing method of superfine flexible electronic endoscope - Google Patents
Image processing method of superfine flexible electronic endoscope Download PDFInfo
- Publication number
- CN108124087B CN108124087B CN201711396581.5A CN201711396581A CN108124087B CN 108124087 B CN108124087 B CN 108124087B CN 201711396581 A CN201711396581 A CN 201711396581A CN 108124087 B CN108124087 B CN 108124087B
- Authority
- CN
- China
- Prior art keywords
- image
- format
- image processing
- video
- processing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/60—Noise processing, e.g. detecting, correcting, reducing or removing noise
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/71—Charge-coupled device [CCD] sensors; Charge-transfer registers specially adapted for CCD sensors
- H04N25/75—Circuitry for providing, modifying or processing image signals from the pixel array
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/76—Addressed sensors, e.g. MOS or CMOS sensors
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/01—Conversion of standards, e.g. involving analogue television standards or digital television standards processed at pixel level
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Endoscopes (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
An image processing method of an ultra-thin flexible electronic endoscope comprises the following operation steps: A) an external cold light source is guided to the surface of the visceral mucosa irradiated in vivo through optical fibers; B) the micro optical lens at the front end of the CMOS lens collects light reflected by the mucosa and projects the light to a photosensitive surface of the CMOS image sensor, and image data are obtained through the CMOS image sensor configured by the controller; C) the image data is converted into a serial analog signal data stream through a high-precision coding conversion chip of the AD conversion module; D) the coded image data are transmitted to an image inverse coding AD processing module; E) the image anti-coding AD processing module decodes the coded analog signal and inputs the decoded analog signal into a real-time image processing system for processing; F) and carrying out video coding and format conversion through a video coder and outputting the video coded and format converted video to a display to display a clear and stable endoscope image. The invention realizes the long-distance high-fidelity transmission of image data; the image quality is greatly improved.
Description
Technical Field
The invention belongs to the technical field of medical equipment, and particularly relates to an image processing method of a superfine flexible electronic endoscope.
Background
The development of the endoscope exceeds 200 years, the endoscope passes through the development stages of a rigid endoscope, an optical fiber endoscope, an electronic endoscope and a capsule endoscope, the ultra-fine diameter endoscope is known to have wide application prospects in the fields of medical minimally invasive/noninvasive, industrial precise nondestructive detection, micro-trace identification of a public inspection system and the like, and China' national key research and development plan: a2016 annual item declaration guideline specially for basic material technology promotion and industrialization is listed in the development direction of the superfine diameter endoscope, and plays an important role in the next decade.
Cystoscopy is one of the most basic examination methods in urology, and conventionally, a hard cystoscope made of metal has a relatively thick tube diameter and is not bendable. The urethra has large damage to surrounding tissues when being inserted from the urethra, particularly for male patients, the urethra is long (18-20 cm), the male patients need to pass through two physiological bends and external sphincter of the urethra during insertion, particularly pain exists, a sheath of the endoscope rubs the urethra during examination to generate pain and bleeding, and partial patients can generate bladder spasm, so that the examination is difficult to perform. Because the patient can not bend, the patient has a blind area in the examination, and important lesions are easy to miss diagnosis.
Most endoscopes in the market at present adopt large-size CMOS chips, the processing scheme is that a DSP control chip is used for video output processing, and when the noise of the CMOS video chips is low, the image quality can be improved; however, when the CMOS video chip is small, it is impossible to output a good image quality by using a simple DSP control circuit, and a good effect can be achieved only by using a dedicated image processing chip and image software processing.
The appearance of the soft electronic cystoscope solves the problems, and the size of the soft electronic cystoscope at home and abroad is generally more than 3mm at present, so that the small-size application market is basically occupied by a fiberscope and has the technical defect of overlarge product size; for a subminiature sensor, the image source distance is very small in consideration of process design, and therefore, the generated electrical interference causes very large fixed pattern noise fpn (fixeddternnnoise), dark current noise, thermal noise, and the like of the output original image data. The image noise can be classified into: the external noise refers to noise caused by electromagnetic waves or power supply penetrating into the system from the outside of the system. Noise caused by electrical equipment, celestial body discharge phenomenon, etc.; internal noise: generally, the method can be divided into the following four types: 1) noise caused by the fundamental properties of light and electricity. Such as current generation, is caused by the directional motion of the collection of electron or hole particles. Shot noise due to the randomness of the motion of these particles; thermal noise formed by random thermal motion of free electrons in the conductor; light quantum noise and the like formed by the fact that an image is transmitted by light quanta and the density of the light quanta changes with time and space according to the particle property of light; 2) noise generated by mechanical movement of the appliance. Noise generated by current change caused by jitter of various connectors; jitter or joint jitter of a magnetic head, a magnetic tape, or the like; 3) the material of the fixture itself causes noise. Such as surface graininess of the positive and negative films and noise generated by surface defects of the magnetic tape disk. With the development of material science, the noise is expected to be reduced continuously, but at present, the noise is inevitable; 4) noise caused by internal device circuits of the system, such as alternating current noise introduced by a power supply; noise caused by the deflection system and the clamp circuit, etc.
How to provide an ultra-fine lens to fully use the natural pore space of the human body to carry out relevant diagnosis and treatment, how to reduce the CMOS fixed noise, greatly improve the image quality to obtain a high-resolution image, how to ensure the color reduction degree to ensure the image amplification without distortion, and the problem which needs to be solved urgently is provided.
Disclosure of Invention
The object of the present invention is to solve the above technical problems.
The purpose of the invention is realized as follows: an image processing method of an ultra-thin flexible electronic endoscope relates to an ultra-thin flexible electronic endoscope, which comprises an image processing chip and is characterized in that: the image processing chip consists of an optical imaging module, an AD conversion module, an image processing conversion module and an image format conversion module, wherein the optical imaging module is a CMOS lens, the image processing conversion module is an image inverse coding AD processing module, and the image format conversion module adopts a real-time image processing system; the real-time image processing system comprises the following operation steps:
A) an external cold light source is guided to the surface of the visceral mucosa irradiated in vivo through optical fibers;
B) the optical lens at the front end of the CMOS lens collects light reflected by the mucosa and projects the light to a photosensitive surface of the CMOS image sensor, and image data are obtained through the CMOS image sensor configured by the controller;
C) the image data is converted into a serial analog signal data stream through a high-precision coding conversion chip of the AD conversion module;
D) serial analog signal data flow passes through 1 data line, and 1 clock signal line is transmitted to the image inverse coding AD processing module;
E) the image inverse coding AD processing module decodes the serial analog signal data stream, restores the serial analog signal data stream into a 10-bit parallel digital image signal, a synchronous signal and a clock signal, and inputs the signals into a real-time image processing system for processing;
the image processing module mainly works as follows:
firstly, receiving a video signal in a Bayer raw format of 400 multiplied by 400 pixels processed by a special decoding chip;
carrying out denoising processing on the image, wherein the denoising processing comprises fixed noise, thermoelectric noise, dynamic noise, highlight removal, automatic exposure processing, white balance adjustment of color, image sharpness and contrast adjustment, lens distortion and vignetting adjustment and dead pixel removal;
thirdly, outputting the image in the standard image data format;
F) and carrying out video coding and format conversion through a video coder and outputting the video coded and format converted video to a display to display a clear and stable endoscope image.
In the step B), the image data obtained by the CMOS image sensor configured by the controller is a serial analog signal data stream, and the control signal and the data signal are mixed and encoded, so that signal lines of the CMOS image sensor are reduced, and the size and difficulty of rear-end threading are reduced.
In the step E), when the image inverse coding AD processing module decodes the serial analog signal data stream, the optimization algorithm adopted is any one or a combination of several methods among FPN, black level, LSC, automatic exposure, automatic white balance, 2-dimensional noise reduction, 3-dimensional noise reduction, and gamma correction.
In the step F), after video encoding and format conversion are performed by the video encoder, the processed image data finally forms a standard image data format, which is any one of RGB888 format, BT656 and YUV422 data format; the output interface is any one or the combination of a plurality of interfaces of a CVBS interface, an HDMI interface and a DP interface.
The invention has reasonable process, solves the problem of image display quality of the superfine endoscope CMOS chip by adopting a mode of combining software and hardware, and realizes long-distance high-fidelity transmission of image data; the development platform based on the digital image microprocessor is adopted to process the image data, so that the endoscope image is clearly displayed, the resolution ratio is high, the image quality is greatly improved, the color reduction degree is ensured, the image is amplified without distortion, the user experience is good, and the development platform has good economic and social benefits in popularization and application.
Drawings
FIG. 1 is a process flow diagram of the present invention.
Detailed Description
The invention will be further described, but not limited, by reference to the following figures:
an image processing method of an ultra-fine flexible electronic endoscope comprises an image processing chip, wherein the image processing chip consists of an optical imaging module, an AD conversion module, an image processing conversion module and an image format conversion module, the optical imaging module is a CMOS lens, the image processing conversion module is an image inverse coding AD processing module, and the image format conversion module is a real-time image processing system; the method comprises the following operation steps:
A) an external cold light source is guided to the surface of the visceral mucosa irradiated in vivo through optical fibers;
B) the micro optical lens at the front end of the CMOS lens collects light reflected by the mucosa and projects the light to a photosensitive surface of the CMOS image sensor, and image data are obtained through the CMOS image sensor configured by the controller;
C) the image data is converted into a serial analog signal data stream through a high-precision coding conversion chip of the AD conversion module;
D) the coded image data is transmitted to an image inverse coding AD processing module through 1 data line and 1 clock signal line;
E) the image anti-coding AD processing module decodes the coded analog signal, restores the coded analog signal into a 10-bit parallel digital image signal, a synchronous signal and a clock signal, and inputs the signals into a real-time image processing system for processing;
the image processing module mainly works as follows:
firstly, receiving a video signal in a Bayer raw format of 400 multiplied by 400 pixels processed by a special decoding chip;
carrying out denoising processing on the image, wherein the denoising processing comprises fixed noise, thermoelectric noise, dynamic noise, highlight removal, automatic exposure processing, white balance adjustment of color, image sharpness and contrast adjustment, lens distortion and vignetting adjustment and dead pixel removal;
thirdly, outputting a standard image format;
the CMOS image sensor is a microminiature sensor, the image source distance is very small and is only 1.79um in consideration of process design, and the electric interference generated by the image source distance is solved; the noise is specially processed through a circuit optimization and multi-layer convolution iterative addition average image algorithm, so that a very good noise reduction effect is achieved, and the method is superior to domestic peer processing modes;
F) carrying out video coding and format conversion through a video coder, outputting the video coded and format converted video to a display, and displaying a clear and stable endoscope image;
in the step B), the image data obtained by the CMOS sensor configured by the controller is an encoded analog signal, and the control signal and the data signal are mixed and encoded, so that signal lines of the CMOS are reduced, and the size and difficulty of rear-end threading are reduced;
in the step E), when the image inverse coding AD processing module decodes the coded analog signal, the optimization algorithm adopted is any one or combination of several methods of FPN, black level, LSC, automatic exposure, automatic white balance, 2-dimensional noise reduction, 3-dimensional noise reduction and gamma correction; meanwhile, the system adopts a 3-order convolution difference algorithm to amplify the difference of the image in real time, can amplify the image to 600 multiplied by 600 pixels, and simultaneously ensures that the image has higher definition and contrast. The 3-order convolution difference algorithm adopted by the system is optimized, and the definition is greatly improved compared with the traditional 2-order convolution difference algorithm.
The 2-dimensional noise reduction uses convolution as a mathematical tool to process images to realize filtering of the images, and the method comprises the following steps of mean filtering, median filtering, maximum and minimum filtering, optimization processing of original images by combining technologies such as image sharpening and the like so as to obtain clean and clear images, and then automatic control of other parameters such as automatic exposure, gain, white balance, focusing and the like of the images;
because the occurrence of image noise is random, the noise occurring in each frame image is different; by using a 3-dimensional noise reduction digital noise reduction technology, non-overlapping information (namely noise waves) is automatically filtered out by comparing adjacent frames of images, so that a pure and fine picture is displayed, and even a CMOS high-definition camera can obtain an image which is the same as or even better than a CCD (charge coupled device) in the same size under a low-illumination environment through a good 3D digital noise reduction technology.
In the step F), after video encoding and format conversion are performed by the video encoder, the processed image data finally forms a standard image data format, which is any one of RGB888 format, BT656 and YUV422 data format; the output mode is any one or combination of a plurality of methods in a CVBS interface, an HDMI interface and a DP interface.
The input of the invention is 400 × 400 pixels, the standard output format of the AV interface is NTSC format or PAL format, the data types of the two formats are 720 × 480 and 720 × 576 respectively, and the output frame rate is distinguished into 29 frames and 25 frames, therefore, format conversion is carried out, and little or no deformation is ensured; the invention performs a large amount of image optimization processing algorithms at the position, and ensures the image output quality.
The endoscope of the present invention has the main performance parameters: 1) and working length: 650 mm; 2) the outer diameter of the lens tube: phi 1.5 mm; 3) optical performance: the field angle: 100 °, viewing angle: 0 degree; 4) and an illumination mode: LED illumination or optical fiber illumination is adopted; 5) and outputting: AV/USB/HDMI; 6) and a pixel: 400 x 400, 16 ten thousand pixels; 7) and electrical appliance safety: BF; 8) and picture storage format: a bmp file.
The invention adopts the subminiature and high-resolution CMOS image sensor to match with the high-precision digital-to-analog sampling conversion technology to design the front-end camera probe, so that the diameter of the camera probe is reduced to 1.5mm, and the long-distance high-fidelity transmission of image data is realized; the development platform based on the digital image microprocessor is adopted to process the image data, thereby realizing the clear display of the endoscope image and providing a plurality of image interface outputs, such as AV signals, HDMI signals and other interface signals; the tracheal larynx is used as a simulation test object to test the camera shooting function of the system, and the comparison with the traditional endoscope proves that the system can finish the camera shooting of the endoscope, and the resolution of the formed image is high; the trachea throat intubation is used for testing the system, so that the system can effectively find out the pathological changes of the throat, and the detection rate of the pathological changes is as high as 90.0 percent; the system has clear imaging and ultra-small diameter of the endoscope body, can greatly improve the comfort of the endoscope examination of patients, provides an ideal solution for the primary screening of disease general investigation, and has higher practical value.
The above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, but not intended to limit the scope of the present invention, and all equivalent technical solutions also belong to the scope of the present invention, and the scope of the present invention should be defined by the claims.
Claims (4)
1. An image processing method of an ultra-thin flexible electronic endoscope relates to an ultra-thin flexible electronic endoscope, which comprises an image processing chip and is characterized in that: the image processing chip consists of an optical imaging module, an AD conversion module, an image processing conversion module and an image format conversion module, wherein the optical imaging module is a CMOS lens, the image processing conversion module is an image inverse coding AD processing module, and the image format conversion module adopts a real-time image processing system; the real-time image processing system comprises the following operation steps:
A) an external cold light source is guided to the surface of the visceral mucosa irradiated in vivo through optical fibers;
B) the optical lens at the front end of the CMOS lens collects light reflected by the mucosa and projects the light to a photosensitive surface of the CMOS image sensor, and image data are obtained through the CMOS image sensor configured by the controller;
C) the image data is converted into a serial analog signal data stream through a high-precision coding conversion chip of the AD conversion module;
D) serial analog signal data flow passes through 1 data line, and 1 clock signal line is transmitted to the image inverse coding AD processing module;
E) the image inverse coding AD processing module decodes the serial analog signal data stream, restores the serial analog signal data stream into a 10-bit parallel digital image signal, a synchronous signal and a clock signal, and inputs the signals into a real-time image processing system for processing;
the image processing module mainly works as follows:
firstly, receiving a video signal in a Bayer raw format of 400 multiplied by 400 pixels processed by a special decoding chip;
carrying out denoising processing on the image, wherein the denoising processing comprises fixed noise, thermoelectric noise, dynamic noise, highlight removal, automatic exposure processing, white balance adjustment of color, image sharpness and contrast adjustment, lens distortion and vignetting adjustment and dead pixel removal;
thirdly, outputting the image in the standard image data format;
F) and carrying out video coding and format conversion through a video coder and outputting the video coded and format converted video to a display to display a clear and stable endoscope image.
2. The image processing method of the ultra-flexible electronic endoscope according to claim 1, characterized in that: in the step B), the image data obtained by the CMOS image sensor configured by the controller is a serial analog signal data stream, and the control signal and the data signal are mixed and encoded, so that signal lines of the CMOS image sensor are reduced, and the size and difficulty of rear-end threading are reduced.
3. The image processing method of the ultra-flexible electronic endoscope according to claim 1, characterized in that: in the step E), when the image inverse coding AD processing module decodes the serial analog signal data stream, the optimization algorithm adopted is any one or a combination of several methods among FPN, black level, LSC, automatic exposure, automatic white balance, 2-dimensional noise reduction, 3-dimensional noise reduction, and gamma correction.
4. The image processing method of the ultra-flexible electronic endoscope according to claim 1, characterized in that: in the step F), after video encoding and format conversion are performed by the video encoder, the processed image data finally forms a standard image data format, which is any one of RGB888 format, BT656 and YUV422 data format; the output interface is any one or the combination of a plurality of interfaces of a CVBS interface, an HDMI interface and a DP interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711396581.5A CN108124087B (en) | 2017-12-21 | 2017-12-21 | Image processing method of superfine flexible electronic endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711396581.5A CN108124087B (en) | 2017-12-21 | 2017-12-21 | Image processing method of superfine flexible electronic endoscope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108124087A CN108124087A (en) | 2018-06-05 |
| CN108124087B true CN108124087B (en) | 2022-01-28 |
Family
ID=62231081
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711396581.5A Active CN108124087B (en) | 2017-12-21 | 2017-12-21 | Image processing method of superfine flexible electronic endoscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108124087B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102753083A (en) * | 2010-02-10 | 2012-10-24 | Hoya株式会社 | Electronic endoscope system |
| CN103006169A (en) * | 2011-07-26 | 2013-04-03 | 富士胶片株式会社 | Electronic endoscope apparatus and electronic endoscope system |
| CN105049676A (en) * | 2015-06-30 | 2015-11-11 | 广东实联医疗器械有限公司 | Image processing enhancing and video recording circuit for medical endoscope |
| CN204887167U (en) * | 2015-06-30 | 2015-12-16 | 广东实联医疗器械有限公司 | Reinforcing of medical endoscope's image processing , video is recorded and display circuit |
| CN106254727A (en) * | 2015-06-08 | 2016-12-21 | 松下知识产权经营株式会社 | Camera head and signal processing circuit |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6663561B2 (en) * | 2000-10-05 | 2003-12-16 | Pentax Corporation | Video endoscope system |
| JP5124416B2 (en) * | 2008-10-14 | 2013-01-23 | Ｈｏｙａ株式会社 | Fixed pattern noise elimination unit, imaging unit, and electronic endoscope system |
-
2017
- 2017-12-21 CN CN201711396581.5A patent/CN108124087B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102753083A (en) * | 2010-02-10 | 2012-10-24 | Hoya株式会社 | Electronic endoscope system |
| CN103006169A (en) * | 2011-07-26 | 2013-04-03 | 富士胶片株式会社 | Electronic endoscope apparatus and electronic endoscope system |
| CN106254727A (en) * | 2015-06-08 | 2016-12-21 | 松下知识产权经营株式会社 | Camera head and signal processing circuit |
| CN105049676A (en) * | 2015-06-30 | 2015-11-11 | 广东实联医疗器械有限公司 | Image processing enhancing and video recording circuit for medical endoscope |
| CN204887167U (en) * | 2015-06-30 | 2015-12-16 | 广东实联医疗器械有限公司 | Reinforcing of medical endoscope's image processing , video is recorded and display circuit |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108124087A (en) | 2018-06-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20090213211A1 (en) | Method and Device for Reducing the Fixed Pattern Noise of a Digital Image | |
| TWI451755B (en) | Video camera | |
| US9538108B2 (en) | Endoscope system and pixel correction method | |
| US8749699B2 (en) | Method and device for video processing using a neighboring frame to calculate motion information | |
| CN101620315A (en) | Electronic endoscope image pick-up device | |
| JPH01280439A (en) | Electronic endoscope device | |
| JP2007124088A (en) | Image photographing device | |
| US20050219376A1 (en) | Image recording device having several image recording modes | |
| TW201010429A (en) | Image processing system and method thereof | |
| CN107205629A (en) | Image processing apparatus and camera system | |
| CN211408974U (en) | High-definition medical electronic endoscope image processor based on CMOS | |
| CN108124087B (en) | Image processing method of superfine flexible electronic endoscope | |
| CN214799664U (en) | USB self-recording and playback medical endoscope camera system | |
| US20160321785A1 (en) | Image processing apparatus | |
| JP2005211159A (en) | Electronic endoscope apparatus | |
| JP2012205619A (en) | Image processor, control device, endoscope apparatus, image processing method, and image processing program | |
| CN110337260A (en) | Electronic endoscope apparatus | |
| CN207083161U (en) | A kind of realtime graphic freezes to split medical camera module | |
| KR20200056709A (en) | Method for rendering 3d image, image processing apparatus using said method, camera apparatus interlocking with said image processing apparatus, photographing method of said camera, and 3d image rendering system | |
| CN203042196U (en) | Three-dimensional electronic endoscope photographic device | |
| US9832411B2 (en) | Transmission system and processing device | |
| CN108305252B (en) | Image fusion method for portable electronic endoscope | |
| US20230068033A1 (en) | Panoramic view attachment for colonoscopy systems | |
| JPS61254918A (en) | Endoscope incorporating solid-state image pickup element | |
| JP2008289669A (en) | Laryngoscope and laryngoscope system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |