CN113848042A - Optical resolution detection system of capsule endoscope - Google Patents
Optical resolution detection system of capsule endoscope Download PDFInfo
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- CN113848042A CN113848042A CN202111176862.6A CN202111176862A CN113848042A CN 113848042 A CN113848042 A CN 113848042A CN 202111176862 A CN202111176862 A CN 202111176862A CN 113848042 A CN113848042 A CN 113848042A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
- G01M11/0242—Testing optical properties by measuring geometrical properties or aberrations
- G01M11/0257—Testing optical properties by measuring geometrical properties or aberrations by analyzing the image formed by the object to be tested
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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Abstract
The invention discloses a capsule endoscope optical resolution detection system, which comprises a terminal device (01), a length measuring device (02), a grabbing device (03) and a resolution detection assembly (04); the length measuring device (02) is used for measuring the length value of the capsule endoscope (07) to be measured; the gripping device (03) is used for sending the capsule endoscope (07) to be tested to a designated position; the resolution detection assembly (04) is used for moving a resolution pattern according to the length value of the capsule endoscope (07) to be detected so that the capsule endoscope (07) to be detected can shoot a first image of the resolution pattern; the terminal device (01) is used for respectively sending control instructions to the length measuring device (02), the grabbing device (03) and the resolution detection assembly (04) and determining the resolution of the capsule endoscope (07) to be detected according to the first image. The detection system can improve the detection efficiency of the optical resolution of the capsule endoscope.
Description
Technical Field
The invention relates to the field of machinery, in particular to a capsule endoscope optical resolution detection system.
Background
The existing optical resolution detection mode of the capsule endoscope is to detect by using a mechanical tool and manual cooperation, and comprises the following specific steps: an operator sits in front of the mechanical tool table, controls the distance between the capsule endoscope and the resolution image by manually moving the resolution pattern, shoots the image of the resolution pattern by the capsule endoscope, displays the image shot by the capsule endoscope by the display device, and judges whether the resolution of the capsule endoscope is qualified or not by carrying out human eye recognition on the resolution pattern in the image, so that the efficiency is low.
When the capsule endoscope shoots in the alimentary canal, the short distance of the esophagus, the long and medium distance of the stomach and the short and medium distance of the intestinal tract all need to acquire the best clear image, so the capsule endoscope needs to perform resolution detection at different distances, but the existing mechanical tool and the manual matching detection mode have low detection efficiency under the condition of multiple detection aiming at one capsule endoscope, and the manual operation is easy to make mistakes.
Disclosure of Invention
In order to overcome at least one technical problem in the prior art, the invention provides a system for detecting the optical resolution of a capsule endoscope, which can automatically detect the optical resolution of the capsule endoscope, improve the detection efficiency and simultaneously improve the accuracy and consistency of the detection result. The embodiment of the invention provides a system for detecting optical resolution of a capsule endoscope, which comprises a terminal device 01, a length measuring device 02, a gripping device 03 and a resolution detecting component 04, wherein the terminal device 01 is in communication connection with the length measuring device 02, the gripping device 03 and the resolution detecting component 04 respectively;
the length measuring device 02 is used for measuring the length value of the capsule endoscope 07 to be measured;
the gripping device 03 is used for conveying the capsule endoscope 07 to be tested to a designated position;
the resolution detection component 04 is configured to move a resolution pattern according to the length value of the capsule endoscope 07 to be detected, so that the capsule endoscope 07 to be detected captures a first image of the resolution pattern;
the terminal device 01 is configured to send control instructions to the length measuring device 02, the gripping device 03, and the resolution detecting assembly 04, and determine the resolution of the capsule endoscope 07 to be tested according to the first image.
In some embodiments, the detection system further comprises a rack 05, wherein the rack 05 is used for holding the capsule endoscope 07 to be detected.
In some embodiments, the inspection system further comprises an inspection platform 06, and the terminal device 01, the length measuring device 02, the grasping device 03, and the resolution detecting component 04 are disposed on the inspection platform 06.
In some embodiments, said length measuring device 02 comprises a moving platform 0201, a length measuring device 0202 and a first base 0203, said first base 0203 is arranged on said moving platform 0201, said first base 0203 is used for placing said capsule endoscope 07 to be measured.
In some embodiments, said length measuring device 02 further comprises a calibration assembly 0204, said calibration assembly 0204 comprising a fixed block 020401 and a calibration block 020402, said fixed block 020401 being fixed on said moving platform 0201, and said fixed block 020401 being arranged opposite to said first base 0203 at a predetermined distance, said calibration block 020402 being fixed on said fixed block 020401.
In some embodiments, said moving platform 0201 comprises a first motor 020101, a first sensor 020102, a second sensor 020103, a lead screw 020104, a lead screw connecting table 020105 and a working table 020106, said first motor 020101 is connected with said lead screw 020104, said lead screw 020104 is connected with said lead screw connecting table 020105, said lead screw connecting table 020105 is connected with said working table 020106, and said first base 0203 is fixed on said working table 020106.
In some embodiments, said grasping device 03 comprises a first shaft 0301, a second shaft 0302, a third shaft 0303, a jaw 0304, a second base 0305, a control cabinet 0306 and an encoder 0307;
said first shaft 0301 is connected with said second base 0305, and said first shaft 0301 can be rotated by using said second base 0305 as angle central line;
the second shaft 0302 is connected with the first shaft 0301, and the second shaft 0302 rotates by taking the first shaft 0301 as an angle center line;
the third shaft 0303 is connected with the second shaft 0302, and the third shaft 0303 moves up and down along the direction vertical to the plane of the second shaft 0302;
the clamping jaw 0304 is fixed on the third shaft 0303, and the third shaft 0303 drives the clamping jaw 0304 to synchronously move;
the encoder 0307 is connected with the control cabinet 0306, the control cabinet 0306 is in communication connection with the terminal device 01, and the control cabinet 0306 is in communication connection with the first shaft 0301, the second shaft 0302 and the third shaft 0303 through the second base 0305 respectively.
In some embodiments, said jaw 0304 comprises shaft 030401, fixation plate 030402, capsule endoscope identification sensor 030403, collet 030404, and cylinder 030405;
one end of said connecting shaft member 030401 is connected with said third shaft 0303, and another end of said connecting shaft member 030401 is connected with said fixing plate 030402;
the capsule endoscope identification sensor 030403 and the electric cylinder 030405 are respectively fixed on the fixing plate 030402, and the electric cylinder 030405 is in communication connection with the control cabinet 0306;
the clamp 030404 is secured to the electric cylinder 030405.
In some embodiments, the resolution detection assembly 04 includes a test assembly 0401 and a door opening assembly 0402; the test component 0401 comprises a fixed seat 040101 of the capsule endoscope 07 to be tested, a resolution pattern component 040102, a human environment simulation component 040103, a fixed structure component 040104, a door 040105 and a controller 040106, wherein the controller 040106 is fixed on the fixed structure component 040104, and the controller 040106 is in communication connection with the terminal device 01;
the door opening assembly 0402 includes a first cylinder assembly 040201, a door adapter 040202 and a solenoid valve 040203, one end of the first cylinder assembly 040201 is fixed to the fixed structure assembly 040104, the other end of the first cylinder assembly 040201 is connected to the door adapter 040202, the door adapter 040202 is fixed to the door 040105, the door 040105 is connected to the fixed structure assembly 040104, and the solenoid valve 040203 is fixed to the fixed structure assembly 040104.
In some embodiments, the resolution pattern assembly 040102 includes a resolution pattern 04010201, a resolution pattern support bracket 04010202, a first limit sensor 04010203, a second limit sensor 04010204, a motor 04010205, and a lead screw assembly 04010206;
the resolution pattern 04010201 is disposed on the resolution pattern support 04010202, the resolution pattern support 04010202 is connected to the lead screw assembly 04010206, the lead screw assembly 04010206 is fixed to the fixed structure assembly 040104, the first limit sensor 04010203 and the second limit sensor 04010204 are respectively fixed to a back plate of the lead screw assembly 04010206, the motor 04010205 is fixed to the fixed structure assembly 040104, the motor 04010205 is connected to the lead screw assembly 04010206, and the controller 040106 is respectively connected to the first limit sensor 04010203, the second limit sensor 04010204 and the motor 04010205 in communication.
In some embodiments, the human environment simulation assembly 040103 includes a human environment simulation pattern 04010301, a pattern support 04010302, and a second cylinder 04010303, wherein the human environment simulation pattern 04010301 is fixed on the second cylinder 04010303, the human environment simulation pattern 04010301 is connected to the pattern support 04010302, the pattern support 04010302 and the second cylinder 04010303 are respectively fixed on the fixed structure assembly 040104, and the second cylinder 04010303 is connected to the controller 040106 in communication.
In the optical resolution detection system of the capsule endoscope, provided by the embodiment of the invention, the length value of the capsule endoscope 07 to be detected is measured by adopting the length measuring device 02, the terminal equipment adjusts the resolution detection component 04 according to the length value of the capsule endoscope 07 to be detected, and the resolution detection component 04 accurately controls the position of a resolution pattern, so that the capsule endoscope 07 to be detected can accurately shoot images at different distances, such as 0mm-100mm, from the resolution pattern; the shot images can be automatically identified, the resolution ratio of the capsule endoscope to be detected is determined according to the image identification result, whether the resolution ratio of the capsule endoscope to be detected 07 is qualified or not is further judged, the automatic detection of the optical resolution ratio of the capsule endoscope to be detected is realized, personnel participation is not needed, the detection efficiency is improved, and meanwhile the accuracy and consistency of the detection result are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention.
In the drawings:
FIG. 1 is a perspective view of a capsule endoscope optical resolution detection system according to an embodiment of the present invention;
fig. 2 is a front view of a shelf of a capsule endoscope optical resolution detection system according to an embodiment of the present invention;
FIG. 3 is a perspective view of a length measuring device of a capsule endoscope optical resolution detection system according to an embodiment of the present invention;
FIG. 4 is a perspective view of another length measuring device of the optical resolution detection system of the capsule endoscope provided by the embodiment of the invention;
FIG. 5 is a cross-sectional view of a calibration assembly of the length measuring device provided in an embodiment of the present invention;
FIG. 6 is a sectional view of a length measuring device of a capsule endoscope optical resolution detection system according to an embodiment of the present invention;
FIG. 7 is a partial cross-sectional view of a length measuring device of a capsule endoscope optical resolution detection system according to an embodiment of the present invention;
FIG. 8 is a perspective view of a grasping device of a capsule endoscope optical resolution detection system according to an embodiment of the present invention;
FIG. 9 is another perspective view of a grasping device of an optical resolution detecting system of a capsule endoscope according to an embodiment of the present invention;
FIG. 10 is a perspective view of a jaw of a grasping device of an optical resolution detecting system of a capsule endoscope according to an embodiment of the present invention;
FIG. 11 is a perspective view of a resolution detection assembly of an optical resolution detection system of a capsule endoscope in accordance with an embodiment of the present invention;
FIG. 12 is a cross-sectional view of a resolution detection assembly of a capsule endoscope optical resolution detection system provided by an embodiment of the present invention;
FIG. 13 is another perspective view of a resolution detection assembly of an optical resolution detection system of a capsule endoscope in accordance with an embodiment of the present invention;
FIG. 14 is a partial cross-sectional view of a resolution detection assembly of a capsule endoscope optical resolution detection system provided in accordance with an embodiment of the present invention;
FIG. 15 is another partial cross-sectional view of a resolution detection assembly of a capsule endoscope optical resolution detection system in accordance with an embodiment of the present invention.
Description of reference numerals:
the terminal device (01) is connected to the terminal device,
the device comprises a length measuring device 02, a mobile platform 0201, a length measuring instrument 0202, a first base 0203, a calibration component 0204, a first motor 020101, a first sensor 020102, a second sensor 020103, a screw 020104, a screw connecting table 020105, a workbench 020106, a fixed block 020401, a calibration block 020402, a grabbing device 03, a first shaft 0301, a second shaft 0302, a third shaft 0303, clamping jaws 0304, a second base 0305, a control cabinet 0306, an encoder 0307, a connecting shaft 030401, a fixed plate 030402, a capsule endoscope identification sensor 030403, a clamping head 030404 and an electric cylinder 030405,
a resolution detection component 04, a test component 0401, a door opening component 0402, a capsule endoscope fixing seat 040101 to be tested, a resolution pattern component 040102, a human environment simulation component 040103, a fixing structure component 040104, a door 040105, a controller 040106, a first cylinder component 040201, a door shaft coupler 040202, a solenoid valve 040203, a resolution pattern 04010201, a resolution pattern support frame 04010202, a first limit sensor 04010203, a second limit sensor 04010204, a motor 04010205, a screw rod component 04010206, a human environment simulation pattern 04010301, a pattern support frame 04010302, a second cylinder 04010303, a shelf 05, a first tray 0501, a second tray 0502, a third tray 0503, a fourth tray 0504 and a chassis 0505,
the detection of the position of the platform 06,
the capsule endoscope 07 to be tested.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, an embodiment of the present invention provides a system for detecting optical resolution of a capsule endoscope, which is used to detect the optical resolution of the capsule endoscope and the qualification of the optical resolution of the capsule endoscope. The optical resolution detection system of the capsule endoscope comprises a terminal device 01, a length measuring device 02, a grabbing device 03 and a resolution detection assembly 04, wherein the terminal device 01 is in communication connection with the length measuring device 02, the grabbing device 03 and the resolution detection assembly 04 respectively; the length measuring device 02 is used for measuring the length value of the capsule endoscope to be measured; the gripping device 03 is used for conveying the capsule endoscope to be detected to a designated position; the resolution detection assembly 04 is used for moving a resolution pattern according to the length value of the capsule endoscope to be detected, so that the capsule endoscope to be detected can shoot a first image of the resolution pattern; the terminal device 01 is configured to send control instructions to the length measuring device 02, the gripping device 03, and the resolution detecting assembly 04, respectively, and determine the resolution of the capsule endoscope to be detected according to the first image. In some embodiments, the optical resolution detection system of the capsule endoscope further comprises a detection platform 06, and the terminal device 01, the length measuring device 02, the grasping device 03 and the resolution detection assembly 04 are arranged on the detection platform 06. In some embodiments, the capsule endoscope optical resolution detection system further comprises a shelf 05, wherein the shelf 05 is used for holding the capsule endoscope to be detected.
The storage rack 05 is used for storing the capsule endoscopes 07 to be detected, and can also be used for storing capsule endoscopes which are qualified in detection and/or storing capsule endoscopes which are unqualified in detection. As shown in fig. 2, the shelf 05 may include a first tray 0501, a second tray 0502, a third tray 0503, a fourth tray 0504, and a base 0505, and it is understood that the number of the first tray 0501, the second tray 0502, the third tray 0503, and the fourth tray 0504 is not limited herein, and may be provided as needed, and the base 0505 may fix the first tray 0501, the second tray 0502, the third tray 0503, and the fourth tray 0504, and the first tray 0501, the second tray 0502, the third tray 0503, and the fourth tray 0504 may have a uniform size of a lateral interval and a uniform size of a longitudinal interval, and the placement holes may be used to place the capsule endoscope 07 to be tested, the capsule endoscope qualified for testing, and the capsule endoscope unqualified for testing.
In the optical resolution detection system of the capsule endoscope, provided by the embodiment of the invention, the length value of the capsule endoscope 07 to be detected is measured by adopting the length measuring device 02, the terminal equipment adjusts the resolution detection component 04 according to the length value of the capsule endoscope 07 to be detected, and the resolution detection component 04 accurately controls the position of the resolution pattern, so that the capsule endoscope 07 to be detected can accurately shoot images at different distances from the resolution pattern, such as 0mm-100 mm; the shot images can be automatically identified, the resolution ratio of the capsule endoscope to be detected at 0mm-100mm is determined according to the image identification result, whether the resolution ratio of the capsule endoscope to be detected at 0mm-100mm is qualified or not is further judged, the automatic detection of the optical resolution ratio of the capsule endoscope to be detected is realized, personnel participation is not needed, the detection efficiency is improved, and meanwhile, the accuracy and the consistency of the detection result are improved.
In some embodiments, the optical resolution detection system of the capsule endoscope further includes a start button and/or an emergency stop button (not shown in the figures), which are respectively disposed on the detection platform 06, the start button is used for starting the optical resolution detection system of the capsule endoscope, and the emergency stop button is used for emergency stop of the optical resolution detection system of the capsule endoscope.
In some embodiments, the capsule endoscope optical resolution detection system further comprises a warning light (not shown in the figures) disposed on the detection platform 06 for indicating status, malfunction, etc. of the capsule endoscope optical resolution detection system.
In some embodiments, as shown in fig. 3, said length measuring device 02 comprises a moving platform 0201, a length measuring instrument 0202 and a first base 0203, said first base 0203 is arranged on said moving platform 0201, said first base 0203 is used for placing said capsule endoscope to be measured. The length measuring instrument 0202 may be a spectrum measuring instrument or an automatic image measuring instrument, and is not limited herein. The length of the capsule endoscope 07 to be measured can be measured by, for example, reflection of light.
In some embodiments, as shown in fig. 4, said length measuring device 02 further comprises a calibration assembly 0204, as shown in fig. 5, said calibration assembly 0204 comprising a fixed block 020401 and a calibration block 020402, said fixed block 020401 being fixed to said moving platform 0201, said fixed block 020401 being located opposite to said first base 0203 at a predetermined distance, said calibration block 020402 being fixed to said fixed block 020401. In the operation process of the optical resolution detection system of the capsule endoscope, when the length measuring instrument 0202 repeatedly measures the length value of the capsule endoscope 07 to be measured for many times, an error is accumulated in the measuring process, and the calibration component 0204 is arranged to eliminate the error. In the process of measuring the length value of the capsule endoscope 07 to be measured each time, the calibration block 020402 is firstly measured to calibrate the return-to-zero length measuring instrument, so that the error of the last measurement is eliminated, and the precision of each measurement is ensured. The calibration block 020402 may be a standard ceramic calibration block or a high speed steel calibration block, and is not limited herein.
In some embodiments, as shown in fig. 5 and 6, the moving platform 0201 comprises a first motor 020101, a first sensor 020102, a second sensor 020103, a lead screw 020104, a lead screw connecting table 020105 and a workbench 020106, wherein the first motor 020101 is connected with the lead screw 020104, the lead screw 020104 is connected with the lead screw connecting table 020105, the lead screw connecting table 020105 is connected with the workbench 020106, and the first base 0203 is fixed on the workbench 020106. The original point of the movable platform 0201 is that the first motor 020101 moves to the limit position of the first sensor 020102, when the first motor 020101 receives a leftward movement instruction, the first motor 020101 rotates to drive the screw rod 020104 to rotate so as to drive the workbench 020106 to move leftward, when the first motor 020101 moves to the limit position of the second sensor 020103, the first motor 020101 automatically stops rotating, at the moment, the to-be-measured capsule endoscope 07 is located at the measuring central point of the length measuring instrument 0202, the length measuring instrument 0202 finishes measuring and uploads measuring information to the terminal device 01, and after the measuring is finished, the first motor 020101 rotates reversely to drive the screw rod 020104 to rotate reversely so as to drive the workbench 020106 to move rightward and return to the original point.
In some embodiments, as shown in fig. 7 and 8, said grasping device 03 includes a first shaft 0301, a second shaft 0302, a third shaft 0303, a jaw 0304, a second base 0305, a control cabinet 0306 and an encoder 0307; said first shaft 0301 is connected with said second base 0305, and said first shaft 0301 can be rotated by using said second base 0305 as angle central line; the second shaft 0302 is connected with the first shaft 0301, and the second shaft 0302 rotates by taking the first shaft 0301 as an angle center line; the third shaft 0303 is connected with the second shaft 0302, and the third shaft 0303 moves up and down along the direction perpendicular to the plane of the second shaft 0302; the clamping jaw 0304 is fixed on the third shaft 0303, and the third shaft 0303 drives the clamping jaw 0304 to synchronously move; the encoder 0307 is connected with the control cabinet 0306, the control cabinet 0306 is in communication connection with the terminal device 01, and the control cabinet 0306 is in communication connection with the first shaft 0301, the second shaft 0302 and the third shaft 0303 through the second base 0305 respectively.
Specifically, the second base 0305 can be fixed on the detection platform 06, the first shaft 0301 rotates 0 ° to 360 ° with the second base 0305 as an angular center line, and preferably, the first shaft 0301 rotates 136 ° left and right with the second base 0305 as an angular center line; the second shaft 0302 rotates 0-360 degrees by taking the first shaft 0301 as an angle center line, and preferably, the second shaft 0302 rotates 141 degrees left and right by taking the first shaft 0301 as an angle center line; the third shaft 0303 is connected with the second shaft 0302, and the third shaft 0303 moves up and down along the direction perpendicular to the plane of the second shaft 0302; the clamping jaw 0304 is fixed on the third shaft 0303, and the third shaft 0303 drives the clamping jaw 0304 to synchronously move; the first shaft 0301 and the second shaft 0302 are respectively parallel to a horizontal plane, namely a detection platform table-board; said first shaft 0301 and said second shaft 0302 are rotated in coordination to bring third shaft 0303 to any position within the working area of the optical resolution detection system of the capsule endoscope; the third shaft 0303 is vertical to the detection platform table-board and can move up and down; therefore, the first shaft 0301, the second shaft 0302 and the third shaft 0303 jointly form a three-dimensional space, which can reach any position of the detection platform table and is responsible for conveying the capsule endoscope 07 to be detected to reach the specified position.
The clamping jaw 0304 is mainly used for identifying whether the capsule endoscope 07 to be tested exists at the current position, clamping the capsule endoscope 07 to be tested and loosening the capsule endoscope 07 to be tested; the encoder 0307 can record and encode the motion trail according to the placement position of the capsule endoscope 07 to be detected of the shelf 05 and the placement position of the capsule endoscope 07 to be detected of the resolution detection assembly 04, so that the first shaft 0301, the second shaft 0302 and the third shaft 0303 move according to the motion trail in the encoder; meanwhile, the encoder 0307 may encode a command logic, and after receiving a corresponding command, the control cabinet 0506 controls the first shaft 0301, the second shaft 0302, and the third shaft 0303 to perform corresponding logic motions, such as a start detection command, a pause detection command, an emergency stop detection command, and the like sent by the terminal device 01, and the capture device 03 may move or stop according to an action command edited by the encoder 0307 after receiving the commands.
The control cabinet 0306 is a central hub of the grabbing device 03, the control cabinet 0306 can store the motion trajectory and the command logic edited by the encoder 0307, and after receiving the control command of the terminal device 01, the control cabinet 0306 performs operation according to the stored information and controls the first shaft 0301, the second shaft 0302 and the third shaft 0303 to perform corresponding logic motion according to the operation result.
In some embodiments, as shown in fig. 9 and 10, said jaw 0304 comprises a link 030401, a fixation plate 030402, a capsule endoscope identification sensor 030403, a collet 030404, and an electric cylinder 030405; one end of said connecting shaft member 030401 is connected with said third shaft 0303, and another end of said connecting shaft member 030401 is connected with said fixing plate 030402; the capsule endoscope identification sensor 030403 and the electric cylinder 030405 are respectively fixed on the fixing plate 030402, and the electric cylinder 030405 is in communication connection with the control cabinet 0306; the clamp 030404 is secured to the electric cylinder 030405. The control cabinet 0306 controls the chuck 030404 to clamp the capsule endoscope 07 to be tested or release the capsule endoscope 07 to be tested by controlling the opening and closing of the electric cylinder 030405, and the electric cylinder 030405 feeds back a signal to the control cabinet 0306 after completing corresponding opening or closing actions. The capsule endoscope recognition sensor 030403 can recognize objects by emitting a light beam that is reflected by objects at different distances and in different states, and the capsule endoscope recognition sensor 030403 can recognize objects by reflecting the light beam differently. When the capsule endoscope 07 to be measured exists at a lower position of the rack 05 corresponding to the capsule endoscope recognition sensor 030403, the light beam is reflected by the capsule endoscope 07 to be measured, and the capsule endoscope recognition sensor 030403 receives the reflected light; when there is no capsule endoscope 07 to be measured at the lower position corresponding to capsule endoscope identification sensor 030403 in rack 05, the light beam is reflected after being irradiated onto the surface of rack 05, and capsule endoscope identification sensor 030403 receives the reflected light, in the above two cases, the reflection distances of the light beam are different, and capsule endoscope identification sensor 030403 identifies whether there is a capsule endoscope 07 to be measured according to the difference in the reflection distances.
In some embodiments, as shown in fig. 11 and 12, the resolution detection assembly 04 includes a test assembly 0401 and a door opening assembly 0402; the test component 0401 comprises a to-be-tested capsule endoscope fixing seat 040101, a resolution pattern component 040102, a human environment simulation component 040103, a fixed structure component 040104, a door 040105 and a controller 040106, wherein the controller 040106 is fixed on the fixed structure component 040104, and the controller 040106 is in communication connection with the terminal device 01; the door opening assembly 0402 includes a first cylinder assembly 040201, a door adapter 040202 and a solenoid valve 040203, one end of the first cylinder assembly 040201 is fixed to the fixed structure assembly 040104, the other end of the first cylinder assembly 040201 is connected to the door adapter 040202, the door adapter 040202 is fixed to the door 040105, the door 040105 is connected to the fixed structure assembly 040104, and the solenoid valve 040203 is fixed to the fixed structure assembly 040104.
Specifically, one end of the first cylinder assembly 040201 is secured to the fixed structure assembly 040104 by an SDB type bracket and the other end of the first cylinder assembly 040201 is connected to the door coupler 040202 by a Y-type cylinder joint; door adapter 040202 is fixed to door 040105; door 040105 is attached to fixed structure assembly 040104 by hinges; solenoid valve 040203 is affixed to fixed structure component 040104. The controller 040106 may be a plc (programmable Logic controller) programmable Logic controller or a servo controller, which is not limited herein. The controller 040106 controls the door 040105 to be opened or closed by controlling the door opening unit 0402 according to the control instruction of the terminal device 01. The controller 040106 controls the position relationship between the resolution pattern component 040102, the human environment simulation component 040103 and the to-be-tested capsule endoscope 07 placed on the to-be-tested capsule endoscope fixing base 040101 according to the control instruction of the terminal device 01, the to-be-tested capsule endoscope 07 shoots images and sends the shot images to the terminal device 01, and the terminal device 01 determines whether the resolution and the resolution of the to-be-tested capsule endoscope 07 are qualified or not according to the images.
In some embodiments, as shown in fig. 13, the resolution pattern assembly 040102 includes a resolution pattern 04010201, a resolution pattern support bracket 04010202, a first limit sensor 04010203, a second limit sensor 04010204, a motor 04010205, and a lead screw assembly 04010206; the resolution pattern 04010201 is disposed on the resolution pattern support 04010202, the resolution pattern support 04010202 is connected to the lead screw assembly 04010206, the lead screw assembly 04010206 is fixed to the fixed structure assembly 040104, the first limit sensor 04010203 and the second limit sensor 04010204 are respectively fixed to a back plate of the lead screw assembly 04010206, the motor 04010205 is fixed to the fixed structure assembly 040104, the motor 04010205 is connected to the lead screw assembly 04010206, and the controller 040106 is respectively connected to the first limit sensor 04010203, the second limit sensor 04010204 and the motor 04010205 in communication.
Specifically, the first limit sensor 04010203 and the second limit sensor 04010204 are protection sensors that prevent a trigger signal of reset after abnormal rotation of the motor 04010205. As shown in fig. 14, the resolution pattern 04010201 may be a special "Hui" character recognition mark, but is not limited to this recognition mark, and may also be a kind of mark with a specific rule or characteristic, such as "Tian". The motor 04010205 may be an open-loop motor, a closed-loop motor, or a servo motor, and is not limited herein.
In some embodiments, as shown in fig. 15, the human environment simulation assembly 040103 includes a human environment simulation pattern 04010301, a pattern support 04010302, and a second cylinder 04010303, wherein the human environment simulation pattern 04010301 is fixed on the second cylinder 04010303, the human environment simulation pattern 04010301 is connected to the pattern support 04010302 through a guide rail and a slider, the pattern support 04010302 and the second cylinder 04010303 are respectively fixed on the fixed structure assembly 040104, and the second cylinder 04010303 is connected to the controller 040106 in communication. When the second cylinder 04010303 moves, the human environment simulation pattern 04010301 is driven to move, and meanwhile, the sliding block of the human environment simulation pattern 04010301 is supported and moved by the guide rail on the pattern support frame 04010302, so that the smooth movement is ensured and the human environment simulation pattern cannot be blocked; while the second cylinder 04010303 may be a cylinder with a magnetic switch, while the signal of the upper magnetic switch of the second cylinder 04010303 is transmitted to the controller 040106 through a wire; the magnetic switch can get a signal when the guideway of the second cylinder 04010303 is at the origin and the end and transmit it to the controller 040106, which the controller 040106 converts into a command and transmits it to the terminal device 01. The following illustrates the process of automatically detecting the optical resolution of the capsule endoscope to be detected by the optical resolution detection system of the capsule endoscope:
when the capsule endoscope 07 to be measured is placed on the storage rack 05, the power supply of the equipment and the terminal equipment 01 are turned on, the terminal equipment sends a control instruction to the gripping device 03, the gripping device 03 grips the capsule endoscope 07 to be measured at the first position on the storage rack 05, and the capsule endoscope 07 to be measured is sent to the first base 0203 of the length measuring device 02; the moving platform 0201 of the length measuring device 02 drives the first base 0203 with the to-be-measured capsule endoscope 07 placed therein to move, the length measuring instrument 0202 measures the length of the to-be-measured capsule endoscope 07 in the moving process, and data obtained through measurement is uploaded to the terminal device 01; after the mobile platform 0201 moves to the limit position, the mobile platform 0201 reverses to drive the first base 0203 with the to-be-tested capsule endoscope 07 placed therein to move reversely to return to the original point; after returning to the original point, the terminal device controls the gripping device 03 to grip the capsule endoscope 07 to be detected on the first base 0203, and simultaneously the terminal device 01 controls the door opening component 0402 of the resolution detection component 04 to open the door 040105; then the gripping device 03 sends the capsule endoscope 07 to be detected to a capsule endoscope fixing seat 040101 of the resolution detection assembly 04; the terminal device 01 controls the door opening component 0402 of the resolution detection component 04 to close the door 040105, and controls the motor 04010205 to rotate to drive the resolution pattern 04010201 to move, the moving distance is 0mm-100mm, and the capsule endoscope 07 to be detected respectively shoots a remote image of the resolution pattern 04010201, for example, an image at a distance of 100 mm; medium range images, such as at a distance of 25 mm; close range images, such as images at a distance of 0 mm; the terminal device 01 controls the second cylinder 04010303 to move so as to drive the human environment simulation pattern 04010301 to move, and the capsule endoscope 07 to be tested shoots the human environment simulation image of the human environment simulation pattern 04010301; the terminal device 01 receives the long-distance image, the medium-distance image, the short-distance image and the human environment simulation image, the terminal device 01 determines whether the resolution of the capsule endoscope 07 to be detected at different distances and the resolution at different distances are qualified or not according to the images, and for the capsule endoscope to be detected which is qualified, the terminal device 01 controls the gripping device 03 to put the capsule endoscope to be detected which is qualified in the detection back to the original position or in the qualified area of the storage rack 05; for the to-be-detected capsule endoscope which is unqualified in detection, the terminal equipment 01 controls the gripping device 03 to place the to-be-detected capsule endoscope which is unqualified in detection into an unqualified area of the storage rack 05; and then, detecting the optical resolution of the next capsule endoscope to be detected according to the process until the optical resolution of the capsule endoscope to be detected is detected, and turning off the power supply and the terminal equipment 01 after the detection is finished.
The optical resolution detection system of the capsule endoscope provided by the embodiment of the invention does not need manual intervention, can continuously detect the optical resolution of a plurality of capsule endoscopes to be detected, improves the detection efficiency, and simultaneously improves the accuracy and consistency of detection results.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention. It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (11)
1. The optical resolution detection system of the capsule endoscope is characterized by comprising a terminal device (01), a length measuring device (02), a grabbing device (03) and a resolution detection assembly (04), wherein the terminal device (01) is in communication connection with the length measuring device (02), the grabbing device (03) and the resolution detection assembly (04) respectively;
the length measuring device (02) is used for measuring the length value of the capsule endoscope (07) to be measured;
the gripping device (03) is used for sending the capsule endoscope (07) to be tested to a specified position;
the resolution detection component (04) is used for moving a resolution pattern according to the length value of the capsule endoscope (07) to be detected so that the capsule endoscope (07) to be detected can shoot a first image of the resolution pattern; the terminal device (01) is used for respectively sending control instructions to the length measuring device (02), the grabbing device (03) and the resolution detection assembly (04) and determining the resolution of the capsule endoscope (07) to be detected according to the first image.
2. The system for detecting optical resolution of a capsule endoscope according to claim 1, further comprising a shelf (05), wherein the shelf (05) is used for holding the capsule endoscope (07) to be tested.
3. The capsule endoscope optical resolution detection system of claim 1, further comprising a detection platform (06), wherein the terminal device (01), the length measuring device (02), the grasping device (03), and the resolution detection assembly (04) are disposed on the detection platform (06).
4. The capsule endoscope optical resolution detection system according to claim 1, wherein the length measuring device (02) comprises a moving platform (0201), a length measuring instrument (0202) and a first base (0203), the first base (0203) is arranged on the moving platform (0201), and the first base (0203) is used for placing the capsule endoscope (07) to be measured.
5. The capsule endoscope optical resolution detection system according to claim 4, wherein the length measuring device (02) further comprises a calibration assembly (0204), the calibration assembly (0204) comprising a fixed block (020401) and a calibration block (020402), the fixed block (020401) being fixed on the moving platform (0201), and the fixed block (020401) being arranged opposite to the first base (0203) at a preset distance, the calibration block (020402) being fixed on the fixed block (020401).
6. The capsule endoscope optical resolution detection system of claim 4, wherein the moving platform (0201) comprises a first motor (020101), a first sensor (020102), a second sensor (020103), a lead screw (020104), a lead screw connecting table (020105) and a workbench (020106), the first motor (020101) is connected with the lead screw (020104), the lead screw (020104) is connected with the lead screw connecting table (020105), the lead screw connecting table (020105) is connected with the workbench (020106), and the first base (0203) is fixed on the workbench (020106).
7. The capsule endoscope optical resolution detection system according to claim 1, wherein the grasping device (03) comprises a first shaft (0301), a second shaft (0302), a third shaft (0303), a clamping jaw (0304), a second base (0305), a control cabinet (0306) and an encoder (0307);
said first shaft (0301) and said second mount (0305) being connected, said first shaft (0301) rotating with said second mount (0305) as the angular centerline;
the second shaft (0302) is connected with the first shaft (0301), and the second shaft (0302) rotates by taking the first shaft (0301) as an angle center line;
the third shaft (0303) is connected with the second shaft (0302), and the third shaft (0303) moves up and down along the direction vertical to the plane of the second shaft (0302);
the clamping jaw (0304) is fixed on the third shaft (0303), and the third shaft (0303) drives the clamping jaw (0304) to move synchronously;
encoder (0307) with switch board (0306) are connected, switch board (0306) with terminal device (01) communication connection, switch board (0306) pass through second base (0305) respectively with primary shaft (0301), secondary shaft (0302) third shaft (0303) communication connection.
8. The capsule endoscope optical resolution detection system of claim 7, wherein the clamping jaw (0304) comprises a connecting shaft member (030401), a fixing plate (030402), a capsule endoscope identification sensor (030403), a clamping head (030404) and an electric cylinder (030405);
one end of the connecting shaft member (030401) is connected with the third shaft (0303), and the other end of the connecting shaft member (030401) is connected with the fixing plate (030402);
the capsule endoscope identification sensor (030403) and the electric cylinder (030405) are respectively fixed on the fixing plate (030402), and the electric cylinder (030405) is in communication connection with the control cabinet (0306);
the clamp (030404) is fixed to the electric cylinder (030405).
9. The capsule endoscope optical resolution detection system of claim 1, wherein the resolution detection assembly (04) comprises a test assembly (0401) and a door opening assembly (0402);
the testing component (0401) comprises a fixed seat (040101) of the capsule endoscope (07) to be tested, a resolution pattern component (040102), a human environment simulation component (040103), a fixed structure component (040104), a door (040105) and a controller (040106), the controller (040106) is fixed on the fixed structure component (040104), and the controller (040106) is in communication connection with the terminal device (01);
the door opening assembly (0402) comprises a first cylinder assembly (040201), a door coupler (040202) and a solenoid valve (040203), one end of the first cylinder assembly (040201) is fixed on the fixed structural assembly (040104), the other end of the first cylinder assembly (040201) is connected with the door coupler (040202), the door coupler (040202) is fixed on the door (040105), the door (040105) is connected on the fixed structural assembly (040104), and the solenoid valve (040203) is fixed on the fixed structural assembly (040104).
10. The capsule endoscope optical resolution detection system of claim 9, wherein the resolution pattern assembly (040102) comprises a resolution pattern (04010201), a resolution pattern support bracket (04010202), a first limit sensor (04010203), a second limit sensor (04010204), a motor (04010205), and a lead screw assembly (04010206);
the resolution pattern (04010201) is disposed on the resolution pattern support frame (04010202), the resolution pattern support frame (04010202) is connected to the lead screw assembly (04010206), the lead screw assembly (04010206) is fixed to the fixed structure assembly (040104), the first limit sensor (04010203) and the second limit sensor (04010204) are respectively fixed to a back plate of the lead screw assembly (04010206), the motor (04010205) is fixed to the fixed structure assembly (040104), the motor (04010205) is connected to the lead screw assembly (04010206), and the controller (106) is respectively connected to the first limit sensor (04010203), the second limit sensor (04010204) and the motor (04010205) in communication.
11. The capsule endoscope optical resolution detection system of claim 9, wherein the human environment simulation module (040103) comprises a human environment simulation pattern (04010301), a pattern support (04010302), and a second cylinder (04010303), the human environment simulation pattern (04010301) is fixed on the second cylinder (04010303), the human environment simulation pattern (04010301) is connected on the pattern support (04010302), the pattern support (04010302) and the second cylinder (04010303) are respectively fixed on the fixed structure module (040104), and the second cylinder (04010303) is connected with the controller (040106) in communication.
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| US20030171652A1 (en) * | 2002-03-08 | 2003-09-11 | Takeshi Yokoi | Capsule endoscope |
| US20050049457A1 (en) * | 2003-08-27 | 2005-03-03 | Leiner Dennis C. | Endoscope test device |
| US8758223B1 (en) * | 2008-10-02 | 2014-06-24 | Integrated Medical Systems International, Inc. | Test equipment for endoscopes |
| CN209899325U (en) * | 2019-02-27 | 2020-01-07 | 西安道志智能机器人有限公司 | Resolution measuring plate for medical endoscope detector |
| CN110680276A (en) * | 2019-09-16 | 2020-01-14 | 中国计量科学研究院 | Ophthalmic optical imaging and biological parameter measuring instrument calibration tool and use method thereof |
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