CN114187329A - Capsule endoscope operation track identification and marking method, equipment and storage medium - Google Patents
Capsule endoscope operation track identification and marking method, equipment and storage medium Download PDFInfo
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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
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
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- 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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- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
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- A61B1/31—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 for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
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Abstract
The invention provides a method for identifying and labeling a running track of a capsule endoscope, which comprises the following steps of firstly, acquiring a three-dimensional running track of the capsule endoscope; calculating peak values and valley values on a trajectory curve in the vertical direction at intervals of time T; searching the minimum valley value in the vertical direction in the full track, and considering that the capsule reaches the tail end of the small intestine and enters the large intestine; selecting a track before a boundary point of the small intestine and the large intestine, and considering that the capsule enters the small intestine when the difference value of the current peak value and the later peak value is greater than a threshold value; taking a track behind a boundary point of the small intestine and the large intestine, searching for a maximum peak value in the vertical direction, and considering that the capsule enters the transverse colon; selecting a track behind a boundary point of the ascending colon and the transverse colon, and considering that the capsule enters the descending colon when the difference value of the current peak value and the next peak value is greater than a threshold value; the trajectory after the transverse colon to descending colon demarcation point looks for the minimum valley in the vertical direction and considers the capsule to enter the rectum. The invention can intelligently identify and calculate the passing time and the detention time of each part of the digestive tract, and improve the accuracy and the efficiency of gastrointestinal motility function examination.
Description
Technical Field
In the technical solution of the present invention, please refer to the prior chinese patent 2020227703270, which is not described herein again, regarding how to obtain the moving trajectory of the capsule endoscope.
The invention relates to the field of medical instruments, in particular to a method for identifying and labeling a running track of a capsule endoscope.
Background
The capsule endoscope is used as a new gastrointestinal tract examination means, the market is gradually expanded, in the prior art, after the capsule endoscope examines the gastrointestinal tract, a doctor needs to manually add a plurality of part division point marks on an obtained gastrointestinal tract track, drag the marks back and forth to determine a start-stop time point of a certain part, further subtract the start time and the stop time, manually calculate the residence time of the capsule endoscope in each part of the gastrointestinal tract, and provide an auxiliary basis for further diagnosis. The processing scheme increases the workload of doctors, consumes a large amount of time of the doctors, has low examination efficiency, has larger difference of examination results due to subjective judgment of different doctors, and objectively reduces the accuracy of gastrointestinal examination.
Chinese patent application No. 2021109294354 provides a trajectory tracking system, apparatus and medium for a wireless capsule endoscope, the system comprising a trajectory generator, a controller, a magnetic force generator, a driver and a wireless capsule endoscope, wherein: the trajectory generator is used for receiving a plurality of key points in the input abdominal cavity and generating an expected trajectory according to the key points; the controller is used for outputting expected magnetic force according to a preset dynamic model of the wireless capsule endoscope; the magnetic force generator is used for calculating configuration information of the driver according to the expected magnetic force and configuring the driver according to the configuration information so as to generate the expected magnetic force; a driver for applying the desired magnetic force to the wireless capsule endoscope to control the wireless capsule endoscope to move along the desired trajectory. By adopting the track tracking system, the wireless capsule endoscope can be driven to move according to the appointed track. The technical scheme still cannot solve the problem of identifying and labeling the capsule endoscope track, and a large amount of time of a doctor is still consumed for labeling in the later period.
Therefore, there is a need to develop a method for recognizing and labeling the moving track of a capsule endoscope, which can reduce the workload of doctors, reduce the burden of doctors, and realize automatic recognition and labeling of the moving track of the capsule endoscope.
Disclosure of Invention
The invention provides a method, equipment and a storage medium for identifying and labeling a running track, and the technical scheme is as follows:
in a first aspect, the present invention provides a method for identifying and labeling a running track, including the following steps:
acquiring a three-dimensional motion track of the capsule endoscope;
calculating the peak value and the valley value of the capsule endoscope track on a track curve in the vertical direction at intervals of time T;
searching the minimum valley value in the vertical direction in the whole track, and considering that the capsule reaches the tail end of the small intestine and enters the large intestine;
selecting a track before a boundary point of the small intestine and the large intestine, sequentially comparing the difference values of the front peak value and the rear peak value, and when the difference value is greater than a threshold value, considering that the capsule leaves the stomach and begins to descend to enter the small intestine;
taking a track behind a boundary point of the small intestine and the large intestine, searching a maximum peak value in the vertical direction in the track, and considering that the capsule reaches the highest point through the ascending colon and enters the transverse colon;
selecting a track behind a boundary point of the ascending colon and the transverse colon, sequentially comparing the difference values of the front peak value and the rear peak value, and when the difference value is greater than a threshold value, considering that the capsule starts to descend and enters the descending colon;
and selecting a track behind the boundary point of the transverse colon and the descending colon, searching for a minimum valley value in the vertical direction in the track, and considering that the capsule reaches the tail end of the descending colon and enters the rectum.
Further, the time T is 15 minutes.
Further, the difference between the two peak values is 5cm or more.
In a second aspect, the present invention provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the operation trajectory identification labeling method according to any one of claims 1 to 3.
In a third aspect, the invention provides a travel track identification and marking device, which comprises a capsule endoscope, and comprises:
one or more processors;
a memory; and
one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, which when executing the computer programs perform the steps of the trajectory recognition annotation method according to any one of the first aspect.
Further, the time T is 15 minutes.
Further, the difference between the two peak values is 5cm or more.
The invention provides a track identification and labeling method and equipment, wherein after a moving track of a digestive tract photographed by a capsule endoscope is obtained, the digestive tract is divided into six parts, namely a stomach part, a small intestine part, a ascending colon part, a transverse colon part, a descending colon part and a rectum part according to the shape of the digestive tract, and the passing time and the detention time of a capsule in each part of the digestive tract are further calculated.
Drawings
FIG. 1: the alimentary canal track of the capsule endoscope is a three-dimensional schematic diagram.
FIG. 2: the invention relates to a result graph of two-dimensional curve change of a digestive tract track of a capsule endoscope.
FIG. 3: and automatically searching a result graph for the peak value and the valley value of the motion track of the capsule endoscope in the vertical direction of the motion track.
FIG. 4: the invention relates to a result chart for automatically dividing the alimentary tract track of a capsule endoscope.
FIG. 5: the invention relates to a flow chart of a capsule endoscope digestive tract track identification and labeling method.
FIG. 6: the track identification and marking device of the capsule endoscope is composed of a schematic diagram.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in 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.
Referring to fig. 1, a three-dimensional diagram of a alimentary tract trajectory of a capsule endoscope of the present invention and fig. 2, a two-dimensional curve variation result diagram of the alimentary tract trajectory of the capsule endoscope of the present invention, which is shown in fig. 1, is capable of measuring a three-dimensional motion trajectory of the capsule endoscope in the alimentary tract, which is obtained by the applicant's prior chinese patent 2020227703270, and a corresponding two-dimensional curve variation result diagram is shown in fig. 2, which will be described in detail below:
referring to fig. 3, the automatic search result diagram of the peak and valley values of the motion trajectory in the vertical direction of the motion trajectory of the capsule endoscope is further shown, first, on the trajectory curve in the Y-axis direction, i.e. the vertical direction of the digestive tract, the peak and valley values of the motion trajectory of the capsule endoscope are calculated at intervals of 15 minutes, the minimum valley value in the vertical direction, i.e. the portion a in fig. 2 and 3, is found in the trajectory, and at this time, the capsule is considered to reach the boundary point between the small intestine and the large intestine when the capsule reaches the lowest point, and the point a is the boundary point between the small intestine and the large intestine. Those skilled in the art can understand that the value of the time T is not limited to 15 minutes, and can be adjusted according to actual needs, which is not limited in the present invention.
Secondly, selecting a track before a small intestine and large intestine boundary point, sequentially comparing the difference value of the front peak value and the rear peak value, namely the position B in the figure 2 and the position B in the figure 3, and when the difference value is more than 5cm, considering that the capsule endoscope begins to descend and enters the small intestine, wherein the point B is the stomach and small intestine boundary point.
And thirdly, by analogy with the method, taking a track behind a small intestine and large intestine boundary point, searching a maximum peak value in the vertical direction in the track, considering that the capsule endoscope reaches the highest point through the ascending colon and enters the transverse colon, namely the position shown by a point C in fig. 2 and the point C in fig. 3, wherein the point C is the boundary point of the ascending colon and the transverse colon, taking the track behind the boundary point of the ascending colon and the transverse colon, sequentially comparing the difference values of the front peak value and the rear peak value, and when the difference value is greater than 5cm, considering that the capsule endoscope starts to descend and enters the descending colon, wherein the point is the boundary point of the transverse colon and the descending colon.
Finally, the trajectory behind the boundary point between the transverse colon and the descending colon is taken, the minimum valley value in the vertical direction is searched in the trajectory, and the capsule is considered to reach the tail end of the descending colon and enter the rectum, and the point is the boundary point between the descending colon and the rectum.
Referring further to fig. 4, the automatic division result diagram of the gastrointestinal tract trajectory of the capsule endoscope of the present invention, the dividing points of each part of the gastrointestinal tract automatically calculated by the above method are used to mark and display the divided parts of the stomach, small intestine, ascending colon, transverse colon, descending colon and rectum with different symbols, i.e. the result of the automatic division of the gastrointestinal tract trajectory, as shown in fig. 4, the time for exiting the stomach to enter the small intestine is about 60 minutes, the time for exiting the small intestine to enter the ascending colon is about 240 minutes, the time for exiting the ascending colon to enter the transverse colon is about 360 minutes, and so on. The residence time in the stomach is about 60 minutes, in the small intestine about 180 minutes, in the ascending colon about 120 minutes, in the descending colon and rectum, and so on.
As will be appreciated by those skilled in the art: furthermore, the calculated capsule endoscope track result can be converted into frequency information through Fast Fourier Transform (FFT), then each part of the alimentary tract is divided by utilizing the motion frequency difference of each part of the alimentary tract, the passing time and the detention time of the capsule endoscope at each part are further calculated, and the same or similar result and purpose as the technical scheme can be achieved.
Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by one or more computer programs that instruct associated hardware, and the programs may be stored in a computer-readable storage medium, and the storage medium may include: read Only Memory (ROM), Random Access Memory (RAM), magnetic or optical disks, and the like.
Referring to fig. 5, the method for identifying and labeling the alimentary tract trajectory of the capsule endoscope of the present invention comprises the following steps:
With further reference to fig. 6, the trajectory recognition and labeling device of a capsule endoscope of the present invention is composed of a schematic diagram, and the present invention provides a trajectory recognition and labeling device of a capsule endoscope, which comprises one or more processors and a memory, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, and the processor implements the steps of the method for recognizing and labeling the trajectory of the capsule endoscope when executing the computer program.
The technical scheme of the invention provides a division criterion of six parts of the digestive tract by utilizing the position relation of the six parts of the stomach, the small intestine, the ascending colon, the transverse colon, the descending colon and the rectum according to the morphological structure characteristics of the digestive tract of the human body, further utilizes the division criterion to automatically divide the parts of the digestive tract track through a computer program and calculate the passing time and the detention time of the capsule in each part, can provide the examination result for a doctor to refer more quickly, more intuitively and more simply, effectively lightens the workload of the doctor, and improves the accuracy and the efficiency of the examination.
The above description is only exemplary of the present invention and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A capsule endoscope operation track identification and marking method is characterized by comprising the following steps:
acquiring a three-dimensional motion track of the capsule endoscope;
calculating the peak value and the valley value of the capsule endoscope track on a track curve in the vertical direction at intervals of time T;
searching the minimum valley value in the vertical direction in the whole track, and considering that the capsule reaches the tail end of the small intestine and enters the large intestine;
selecting a track before a boundary point of the small intestine and the large intestine, sequentially comparing the difference values of the front peak value and the rear peak value, and when the difference value is greater than a threshold value, considering that the capsule leaves the stomach and begins to descend to enter the small intestine;
taking a track behind a boundary point of the small intestine and the large intestine, searching a maximum peak value in the vertical direction in the track, and considering that the capsule reaches the highest point through the ascending colon and enters the transverse colon;
selecting a track behind a boundary point of the ascending colon and the transverse colon, sequentially comparing the difference values of the front peak value and the rear peak value, and when the difference value is greater than a threshold value, considering that the capsule starts to descend and enters the descending colon;
and selecting a track behind the boundary point of the transverse colon and the descending colon, searching for a minimum valley value in the vertical direction in the track, and considering that the capsule reaches the tail end of the descending colon and enters the rectum.
2. The method for recognizing and labeling a running track of a capsule endoscope according to claim 1, wherein the time T is 15 minutes.
3. The method for identifying and labeling the running track of a capsule endoscope as claimed in claim 1, wherein the difference between the two peak values is greater than or equal to 5 cm.
4. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for identifying and labeling a trajectory of a capsule endoscope according to any one of claims 1 to 3.
5. A capsule endoscope operation track identification and marking device comprises a capsule endoscope and is characterized in that,
the method comprises the following steps:
one or more processors;
a memory; and
one or more computer programs, wherein the one or more computer programs are stored in the memory and configured to be executed by the one or more processors, wherein the processor, when executing the computer programs, performs the steps of the capsule endoscope trajectory recognition and labeling method according to any of claims 1 to 3.
6. The capsule endoscope trajectory recognition and marking device of claim 5, wherein the time T is 15 minutes.
7. The capsule endoscope trajectory identification and marking device of claim 5, wherein the difference between the two peak values is 5cm or more.
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Citations (6)
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