DE102010040320B3 - Method for detecting the position of a magnet-guided endoscopy capsule and endoscopy device for carrying out the method and associated endoscopy capsule - Google Patents
Method for detecting the position of a magnet-guided endoscopy capsule and endoscopy device for carrying out the method and associated endoscopy capsule Download PDFInfo
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- DE102010040320B3 DE102010040320B3 DE102010040320A DE102010040320A DE102010040320B3 DE 102010040320 B3 DE102010040320 B3 DE 102010040320B3 DE 102010040320 A DE102010040320 A DE 102010040320A DE 102010040320 A DE102010040320 A DE 102010040320A DE 102010040320 B3 DE102010040320 B3 DE 102010040320B3
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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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- 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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- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00158—Holding or positioning arrangements using magnetic field
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Abstract
Bei einem Verfahren zum Erfassen der Lage einer magnetgeführten Endoskopiekapsel (2) und einer nach diesem Verfahren arbeitenden Endoskopieeinrichtung wird mit einer in der Endoskopiekapsel (2) angeordneten Kamera (4) ein Kamerabild (28) eines von zumindest einer in der oder an der Endoskopiekapsel (2) angeordneten Lichtquelle (6) beleuchteten Objektraumes aufgenommen. Aus der Lage des reellen Bildes (30) eines durch Reflektion an einer spiegelnden Oberfläche (12) entstehenden virtuellen Bildes (22) der Lichtquelle (6) im Kamerabild (28) wird Information über die Lage der Endoskopiekapsel (2) relativ zu dieser spiegelnden Oberflache (12) abgeleitet.In a method for detecting the position of a magnet-guided endoscopy capsule (2) and an endoscopy device operating according to this method, a camera (4) arranged in the endoscopy capsule (2) is used to generate a camera image (28) of one of at least one in or on the endoscopy capsule ( 2) arranged light source (6) illuminated object space added. The position of the real image (30) of a virtual image (22) of the light source (6) in the camera image (28) produced by reflection on a reflective surface (12) provides information about the position of the endoscopy capsule (2) relative to this reflective surface (12) derived.
Description
Die Erfindung bezieht sich auf ein Verfahren zum Erfassen der Lage einer magnetgeführten Endoskopiekapsel. Die Erfindung bezieht sich außerdem auf eine Endoskopieeinrichtung zum Durchführen des Verfahrens.The invention relates to a method for detecting the position of a magnet-guided endoscopy capsule. The invention also relates to an endoscopy device for carrying out the method.
Ein solche magnetgeführte Endoskopiekapsel ist beispielsweise aus der
Aus der
Der Erfindung liegt deshalb die Aufgabe zugrunde, ein Verfahren anzugeben, mit dem es auf einfache Weise möglich ist, die Lage einer magnetgeführten Endoskopiekapsel im Raum zu erfassen. Außerdem liegt der Erfindung die Aufgabe zugrunde, eine nach diesem Verfahren arbeitende Endoskopieeinrichtung anzugeben sowie eine dazugehörige Endoskopiekapsel.The invention is therefore based on the object of specifying a method with which it is possible in a simple manner to detect the position of a magnet-guided endoscopy capsule in space. In addition, the invention has for its object to provide a working endoscope according to this method and an associated Endoskopiekapsel.
Hinsichtlich des Verfahrens wird die genannte Aufgabe gemäß der Erfindung gelöst mit einem Verfahren mit den Verfahrensmerkmalen des Patentanspruches 1. Bei diesem Verfahren wird mit einer in der Endoskopiekapsel angeordneten Kamera ein Kamerabild eines von zumindest einer Lichtquelle beleuchteten Objektraumes aufgenommen, wobei aus der Lage des realen Bildes eines durch Reflektion an einer spiegelnden Oberfläche entstehenden virtuellen Bildes der Lichtquelle im Kamerabild Information über die Lage der Endoskopiekapsel relativ zu dieser spiegelnden Oberfläche abgeleitet wird.With regard to the method, the object according to the invention is achieved by a method having the method features of claim 1. In this method, a camera image of an object space illuminated by at least one light source is recorded with a camera arranged in the endoscopy capsule, wherein the position of the real image a virtual image of the light source resulting from reflection on a reflecting surface in the camera image is derived information about the position of the endoscopy capsule relative to this reflecting surface.
Die Erfindung beruht dabei auf der Überlegung, dass an einer glatten, zumindest einen Teil des auftreffenden Lichtes reflektierenden Ober- bzw. Grenzflache durch Spiegelung ein virtuelles Bild der Lichtquelle erzeugt und im Kamerabild der Kamera als reelles Bild wiedergegeben wird, dessen Lage im Kamerabild Information über die Lage der Lichtquelle relativ zu dieser Ober- bzw. Grenzfläche enthält. Bei einer in den mit Wasser befüllten Magen eingebrachten Endoskopiekapsel wird diese spiegelnde Ober- bzw. Grenzflache durch die Grenzfläche zwischen Wasser und einem darüber befindlichen Luftraum gebildet. Dabei hängt die Intensität des an dieser Grenzflache in die Kamera reflektierenden Lichtes vom Einfallswinkel relativ zur Flächennormalen ab und nimmt mit zunehmendem Einfallswinkel zu, wobei bei senkrechtem Einfall an der Grenzfläche Wasser/Luft etwa 2% des auftreffenden Lichtes reflektiert werden. Die Intensität des reflektierten Lichtes reicht somit auch bei nahezu senkrechtem Einfall auf die Grenzfläche aus, um im Kamerabild ein deutlich erkennbares reelles Bild der Lichtquelle zu erzeugen. Da die Helligkeit des Kamerabildes an dem Ort, an dem sich das reelle Bild der Lichtquelle befindet, deutlich höher ist als in der Umgebung davon, kann dessen Lage auf einfache Weise mit Methoden der digitalen Bildbearbeitung, beispielsweise mit einem intensitätsbasierten Filter, automatisch ermittelt werden.The invention is based on the consideration that on a smooth, at least a portion of the incident light reflecting surface or interface by mirroring a virtual image of the light source is generated and reproduced in the camera image of the camera as a real image whose location in the camera image information about contains the location of the light source relative to this interface. In an endoscopy capsule placed in the water-filled stomach, this reflective surface is formed by the interface between water and an air space above it. The intensity of the light reflected at this interface into the camera depends on the angle of incidence relative to the surface normal and increases with increasing angle of incidence, with approximately 2% of the incident light being reflected at normal incidence at the water / air interface. The intensity of the reflected light thus extends even with almost vertical incidence on the interface in order to produce a clearly recognizable real image of the light source in the camera image. Since the brightness of the camera image in the place where the real image of the light source is located, is significantly higher than in the environment thereof, its location can be easily determined by methods of digital image processing, such as with an intensity-based filter automatically.
Wenn eine Mehrzahl von Lichtquellen verwendet wird, deren geometrische Anordnung relativ zueinander und relativ zur Endoskopiekapsel bekannt ist, kann aus der geometrischen Anordnung und Lage der reellen Bilder dieser Lichtquellen im Kamerabild, beispielsweise aus deren Abstand zur Bildmitte, die Lage der Endoskopiekapsel relativ zur spiegelnden Fläche, d. h. deren Orientierung zur spiegelnden Oberfläche und deren Abstand von der spiegelnden Flache ermittelt werden. Dies kann unter Zuhilfenahme von Look-up-Tabellen, eines Lernalgorithmus oder eines analytischen Ansatzes erfolgen. Darüber hinaus können durch die Verwendung einer größeren Anzahl von Lichtquellen Fehler eliminiert werden, die durch eine unruhige, bewegte Wasseroberfläche entstehen können.If a plurality of light sources is used whose geometrical arrangement is known relative to one another and relative to the endoscopy capsule, the position of the endoscopy capsule relative to the reflecting surface can be determined from the geometric arrangement and position of the real images of these light sources in the camera image, for example from their distance from the center of the image , d. H. their orientation to the reflecting surface and their distance from the reflecting surface are determined. This can be done with the help of look-up tables, a learning algorithm or an analytical approach. In addition, by using a larger number of light sources, errors can be eliminated that can result from a turbulent, moving water surface.
Daruber hinaus kann aus der Gleichmäßigkeit der geometrischen Anordnung der reellen Bilder der Lichtquellen im Kamerabild geschlossen werden, dass die Endoskopiekapsel unter Wasser zur Wasseroberfläche hin ausgerichtet ist, da die Magenwand selbst dann, wenn sie mit Wasser benetzt ist, in der Regel eine unregelmäßige und nicht glatte Struktur aufweist.In addition, from the uniformity of the geometrical arrangement of the real images of the light sources in the camera image, it can be concluded that the endoscopy capsule is directed to the water surface under water, since the gastric wall, even when wetted with water, is usually irregular and not having smooth structure.
Die Berechnung bzw. Ermittlung der Lage der Endoskopiekapsel ist insbesondere dann vereinfacht, wenn die Lichtquellen in äquidistanten Winkelabständen zueinander auf einer Kreislinie angeordnet sind, die insbesondere in einer senkrecht zur optischen Achse der Kamera orientieren Ebene liegt.The calculation or determination of the position of the endoscopy capsule is simplified, in particular, when the light sources are arranged at equidistant angular distances from one another on a circular line, which lies in particular in a plane oriented perpendicular to the optical axis of the camera.
Hinsichtlich der Endoskopieeinrichtung wird die Aufgabe gemäß der Erfindung gelöst mit einer Endoskopieeinrichtung mit den Merkmalen des Patentanspruches 6. Eine solche Endoskopieeinrichtung umfasst eine Endoskopiekapsel, die eine Kamera zum Aufnehmen eines Kamerabildes und zumindest eine Lichtquelle zum Beleuchten des von der Kamera erfassten Objektraumes enthält, sowie eine externe Empfangs- und Auswerteeinrichtung zum Empfangen des Kamerabildes, in der eine Bildbearbeitungssoftware zum Durchführen des erfindungsgemäßen Verfahrens implementiert ist.With regard to the endoscopy device, the object is achieved according to the invention with an endoscopy device having the features of
Eine insbesondere zur Verwendung in der Endoskopieeinrichtung geeignete Endoskopiekapsel enthält eine Mehrzahl von Lichtquellen, die in äquidistanten Winkelabständen zueinander auf einer Kreislinie angeordnet sind, die in einer senkrecht zur optischen Achse der Kamera orientierten Ebene liegt.An endoscopy capsule suitable in particular for use in the endoscopy device contains a plurality of light sources which are arranged at equidistant angular distances from each other on a circular line lying in a plane oriented perpendicular to the optical axis of the camera.
Zur weiteren Erläuterung der Erfindung wird auf das in den Figuren dargestellte Ausführungsbeispiel verwiesen. Es zeigen:For further explanation of the invention reference is made to the embodiment shown in the figures. Show it:
Gemaß
Im dargestellten Ausfuhrungsbeispiel befindet sich die Endoskopiekapsel
Der Schwerpunkt der Endoskopiekapsel
Die von den Lichtquellen
In
Die Lage der reellen Bilder
Claims (7)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
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DE102010040320A DE102010040320B3 (en) | 2010-09-07 | 2010-09-07 | Method for detecting the position of a magnet-guided endoscopy capsule and endoscopy device for carrying out the method and associated endoscopy capsule |
PCT/EP2011/064752 WO2012031915A2 (en) | 2010-09-07 | 2011-08-26 | Method for detecting the position of a magnetically-guided endoscopy capsule and endoscopy device for carrying out said method |
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DE102010040320A DE102010040320B3 (en) | 2010-09-07 | 2010-09-07 | Method for detecting the position of a magnet-guided endoscopy capsule and endoscopy device for carrying out the method and associated endoscopy capsule |
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DE102010040320A Active DE102010040320B3 (en) | 2010-09-07 | 2010-09-07 | Method for detecting the position of a magnet-guided endoscopy capsule and endoscopy device for carrying out the method and associated endoscopy capsule |
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WO (1) | WO2012031915A2 (en) |
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CN114916898A (en) * | 2022-07-20 | 2022-08-19 | 广州华友明康光电科技有限公司 | Automatic control inspection method, system, equipment and medium for magnetic control capsule |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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DE10037771A1 (en) * | 2000-08-03 | 2002-02-21 | Fraunhofer Ges Forschung | Object distance measurement method in endoscopy and industrial automation, involves moving scanners, such that beams irradiated on object converge at one measurement point |
DE102004042332A1 (en) * | 2003-09-01 | 2005-03-24 | Pentax Corp. | capsule endoscope |
WO2006120690A2 (en) * | 2005-05-13 | 2006-11-16 | G.I. View Ltd. | Endoscopic measurement techniques |
US20080051633A1 (en) * | 2003-12-31 | 2008-02-28 | Alex Blijevsky | Apparatus, System And Method To Indicate In-Vivo Device Location |
DE202007018027U1 (en) * | 2007-01-31 | 2008-04-17 | Richard Wolf Gmbh | endoscope system |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
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DE10142253C1 (en) | 2001-08-29 | 2003-04-24 | Siemens Ag | endorobot |
US7604589B2 (en) * | 2003-10-01 | 2009-10-20 | Given Imaging, Ltd. | Device, system and method for determining orientation of in-vivo devices |
WO2007077768A1 (en) * | 2005-12-28 | 2007-07-12 | Olympus Medical Systems Corp. | System for observing inside of subject and method of observing inside of subject |
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2010
- 2010-09-07 DE DE102010040320A patent/DE102010040320B3/en active Active
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- 2011-08-26 WO PCT/EP2011/064752 patent/WO2012031915A2/en active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10037771A1 (en) * | 2000-08-03 | 2002-02-21 | Fraunhofer Ges Forschung | Object distance measurement method in endoscopy and industrial automation, involves moving scanners, such that beams irradiated on object converge at one measurement point |
DE102004042332A1 (en) * | 2003-09-01 | 2005-03-24 | Pentax Corp. | capsule endoscope |
US20080051633A1 (en) * | 2003-12-31 | 2008-02-28 | Alex Blijevsky | Apparatus, System And Method To Indicate In-Vivo Device Location |
WO2006120690A2 (en) * | 2005-05-13 | 2006-11-16 | G.I. View Ltd. | Endoscopic measurement techniques |
DE202007018027U1 (en) * | 2007-01-31 | 2008-04-17 | Richard Wolf Gmbh | endoscope system |
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WO2012031915A2 (en) | 2012-03-15 |
WO2012031915A3 (en) | 2012-05-10 |
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