WO2018219157A1 - Endoscope oral - Google Patents

Endoscope oral Download PDF

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Publication number
WO2018219157A1
WO2018219157A1 PCT/CN2018/087392 CN2018087392W WO2018219157A1 WO 2018219157 A1 WO2018219157 A1 WO 2018219157A1 CN 2018087392 W CN2018087392 W CN 2018087392W WO 2018219157 A1 WO2018219157 A1 WO 2018219157A1
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WO
WIPO (PCT)
Prior art keywords
module
oral endoscope
oral
housing
image acquisition
Prior art date
Application number
PCT/CN2018/087392
Other languages
English (en)
Chinese (zh)
Inventor
欧阳聪星
Original Assignee
欧阳聪星
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201710393180.8A external-priority patent/CN107295227A/zh
Application filed by 欧阳聪星 filed Critical 欧阳聪星
Priority to US16/617,896 priority Critical patent/US10911646B2/en
Publication of WO2018219157A1 publication Critical patent/WO2018219157A1/fr

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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
    • A61B1/06—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 with illuminating arrangements
    • 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
    • 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
    • A61B1/05—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 characterised by the image sensor, e.g. camera, being in the distal end portion

Definitions

  • the present application relates to the technical field of oral medical devices, and in particular to an oral endoscope.
  • a conventional oral endoscope is a device for dental phantom. Such a device needs to slide the optical gun head on the upper dentition and the lower dentition of the user, thereby completing the optical modulating of the entire dentition.
  • the existing oral endoscope has only one imaging unit, and only one image information can be acquired at each shooting action.
  • the oral endoscope performs the tooth modulating operation, it needs to sequentially go up and down from various angles according to the set order and requirements.
  • the dentition is scanned to facilitate the three-dimensional synthesis of the dentition model in the later stage.
  • the operation requirements are high and the professionalism is very strong, and it is generally required to be operated by a professional. Therefore, it is difficult to implement self-service modulo.
  • the present application discloses an oral endoscope for providing an oral endoscope capable of supporting a user's self-service dentition modulo operation.
  • An oral endoscope includes:
  • An image acquisition module is fixedly mounted in the housing for collecting an external image through the housing;
  • the image acquisition module includes at least two camera units for acquiring three-dimensional image information, and for each a camera unit that provides illumination for the lighting unit;
  • a wireless communication module configured to perform wireless communication with an external device, and send image information collected by the image acquisition module to the external device.
  • the image acquisition module is disposed in the housing, and can collect an external image through the housing; therefore, by placing the housing in the user's mouth, the image acquisition module in the housing can be used to collect the user's mouth.
  • Image information due to the image acquisition module of the oral endoscope, each camera unit can acquire three-dimensional image information, that is, a three-dimensional image at each position of the oral cavity can be collected by the oral endoscope; and further, the oral cavity is utilized
  • the image collected by the endoscope can be directly used to form a full-mouth dentition digitization model; and, since the oral endoscope includes at least two imaging units, and the relative positions of the at least two imaging units are calibrated,
  • the image acquisition module can simultaneously acquire at least two three-dimensional images at each shooting action moment, and the at least two three-dimensional images can be used as a reference to each other to determine an angle and position information of each shooting; therefore, the oral endoscope does not need to follow Sequentially required to scan the image of the teeth, its operation requirements are
  • the oral endoscope can transmit the acquired three-dimensional image to an external device, such as a smart phone, to perform synthesis and display of the full-mouth dentition digital model. After processing, it is convenient for the user to obtain a three-dimensional model of the tooth at any time to understand the condition of the tooth.
  • each camera unit includes two cameras that are calibrated relative to each other.
  • each camera unit includes an array of cameras consisting of a plurality of cameras calibrated relative to each other.
  • each camera unit includes a light field camera.
  • the light field camera comprises a front end main lens and a rear end photoreceptor, wherein the front end main lens is a micro lens array composed of a plurality of micro lenses.
  • the light field camera comprises a front end main lens and a rear end photoreceptor, and a microlens array disposed between the front end main lens and the rear end photoreceptor and composed of a plurality of micro lenses.
  • the image acquisition module further includes a surface structure light projection unit corresponding to the camera unit.
  • the shell has an ellipsoidal shape, a cylindrical shape with end faces being curved surfaces, or a rounded column shape with end faces being curved surfaces.
  • the housing includes two opposite end faces, and a side surface between the two end faces; the side faces are composed of two opposite first side faces and two opposite second side faces;
  • the image acquisition module includes two pairs of first imaging units symmetrically disposed at two ends of the housing in a longitudinal direction thereof; wherein two of each pair of first imaging units The first camera unit is disposed away from the front, and the cameras of the two first camera units are respectively facing the two first sides of the housing.
  • the image acquisition module further includes two second imaging units, the two second imaging units are distributed in a cross section of the housing where the center of the housing is located; and the two second imaging units are disposed in a back direction. And the cameras of the two second camera units respectively face the two second sides of the housing.
  • the image acquisition module further includes two third imaging units, the two third imaging units are symmetrically disposed at two ends of the housing in a long axis direction thereof; The unit is disposed facing away, and the cameras of the two third camera units face the two end faces of the housing, respectively.
  • it also includes:
  • a storage module configured to store image information collected by the image acquisition module
  • the main control module is separately connected to the image acquisition module, the storage module, and the wireless communication module, and is configured to control synchronous exposure of each camera unit, and synchronously acquire three-dimensional image information, and collect the collected three-dimensional image information. Sending to the storage module, and transmitting image information stored by the storage module to the wireless communication module.
  • the main control module is further configured to receive image information collected by the image collection module, and add at least corresponding time stamp information of the image acquisition and an identifier of the camera unit to the image information, and add The completed image information is sent to the storage module for storage.
  • it also includes:
  • the power supply module is electrically connected to the image acquisition module, the wireless communication module, the main control module, and the storage module, and is configured to supply power to the image acquisition module, the wireless communication module, the main control module, and the storage module;
  • a switch module configured to control the power supply module to open and close a circuit for supplying power to each power module
  • the switch module includes a magnetic control switch unit.
  • a wireless charging module is also included.
  • the housing comprises a probe portion and a hand portion.
  • the probe portion and the hand-held portion are of a unitary structure.
  • the image acquisition module is disposed in the probe portion.
  • the image acquisition module comprises two camera units arranged back to back, and two illumination units respectively providing illumination for the two camera units.
  • the wireless communication module, the main control module, and the storage module are all located in the handheld unit.
  • the oral endoscope further includes a base disposed independently of the housing;
  • a magnetron switch driving module for driving the magnetic switch unit to open and close, and a radio energy transmitting module matched with the wireless charging module are disposed in the base.
  • the oral endoscope further includes:
  • a tensile portion located outside the casing and having one end connected to the casing; the tensile portion includes a connecting body connected to the casing at one end, and is connected to the other end of the connecting body Handle.
  • the connecting body is a drawstring or a connecting rod.
  • the wireless communication module, the main control module, the storage module, the power supply module, the switch module, and the wireless charging module are all located in the handle;
  • the connector body includes an electrical connection line
  • Data communication and power transmission are implemented between the image acquisition module and the module in the handle through the electrical connection line.
  • the main control module is further configured to:
  • the handshake message includes at least the device identifier of the oral endoscope
  • the main control module is further configured to receive a user identity verification pass message sent by the external device, where the user identity verification pass message is that the external device according to the oral endoscope in the handshake message
  • the device identifier, and the mapping relationship between the device identifier and the user identity and determine when the user's identity verification is passed.
  • FIG. 1 is a schematic structural view of an oral endoscope according to a second side of a housing according to an embodiment of the present application;
  • FIG. 2 is a schematic structural view of the oral endoscope of FIG. 1 as viewed from a first side of the housing;
  • FIG. 3 is a schematic structural view of an oral endoscope according to a second side of the housing according to another embodiment of the present application;
  • FIG. 4 is a schematic structural view of the oral endoscope of FIG. 3 as viewed from a first side direction of the housing;
  • FIG. 5 is a cross-sectional structural view showing a cross section of an oral endoscope according to another embodiment of the present application along a central cross section of the housing;
  • Figure 6 is a cross-sectional structural view of the endoscope of Figure 5 in the direction of the longitudinal axis of the housing;
  • FIG. 7 is a schematic structural view of an oral cavity according to an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of an image capturing unit in an oral endoscope according to an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of an image capturing unit in an oral endoscope according to another embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of an image capturing unit in an oral endoscope according to another embodiment of the present application.
  • FIG. 11 is a schematic structural diagram of an image capturing unit in an oral endoscope according to another embodiment of the present application.
  • FIG. 12 is a schematic structural diagram of an image capturing unit in an oral endoscope according to another embodiment of the present application.
  • FIG. 13 is a schematic structural view of a microlens array in the image pickup unit shown in FIG. 12;
  • FIG. 14 is a cross-sectional structural view of an endoscope of an oral endoscope according to an embodiment of the present application near an end of a housing;
  • FIG. 15 is a schematic structural diagram of an oral endoscope according to another embodiment of the present application.
  • 16 is a schematic structural view of an oral endoscope according to another embodiment of the present application.
  • Figure 17 is a schematic view showing the structure of the oral endoscope of Figure 16 from another perspective;
  • FIG. 18 is a flowchart of operation of an oral endoscope according to an embodiment of the present application.
  • FIG. 1 to FIG. 18 Please refer to FIG. 1 to FIG. 18.
  • an oral endoscope according to an embodiment of the present application includes:
  • the housing 1 is a sealing structure, and a sealed space is formed inside;
  • An image acquisition module 3 is fixedly mounted in the housing 1 for collecting an external image through the housing 1; the image acquisition module 3 includes at least two imaging units 31 and a lighting unit that provides illumination for the at least two imaging units 31;
  • the relative position of the at least two camera units 31 is calibrated, that is, the relative positions of the at least two camera units 31 are calibrated as internal parameters of the image acquisition module 3; and each camera unit 31 can acquire three-dimensional image information, that is, each camera.
  • the unit 31 can acquire depth information of the object to be photographed;
  • the wireless communication module 41 is configured to perform wireless communication with the external device and transmit the image information acquired by the image acquisition module 3 to the external device.
  • the image acquisition module 3 is disposed in the casing 1 and can collect an external image through the casing 1; therefore, by placing the casing 1 in the user's mouth, the inside of the casing 1 can be utilized.
  • the image acquisition module 3 collects image information of the user's mouth; since the image capturing module 3 of the oral endoscope, each of the image capturing units 31 can acquire the depth information of the object to be photographed, that is, the oral endoscope of the present application can be used.
  • the image acquired by the oral endoscope can be directly used to form a full-mouth dentition digital model, thereby realizing 3D printing such as orthodontics, dental restoration, dental implants, and braces 3D digital modulo support for dental applications; and, since the oral endoscope includes at least two imaging units 31, and the relative positions of the at least two imaging units 31 are calibrated, and further, the image capturing module 3 takes each shooting action.
  • At least two three-dimensional images may be acquired simultaneously, and the at least two three-dimensional images may be used as a reference to each other to determine position information of each shot; therefore, the oral cavity Without the speculum according to the requirements set by sequentially scanning the image, its low operating requirements, can be used for ordinary users modulo self dentition.
  • the oral endoscope can transmit the acquired three-dimensional image to an external device to perform processing such as synthesis and display of the full-mouth dentition digitization model, so that Users can get their own 3D tooth model and understand their teeth at any time.
  • each camera unit 31 in the image acquisition module 3 the following specific embodiments may be included:
  • each camera unit 31 includes two cameras 32 that are calibrated relative to each other, that is, the relative positions of the two cameras 32 are calibrated as internal parameters of the camera unit 31, which is also called a binocular camera.
  • the two cameras 32 can be mounted on the same driving circuit board 321, and the shooting areas overlap each other and are simultaneously exposed. Further, the depth of the object can be acquired by the two cameras 32.
  • true color (RGB) information of the subject can be acquired by the two cameras 32, whereby the imaging unit 31 can acquire three-dimensional true color information (RGBD) of the subject.
  • each camera unit 31 includes a camera array 33 composed of a plurality of cameras calibrated by relative positions, that is, the relative positions of the plurality of cameras are calibrated as internal parameters of the camera unit 31, which is also called multi-head.
  • the camera in particular, the imaging areas of the plurality of cameras overlap and are simultaneously exposed, and further, the depth (Depth) information of the object can be acquired by the plurality of cameras; and the plurality of cameras can also acquire the The true color (RGB) information of the subject is photographed, whereby the camera unit 31 can acquire three-dimensional true color information (RGBD) of the subject; preferably, the camera array 33 described above can include seven cameras.
  • each camera unit 31 includes a light field camera; specifically,
  • the light field camera 34 may include a front end main lens 341 and a rear end photoreceptor 342, wherein the front end main lens 341 is a micro lens array composed of a plurality of micro lenses (see FIG. 10 In the camera array), each micro lens can focus and image the image from different angles on the back end photoreceptor 342 (such as a CMOS sensor chip), thereby realizing the depth (Depth) information of the captured object; preferably, the The front end main lens 341 of the light field camera 34 may be composed of seven micro lenses;
  • the light field camera 35 may include a front end main lens 351 and a rear end photoreceptor 352, and a microlens array 353 disposed between the front end main lens 351 and the rear end photoreceptor 352;
  • the front-end main lens 351 is composed of one lens
  • the micro-lens array 353 is composed of a plurality of micro-lenses, each of which can focus and image the image from different angles on the rear-end photoreceptor (such as a CMOS sensor), thereby realizing Depth information of the subject is obtained;
  • the microlens array 353 may be composed of nineteen microlenses.
  • the two light field cameras can also acquire the true color (RGB) information of the object to be photographed.
  • the image capturing unit 31 provided in this embodiment can acquire the three-dimensional true color information (RGBD) of the object to be photographed.
  • the illumination unit is in one-to-one correspondence with the imaging unit 31, and each illumination unit is located corresponding thereto.
  • the periphery of the imaging unit 31 is provided to provide illumination for the imaging unit 31 corresponding thereto.
  • each lighting unit and the corresponding imaging unit 31 may be provided in combination; for example, the power supply line of each lighting unit and the power supply line of the corresponding imaging unit 31 may be shared.
  • each lighting unit may comprise at least one light emitting diode (LED); of course, a miniature laser emitter may also be used for illumination.
  • LED light emitting diode
  • a miniature laser emitter may also be used for illumination.
  • the calibration binocular camera for synchronous exposure can be provided by seven micro LED lamps 30; specifically, one LED lamp 30 is disposed on the binocular camera. Between the two cameras, another six LED lights 30 are evenly placed around the two cameras, so that each camera is surrounded by four LED lights 30.
  • the camera unit 31 when the camera unit 31 is a multi-view camera or a light field camera, the camera unit 31 can be illuminated by a plurality of LED lamps uniformly disposed around the camera.
  • a micro laser transmitter (laser diode) is disposed around each camera unit 31, and illumination provided by the laser diode can prevent other visible light interference to achieve higher quality imaging; and at the same time, the camera unit 31 can also support the oral cavity. Internal phase 3D laser scanning.
  • the image acquisition module 3 may further include a surface structure light projection unit corresponding to the image capturing unit 31.
  • the surface structure is The light projection unit is located at the periphery of the image pickup unit 31 corresponding thereto for providing structured light to the image pickup unit 31 corresponding thereto.
  • the illumination unit may provide white light illumination for the corresponding imaging unit 31 to support the imaging unit 31 to acquire a true color (RGB) image of the inner surface of the oral cavity;
  • the surface structure light projection unit may provide structured light for the corresponding imaging unit 31
  • the three-dimensional reconstruction of the oral endoscopic image is more accurate and faster; therefore, the two can cooperate
  • the imaging unit 31 is enabled to acquire a true color three-dimensional image of the inner surface of the oral cavity.
  • the illumination unit and the surface structure light projection unit corresponding to each camera unit 31 can be quickly alternately turned on and off under the control of the main control module 42 so that the camera unit 31 can sequentially acquire the true color (RGB) of the object to be photographed.
  • Information and Depth information can be quickly alternately turned on and off under the control of the main control module 42 so that the camera unit 31 can sequentially acquire the true color (RGB) of the object to be photographed.
  • Information and Depth information can be quickly alternately turned on and off under the control of the main control module 42 so that the camera unit 31 can sequentially acquire the true color (RGB) of the object to be photographed.
  • RGB true color
  • the illumination unit, the surface structure light projection unit, and the imaging unit 31 may adopt the following three specific implementation manners:
  • the illumination unit adopts a visible light source
  • the surface structure light projection unit adopts an infrared light source
  • each camera unit 31 includes two cameras, and the relative positions of the two cameras are calibrated as internal parameters of the camera unit 31, wherein one camera is an infrared camera, and The surface structure projection unit is used together to capture a depth image with a surface structure light projection; the other camera is a visible light camera, which is used together with an illumination source for capturing RGB images; in particular, the surface structure light source and the illumination unit can be sequentially illuminated Off, thus, the depth image and the RGB image are collected successively.
  • the illumination source and the surface structure light projection unit are integrated into a light source device.
  • the light source device includes a visible light source and a projection structure, and the projection structure can be switched in front of the visible light source emitting surface, thereby enabling the light source device to The two functions of the surface structure light projection and the visible light illumination are switched; at this time, only one camera can be disposed in the imaging unit 31, and the depth image of the surface structure projection and the RGB image of the non-planar structure projection are sequentially taken by the camera 31. .
  • each camera unit 31 can also set the relative position as two cameras calibrated by the internal parameters of the camera unit 31, and the two cameras are respectively used for shooting the surface structure projection.
  • the depth image and the RGB image of the non-planar structure projection are respectively used for shooting the surface structure projection.
  • the housing 1 may include a probe portion 101 and a hand portion 102; in particular, the hand portion 102 may have various shapes for facilitating hand grasping, for example, the hand portion.
  • the 102 may be in the shape of a rod which gradually becomes larger in diameter from one end to the other end of the probe portion 101.
  • the probe portion 101 and the hand portion 102 are of a unitary structure.
  • the image acquisition module is disposed in the probe portion 101; preferably, the probe portion 101 is flat; and further, when the user's tooth image is collected, the probe portion 101 can be The relatively narrow area of the oral vestibule is placed and moved freely, thereby improving the user experience.
  • the image capturing module may include two camera units 314 disposed back to back, and respectively provide illumination for the two camera units 314.
  • Two illumination units; specifically, the two imaging units 314 are respectively disposed facing the two flat faces of the probe portion 101, that is, the two imaging units 314 respectively collect images in opposite directions through the two flat faces of the probe portion 101.
  • the structures of the two imaging units 314 are identical; further, the axes of the two imaging units 314 are coincident.
  • the casing 1 may be an ellipsoidal shape, a cylindrical shape in which the end faces 11 are curved, or a rounded column shape in which the end faces 11 are curved; specifically, the casing The body 1 can be shaped like a capsule; further, when the oral image is collected, the entire housing 1 can be placed in the mouth, and the housing 1 can be fully roamed in the oral cavity through the tongue to obtain an image at each position of the oral cavity.
  • the housing 1 of the above shape can facilitate the roaming in the user's mouth, especially the housing 1 is relatively narrow in the oral vestibule.
  • the user's experience can be improved by the accommodating and moving in the area; of course, in practical applications, the housing 1 may not be limited to the above shape, and may be other shapes, mainly based on the ability to improve the user experience.
  • the housing 1 can be made transparent, tough, non-toxic, tasteless, waterproof, corrosion-resistant and skin-friendly, by suitable material selection and structural design.
  • the material of the casing 1 can be made of tempered lens glass or transparent polymer material.
  • the housing 1 includes two opposite end faces 11 and a side surface between the end faces 11 of the two ends;
  • the side surface of the casing 1 is divided into two opposite first side faces 12 and two opposite second side faces 13, for example, when the casing 1 is ellipsoidal or the end faces 11 are curved.
  • the two first side faces 12 and the two second side faces 13 of the casing 1 are all rotating surfaces; when the casing 1 has a rounded column shape in which the end faces 11 are curved, the two parts of the casing 1
  • One side 12 may be a flat surface, and the two second side 13 may be a rotating curved surface.
  • the image acquisition module 3 can include the following implementation modes:
  • the image capturing module 3 can include two pairs of first camera units 311 respectively disposed at two ends of the housing 1 along the long axis o thereof, that is, close to the housing 1 An area of the end faces 11 of the two ends; further, the two first imaging units 311 of each pair of the first imaging units 311 are disposed facing away from each other, and the cameras of the two first imaging units 311 are respectively facing the two sides of the housing 1 One side 12.
  • the image acquisition module 3 may further include two second imaging units 312, which are distributed in the cross section a of the housing 1 in the center of the housing 1, that is, Further, the two second camera units 312 are disposed away from each other, and the cameras of the two second camera units 312 face the two second side faces 13 of the housing 1 respectively.
  • the image capturing module 3 may further include two third imaging units 313 respectively disposed on the longitudinal direction o of the housing 1 Two ends, that is, an area close to the end faces 11 of the housing 1; further, the two third camera units 313 are disposed facing away, and the cameras of the two third camera units 313 face the housing 1 respectively End faces 11 at both ends.
  • first imaging unit 311, the second imaging unit 312, and the third imaging unit 313 are distinguished by their positions and features, and the specific structures thereof may be identical.
  • a gap between the camera of the each of the imaging units 31 (the first imaging unit 311, the second imaging unit 312, and the third imaging unit 313) and the housing 1 may be greater than or equal to that of the imaging unit 31.
  • the minimum focal length specifically, 3 mm to 7 mm, so that the camera of the camera unit 31 can accurately focus, thereby preventing the picture from being unclear.
  • the image acquisition module 3 can ensure that each side of each tooth is fully captured when the housing 1 is roaming in the oral vestibule, the occlusion gap, and the intrinsic oral cavity.
  • the above-mentioned several image acquisition modules 3 are arranged such that the oral endoscope can also obtain three-dimensional images of other structures in the oral cavity, such as tongue, oral mucosa, etc., therefore, the user can also utilize the above oral endoscope to treat oral health. Conduct a self-test.
  • the image collection area of the oral endoscope may include: an oral vestibule A, a left occlusion gap B, a right occlusion gap C, and an intrinsic oral cavity D.
  • the oral endoscope of the present application may further include a stretching portion 2, specifically, as shown in FIG. 5 to FIG. 6 and FIG. 14 to FIG.
  • the stretching portion 2 is located outside the casing 1 and has one end connected to the casing 1.
  • the stretching portion 2 may include a connecting body 21 whose one end is connected to the housing 1, and a handle 22 connected to the other end of the connecting body 21.
  • the connecting body 21 in the stretching portion 2 may include the following two setting modes:
  • the connecting body 21 can be a rigid connecting rod; in particular, the connecting rod can prevent the housing 1 from being swallowed by the user or causing suffocation; on the other hand, the user can hold the connecting rod through the hand. The force of the rod is transmitted, and the operating housing 1 is moved in the oral cavity so that the housing 1 is fully roamed inside the oral cavity.
  • the connecting body 21 can also be a soft drawstring.
  • the drawstring can also prevent the shell 1 from being swallowed or suffocated by the user; and when the connecting body 21 is a drawstring, the user can rely on the tongue and the teeth. The movement causes the housing 1 to fully roam inside the oral cavity.
  • the connecting body 21 is flat, and the extending direction of the cross section of the connecting body 21 and the housing 1 are adjacent to one end of the housing 1.
  • the long axis o is parallel;
  • the thickness of the connecting body 21 does not exceed 1.5 mm.
  • the longitudinal direction of the housing 1 tends to coincide with the direction in which the teeth are aligned; at this time, due to the cross section of the connecting body 21
  • the flat shape in the direction along the long axis of the casing 1 allows the connector 21 to extend from the oral cavity to the outside only when the user's lips are opened small.
  • one end of the connecting body 21 can be connected to the middle of the first side 12 of the housing 1 based on the distribution manner of the imaging unit 31 provided in the embodiment of the present application; The body 21 does not block any of the image pickup units 31 in the casing 1.
  • the connecting body 21 of the stretching portion 2 may include an electrical connection line for the module in the housing 1 and Electrical connection between modules within the handle 22.
  • the oral endoscope provided by the embodiment of the present application may further include a main control module 42 and a storage module 43 , wherein the storage module 43 For storing the image collected by the image acquisition module 3, the main control module 42 is separately connected to the image acquisition module 3, the storage module 43, and the wireless communication module 41. Specifically, the main control module 42 can control each of the image acquisition modules 3.
  • the camera unit 31 collects the three-dimensional image information, and sends the collected three-dimensional image information to the storage module 43 for storage. Further, the main control module 42 can also transmit the image information stored by the storage module 43 to the wireless communication module 41, such as an electronic device. Device terminal or cloud server for image processing and display.
  • the main control module 42 can control all the imaging units 31 in the image acquisition module 3 to simultaneously perform exposure and image acquisition.
  • the at least two imaging units 31 can simultaneously capture and acquire the acquired three-dimensional image information. As a reference, the efficiency of image acquisition and three-dimensional modeling can be improved.
  • the main control module 42 may add at least corresponding time stamp information of the image acquisition and the identifier of the image capturing unit 31 to the image information, and send the image information after the addition is completed to the image information.
  • the storage module 43 is stored.
  • the image information is added with the time stamp information of the corresponding image acquisition and the identifier of the image capturing unit 31.
  • a number can be set for each camera unit 31, and the number is used as each camera unit.
  • the receiver of the image information can clearly know the time of image acquisition of each image information, and the same time stamp information can be obtained for the image information acquired when the camera unit 31 is simultaneously exposed, and each image can also be known.
  • Which information is captured by the imaging unit 31, and the main control module 42 transmits the image information added with the time stamp information and the identification of the imaging unit 31 to the external device through the wireless communication module 41, thereby providing more external devices.
  • the effective information for example, the external device can separately synthesize the images acquired synchronously according to the time stamp information, and help the external device to determine the specific location information of each image information in the oral cavity according to the information, thereby facilitating the different image information. 3D image synthesis and stitching processing.
  • the main control module 42 and the storage module 43 can be located on the handle of the stretching portion 2. 22, and the signal connection with the image acquisition module 3 can be realized by the electrical connection line in the connector 21; further, the wireless communication module 41 is also located in the handle 22; in another specific embodiment, On the basis of the fourth example, the main control module 42 and the storage module 43 and the wireless communication module 41 can be located in the handheld portion 102 of the housing 1.
  • the image acquisition module 3 can also implement a signal connection with the storage module 43 through the main control module 42; and, according to the needs of image information processing, the main control module 42 can include a DSP processing unit. Further, after the imaging unit 31 transmits the original pixel digital information to the main control module 42, the DSP processing unit in the main control module 42 can optimize the original pixel digital information sent by the imaging unit 31, and generate image encoded data, and then generate image encoded data, and then Then stored in the storage module 43.
  • the image acquisition module 3 can also obtain the power through the main control module 42.
  • the image acquisition module 3 and the main control module 42 can be connected through a data line and a USB interface.
  • the data line can be The utility model comprises two power lines for supplying power to the camera unit 31, two serial communication buses for transmitting control signals and digital image information; in particular, the image acquisition module 3 can receive the main control module 42 through the data lines. Control instructions, such as: start imaging, stop imaging, focus adjustment, frames per second, etc.; and, the image acquisition module 3 can also return the captured digital image information through the data line.
  • the main control module 42 may further include a three-dimensional image information pre-processing unit to complete the three-dimensional image information pre-processing task, for example, for the case where the camera unit 31 is a binocular camera, the three-dimensional image information is pre-
  • the processing can adopt the binocular computer vision algorithm (the current common technology in the industry, the output format of the algorithm is RGBD) to implement the preprocessing of the three-dimensional image information.
  • the function of the three-dimensional image information preprocessing unit can be specifically implemented by using an FPGA.
  • the above-mentioned DSP processing unit may also be integrated into the image capturing unit 31, that is, the image capturing unit 31 directly transmits the image encoded data (such as the JPEG format) after the optimization processing to the main control module 42; in addition, the main control module 42
  • the three-dimensional image information pre-processing unit may not be provided, that is, the main control module 42 directly transmits image encoded data (such as JPEG format) to other devices (such as an electronic device terminal or a cloud server), and then passes the three-dimensional image information in other devices.
  • the preprocessing unit further processes the image.
  • the oral endoscope provided by the embodiment of the present application may further include a power supply module 44 for use in each of the oral endoscopes. Powered by the electrical module.
  • the oral endoscope provided by the embodiment of the present application may further include a switch module 45.
  • the switch module 45 is disposed on the power supply module. Between the 44 and each of the power modules, the circuit for controlling the power supply module 44 to supply power to each of the power modules is turned on and off.
  • the power supply module 44 and the switch module 45 can be located at the handle 22 of the stretching portion 2. In another specific embodiment, on the basis of Embodiment 4, both the power supply module 44 and the switch module 45 may be located in the handheld portion 102 of the housing 1.
  • the power supply module 44 can be directly connected to the main control module 42 and the storage module 43 (including the FIFO storage unit, and can also include other storage contents, such as an intelligent hardware ID, etc.) and the wireless communication module 41.
  • the power module 44 can supply power to the image acquisition module 3 through the main control module 42.
  • the power supply module 44 can also directly connect the image in the housing 1 through the electrical connection line in the connector 21.
  • the acquisition module 3 performs power supply.
  • the switch module 45 can use a magnetic switch unit to control the on and off of the power supply circuit; correspondingly, the oral cavity provided by the embodiment of the present application
  • the endoscope may further include a magnetron switch drive module 61 for driving the magnetron switch unit to perform a switch on/off action.
  • the oral endoscope provided by the embodiment of the present application may further include a base 5, which is disposed independently of the housing 1;
  • the magnetic switch drive module 61 can be disposed in the base 5.
  • the power supply module 44 may include a power supply adaptation unit to match the power supply of each power module.
  • the oral endoscope provided by the embodiment of the present application may further include a wireless charging module 46, and the wireless charging module 46 is configured to acquire an external The electric power, and the power supply module 44 is provided with a power; accordingly, the oral endoscope provided by the embodiment of the present application may further include a radio energy transmitting module 62 for matching with the wireless charging module 46; specifically, the wireless charging module 46 may The current emitted by the radio energy transmitting module 62 is received to perform charging.
  • the wireless charging module 46 is disposed in the handle 22; the wireless energy transmitting module 62 is disposed in the base 5. At this time, when the handle 22 is placed on the base 5, the position matching of the wireless energy transmitting module 62 and the wireless charging module 46 can be realized, and thus the wireless charging module 46 can be charged; otherwise, the handle 22 is removed from the base 5. When removed, the charging of the wireless charging module 46 is stopped.
  • the wireless charging module 46 is disposed in the handheld portion 102 of the housing 1; the wireless energy transmitting module 62 is disposed in the base 5; similarly, at this time, The charging or stopping of charging is achieved by placing the hand-held portion 101 of the housing 1 on the base 5 or off the base 5.
  • a direct charging source module may be disposed in the handle 22 or in the handheld portion 102 of the housing 1.
  • a power plug may be disposed on the handle 22 or the handheld portion 102 of the housing 1 to directly serve as a direct charging source module. Charge it.
  • each module except the magnetron switch driving module 61 and the radio energy transmitting module 62 may be integrated in the casing 1.
  • the connector may be a normal cord that does not include an electrical connection.
  • the oral endoscope of the embodiment of the present application can express the tooth cleaning condition through the situation of the electronic device terminal, thereby stimulating the person to generate the interest in brushing teeth and promoting the user to develop a good tooth cleaning habit. Therefore, it is suitable for children who are reluctant to brush their teeth.
  • the oral endoscope can also replace the plaster tooth modulating and the traditional optical tooth modulating, which is convenient for those who need to take the tooth modulating; in addition, the oral endoscope can facilitate the user to self-view the full dentition image. So that people who care about dental health and cleanliness can understand the health and cleanliness of their teeth and gums in real time.
  • the embodiment of the present application further provides an oral endoscopic device, which comprises the oral endoscope of any of the above embodiments.
  • the oral endoscopic device may further include an electronic device terminal connected to the oral endoscope data; optionally, the electronic device terminal may have an internet networking module, a wireless communication module, a CPU, and a storage module. And a display module and a human-machine interface, etc., to facilitate synthesis and display of the three-dimensional image; further, the electronic device terminal may have a corresponding oral endoscopic application software.
  • the electronic device terminal may be a user's smart phone, a PAD, a notebook computer, a desktop computer, or a computer terminal device dedicated to oral endoscopy.
  • the oral endoscope sends the captured image to an external device, such as an electronic device terminal or a cloud server, to perform three-dimensional image synthesis, and only transmits the image to the electronic device terminal for three-dimensional image.
  • an external device such as an electronic device terminal or a cloud server
  • the operation flow of the oral endoscope includes:
  • Step 100 The oral endoscope collects and acquires image information of the user.
  • the acquired image information of the user includes at least image information captured by the two imaging units 31.
  • each camera unit 31 can acquire three-dimensional image information, and the acquired image of the user is of a depth image.
  • a control processing module and a wireless communication module may be disposed in the base 5, and the control processing module is configured to transmit information through the wireless communication module and the main control module 42 in the handle 22 to implement message interaction. And data communication.
  • the startup operation flow of the oral endoscope is further included. Specifically, after the oral endoscope is turned on, the following operations may also be performed:
  • the first operation according to the first preset period, the main control module 42 in the handle 22 sends a first handshake message to the base 5, and receives a first handshake message response message returned by the base 57.
  • the main control module 42 can start a timer (handle 22 - base 5 handshake timer), and the main control module 42 calls the wireless communication module 41 to the base according to a first preset period, for example, 5 seconds or 10 seconds. 5 Send a first handshake message.
  • the first preset period is not limited in the embodiment of the present application, and the value may be set according to actual requirements.
  • the base 5 can monitor whether the oral endoscope is in a normal state, and then prompt or alert the user.
  • the second operation the main control module 42 in the handle 22 sends a handshake message to the electronic device terminal according to the preset period, and determines, within the first preset duration, that the handshake message response message returned by the electronic device terminal is received, where
  • the device handshake includes at least the device identifier of the oral endoscope.
  • the preset period is not limited in the embodiment of the present application, and may be set according to actual requirements.
  • the main control module 42 can start a timer (oral endoscope-terminal handshake timer), and the main control module 42 calls the wireless communication module 41 to the electronic device according to a preset period, for example, 2 seconds or 5 seconds.
  • the terminal sends a handshake message. If the handshake message response message returned by the electronic device terminal is received within the first preset time period, for example, 30 seconds or 60 seconds, the oral endoscope and the electronic device terminal successfully handshake and can communicate. After that, the oral endoscope performs image acquisition operation, which can improve the working efficiency of the oral endoscope.
  • the endoscope software opening prompt signal of the electronic device terminal is sent to the base 5, so that the base 5 is according to the electronic device.
  • the terminal endoscope software turns on the prompt signal to send a prompt message to the user.
  • the main control module 42 in the handle 22 sends a handshake message to the electronic device terminal. If the returned handshake message response message is not received within the first preset time period, the oral endoscope is indicated. If the handshake with the electronic device terminal is unsuccessful, the main control module 42 of the oral endoscope sends the endoscope software opening prompt signal of the electronic device terminal to the base 5 through the wireless communication module 41, and the base 5 receives the endoscope software of the electronic device terminal. After the prompt signal is turned on, the user can send a voice prompt message, for example, the prompt content is: unable to connect to the endoscopic application software on the electronic device terminal, prompting you to open the software and keep the wireless connection unblocked.
  • the method further includes:
  • the user identity verification through message is determined by the electronic device terminal according to the device identifier of the oral endoscope in the handshake message, and the mapping relationship between the device identifier and the user identity.
  • the user's identity verification is sent when it passes.
  • the electronic device terminal needs to verify the user identity, which can further enhance the user experience, and can make an oral endoscope only a user identity check. Used by the user.
  • the user identity may be a password corresponding to the user or a biometric of the user, for example, a voice, a fingerprint, a face, and the like.
  • the electronic device terminal prompts the current user to read a piece of text or read a piece of voice, or invokes a camera of the electronic device terminal to capture a user's face, and obtains the identity information of the current user, the user corresponding to the device identifier of the oral endoscope.
  • the identity information is compared and judged whether they are consistent and verified.
  • the electronic device terminal prompts the current user to input a digital password or a dot pattern password, compares the received password with a preset password of the user corresponding to the device identifier of the oral endoscope, determines whether the password is consistent, and performs verification. .
  • the electronic device terminal sends a voice or text prompt to the user.
  • the prompt content is: the oral endoscope belongs to other users, please use your own oral endoscope to contact Customer service consultation.
  • Step 110 Send image information of the user to the electronic device terminal, so that the electronic device terminal performs three-dimensional image synthesis on the image information of the user.
  • the oral endoscope collects image information of the user, and the electronic device terminal performs three-dimensional image synthesis, because the oral endoscope is used to collect the oral image information of the user, if the user removes the oral endoscope from the mouth or If the image information collected by the oral endoscope is not in the oral image information, therefore, in order to ensure the correct and effective three-dimensional image synthesis of the oral image information, it is necessary to further determine whether the oral endoscope is placed in the oral cavity.
  • the method further includes:
  • the handle 22 of the oral endoscope is activated to be placed in the base 5, and the cause value is: in the oral cavity.
  • the speculum always has no entrance cavity for scanning operations.
  • the prompt to put the handle 22 into the base 5 specifically:
  • the main control module 42 sends a prompt signal for returning the handle 22 to the base 5 to the electronic device terminal and the base 5, respectively, so that the electronic device terminal and the base 5 respectively send a first prompt message to the user according to the prompt signal for putting the handle 22 back to the base 5.
  • the oral endoscope has placed an oral confirmation message, which is determined by the electronic device terminal according to the received image of the user and a preset image pattern recognition algorithm.
  • the first prompt message is that the oral endoscope has not been placed in the entrance cavity for scanning operation, prompting you to put the handle 22 back to the base 5.
  • the main control module 42 of the intraoral speculum transmits the image information stored in the storage module 43 to the electronic device terminal through the wireless communication module 41, and then the electronic device terminal performs image pattern recognition to determine whether it is oral image information. If yes, it can be judged that the oral endoscope has been placed in the oral cavity, and the oral endoscope is sent to the oral control unit 42 of the oral endoscope to put the oral confirmation message, otherwise, the oral endoscope is not sent into the oral cavity. Confirm the message.
  • the oral endoscope it is determined whether the oral endoscope is placed in the oral cavity, and if the oral endoscope is placed in the oral cavity, the electronic device terminal or the cloud continues to perform three-dimensional image synthesis, if the oral endoscope is never placed Oral, the user can be prompted to put the handle 22 back to the base 5, without image acquisition, reducing the invalid image capture of the oral endoscope.
  • the main control module 42 of the oral endoscope receives a photographing task completion message sent by the electronic device terminal, and sends a photographing task completion signal to the base 5, so that the base 5 sends a signal to the user according to the photographing task completion signal.
  • the third prompt information wherein the photographing task has completed the message, which is sent after the electronic device terminal determines that the three-dimensional image is synthesized.
  • the main control module 42 sends a photographing task completion signal to the base 5 through the wireless communication module 41.
  • the base 5 After receiving the photographing task completion signal, the base 5 sends a third prompt message to the user, for example, a voice prompt information.
  • the third prompt message content is: You have successfully completed the oral endoscopic shooting task.
  • the main control module 42 sends a prompt signal for returning the handle 22 to the base 5 to the electronic device terminal and the base 5, respectively, so that the base 5 and the electronic device terminal respectively send a prompt signal to the user according to the handle 22 being placed back to the base 5, respectively.
  • Second prompt message
  • the second prompt message is: the shooting task has been completed, prompting you to put the handle 22 back to the base 5.
  • the electronic device terminal sends a communication connection message to the oral endoscope according to the second preset period. If the communication connection response message returned by the oral endoscope is not received, the user is prompted. The communication is not working properly.
  • the electronic device terminal broadcasts a voice prompt or displays a prompt message on the screen
  • the prompt content is: because the communication between the oral endoscope and the oral endoscope application software is abnormal, prompting you to check the oral endoscope Communication connection.
  • the second case if the oral endoscope main control module 42 does not receive the communication connection message sent by the electronic terminal device within the fourth preset time period, the endoscope software opening prompt signal of the electronic device terminal is sent to the base 5, The base 5 sends a fourth prompt message to the user according to the electronic device terminal endoscope software opening prompt signal.
  • the content of the fourth prompt information is: unable to connect to the endoscopic application software on the electronic device terminal, prompting you to open the software and keep the wireless connection unblocked.
  • the oral endoscope continues to send a handshake message to the electronic device terminal to determine whether a handshake message response message returned by the electronic device terminal is received.
  • the main controller 5 sends a prompt signal for returning the handle 22 to the base 5 to the base 5 to The base 5 is caused to send a fifth prompt message to the user according to the prompt signal that the handle 22 is placed back to the base 5.
  • the main control module 42 sends the electronic device terminal endoscope software opening prompt signal to the base 5 5 times, indicating that the endoscope software of the electronic device terminal has not been turned on, and the oral endoscope communicates with the electronic device terminal. If it is not normal, the handle 22 can be put back to the base 5 for prompting. The reason is that the electronic device terminal endoscopic application software has not been activated for a long time.
  • the fifth prompt information is sent by voice, and the content of the fifth prompt information is: because the electronic device terminal endoscope application software has not been activated for a long time, prompting you to put the handle 22 Put it back on the base 5.
  • the first case the electronic device terminal determines whether the oral endoscope has been taken out of the oral cavity according to the received image of the user and a preset image pattern recognition algorithm, and if so, sends the oral endoscope to the oral endoscope The message is taken out of the mouth and the three-dimensional image synthesis is stopped, and if not, the three-dimensional image synthesis is continued.
  • the second case if the oral endoscope receives the message that the oral endoscope sent by the electronic device terminal has taken out the oral cavity, it starts to determine whether to receive the timing of the oral endoscope has been put into the oral confirmation message, and continues to judge Within two preset durations, whether or not the oral endoscope sent by the electronic device terminal has been placed into the oral confirmation message.
  • the electronic device terminal in the process of performing three-dimensional image synthesis, periodically determines, for example, every 1 second or 2 seconds, whether the oral endoscope is taken out from the oral cavity, and if it has been taken out, the electronic device The terminal can stop the three-dimensional image synthesis and improve the accuracy of the three-dimensional image synthesis of the oral cavity.
  • the charging operation flow can be performed, specifically:
  • the oral endoscope receives the radio energy transmitted by the base 5, and obtains and stores the electric energy according to the received radio energy, and transmits to the base 5 when detecting that the electric energy in the oral endoscope reaches the preset maximum electric energy capacity.
  • the charging signal is stopped so that the base 5 stops transmitting wireless energy to the oral endoscope according to the stop charging signal.

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  • Radiology & Medical Imaging (AREA)
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Abstract

La présente demande concerne le domaine technique des dispositifs de soins buccaux, et concerne un endoscope oral, où l'endoscope oral comprend : un boîtier ; un module d'acquisition d'image, qui est monté fixe à l'intérieur du boîtier et qui est utilisé pour acquérir une image externe à travers le boîtier, où le module d'acquisition d'image comprend au moins deux unités de caméra, qui sont étalonnées en position relative et qui sont utilisées pour acquérir des informations d'image tridimensionnelle ; une unité d'éclairage, qui fournit un éclairage pour chaque unité de caméra ; un module de communication sans fil, qui est utilisé pour la communication sans fil avec un dispositif externe et pour envoyer les informations d'image, qui sont acquises par le module d'acquisition d'image, au dispositif externe. L'endoscope oral peut acquérir des images tridimensionnelles à différentes positions dans une cavité buccale ; n'a pas besoin de balayer diverses positions dans la cavité buccale selon une exigence séquentielle définie, ses exigences de fonctionnement sont par conséquent faibles, et la présente demande peut être utilisée pour un moulage de denture autonome par un utilisateur ordinaire.
PCT/CN2018/087392 2017-05-27 2018-05-17 Endoscope oral WO2018219157A1 (fr)

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CN201710393180.8A CN107295227A (zh) 2017-05-27 2017-05-27 一种口腔内窥器
CN201710393180.8 2017-05-27
CN201711195257.7 2017-11-24
CN201711195257.7A CN108965653B (zh) 2017-05-27 2017-11-24 一种口腔内窥器

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