基于超微马达的医用内窥监视系统研究

文中在对传统内窥镜系统工作机理分析的基础上,针对医学临床应用的实际需要,设计开发了基于1mm直径的电磁型微马达的硬管内窥镜全视角监控系统。     

一种新型的内窥镜三维形状重构与定位算法

本文在研究智能内窥镜显示系统前提下,提出了一种新的内窥镜形状重构算法以及内窥镜前端的定位方法.在不改变内窥镜结构的情况下,将FBG(fiber bragg grating)传感器阵列内置于内窥镜钳道中,通过测得内窥镜中FBG传感器波长的变化来推导内窥镜任一点相对于内窥镜末端点的位姿,从而利用曲线拟合的方法重构出整个内窥镜的形状以及对前端的定位.受安装条件的限制,FBG传感器检测单元封装在SMA (shape memory alloy)合金丝上的真实位置与理论位置有较大的误差.为了减少安装精度对整个形状重建的影响,对传感器安装误差进行了分析以及对形状重构算法进行了修正.实验结果表明内窥镜前端的位置精度提高到了4.5 mm.     

医用内镜双通道光学接口的设计原理

设计了一种医用内镜图像显示双通道光学接口。接口由分光棱镜和变焦距物镜组成。本文介绍光学接口的分光及光孔承接;分析变焦物镜的光学特性;论述小型线性差动变焦物镜的设计原理;并给出了一种设计实例及评价结果。所设计的光学接口已应用于胃镜计算机彩色显微图像显示仪中。使用证明：该光学接口结构简单、体积小、重量轻,其像质可与多种内镜和CCD彩色摄像机相匹配。因此,接口可适用于多种内镜的图像显示。     

立体电子内窥镜的工作原理与发展现状

在电子内窥镜基础上结合计算机技术及立体显示技术发展起来的立体电子内窥镜以立体图像观察人体内部,从而不仅提高医疗诊断的准确性,并且使内窥镜越来越多的参与到手术中,对于微创手术具有重要的意义。本文介绍了立体电子内窥镜中立体显示技术及其系统结构,描述了立体电子内窥镜的发展现状,并展示了当前前沿的机器人辅助手术系统中内窥镜导航系统的组成。     

Evaluation of the critical stroke of an earthworm-like robot for capsule endoscopes

Recently, the capsule endoscope has been highlighted for the patient's convenience and the possibility of application in the small intestine. However, the capsule endoscope has some limitations in obtaining an image of the digestive organ because its movement depends only on the peristaltic motion. In order to solve these problems, it is necessary to determine the locomotive mechanism of the capsule endoscope. Therefore, the present authors have already proposed an earthworm-like robot, which has a locomotive mechanism. However, this mechanism should be designed so that the earthworm-like robot has a larger stroke than the critical stroke required to perform motion inside the small intestine. In this study, therefore, not only is the modelling of the locomotive process based on a biomechanical study presented but also the movement of the earthworm-like robot in the small intestine is simulated. Through the simulation process, the variation in the critical stroke with regard to the elastic modulus of the mesentery is investigated. Finally, from an in vitro test of the proposed robot, it is found that the experimental result is very similar to that of the simulation. Consequently, the present work will provide guidelines for designing an earthworm-like robot for diagnosis of the small intestine.     

Development of a novel successive suturing instrument for an endoscope using beads and a side suction cap

The large number of patients who suffer from diseases such as gastritis, obesity, and chronic gastro-esophageal reflux disease has made the development of a new suture device using an endoscope instrument channel an important priority. This paper deals with a novel design of an endoscopic instrument that facilitates suture operations on the stomach and esophagus. Unlike a laparoscope, it is very difficult to transfer forces and moments to the end of a gastrointestinal endoscope from the outside handle dues to its extreme flexibility. The only feasible forces are pushing and pulling using wires and tubes. This new design requires only the push-pull action from the outside handle to complete suture operations. Furthermore, several stitches can be performed with a single endoscope insertion. This new endoscope suturing methodology thus significantly reduces the time for surgical operations and the pain that patients experience. The feasibility of the instrument was demonstrated through in vitro and in vivo animal experiments.     

胶囊内窥镜技术的研究进展

介绍国内外胶囊内窥镜技术的发展现状,着重介绍M2A胶囊内窥镜和NORIKA3胶囊内窥镜的内部结构,通过对几种主要胶囊内窥镜产品技术参数的比较,分析胶囊内窥镜的关键技术及发展趋势。     

Confocal endoscopy via structured illumination

We describe a simple modification to a rigid endoscope so as to provide both high-quality conventional and confocal images of reasonably accessible regions of the body. This versatile system uses a structured illumination approach together with a conventional incoherent illumination source. Images taken in fluorescence are presented using this combined conventional and confocal endoscope.     

基于FPGA图像处理的内窥镜焊点检测系统

电子内窥镜作为现代医疗仪器中的重要设备,随着产量的不断增加,实现内窥镜信号线自动化焊接已成为一个必然趋势。为精确高效采集内窥镜镜头模组的焊点坐标,设计了一种基于现场可编程逻辑门阵列（field programmable gate array,FPGA）图像处理的内窥镜焊点检测系统。整个系统以OV5640作为图像采集器件对目标板的图像数据进行采集,通过Verilog HDL硬件描述语言进行图像处理,实现焊点检测和瑕疵判别算法的设计。硬件测试结果表明,该系统能实时采集焊点坐标并检测焊点之间的瑕疵,采集到的焊点坐标最大误差小于0.1 mm,检测精度高,实时性强,具有广泛的应用前景。     

胶囊内窥系统的像质提升方法

针对目前胶囊内窥镜存在分辨率低,视场角有限,受噪声影响大等问题,提出了系统解决方案。通过引入Q-type非球面校正像差,得到一款全视场角为160°,相对孔径为F#3.0,系统总长为4.3 mm的内窥镜成像镜头,在140 lp/mm处各视场调制传递函数（MTF）值均大于0.3。光学系统成像质量的好坏不仅取决于镜头的性能,还与图像传感器有关,尤其在低照度环境下。通过分析传感器工作时各个阶段噪声的特性得到噪声模型。利用建立的噪声模型,合成了胶囊内窥镜图像数据集,并训练神经网络模型。对算法模型的测试结果表明,本文提出的综合解决方案可以有效地提高胶囊内窥镜系统的成像质量。     

ACTIVE ROBOTIC ENDOSCOPE FOR MINIMALLY INVASIVE SURGERY

A robotic endoscope is mainly composed of a tactile array sensor, soft mobile mechanism for earthworm locomotion and turning mechanism based on shape memory effect. The tactile array sensor can provide the information about magnitude and orientation of interacting forces between the robotic endoscope and the wall of gastrointestinal tracts. The soft mobile mechanism contacts gastrointestinal tracts with air-in inflatable balloons, so it has better soft and non-invasive properties. The turning mechanism can be actively bent by shape memory alloy components and conform to the complex shape of gastrointestinal tracts. The working principle of robotic endoscope is dealt with.     

基于蚯蚓运动原理的微小机器人构件的运动特性分析

介绍了一种基于蚯蚓运动原理的微小机器人内窥镜系统，对微小机器人机体的构造及其驱动原理作了介绍，并讨论了单一构件的运动特性，从而为合理地确定驱动波形及有效地控制微小机器人奠定了基础。     

融合五自由度位姿信息的单目内窥镜目标尺寸测量

针对低分辨率、弱纹理、缺少参照物的小场景下内窥镜图像目标测量困难问题,提出了融合5自由度电磁传感器的单目内窥镜下目标尺寸测量方法。首先,分析了基于5自由度传感器的内窥镜定位原理,得到内窥镜沿主光轴方向的位移。接着,以结石目标为例分析了图像目标关键信息的导航采集方法,即通过语义分割网络获得图像目标的轮廓信息,进而与内窥镜主光轴进行重合度判定,记录符合重合条件关键帧的图像目标长度信息与对应的位姿信息。最后,基于针孔相机成像模型,将目标成像比例关系与内窥镜沿主光轴的位移结合,建立了目标尺寸测量方法。实验结果表明：所提方法的测量误差控制在10%以内;对长度1～9 mm目标的平均测量误差为0.33 mm。能够满足单目内窥镜检查中对目标尺寸测量的稳定可靠、精度高、省时省力等需求。     

国产医用光学内窥镜的发展与质量分析

主要介绍国产医用光学内窥镜的发展，并根据1995年度国家监督抽查“医用光学内窥镜”产品质量结果进行分析，提出了提高质量的途径和办法。     

A paddling based locomotive mechanism for capsule endoscopes

Diagnosis and treatment using the conventional flexible endoscope in gastro-intestinal tract are very common since advanced and instrumented endoscopes allow diagnosis and treatment by introducing the human body through natural orifices. However, the operation of endoscope is very labor intensive work and gives patients some pains. As an alternative, therefore, the capsule endoscope is developed for the diagnosis of digestive organs. Although the capsule endoscope has conveniences for diagnosis, it is passively moved by the peristaltic waves of gastro-intestinal tract and thus has some limitations for doctor to get the image of the organ and to diagnose more thoroughly. As a solution of these problems, various locomotive mechanisms for capsule endoscopes are introduced. In our proposed mechanism, the capsule-type microrobot has synchronized multiple legs that are actuated by a linear actuator and two mobile cylinders inside of the capsule. For the feasibility test of the proposed microrobot, a series of in-vitro experiments using small intestine without incision were carried out. From the experimental results, our proposed microrobot can advance along the 3D curved and sloped path with the velocity of about 3.29–6.26 mm/sec and 35.1–66.7% of theoretical velocity. Finally, the proposed locomotive mechanism can be not only applicable to micro capsule endoscopes but also effective to advance inside of gastro-intestinal tract.     

All fiber based multispeckle modality endoscopic system for imaging medical cavities

Disease detection in body cavities, such as the detection of abnormal growths in the colon path, has been illustrated here using an image fiber guided catheter based multispeckle modality endoscopic system. An all fiber-optic approach for the illumination and imaging of the inner cavity walls is adopted here. An endoscope probe to carry the illumination fibers as well as the imaging lens-image fiber unit is designed and custom fabricated in order to operate the probe in its various direction sensitive configurations. This is facilitated by the selection of suitable optical elements such as beam combiner and biprism at the probe proximal end. Experimental investigations were carried out using the endoscope system employing phantom model of colon as the test specimen that has normal and abnormal (representing growth) regions and the obtained results indicated the system effectiveness in identifying the abnormal growths at an early stage.     

Design of on-demand wireless capsule endoscope

An on-demand wireless capsule endoscope with full-digital and bidirectional communication is presented,aiming at fulfilling the requirements of micromation and micropower consumption of modern wireless endoscope.The proposed multifunctional operation and unique radio transmission system cuts down the power consumption efficiently and on-demand bidirectional communication in vitro improves the detection rate of focus.Meanwhile,gray dilatation is introduced in a bit plane that optimizes the distortion rate in the process of image recording and transmission.     

Frictional Resistance Model of Capsule Endoscope in the Intestine

To optimize the capsule endoscope structure and realize harm-free diagnosis, the small intestine of a pig is used as a research subject in the paper, with the five-element viscoelastic model of intestine adopted as the theoretical basis. In this paper, the intestinal peristalsis is taken into consideration in establishing the mechanical model of capsule endoscope inside the intestinal tract, which simplifies the intestinal peristalsis into sine wave, and thus, the frictional resistance formula is deduced, which covers parameters of radius and length of capsule endoscope, the amplitude and wavelength of peristaltic wave, intestinal elastic modulus and viscosity, and capsule movement velocity and weight, etc. The simulation calculation reveals that (1) frictional resistance grows with the increase in the radius, length and velocity of capsule endoscope and frictional resistance from gravity can nearly be ignored, which are in consistent with the experimental results; (2) when intestinal peristalsis is taken into account, frictional resistance is larger, with more obvious influence arising from the radius, length, movement speed and contact angle of the capsule; and (3) the amplitude rather than wavelength of the peristaltic wave produces greater effect on the frictional resistance.     

基于短基线双目内窥镜成像系统的3D视频标定与校正

为了解决短基线双目内窥成像系统获得的视频图像在裸眼3D显示设备中观看到的视频纵深感和立体感较弱的问题,通过分析双目内窥镜的参数以及立体视频中图像对的视差,提出了基于短基线双目内窥成像系统的立体视频校正和视差调整方法。首先,对采用的双目结构内窥系统进行相机标定,获取各相机参数和相机间的位置参数;其次,利用获得的参数进行相机视频校正,再针对裸眼3D显示设备对视频源的参数要求进行图像对的视差调整,最终获得符合裸眼3D立体显示设备要求并适合人眼观看的双目内窥系统实时显示立体视频。通过实验验证了方法的可行性,实际搭建了一套基线距离为8 mm的短基线双目内窥成像系统,原始视差范围(0,64)像素,经视差调整后达到（-30, 30）像素,双路并行视频处理25 帧/s并实时显示。与实验室设计的裸眼3D立体显示系统匹配,可实现具有明显立体感的医用内窥镜实时裸眼3D成像。     

无线胶囊式内窥镜系统的射频发射模块改进设计

针对无线胶囊式内窥镜系统低功耗、微型化,以及其发射范围等要求,对原有的发射电路进行优化和改进,以降低电路总电流,从而降低发射电路的总体功耗.电路板采用双面设计,电路元器件均采用表面贴装器件(SMD)贴片形式,利用DXP2004软件设计和制作PCB电路,印刷电路板尺寸减小为φ10mm,使胶囊顺畅地经过肠胃系统.