CN114569874A

Movatterモバイル変換

Info

Publication number: CN114569874A
Application number: CN202210496470.6A
Authority: CN
Inventors: 马骁萧; 冯宇; 瞿小丹
Original assignee: Jingwei Zhiyuan Medical Technology Wuhan Co ltd
Current assignee: Jingwei Zhiyuan Medical Technology Wuhan Co ltd
Priority date: 2022-05-09
Filing date: 2022-05-09
Publication date: 2022-06-03

Abstract

The invention provides an imaging controller host and an image processing method applied to a visual guide wire, wherein the imaging controller host is respectively connected with the visual guide wire and display equipment, the visual guide wire comprises an illuminating part and an imaging part, the visual guide wire extends into a pancreatic bile duct to provide illumination and perform imaging, the visual guide wire is connected with the imaging controller host through a connector, the imaging controller host provides illumination for the visual guide wire, acquires an image signal from the visual guide wire, processes the image signal through a control module in the imaging controller host and outputs a final image to the display equipment. By introducing the imaging controller host and combining the image enhancement method, the invention ensures that the images of the pancreatic duct and the bile duct can show more obvious contrast than the images observed by naked eyes, further improves the characteristic difference of the pancreatic duct and the bile duct, accurately indicates the position of the pancreatic duct and the bile duct and improves the safety of the ERCP operation.

Description

Imaging controller host applied to visual guide wire and image processing method

Technical Field

The invention belongs to the technical field of medical assistance, and particularly relates to an imaging controller host applied to a visual guide wire and an image processing method thereof.

Background

Endoscopic Retrograde Cholangiopancreatography (ERCP) is a technique in which a duodenoscope is inserted into the descending part of the duodenum to find the duodenal papilla, a contrast catheter is inserted into the opening of the papilla from a biopsy channel, and a contrast medium is injected into the opening of the duodenal papilla to perform x-ray radiography to display the cholangiopancreatography.

Selective intubation is the basis for successful ERCP diagnosis and treatment. Inserting the catheter through the biopsy hole, adjusting the angle of the catheter and lifting the forceps device to make the catheter perpendicular to the opening of the nipple, and inserting the catheter into the nipple. Because the beginning of the duodenal papilla is very narrow, the direct insertion of a catheter into the papilla is difficult, currently, a guide wire is generally inserted in clinic, the diameter of the guide wire is generally 0.025 inch or 0.035 inch, the guide wire is made of metal, the front end of the guide wire is provided with a soft head, the head of the guide wire is developed under X-rays, and a doctor inserts the guide wire into the duodenal papilla and enters the right direction (a pancreatic duct or a bile duct), and then inserts the catheter.

At present, a catheter with an incision function (also called a duodenal papilla incision knife) is generally used for inserting and incising duodenal papilla to enlarge the diameter of a channel, so that a therapeutic apparatus can be conveniently inserted and stones can be conveniently taken. The middle of the incision knife is provided with a guide wire cavity, and when the incision knife is inserted, the guide wire needs to be put into the guide wire cavity, so that the incision knife advances along the direction of the guide wire, and then enters a bile duct or a pancreatic duct. Thus, the current general clinical procedure for ERCP is:

(1) inserting a duodenoscope into a descending part of duodenum to find a duodenal papilla;

(2) inserting a guide wire into a biopsy duct of the duodenoscope, and inserting the guide wire into a pancreatic duct or a bile duct through a duodenal papilla under the guidance of X-rays;

(3) then inserting a duodenal papilla incision knife (keeping the guide wire in the guide wire cavity of the incision knife) along the biopsy duct of the duodenoscope, incising the duodenal papilla to a proper size, and then continuing inserting the incision knife until the duodenal papilla enters the target position of a bile duct or a pancreatic duct;

(4) at this time, the intubation operation is completed, and the doctor can perform subsequent operation with the aid of the guide wire and the incision knife.

In the current operation, when the guide wire is inserted into the pancreatic duct or the bile duct in the second step, the risk is the highest, and the difficulty is the greatest, and the great difficulty limits the development of the ERCP operation. The main risk points are:

(1) the insertion is carried out in a wrong direction, the patient wants to enter the bile duct but enters the pancreatic duct in a wrong way (or vice versa), so that severe operation complications such as severe pancreatitis and the like can be caused, and the life of the patient is threatened;

(2) the bile duct or pancreatic duct is not inserted, but the wall of the bile duct or the pancreatic duct is punctured, so that the puncture is caused, and if the puncture cannot be immediately discovered and treated, the life of the patient can be endangered.

In addition, in the image processing method of the endoscope in the prior art, light with different wavelengths is generally separated through a light splitting prism of the fluorescence endoscope, and besides common channels of red, green and blue, fluorescence is separately divided into channels to be sampled by an independent sensor, so that the obtained fluorescence signal has better and more accurate quality, and alternative sampling is not needed. The disadvantage is that the imaging device is complex and costly. When the visual guide wire is very thin and can only be used for placing one CMOS chip, the position of the beam splitter prism and the second CMOS chip is not placed, so that a common method cannot be adopted, and a fluorescence signal needs to be obtained through calculation of a specific algorithm.

Aiming at the huge risk of guide wire insertion in ERCP operation and the existing image processing difficulty, the invention provides an imaging controller host applied to a visual guide wire and an image processing method thereof, which are used for enhancing the image obtained by the visual guide wire, indicating the pancreatic duct and the bile duct in the image, avoiding the guide wire from entering the wrong direction, reducing the operation risk and difficulty and improving the operation safety.

Disclosure of Invention

Aiming at the problems in the prior art, the technical scheme adopted by the invention for solving the problems in the prior art is as follows:

an imaging controller host for use with a visualization guidewire: the imaging controller host comprises a control module, a power supply module and a light source module, imaging control software is operated on the control module, the power supply module is connected with an external power supply, the power supply module distributes power to the control module and the light source module, the light source module comprises two parts, one part is a common visible light white light source, under the irradiation of the white light source, the acquired image is a common image; the other part is a fluorescence light source with the wavelength of 750 and 810nm, and the obtained image is a fluorescence image under the irradiation of the fluorescence light source.

One side of the visual guide wire is an imaging end, the other side of the visual guide wire is a connector end, the imaging end obtains images through an optical lens, a protective layer wraps the visual guide wire, and the connector end is used for being connected with an imaging controller host.

The light source module in the imaging controller host is arranged in the visual guide wire, the lighting source and the focusing device are arranged in the visual guide wire, the lighting source is connected with the imaging controller host through a cable, and the power module of the imaging controller host is used for supplying power to the lighting source in the visual guide wire, so that illumination is realized.

The imaging controller host can acquire images in different modes by controlling different lighting modes of the light source module, and enhances the images through the image processing process, so that the images can indicate the pancreatic duct and the bile duct, indocyanine green needs to be injected into the body of a patient to serve as a fluorescent indicator before operation, the indocyanine green can be greatly enriched in the bile and cannot be enriched in pancreatic juice, and therefore fluorescence emitted by the indocyanine green under the irradiation of the fluorescent light source can serve as the indicator of the bile duct and the pancreatic duct.

Only by naked eyes to distinguish images of bile duct and pancreatic duct, the fluorescent signal is superposed on the common video signal, and the contrast is not obvious enough, so that an image processing method capable of enhancing the fluorescent contrast is provided by combining the control of different illumination modes of the light source, and the common visible light white light source and the fluorescent light source are alternately lightened, so that the fluorescent signal alternately appears in continuous images, and the image enhancement is realized.

The image processing method of the imaging controller host applied to the visual guide wire comprises the following steps:

step 1, the light source module is provided with two lighting modes: one is white light illumination, named mode a; the other is white light + fluorescent lighting, named mode B;

step 2, continuously lighting a white light source of the light source module, and intermittently flashing and lighting a fluorescent light source, namely intermittently displaying a mode A and a mode B in a lighting mode;

step 3, continuously acquiring an Nth image and an (N + 1) th image, wherein the two images are respectively in a mode A and a mode B, and because the two images are continuously acquired, targets in the images are basically unchanged, comparing the targets in the two images by using an algorithm, judging the difference of the same object in the two images, and judging the fluorescent part marked by indocyanine green, wherein the fluorescent part shows a larger difference in the two images; the unmarked part has small difference between the two images;

and 4, identifying the part marked by the fluorescent indicator in the image through the method so as to perform enhanced display, wherein the method for enhancing the display comprises the following steps: marking the outline of the stained portion of the fluorescent indicator, or indicating the stained portion with an arrow, a circle, or other special shape, or specially processing the image of the stained portion to render it a different color, or the like.

The specific process of comparing the targets in the two images by using the algorithm in thestep 3 is as follows:

step 3.1, two images are named image X and image Y, respectively. The resolution of the two is the same;

step 3.2, reducing the sizes of the two images to 1/16 which are original, namely reducing the sizes of the two images to 1/4 which are original in both the length direction and the width direction, and forming images X1 and Y1;

3.3, directly subtracting the X1 and the Y1 pixel by pixel to obtain a difference image Z1, and marking out an area with a difference value larger than a certain integer in the difference image, wherein the typical value of the integer is 32-64;

and 3.4, amplifying the image Z1 to 16 times of the original image (amplifying the image Z to 4 times of the original image in both the length direction and the width direction) to form an image Z, wherein the marked area in the Z is the fluorescence light-emitting part.

step 1, the light source module is provided with three lighting modes: one is white light illumination, named mode a; one is white light + fluorescent lighting, designated mode B, and the third is pure fluorescent lighting, designated mode C;

step 2, intermittently lighting a white light source and a fluorescent light source of the light source module, namely intermittently displaying the lighting mode as a mode A and a mode C;

step 3, continuously acquiring an Nth image and an (N + 1) th image, wherein the two images are respectively a mode A and a mode C, and the image acquired in the mode C only has fluorescence illumination, so that the illuminated position in the acquired image is the position with a fluorescence signal, and when algorithm comparison is carried out, the position range is directly marked in the image of the mode A, so that fusion marking of the images can be realized, and the purpose of image enhancement is achieved;

and 4, identifying the part marked by the fluorescent indicator in the image through the method so as to perform enhanced display, wherein the method for enhancing the display comprises the following steps: marking the outline of the stained portion of the fluorescent indicator, indicating the stained portion with an arrow, a circle or another special shape, or performing special processing on the image of the stained portion to make it appear in a different color, or the like.

step 2, intermittently lighting the white light, the fluorescent lighting and the pure fluorescent lighting of the light source module, namely intermittently displaying the lighting mode as a mode B and a mode C;

step 3, continuously acquiring an Nth image and an (N + 1) th image, wherein the two images are respectively a mode B and a mode C, and the image acquired in the mode C only has fluorescence illumination, so that the illuminated position in the acquired image is the position with a fluorescence signal, and when the algorithm is compared, the position range is directly marked in the image in the mode B, so that the fusion marking of the images can be realized, and the purpose of image enhancement is achieved;

The invention has the following advantages:

1. the visual guide wire is inserted into the pancreaticobiliary duct for imaging, the current situation that the ERCP operation depends on X-ray guidance is changed, the intubation is realized under the guidance of the image, the intubation safety can be improved, the risk is reduced, the X-ray irradiation time is reduced, and the safety of the whole operation is improved;

2. by introducing the imaging controller host and combining the image enhancement method, the images of the pancreatic duct and the bile duct can show more obvious contrast than that observed by naked eyes, the characteristic difference of the pancreatic duct and the bile duct is further improved, the positions of the pancreatic duct and the bile duct are accurately indicated, and the safety of the ERCP operation is improved.

Drawings

FIG. 1 is a first schematic diagram of a connection state of an imaging controller with a visual guide wire and a display device;

FIG. 2 is a first block diagram of internal modules of the imaging controller;

FIG. 3 illustrates an A + B mode image processing method according to the present invention;

FIG. 4 is a schematic diagram of a second state of connection of the imaging controller with a visualization guide wire and a display device;

FIG. 5 is a block diagram of the internal modules of the imaging controller;

FIG. 6 is a diagram illustrating an A + C mode image processing method according to the present invention;

wherein: 1-visual guide wire, 2-imaging controller host and 3-light source module.

Detailed Description

In the following, by way of example and with reference to the accompanying drawings, a technical solution of the present invention is further specifically described, as shown in fig. 1 and 2, an imaging controller host applied to a visual guide wire, the imaging controller host 2 is respectively connected to the visual guide wire 1 and a display device, the visual guide wire 1 includes an illuminating component and an imaging component, the visual guide wire is a very slender imaging probe, extends into the pancreatic bile duct, provides illumination and images, the visual guide wire is connected to the imaging controller host through a connector, the imaging controller host provides illumination to the visual guide wire, acquires image signals from the visual guide wire, processes the image signals through a control module in the imaging controller host, and outputs a final image to the display device, the imaging controller host includes a control module, a power module and a light source module, the control module runs imaging control software, imaging control software belongs to a relatively universal technology in the field, imaging control software is arranged on all medical endoscope image processors, the basic function is to acquire image information from a sensor and then transmit the image information to a display, but different manufacturers can perform different image processing according to requirements or add some additional functions, so that the imaging control software has different image processing capabilities according to specific requirements. The power supply module is connected with an external power supply and distributes power to the control module and the light source module, the light source module internally comprises two parts, one part is a common visible light white light source, and an acquired image is a common image under the irradiation of the white light source; the other part is a fluorescence light source of about 780nm, and the acquired image is a fluorescence image under the irradiation of the fluorescence light source.

As shown in fig. 4 and 5, thelight source module 3 in the imaging controller host is arranged inside the visual guide wire, the lighting source and the focusing device are arranged inside the visual guide wire, the lighting source is connected with the imaging controller host through a cable, and the power module of the imaging controller host is used for supplying power to the lighting source in the visual guide wire, so that illumination is realized.

The images of the bile duct and the pancreatic duct are distinguished only by naked eyes, and the fluorescent signals are superposed on the common video signals, so that the contrast is not obvious enough, and therefore, the image processing method capable of enhancing the fluorescent contrast is provided by combining the control of different lighting modes of the light source.

Example 1

As shown in fig. 3, an image processing method applied to an imaging controller host for visualizing a guide wire includes the following steps:

step 3, continuously acquiring an Nth image and an (N + 1) th image, wherein the two images are respectively in a mode A and a mode B, and because the two images are continuously acquired, targets in the images are basically unchanged, comparing the targets in the two images by using an algorithm, judging the difference of the same object in the two images, and judging the fluorescent part marked by indocyanine green, wherein the fluorescent part shows larger difference in the two images; the unmarked part has small difference between the two images;

and 4, identifying which parts in the image are marked by indocyanine green through the method so as to perform enhanced display, wherein the method for enhancing the display comprises the following steps: marking the outline of the indocyanine green-stained portion, indicating the stained portion with an arrow, a circle, or another special shape, or specially processing the image of the stained portion to render it in a different color, or the like.

and 3.4, amplifying the image of the Z1 to 16 times of the original image (amplifying to 4 times of the original image in both the length direction and the width direction) to form an image Z, wherein the marked area in the Z is the fluorescence light-emitting part.

Example 2

As shown in fig. 6, an image processing method applied to an imaging controller host for visualizing a guide wire includes the following steps:

step 3, continuously acquiring an Nth image and an (N + 1) th image, wherein the two images are respectively a mode A and a mode C, and the image acquired in the mode C only has fluorescence illumination, so that the illuminated position in the acquired image is the position with a fluorescence signal, and when the algorithm is compared, the position range is directly marked in the image of the mode A, so that the fusion marking of the images can be realized, and the purpose of image enhancement is achieved; the algorithm principle inembodiment 2 is the same as that inembodiment 1;

step 4, identifying which parts in the image are marked by indocyanine green through the method so as to perform enhanced display, wherein the method for enhancing the display comprises the following steps: marking the outline of the indocyanine green dye portion, or indicating the dye portion with an arrow, a circle or other special shapes, or specially processing the image of the dye portion to render it in a different color, etc.

Example 3

An image processing method of an imaging controller host applied to a visual guide wire comprises the following steps:

step 1, the light source module is provided with three lighting modes: one is white light illumination, named mode a; one is white light + fluorescent lighting, named mode B, and the third is pure fluorescent lighting, named mode C;

step 3, continuously acquiring an Nth image and an (N + 1) th image, wherein the two images are respectively in a mode B and a mode C, and the image acquired in the mode C only has fluorescence illumination, so that the illuminated position in the acquired image is the position with a fluorescence signal, and when algorithm comparison is carried out, the position range is directly marked in the image in the mode B, so that fusion marking of the images can be realized, and the purpose of image enhancement is achieved; the algorithm principle inembodiment 3 is the same as that inembodiment 1;

The scope of the present invention is not limited to the above-described embodiments, and it is apparent that those skilled in the art can make various modifications and variations to the present invention without departing from the scope and spirit of the invention. It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

Claims

1. An imaging controller host for visualizing a guidewire, comprising: the imaging controller host is respectively connected with a visual guide wire and a display device, the visual guide wire comprises an illuminating component and an imaging component, the visual guide wire extends into the pancreatic bile duct to provide illumination and image, the visual guide wire is connected with the imaging controller host through the connector, the imaging controller host provides illumination for the visual guide wire, and obtains image signals from the visual guide wire, processes the image signals through a control module in the imaging controller host, outputs the final image to display equipment, the imaging controller host comprises a control module, a power supply module and a light source module, imaging control software runs on the control module, the power supply module is connected with an external power supply to distribute the power supply to the control module and the light source module, the light source module comprises a visible light white light source and a fluorescent light source with the wavelength of 750 and 810 nm.

2. An imaging controller host for visualizing a guidewire as in claim 1, wherein: one side of the visual guide wire is an imaging end, the other side of the visual guide wire is a connector end, the imaging end obtains images through an optical lens, a protective layer wraps the visual guide wire, and the connector end is used for being connected with an imaging controller host.

3. An imaging controller host for visualizing a guidewire as in claim 1, wherein: the light source module in the imaging controller host is arranged inside the visual guide wire, the lighting source and the focusing device are arranged inside the visual guide wire, the lighting source is connected with the imaging controller host through a cable, and the power supply module of the imaging controller host is used for supplying power to the lighting source in the visual guide wire, so that illumination is realized.

4. An imaging controller host for visualizing a guidewire as in claim 1, wherein: indocyanine green is employed as a fluorescent indicator.

5. The image processing method of an imaging controller host applied to a visualization guidewire as set forth in any one of claims 1 to 4, comprising the steps of:

step 3, continuously acquiring an Nth image and an (N + 1) th image, wherein the two images are respectively acquired in a mode A and a mode B, comparing targets in the two images by using an algorithm, and judging the difference of the same object in the two images;

and 4, identifying the part marked by the fluorescent indicator in the image through the method so as to perform enhanced display, wherein the method for enhancing the display comprises the following steps: the outline of the stained portion of the fluorescent indicator is marked, or the stained portion is indicated by an arrow, a circle or other special shape, or the image of the stained portion is specially processed to take on a different color.

6. The image processing method of the imaging controller host applied to the visualized guide wire according to claim 5, wherein the specific process of comparing the targets in the two images by using the algorithm in the step 3 is as follows:

step 3.1, respectively naming the two images as an image X and an image Y, wherein the resolution ratios of the two images are the same;

3.3, directly subtracting the X1 and the Y1 pixel by pixel to obtain a difference image Z1, and marking out a region with a difference value larger than a certain integer in the difference image, wherein the typical value of the integer is 32-64;

and 3.4, amplifying the image Z1 to 16 times of the original image, namely amplifying the image Z to 4 times of the original image in both the length direction and the width direction to form an image Z, wherein the marked area in the Z is the fluorescence light-emitting part.

7. An image processing method of an imaging controller host for visualizing a guidewire as in any of claims 1-4, comprising the steps of:

step 3, continuously acquiring an Nth image and an (N + 1) th image, wherein the two images are respectively acquired in a mode A and a mode C, the image acquired in the mode C only has fluorescent illumination, the illuminated position in the acquired image is the position with a fluorescent signal, comparing the two images by using an algorithm, and directly marking the illuminated position range in the image in the mode C in the image in the mode A to realize the fusion marking of the images so as to achieve the purpose of image enhancement;

and 4, identifying the part marked by the fluorescent indicator in the image through the method so as to perform enhanced display, wherein the enhanced display method comprises the following steps: the outline of the stained portion of the fluorescent indicator is marked, or the stained portion is indicated by an arrow, a circle or other special shape, or the image of the stained portion is specially processed to take on a different color.

8. The image processing method of an imaging controller host applied to a visualization guidewire as set forth in any one of claims 1 to 4, comprising the steps of:

step 3, continuously acquiring an Nth image and an (N + 1) th image, wherein the two images are acquired in a mode B and a mode C respectively, the image acquired in the mode C only has fluorescent illumination, the illuminated position in the acquired image is a position with a fluorescent signal, comparing the two images by using an algorithm, and directly marking the illuminated position range in the image in the mode C in the image in the mode B to realize the fusion marking of the images so as to achieve the purpose of image enhancement;