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US 12,733,800 B2Granted
Capsule endoscope, endoscope system and image correction method
AssigneePro-Sight Medical Technology CORP.,LTD.
InventorsSheng Wen Huang, Ai-Ke Huang, Jr-Je Chuang, Hsiao-Chun Hsu, Ya-Hsuan Lee
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Abstract
A capsule endoscope, an endoscope system, and an image correction method are provided. The capsule endoscope includes an image sensor and a posture sensor. The image sensor is coupled to a processor and obtains a sensed image. The posture sensor is coupled to the processor and obtains three-axis data. The processor calculates a screen rotation angle according to the three-axis data and corrects the sensed image according to the screen rotation angle. A first axis and a second axis of the corrected sensed image rotate toward an actual vertical axis and an actual horizontal axis.
Claims12
A capsule endoscope comprising:
- an image sensor coupled to a processor and obtaining a sensed image;
- and
- a posture sensor coupled to the processor and obtaining three-axis data,
- wherein the processor calculates a screen rotation angle according to the three-axis data and corrects the sensed image according to the screen rotation angle, wherein a first axis and a second axis of the corrected sensed image rotate toward an actual vertical axis and an actual horizontal axis,
- wherein a sensing axis of the image sensor is equal to a Z axis of the posture sensor,
- wherein the processor calculates sensing axis data of the capsule endoscope according to the three-axis data, and the processor determines whether an included angle between a sensing axis of the capsule endoscope and the actual vertical axis is greater than an angle threshold value to determine whether to correct the sensed image, wherein the angle threshold value is a not-zero angle threshold value,
- wherein when the processor determines that the included angle between the sensing axis and the actual vertical axis is smaller than or equal to the angle threshold value, the processor maintains the screen rotation angle of the sensed image,
- wherein when the processor determines that the included angle between the sensing axis and the actual vertical axis is greater than the angle threshold value, the processor calculates a new screen rotation angle and rotates the sensed image according to the new screen rotation angle.
5 more elements
An endoscope system comprising:
- a computer device comprising a display device;
- and
- a capsule endoscope coupled to the computer device and comprising:
- an image sensor coupled to a processor and obtaining a sensed image;
- and
- a posture sensor coupled to the processor and obtaining three-axis data,
- wherein the processor calculates a screen rotation angle according to the three-axis data and corrects the sensed image according to the screen rotation angle, wherein a first axis and a second axis of the corrected sensed image rotate toward an actual vertical axis and an actual horizontal axis of the posture sensor,
- wherein the processor outputs the corrected sensed image to a display device of the computer device, so that the display device displays the corrected sensed image,
- wherein a sensing axis of the image sensor is equal to a Z axis of the posture sensor,
- wherein the processor calculates sensing axis data of the capsule endoscope according to the three-axis data, and the processor determines whether an included angle between a sensing axis of the capsule endoscope and the actual vertical axis is greater than an angle threshold value to determine whether to correct the sensed image, wherein the angle threshold value is a not-zero angle threshold value,
- wherein when the processor determines that the included angle between the sensing axis and the actual vertical axis is smaller than or equal to the angle threshold value, the processor maintains the screen rotation angle of the sensed image,
- wherein when the processor determines that the included angle between the sensing axis and the actual vertical axis is greater than the angle threshold value, the processor calculates a new screen rotation angle and rotates the sensed image according to the new screen rotation angle.
9 more elements
An image correction method, suitable for a capsule endoscope, wherein the capsule endoscope comprises an image sensor and a posture sensor, wherein the image correction method comprises:
- obtaining a sensed image through the image sensor;
- obtaining three-axis data through the posture sensor;
- calculating a screen rotation angle according to the three-axis data;
- and
- correcting the sensed image according to the screen rotation angle, wherein a first axis and a second axis of the corrected sensed image rotate toward an actual vertical axis and an actual horizontal axis of the posture sensor,
- wherein correcting the sensed image comprises:
- calculating sensing axis data of the capsule endoscope according to the three-axis data;
- and
- determining whether an included angle between a sensing axis of the capsule endoscope and an actual vertical axis is greater than an angle threshold value according to the sensing axis data to determine whether to correct the sensed image, wherein the angle threshold value is a not-zero angle threshold value,
- maintaining the screen rotation angle of the sensed image when the included angle between the sensing axis and the actual vertical axis is smaller than or equal to the angle threshold value;
- and calculating a new screen rotation angle and rotating the sensed image according to the new screen rotation angle when determining that the included angle between the sensing axis and the actual vertical axis is greater than the angle threshold value.
8 more elements
Dependencies are inferred from the claim text.