vSLAM 3 A ENDOSCOPIC DEVICE CAPABLE OF MEASURING OF THREE DIMENSIONAL INFORMATION OF LESION AND SURROUNDING TISSUE USING VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING TECHNIQUE METHOD USING THEREOF

摘要

The present invention relates to an endoscopic device capable of measuring three-dimensional information of a lesion and a surrounding tissue using a vSLAM technique, and more particularly, to an endoscopic device capable of measuring three-dimensional information of a lesion and a surrounding tissue using a vSLAM technique A visible light source illuminating unit provided at a tube end of the endoscope apparatus for illuminating a visible light source for acquiring an image of a body; A rangefinder information measuring unit provided at a tube end of the endoscope apparatus for measuring distance meter information of a tube end of the endoscope apparatus; A camera unit for receiving visible light source information of a continuous image of a surrounding tissue including a lesion inside the body; Dimensional information of a surrounding tissue including a lesion inside the body and a position of an endoscope from a continuous image photographed by the camera unit and distance measurement information measured by the distance measurement information measuring unit, And a numerical analysis processing unit for calculating depth information.According to an endoscopic device capable of measuring three-dimensional information of a lesion and a surrounding tissue using the vSLAM technique proposed in the present invention and a lesion measurement method using the endoscopic device, the endoscope device can be miniaturized And the position of the endoscope and the 3D information of the lesion and surrounding tissues from the motion image of the continuous image and the endoscope taken while the endoscope is being operated. It is possible to collectively measure the exact position, size and shape of the lesion from the 3D image information irrespective of the proficiency of the practitioner of the individual or the medical institution.Further, according to the present invention, visible light source information and distance meter information of a continuous image photographed while performing an endoscope are used, and the device can be downsized and simplified to the same level as existing endoscopes.In addition, according to the present invention, the accuracy of the length information of the surrounding tissue including the lesion can be further improved by estimating the three-dimensional information of the lesion and the surrounding tissue and the position of the endoscope through numerical analysis processing.