Endoscope-catheter cooperative control and anchoring optimization system

By using an endoscope-catheter collaborative control and anchoring optimization system, images and pose sequences are acquired, features are extracted and fused, and collaborative control of the endoscope and catheter is achieved. This solves the problems of lost field of vision and accidental injury during endoscopic examinations, and improves examination efficiency and safety.

CN121667601AActive Publication Date: 2026-03-17THE PEOPLES HOSPITAL SHAANXI PROV
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Patent Information

Application Number
CN202511856665.7
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-12-10
Publication Date
2026-03-17
Estimated Expiration
2045-12-10

AI Technical Summary

Technical Problem

During endoscopic examinations, doctors often struggle to simultaneously control the endoscopic field of view and the catheter position, leading to loss of field of view or accidental damage to target tissue by the catheter, reducing examination efficiency and increasing operational risks.

Method used

The endoscope-catheter collaborative control and anchoring optimization system acquires image sequences and catheter pose sequences, extracts features, fuses the feature results, and collaboratively controls the pose of the endoscope and catheter to ensure that the catheter is within the endoscope's field of view.

Benefits of technology

It improves the matching degree between the endoscopic field of view and the catheter area, reduces the probability of field loss and catheter injury, improves examination efficiency and reduces operational risks.

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Abstract

The invention relates to the crossing field of medical imaging and minimally invasive medicine, and discloses an endoscope-catheter cooperative control and anchoring optimization system which comprises an acquisition module used for continuously acquiring an image sequence through an endoscope and continuously acquiring a pose sequence of a catheter in the process of probing a target tissue through the endoscope and the catheter; the feature extraction module is used for performing feature extraction on the image sequence to obtain an image feature set corresponding to the image sequence, and performing feature extraction on the pose sequence to obtain a pose feature set of the catheter; the feature fusion module is used for fusing the image feature set and the pose feature set to obtain a feature fusion result; and the cooperative control module is used for determining a control signal based on the feature fusion result, and cooperatively controlling the anchoring posture of the catheter and the endoscope posture of the endoscope based on the control signal until the catheter is located in the visual field range of the endoscope. According to the scheme, the probability that the catheter is lost in endoscope view and accidentally hurts target tissue can be reduced.
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