Endoscope-catheter collaborative control and anchoring optimization system

CN121667601BActive Publication Date: 2026-06-09THE PEOPLES HOSPITAL SHAANXI PROV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
THE PEOPLES HOSPITAL SHAANXI PROV
Filing Date
2025-12-10
Publication Date
2026-06-09

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 and accidental damage to target tissue by the catheter, thus 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 application relates to the field of medical imaging and minimally invasive medicine, and discloses an endoscope-catheter cooperative control and anchoring optimization system, which comprises the following modules: an acquisition module, which is used for continuously acquiring an image sequence through an endoscope and continuously acquiring a pose sequence of a catheter during the exploration of target tissue by the endoscope and the catheter; a feature extraction module, which is used for extracting features of the image sequence to obtain an image feature set corresponding to the image sequence, and extracting features of the pose sequence to obtain a pose feature set of the catheter; a feature fusion module, which is used for fusing the image feature set and the pose feature set to obtain a feature fusion result; and a cooperative control module, which is used for determining a control signal based on the feature fusion result, and cooperatively controlling an anchoring pose of the catheter and an endoscope pose of the endoscope based on the control signal until the catheter is located within the field of view of the endoscope. The scheme can reduce the probability of the loss of the catheter in the field of view of the endoscope and the damage of the target tissue by the catheter.
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