ENDOSCOPIC LIDAROSCOPE SYSTEM
Patent Information
- Authority / Receiving Office
- TR · TR
- Patent Type
- Patents
- Current Assignee / Owner
- RİCON İLETİŞİM ANONİM ŞİRKETİ
- Filing Date
- 2023-02-07
- Publication Date
- 2026-06-22
Smart Images
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Abstract
Description
1 TARIFF ENDOSCOPIC LIDAROSCOPE SYSTEM Technical Area The invention has applications in all areas of modern medicine, including diagnostic and interventional endoscopic procedures. For use during the procedure, the length, width, height, and width of the target anatomical structures are measured. depth, area, volume, and distance information to neighboring structures are real-time data. can present the examined area to the user in real time, in 3D. an endoscopy system that, by mapping, can allow navigation in all planes It is related to. The invention specifically addresses the optical and mechanical aspects used in conventional endoscopic examination. In addition to the components, lidar sensors and scanners, gyroscopes and data processing stations It relates to a system that includes. State of the Art Currently, endoscopes can only perform qualitative examinations. and endoscopic examination findings, evaluations by the user performing the procedure 15 Consequently, it is recorded subjectively. A standard rigid or flexible The dimensions of an anatomical structure visualized using a (flexible) endoscope, It is not possible to determine its area and volume quantitatively and accurately. For example, rigid endoscopes can be used to examine the nasal and laryngeal airways or the urinary system. During the examination, the distance between the tip of the endoscope and the anatomical structure varies by 20 degrees. Therefore, the dimensions of the structure or pathological lesion vary in different positions. It is evaluated. As you get closer, the size of the object being examined appears larger, and as you move away, it appears smaller. It is visible. In addition, a wider field of view can be obtained with flexible endoscopes. For this purpose, the fish-eye format is used. This format allows for a two-dimensional view of the object being examined. This leads to distortion in the image. The central and peripheral parts of the image are of equal size. 25 Even if they have them, due to this distortion, the central part will be larger. It appears in this way. Therefore, in such an examination, the dimensions of an object are objective and It is not possible to make a realistic assessment. Again, due to similar limitations... Therefore, the anatomical structure being examined may have a connection to the endoscope or to adjacent vital structures. It is also not possible to measure the distance. Organs such as the stomach, intestines, and bladder 30 located in the mucosa lining the surface of the cavities or just beneath the mucosa 2 During the examination of pathological conditions, the area, volume, and depth of the lesion being examined are also considered. It is not possible to obtain quantitative data regarding its height or even the examination. Due to their two-dimensional nature, these types of lesions can often be overlooked. Various approaches have been developed in the medical literature to transform qualitative endoscopy into quantitative endoscopy. Methods have been proposed. Among these methods, 'comparative measurement', used for the first time, is 5 This method uses a measuring instrument placed near the target lesion. An object of known dimensions is used. The target lesion is compared with the object. By doing this, an attempt is made to approximately estimate the size of the lesion. The object of measurement... such as biopsy forceps, surgical instruments, or silicone objects with scales. It can be used. This method is the most frequently used method, but the object to be compared must be 10 It is necessary for the target anatomical structure to be within the same endoscopic field of view. Additionally... The forceps and similar surgical instruments to be used must have high metric precision. failure to achieve results, prolonged procedure time, and bleeding during the procedure, It can lead to complications such as perforation. Related to area and volume. It is not possible to obtain information. The quantitative measurements obtained are also 15 It varies from user to user. Other methods used to determine the dimensions of anatomical structures examined endoscopically. One method is the use of image processing techniques. The first of these techniques... The method used is called shape from shading, which involves taking a single image of the target object. Thanks to gradual shading, it is possible to reveal the three-dimensional structure of the object. It is an algorithm aimed at light projection. However, it was later developed and... Triangulation is performed using the fringe-pattern photogrammetry method. The data obtained has been reported to be much more accurate and reliable. Fringe pattern In this method, a series of images are placed on an anatomical structure visualized by endoscopy, and 25 by reflecting a grid or lattice pattern of strips that intersect each other perpendicularly. Photographs are taken. Then the photographs are analyzed, and the object being examined, its size, Length, height and depth are determined based on variations in the lengths of these strips. The results are calculated after the endoscopy procedure, following time-consuming analyses. This allows measurements to be taken in structures with limited size and volume, and provides suitable light and... a 30 with limitations such as needing parameters like high image clarity It is a technique. Also, in an endoscopic image, an indistinct shape observed in an anatomical structure. (non-distinguishing) features in addition to similar color and texture details Therefore, the correlative points required for triangulation are detected automatically. It may not be possible and the measurements may fail. In addition to all this, tubular measurements may not be obtained using this method. 3 Measurement accuracy due to distortion of the scale reflected in the structured organs. It cannot be protected. Another method involves using an electromagnetic tracker (tracking sensor) in conjunction with another device. Using a standard monocular endoscope, the correlative points are manually determined. It has been reported that the lengths of endoscopic images can be measured, provided that this is specified. 5 For this, the measurement geometry must be stable and suitable for taking measurements. It is necessary. Furthermore, area and volume measurements cannot be made using this method. This technique... Other limitations include potential sensor error and manual marking during operation. Correspondence point determination error, the coordinates of the endoscope and the tracer sensor. There are drawbacks such as integration errors. 10 Another method used to determine the dimensions of the target anatomical structure is stereotype. This is a dual endoscope method. In this method, two cameras are used. Stereo-optical images are obtained using the photogrammetry method. This image is called... The triangulation method is applied and the width and length of the anatomical structures being visualized are measured. The aim is to measure them after the process. The biggest disadvantage of this method is that 15 The endoscopy procedure needs to be interrupted in order to take the measurement. Also... In order to accurately measure the width and height of objects, the objects must be placed on both sides. They must also be in the endoscope's field of view at the same time. Another method involves two monocular endoscopes and one optical ToF (Time of Flight) probe. Determining the 3D coordinates of anatomical structures using a sensor 20 This method, which has been experimentally proposed, aims to study pigs in vitro. His stomach was examined, and the ToF sensor performed a certain number of operations per unit time during the examination. correlation between changes in position and changes in the size of the displayed image When constructing, two known dimensions are also inserted into the specification to create a metric reference. Reference points were manually selected by placing plastic cubes or scales, and 25 However, measurement accuracy can only be achieved from a minimum working distance of 3 cm. It has been reported that this method also requires a reference object, a manual reference point. selection and clear visualization of the area being examined simultaneously from both endoscopes. It has limitations, such as the need to be done. On the other hand, Lidar is an acronym for "light detection and ranging". It is an abbreviation. It refers to sending light onto a surface and then detecting the reflected light again. It means distance measurement by means of laser scanning or three-way scanning. In everyday use, it refers to distance measurement by means of laser scanning or three-way scanning. Terms such as three-dimensional scanning are also used. 4 Lidar uses a laser to create a three-dimensional representation of the environment or object being examined. Lidar beams are used in automotive, unmanned aerial vehicles, drones, and mapping. And it is used in many different industrial fields. Lidar consists of a scanner and a sensor. The first In cartography, thanks to lidar scanners and sensors mounted on an aircraft, a the structures, elevations, valleys and their heights on the surface of a geographic area, 5 obtaining depth and area information and processing this information in two and three dimensions. It was used to enable its transfer to maps. This measurement is called Time of Flight (ToF). It is based on the principle. Optical cameras, radar, and Lidar scanners use the ToF principle. Mapping is possible, but Lidar has obvious limitations compared to radar or optical camera sensors. They have advantages. Radar and camera sensors have blind spots. Cameras have a field of view of 10 in restricted weather conditions or in darkness where there is insufficient lighting These environments have blind spots, and measurement accuracy is compromised in these environments. It is not. Radar technology, on the other hand, has multiple blind spots and its technology cannot accurately detect objects. It has not yet reached the sensitivity that would allow it to be defined as such. The lidar scanner detects pulsatile particles in the environment. It emits laser beams. These beams reflect off surrounding objects and return to the Lidar sensor. It rotates. Lidar sensors, on the other hand, do not need ambient light to see, and the scanner During the time it moves within the environment, Fov (field of motion) occurs millions of times every second. (view) refreshes the field of view, overlaps these areas, and eliminates blind spots. The sensor monitors the time it takes for each laser pulse to return to the sensor. It calculates the distance traveled by the laser beam. This process takes 20 seconds. It is repeated millions of times and creates a real-time 3D map of the object or environment. are extracted. Furthermore, with the help of a computer connected to the Lidar sensor, these 3 Navigation within the examined environment is possible using a three-dimensional map. It is possible. With proper placement of lidar scanners, the number of scanners in the area being examined is 25. A 360-degree, 3D virtual environment, including the area opposite to the direction of movement. An environment can be created. In 2D or 3D stereo cameras, between an object and a scanner... The distance or dimensions and volume of an object can only be estimated or determined using reference points. It can be predicted using triangulation methods. Lidar technology is used in liquids. Even on a single surface, by changing the wavelengths of the selected laser source, both 30 It can scan both the liquid surface and the underlying surface. Lidar scanners have been used to date... Distance, depth, and size with a precision unattainable by any camera system. Measurements can be taken. Lidar scanners will soon be available in sizes suitable for use on mobile phones and tablets. Improved and software-supported three-dimensional rendering of all structures in the inspection areas. It can instantly present the image and all quantitative data related to that image to the user. It has been brought. Today, endoscopy allows for real-time examination or procedure in 5 days. a reference point or not affected by user changes or user errors without requiring a knitting pattern, during processing within the target area being examined or a method that subsequently allows navigation on a 3D map It is not available. In conclusion, due to the negative aspects described above and the current solutions regarding topic 10 Due to its shortcomings, an improvement is needed in the relevant technical field. It has been made. The purpose of the invention The invention was created by drawing inspiration from existing situations and overcoming the aforementioned drawbacks. It aims to solve it. 15 The main purpose of the invention is to provide real-time imaging during endoscopic examination or procedure. as, reference, unaffected by user changes or user errors. processing within the target area being examined, without requiring a specific point or mesh pattern. a 3D map that allows navigation during or after the event The goal is to design a system. 20 Another purpose of the invention is to address current applications in mapping, autonomous vehicle safety, and mobile technology. Lidar is being successfully used in areas such as augmented reality on phones. a technology that for the first time combines standard rigid and flexible endoscopy technology The goal is to develop a system. Another aim of the invention is to enable endoscopic visualization of all body cavities and 25 a rigid or A series of gyroscopes designed to be integrated into the flexible endoscopic camera system, with scanners and sensors, and real-time data obtained from these sensors. a processor that analyzes and allows the user to select the operations they want to perform. The goal is to create a system that includes an interface, a data storage unit, and a touchscreen. 30 6 In each of the body cavities where diagnostic or interventional endoscopy is performed, the distance, Area, volume, and surface topography are of critical importance. The invention offers advantages over existing conditions. It was created based on inspiration and aims to solve the aforementioned problems. All rigid and flexible endoscopes to be produced will feature integrated Lidar scanners and sensors. This will allow the entire area being examined endoscopically, even the endoscope 5 Even areas outside the field of view can be seen simultaneously thanks to Lidar scanners. as a basis, a 3D map can be created and a database for statistical analysis. This will be possible. Since all devices will have Lidar scanners, the devices will be Lidaroscopes. The endoscopes to be produced will be named according to the fields in which they will be used. It will be named in a way that reflects the characteristics of the system. Instead of esophagus, 10 esophageal-lidaroscope, gastro-lidaroscope instead of gastroscope, laryngoscope instead of laryngoscope Instead of a lidaroscope or colonoscopy, a colono-lidaroscope will be used. This will be done by specialists from different fields. quantitative evaluation in endoscopic examinations to be performed by physicians The importance and advantages of lidaroscopes are summarized below. 1) Ear, Nose and Throat / Otology: 15 Tympanic membrane perforations: Currently, infectious or traumatic tympanic membrane perforations occur. The size of membrane perforations is compared to the integrity of the tympanic membrane. It is estimated and assumed. Stereoscopic ear microscope, rigid in all oto-endoscopes or 3D endoscopic or microscopic examinations The size of the perforation is thus calculated. Furthermore, this method allows for calculations of 20. Even if performed by the same user, the distance of the endoscope from the target tissue or the method used may differ depending on the endoscope's position. Parameters such as the microscope's magnification value are also affected. Treatment planning, from the perspectives of appropriate graft size selection and medicolegal documentation, lidaroscopy Using this, both the numerical value of the perforation width and the area it covers can be determined. It will be possible to identify it accurately. 25 Otosclerosis Surgery: Surgery between the base of the otosclerotic stapes and the long arm of the incus. The length of the prosthesis to be implanted varies from patient to patient. Therefore, this... A metal scale, found among surgical instruments, is used to measure distance. This A scale is a device with notches, and these notches are graded in radial and circular planes. It consists of a rod through which the distance rises. With a lidaroscope, this distance is measured instantaneously in mm 30 This will allow for measurement and thus make it possible to select the appropriate size prosthesis. Potential to cause serious morbidity during mastoid and middle ear surgery dehiscent facial canal, facial canal passing through the oval window, dehiscent 7 Significant changes in middle ear and mastoid mucosal topography, such as the presence of a semicircular canal. changes that can be detected by microscopic or endoscopic methods Clinical conditions that are difficult to detect elsewhere can be identified instantly when using a lidaroscope. this can be done and the surgeon has the opportunity to prepare and plan the treatment. will be able to find 5 2. Ear, Nose and Throat / Laryngology In the presence of space-occupying lesions within the larynx (raised, sessile lesions on the mucous surface, (polypoid, vegetative, or ulcerative lesions forming areas in the mucosa) these lesions a standard measurement method for documenting size and volume It is not found. The endoscopist usually finds the glottic opening or the length of the vocal cords 10 and width, for example, are actually not constant in every patient and vary, like the reference point. It estimates the size and volume based on the measurements. Treatment The condition of the lesion before and after is compared using photographs. When a lidar scope is used, the length and width of these lesions are measured before and after treatment. Precise measurements of depth, height, area covered, and volume will be obtained. 15 In addition, the topography of the vocal cords and other structures of the larynx can be determined in real time and Early detection is possible thanks to accurate evaluation and screening. adynamic vocal cord segments caused by non-yielding submucosal masses or Submucosal swellings will be clearly identified. In addition, The subglottic space, which is difficult to visualize with conventional methods, is located below the vocal cords. Lidaroscopy is used to evaluate the surface of the body, including the trachea and even the carina. This will allow for the visualization of subglottic lesions that cannot be seen with classical indirect laryngoscopy. Stenotic segments, tracheal strictures, or masses can be detected in time. 3. Ear, Nose and Throat / Nasal endoscopic procedures: In the current technique, during endoscopic sinus surgery, the distance between the tip of the nose and the base of the skull is 25° Various surgical instruments are used to measure the distance between the marked points. Instruments are measured using a ruler. When a lidarscope is used, this information is obtained instantly and clearly. This can be presented to the surgeon. In addition, intranasal space occupies space and is presented from front to back in standard endoscopic approaches. Apart from the volume and size of the lesions that could be evaluated, the 30 located in the posterior part Detection of pathologies will also be possible thanks to the lidaroscope. 8 When used, during endoscope passage, both the uncinate gland located in the lateral nasal wall... the process and the relationship between the orbital medial wall, the presence of both natural and accessory ostium, and information such as their size, as well as the position and size of the frontal recesses, is provided to the user. It will be able to provide it in real time. 4. Ear, Nose and Throat / Sialoendoscopy: 5 Lidaroscope provides information about the diameter and size of the calculus located within the salivary gland duct. By using this information, it becomes possible to select the appropriate instrument for calculating the calculus. will be. 5. Gastroenterology: During endoscopy of both the esophagus and stomach, as well as the colon, 10 The size and volume of intraluminal lesions make them difficult to detect in the aqueous environment. Submucosal irregularities can be easily detected with lidaroscopes that have aqueous penetration. can be detected. In addition, luminal structures evaluated with lidaroscopes are also within By approaching the subject from different angles, it will be possible to perform 3D virtual navigation. 6. Urology: 15 Lesions that occupy space within the ureter, urethra, or bladder, or mucosal lesions. Detection of ulcers and submucosal masses and measurement of their size and volume using a lidaroscope. It will be able to be evaluated in real time and objectively. 7. Laparoscopic surgery: The size and characteristics of pathologies detected in the thorax and abdomen. their volumes, their distances from vital structures, and the surgical distance between them and vital structures. Whether or not a cleavage plan exists can be determined using a lidaroscope. For the purposes described above, the invention may be used for endoscopic examination or During the process, in real time, from user changes or user unaffected by errors, requiring no reference point or knitting pattern, examined 25 within the target area, during or after the operation, on a 3D map. It is a system that allows navigation. Accordingly, the system; the lidar scanner on it that enables the endoscopy procedure to be performed, The three-dimensional view of the area examined with the help of telescopes equipped with sensors enabling the acquisition of images from the patient for the creation of an image map. endoscope, 30 9 lidar found on the endoscope mentioned, lidar found on telescopes Calculates size, area, volume, and distance outputs from data received from the scanner. lidar processor, Data originating from the lidar scanner and extending to the lidar processor, as determined by the user. touch-sensitive lidar scanner screen that allows analysis, 5 processing the images obtained from the aforementioned endoscopes in a digital environment and videoendoscope that allows the image to be viewed in video format processor, sent by the aforementioned endoscope to the video endoscope processor The screen used to display images is the video endoscope screen, 10 object image obtained from endoscope and digital images obtained from lidar scanners cable that transfers data to the video endoscope processor and lidar processor It includes. The structural and characteristic features and all the advantages of the invention are given in the figures below and 15 This becomes clearer thanks to the detailed explanation written with references to these figures. This will be understood as such, and therefore the evaluation will also take these forms and detailed explanations into account. This should be done taking that into consideration. Ways to Help Understand the Discovery Figure 1 shows a schematic view of the lidaroscope system that is the subject of the invention. 20 Figure 2 shows a right oblique view of a lidaroscope with a rigid or flexible endoscope. Figure 3 shows a side view of the lidaroscope rigid telescope. Figure 4 shows a side view of the lidaroscope flexible telescope. Explanation of Part References: 11. Video endoscope screen 25 12. Lidar scanner screen 13. Endoscope 14. Connection unit 15. Lidar processor 16. Video endoscope processor 21. Endoscope shaft 22. Lidar sensors 23. Lidar scanners 5 24. Cold light 25. Camera 31. Rigid telescope shaft 32. Rigid telescope lidar scanner 33. Rigid telescope lidar sensor 10 34. Rigid telescope protective windscreen 35. Cold light carrier 36. Optical lens 37. Spacer adapter 38. Rigid telescope data cable 15 39. Gyroscope 41. Flexible telescope shaft 42. Flexible telescope lidar scanner 43. Flexible telescope lidar sensor 44. Flexible telescope protective windscreen 20 45. LED light source 46. Camera optics 11 47. Flexible telescope camera 48. Camera power cable 49. LED power cable 410. Flexible telescope data cable 411. Flexible telescope gyroscope 5 Detailed Description of Find In this detailed explanation, the system in question, the preferred configurations, are only those that are the subject of the invention. This is explained to facilitate a better understanding of the subject. The invention allows the user to view endoscopy examinations or procedures in real time. unaffected by changes or user error, reference point or mesh 10 during processing within the target area being examined, without requiring a pattern or It is a system that subsequently allows navigation on a 3D map. Figure-1, Figure-2, Figures 3 and 4 show schematic representations of the system in question. According to the system, it has a lidar scanner that enables the endoscopy procedure to be performed. and three-dimensional image of the area examined with the help of telescopes equipped with sensors 15 endoscope (13) that enables the patient to take images for the creation of a map. lidar found on the mentioned endoscope (13) lidar found on the telescopes Lidar calculates size, area, volume, and distance outputs from data received from the scanner. The processor (15) transmits the data coming from the lidar scanner to the lidar processor (15), user touch-enabled lidar scanner screen (12), which allows analysis by 20 digital processing of images obtained from the mentioned endoscopes (13) and videoendoscope processor that allows the image to be viewed in video format (16) sent by the mentioned endoscope (13) to the videoendoscope processor (16) The screen used to display images is the video endoscope screen (11), from the endoscope (13) The acquired object image and the digital data obtained by lidar scanners are shown in videoendoscope 25 It includes a cable (14) that transmits to the processor (16) and the lidar processor (15). In the preferred application of the system, the mentioned endoscope (13) is rigid or flexible. It can be characterized as an endoscope. Figure 2 shows a rigid or flexible endoscope. A right-angled view is provided. The 30 mentioned in the preferred application of the system. endoscope (13); 12 Includes all endoscopes currently in use, whether flexible or rigid. an endoscope is a protective outer unit made of steel or plastic that carries the components. shaft (21), necessary for obtaining a three-dimensional image map of the environment being examined Lidar scanners that enable the emission of laser beams (23), 5 laser beams sent by the mentioned lidar scanners (23) Depending on variables such as turnaround times, turn angles, etc., the examined collecting the data needed to create a three-dimensional image map of the area lidar sensors (22), a 10 that allows the user to visually see the area being examined clearly. cold light source transmits the light from the cold light source to the end of the endoscope (13) carrier (24), The image is transmitted directly to an integrated camera chip or via lenses the image is transferred to an external camera chip and, under suitable lighting conditions, a color image is produced. camera (25) 15 that can be taken It includes. A rigid endoscope that can be used in one of the system's preferred applications. A schematic view of the rigid telescope located on it is given in Figure 3. Accordingly, rigid telescope; 20 Steel and / or cylindrical structures that house and protect the internal structures of a rigid telescope telescope shaft in the structure (31), Lidar scanners that emit laser beams necessary for lidar scanning into the environment (32), The return of laser beams emitted into the environment by the lidar scanners mentioned (32) 25 for creating a three-dimensional image map of the area examined with its return. rigid telescope lidar sensor (33) that collects the required data, camera (25) on the endoscope (13), cold light source and rigid The telescope lidar scanner (32) can reach the environment without obstruction and rigid Rigid telescope guard that protects the structures inside the telescope. glass (34), 30 The light from the cold light source on the endoscope (13) is directed to the end of the rigid telescope cold light carrier (35), which carries part of it, Transferring the image from the tip of the rigid telescope to a video camera chip optical lens (36), 13 placed between the mentioned optical lenses (36) and allowing a gap to be left spacer device (37), instantaneous position change, speed, angular rotation data of the endoscope (13) tip and three the task of mapping the movements it performs in a three-dimensional environment gyroscope (39), 5 with rigid telescope lidar scanner (32), rigid telescope lidar sensor (33) and gyroscope (39) Rigid telescope data cable providing data communication between lidar processor (15) (38) It includes. A rigid endoscope that can be used in one of the system's preferred applications. A schematic view of the flexible telescope located on it is given in Figure 4. according to flexible telescope; The flexible telescope has an inner steel structure that houses and protects the internal structures, and an outer steel structure. Flexible telescopic shaft 15, which is a cylindrical structure made of plastic, flexible and bendable. (41), Lidar is a flexible telescope that emits laser beams into the environment, which is necessary for lidar scanning. browser (42), laser emitted into the environment by the mentioned flexible telescope lidar scanner (42) 20 three-dimensional image map of the area studied by the return of the rays lidar sensors collect the data needed to create a flexible telescope. lidar sensor (43), The camera (25) on the endoscope (13), cold light source and flexible the telescope lidar scanner (42) can reach the environment without any obstruction and rigid telescope 25 which ensures the protection of structures inside a flexible telescope protective windscreen (44), LED light source that provides illumination of the examined environment (45), A camera that captures the image of the environment being examined and transmits it to a camera processor. optics (46), Flexible telescope that enables the conversion of the obtained image into digital format 30 camera (47), (CCD CMOS) camera power cable (48) which transmits the necessary power for the mentioned camera, LED power cable (49) which transfers the necessary power to the mentioned LED light source (45), 14 instantaneous position change, speed, angular rotation data of the endoscope (13) tip and three the task of mapping the movements it performs in a three-dimensional environment flexible telescope gyroscope (411), Flexible telescope lidar scanner (42), flexible telescope lidar sensor (43) and Rigid 5 that provides data communication between gyroscope (411) and lidar processor (15). telescope data cable flexible telescope data cable (410) It includes. When flexible or rigid lidaroscopes are used, the user is shown both the organ being examined. or standard color images relating to body cavities, depending on the camera resolution used, 10 It will provide high-resolution images and also infrared imaging of the area being examined. scanning with laser beams and obtaining all locations throughout the endoscopy procedure. By creating a data cloud with distance data, the desired data can be obtained via the lidar processor (15). dimensions of an organ or region, area, volume, depth, distance from vital structures, etc. It will present the information to the user selectively and in real time. 15 The physician performing the endoscopy procedure (user) is under videoendoscopic vision. Once the lidar scanners reach the target anatomical region, the lidar on the console... It will activate via the browser screen (12) and the area it focuses on He will continue with the videoendoscopic examination. During this time, a rigid or flexible 20 located on the rigid or flexible telescope at the tip of the endoscope (13) lidar scanner (rigid telescope lidar scanner (32) or flexible telescope lidar scanner (42)), lidar sensors (rigid telescope lidar sensor (33) or flexible telescope lidar sensor (43)) and from gyroscopes (gyroscope (39) or flexible telescope gyroscope (411)) real-time data will be obtained and sent to the lidar processor (15) to determine the anatomical region. The topography of the relevant area will be obtained. The user can view the relevant area from the video-endoscope screen (11). while watching the endoscopic image, simultaneously on the Lidar scanner screen next to it the topography of that region placed on a three-dimensional coordinate system It will be able to monitor. The data obtained is stored in an integrated data storage unit. They can be stored or shared online. 30
Claims
REQUESTS 1. During endoscopy examination or procedure, the user can see the procedure in real time. a reference point or not affected by changes or user error Processing within the target area under examination, without requiring a knitting pattern. 5 that allows navigation on a 3D map during or after the event It is a system, and its characteristic is; the lidar scanner on it that enables the endoscopy procedure to be performed, The three-dimensional view of the area examined with the help of telescopes equipped with sensors enabling the acquisition of images from the patient for the creation of an image map. endoscope (13), 10 lidar on the endoscope (13) mentioned lidar on the telescopes Calculates size, area, volume, and distance outputs from data received from the scanner. lidar processor (15) Data coming from the lidar scanner and extending to the lidar processor (15), user touch-enabled lidar scanner that allows analysis by 15 screen (12), The images obtained from the mentioned endoscopes (13) are digitally processed. that allows the image to be processed and viewed in video format video endoscope processor (16), The video endoscope processor (16) is sent by the mentioned endoscope (13) to 20 The screen used to display the transmitted images is the video endoscope screen (11), object image taken from endoscope (13) and digital image obtained by lidar scanners cable that transmits data to the video endoscope processor (16) and lidar processor (15) (14) It includes. 25 2. The system is compliant with Claim-1 and its feature is that the mentioned endoscope (13); included in all endoscopes currently in use, whether flexible or rigid. an endoscope is a protective outer unit made of steel or plastic that carries the components. shaft (21), 30 necessary for obtaining a three-dimensional image map of the environment being examined Lidar scanners (23) enable the emission of laser beams. laser beams sent by the mentioned lidar scanners (23) Depending on variables such as turnaround times, turn angles, etc., the examined 16 collecting the data needed to create a three-dimensional image map of the area lidar sensors (22), allows the user to visually see the area being examined clearly. cold light source transmits the light from the cold light source to the end of the endoscope (13) carrier (24), 5 The image is transmitted directly to an integrated camera chip or via lenses the image is transferred to an external camera chip and, under suitable lighting conditions, a color image is produced. It includes a camera (25) that can be taken.
3. The system is compliant with Request-1 and its feature is that the mentioned endoscope (13) is a rigid telescope 10 It contains a rigid endoscope.
4. The system is compliant with Request-1 and its feature is that the mentioned endoscope (13) is flexible. It is a flexible endoscope that includes a telescope.
5. The system complies with Request-3, and its feature is that it is located on the aforementioned rigid endoscope. the rigid telescope located there; Steel and / or cylindrical structures that house and protect the internal structures of a rigid telescope telescope shaft in the structure (31), Lidar scanners that emit laser beams necessary for lidar scanning into the environment (32), 20 The return of laser beams emitted into the environment by the lidar scanners mentioned (32) to create a three-dimensional image map of the area being examined with its return rigid telescope lidar sensor (33) that collects the required data, camera (25) on the endoscope (13), cold light source and rigid The telescope lidar scanner (32) can reach the environment without obstruction and the rigid 25 Rigid telescope guard that protects the structures inside the telescope. glass (34), The light from the cold light source on the endoscope (13) is directed to the end of the rigid telescope cold light carrier (35), which carries part of it, Transferring the image from the tip of the rigid telescope to a video camera chip. 30 optical lens (36), placed between the mentioned optical lenses (36) and allowing a gap to be left spacer device (37), 17 instantaneous position change, speed, angular rotation data of the endoscope (13) tip and three the task of mapping the movements it performs in a three-dimensional environment gyroscope (39), which performs with rigid telescope lidar scanner (32), rigid telescope lidar sensor (33) and gyroscope (39) Rigid telescope data cable 5 which provides data communication between lidar processor (15) (38) It includes.
6. The system is compliant with Claim-5 and its feature is; the mentioned optical lens (36) inline rod. It is an optical lens. 10 7. It is a system that complies with Claim-5, and its feature is that the mentioned cold light carrier (35) Fiber is a cold light carrier.
8. The system complies with Request-1 and its feature is; 15 on the aforementioned flexible endoscope. the flexible telescope found; The flexible telescope has an inner steel structure that houses and protects the internal structures, and an outer steel structure. flexible telescopic shaft, which is a cylindrical structure, partly made of plastic, flexible and bendable. (41), Lidar 20 is a flexible telescope that emits laser beams required for lidar scanning. browser (42), laser emitted into the environment by the mentioned flexible telescope lidar scanner (42) three-dimensional image map of the area being studied by the return of the rays lidar sensors collect the data needed to create a flexible telescope. lidar sensor (43), 25 The camera (25) on the endoscope (13), cold light source and flexible the telescope lidar scanner (42) can reach the environment without any obstruction and rigid telescopes that protect the structures inside flexible telescopes protective windscreen (44), LED light source that provides illumination of the examined environment (45), 30 A camera that captures the image of the environment being examined and transmits it to a camera processor. optics (46), Flexible telescope that enables the conversion of the obtained image into digital format. camera (47), camera power cable (48) which transmits the necessary power for the mentioned camera, 35 18 LED power cable (49) which transfers the necessary power to the mentioned LED light source (45), instantaneous position change, speed, angular rotation data of the endoscope (13) tip and three the task of mapping the movements it performs in a three-dimensional environment flexible telescope gyroscope (411), Flexible telescope lidar scanner (42), flexible telescope lidar sensor (43) and 5 The rigid device that provides data communication between the gyroscope (411) and the lidar processor (15) telescope data cable flexible telescope data cable (410) It includes.
9. It is a system that complies with Request-8, and its feature is; the aforementioned flexible telescope 10 (47) is that its camera is a CCD or CMOS camera.