Medical Camera Motion Correction Using Image Feedback
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Solution Overview
Problem
Existing robotic endoscope systems face challenges in providing an intuitive and user-friendly control interface, as users often experience unexpected camera movements due to the rotational degree of freedom of the endoscope, leading to confusion and inefficiency.
Innovation Solution
A computer-implemented method that adjusts control commands for moving a medical camera connected to a motorized support structure by comparing actual camera motions determined from image data with intended motions defined by user inputs, applying corrections to ensure the actual motion aligns with the intended motion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If automatic image correction based on sensor data (e.g., gyro-sensor) is used to correct control-reaction-deviation, then the control interface becomes more intuitive and user-friendly, but image quality deteriorates and time-lag increases
Solution Approach 1:
The patent replaces the mechanical sensor-based correction system with a computational image-based correction system. Instead of using gyro-sensors to detect endoscope rotation and applying computational rotation to correct images, the system uses image processing techniques (feature detection, optical flow analysis) to directly determine actual camera motion and compute correction transformations, thereby avoiding image quality degradation from sensor-based methods
Solution Approach 2:
The patent introduces image data as an intermediary to bridge the gap between control commands and actual camera motion. By analyzing feature displacement in image sequences, the system indirectly measures camera motion without relying on physical sensors, enabling correction while preserving image quality
2Ease of operation
If automatic image correction based on sensor data is used to correct control-reaction-deviation, then the control interface becomes more intuitive and user-friendly, but time-lag between control inputs and displayed image motion increases
Solution Approach 1:
The patent implements continuous real-time image processing at high frame rates, periodically analyzing image sequences to detect camera motion and applying corrections frame-by-frame. This periodic processing ensures minimal latency between control input and corrected image display, maintaining responsiveness while achieving intuitive control
3Adaptability or versatility
If the endoscope is provided with rotational degree of freedom around its longitudinal axis, then the endoscope can be attached in various orientations and maintains flexibility, but control precision deteriorates due to misalignment between control commands and actual image motion
Solution Approach 1:
The patent implements a feedback loop that continuously monitors the relationship between control commands and actual camera motion through image analysis. By detecting feature displacement in real-time and computing correction transformations, the system compensates for rotational misalignment, ensuring that control commands produce the intended image motion regardless of endoscope orientation
Solution Approach 2:
The patent dynamically changes the coordinate transformation parameters based on detected camera orientation and motion. By computing correction transformations that account for the endoscope's rotational state, the system adapts the control mapping in real-time, maintaining precision across all attachment orientations
Data Source
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AI summary
The present invention relates to a method of adjusting control commands for moving a medical camera connected to a motorized support structure, wherein the adjustment is based on images provided by the camera. Based on a comparison of at least two images provided by the camera, an actual motion of the camera is determined and compared with an intended motion defined by a control command forwarded to the motorized support structure. In case a deviation between the intended motion and the actual motion is determined, a correction is applied to the control command such that the actual motion of the camera coincides with the intended motion.