Multi-Camera Capsule Image Stitching for GI Tract Visualization
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Solution Overview
Problem
Conventional endoscopes and capsule cameras face limitations in reaching the small intestine, are invasive, costly, and often miss hidden areas in the gastrointestinal tract due to limited field of view, leading to incomplete diagnoses.
Innovation Solution
A multi-camera capsule system that captures overlapping images to stitch together a panoramic view of the GI tract surface, using image mosaicing techniques to combine multiple images into a single composite picture, allowing for a 360° view and improved diagnostic efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single camera is used in the capsule, then the device complexity is reduced, but the field of view is limited and hidden areas cannot be observed
Solution Approach 1:
The capsule is divided into multiple imaging units, each with its own camera and illumination source. These segmented cameras are arranged to capture different portions of the GI tract, with each camera responsible for a specific angular sector. This segmentation allows comprehensive coverage while keeping each individual camera unit relatively simple.
Solution Approach 2:
The patent transitions from a single-point forward-viewing camera to a multi-point side-viewing camera arrangement. By adding the dimensional aspect of angular distribution around the capsule body, the system achieves 360-degree coverage capability. The cameras are positioned at different angular positions to capture images from multiple directions simultaneously.
2Adaptability or versatility
If multiple cameras are used to capture panoramic images, then the field of view is improved to 360 degrees, but the device complexity increases
Solution Approach 1:
The patent performs preliminary actions by pre-calibrating the relative positions and orientations of multiple cameras before the procedure. Reference features are predetermined and stored in the system. During image processing, these pre-established reference relationships enable automatic alignment and stitching of images from different cameras, significantly reducing the computational complexity during actual operation.
Solution Approach 2:
The patent introduces reference features as intermediaries between multiple cameras. These reference features serve as common markers that appear in images from multiple cameras, enabling the system to establish geometric relationships and perform accurate stitching. The reference features mediate the coordination between separate camera systems, simplifying the overall processing architecture.
3Ease of operation
If conventional endoscopes are used, then real-time physician control over field of view is achieved, but the procedure becomes invasive and costly
Solution Approach 1:
The capsule system performs self-service by autonomously navigating through the GI tract using peristalsis and capturing images automatically at predetermined intervals or when motion is detected. The system processes and stitches images autonomously, eliminating the need for real-time physician manipulation. This self-service approach reduces invasiveness while maintaining comprehensive diagnostic capability.
Solution Approach 2:
The patent replaces the mechanical control system of conventional endoscopes with an automated computational system. Instead of requiring physical manipulation by a physician, the system uses automated image capture, processing, and stitching algorithms. This substitution reduces the mechanical interaction with the patient while achieving comparable or superior diagnostic results.
4Measurement precision
If images are captured at high frequency for complete coverage, then the diagnostic accuracy is improved, but the data processing time and storage requirements increase
Solution Approach 1:
The patent applies partial action by capturing images at high frequency only during specific phases of capsule motion or when motion is detected, rather than continuously throughout the entire procedure. The system processes images selectively, focusing computational resources on frames that contain diagnostically relevant information, thereby reducing overall processing time while maintaining diagnostic accuracy.
Data Source
AI summary
Method and apparatus of reconstruction of images from an in vivo multi-camera capsule are disclosed. In one embodiment of the present invention, the capsule comprises two cameras with overlapped fields of view (FOVs). Intra-image based pose estimation is applied to the sub-images associated with the overlapped area to improve the pose estimation for the capsule device. In another embodiment, two images corresponding to the two FOVs are fused by using disparity-adjusted, linear weighted sum of the overlapped sub-images. In yet another embodiment, the images from the multi-camera capsule are stitched for time-space representation.