Endo-robot Image Registration for Virtual Endoscopy
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Solution Overview
Problem
Endoscopic procedures often cause discomfort and risk internal damage due to mechanical manipulation, and virtual endoscopy can lead to false positives and unneeded invasive biopsies.
Innovation Solution
A system and method that uses endo-robots to capture images within the body, registering their position, orientation, and longitudinal distance to a 3D volume, allowing for accurate image association with areas of interest and improved diagnosis through virtual endoscopy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mechanical endoscopy is used for internal examination, then diagnostic capability is improved, but patient discomfort and risk of internal damage increase
Solution Approach 1:
The patent replaces mechanical endoscopic systems with a magnetic field-based robotic system. The endo-robot uses magnetic fields for actuation and positioning, eliminating the need for direct mechanical manipulation through the patient's body. This substitution maintains diagnostic capability while reducing mechanical trauma and patient discomfort.
Solution Approach 2:
The patent introduces magnetic fields as an intermediary between the operator and the endo-robot. The magnetic coupling mechanism allows force transmission and positioning control without direct mechanical contact, serving as a mediator that enables precise control while minimizing harmful mechanical effects on the patient.
2Object-affected harmful factors
If virtual endoscopy is used for exploration, then patient discomfort is reduced, but false positives and misdiagnoses increase
Solution Approach 1:
The patent merges the advantages of both mechanical and virtual endoscopy by combining real-time image capture from the endo-robot with virtual endoscopic visualization. The system integrates actual captured images with virtual fly-through views, providing both the diagnostic accuracy of real imaging and the comfort benefits of non-invasive visualization.
Solution Approach 2:
The patent creates accurate virtual copies of the internal anatomy based on real-time image data captured by the endo-robot. These virtual representations are generated from actual imaging data, preserving diagnostic accuracy while enabling non-invasive exploration and reducing false positives through faithful reproduction of anatomical structures.
3Measurement precision
If endo-robot with image registration is used, then diagnostic accuracy is improved, but system complexity increases
Solution Approach 1:
The patent implements self-service through automated image registration and tracking systems. The endo-robot automatically captures position and orientation data, performs real-time registration with the virtual model, and updates the visualization without requiring complex manual intervention. This automation reduces the operational complexity despite the advanced registration capabilities.
Data Source
AI summary
An endo-robot can be tracked and a reconstructed 3D volume of data can be created for virtual endoscopy. The 3D position and orientation of each image captured by the endo-robot is determined. The longitudinal distance traveled inside the structure of interest is determined. The position, orientation and longitudinal distance are used to register the position of the endo-robot to a corresponding position inside the 3D volume of data. Virtual endoscopy can be used to locate areas of interest and correlate clinical findings with the images of the areas of interest.