Robotic Endoscope Camera Control Correction From Image Motion
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Solution Overview
Problem
Medical practitioners face difficulties in intuitively controlling robotic endoscopes due to deviations between intended and actual camera movements, leading to user-friendly issues, especially for inexperienced personnel, and existing automatic image correction methods result in image quality loss and time-lags.
Innovation Solution
A computer-implemented method that adjusts control commands for medical imaging devices by comparing pre and post-motion images to determine actual camera motion, applying corrections to align it with intended motion, using image processing techniques to calculate motion vectors and apply corrections in real-time.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If automatic image correction based on sensor data (gyro-sensor) is used to correct control-reaction-deviation, then ease of operation is improved, but image quality deteriorates and response time increases
Solution Approach 1:
The patent replaces the mechanical sensor-based correction system (gyro-sensor detecting physical rotation) with an image-processing-based correction system. The control-reaction-deviation is detected by comparing consecutive images and calculating motion vectors, then corrected by transforming the current image based on the deviation between intended and actual motion. This substitution eliminates the need for additional sensors while maintaining correction capability.
Solution Approach 2:
The patent uses image data as a copy of the physical state to detect motion. Instead of directly measuring physical rotation with sensors, the system captures images of the scene, extracts motion information from these image copies, and uses this information to detect and correct control deviations. This indirect measurement through image copies preserves image quality while achieving the correction function.
2Ease of operation
If automatic image correction based on sensor data is used to correct control-reaction-deviation, then ease of operation is improved, but response time deteriorates due to time-lag
Solution Approach 1:
The patent implements continuous correction by constantly acquiring new images and continuously calculating motion vectors and control-reaction-deviation. The system does not rely on periodic sensor readings but maintains an ongoing stream of image-based correction, ensuring real-time responsiveness. The correction is applied continuously to the current image based on the most recent motion data.
Solution Approach 2:
By replacing the sensor-based mechanical detection system with an image-processing system, the patent eliminates the inherent time-lag associated with sensor data acquisition and processing. Image data is already available from the camera's continuous operation, and the processing pipeline can operate at the camera's frame rate, providing faster response times.
3Adaptability or versatility
If the endoscope is provided with rotational degree of freedom to allow various orientations, then adaptability is improved, but ease of operation deteriorates due to control-reaction-deviation
Solution Approach 1:
The patent implements a feedback mechanism where the actual motion of the endoscope (derived from image comparison) is continuously monitored and compared with the intended motion (from control input). The detected deviation is then used to correct the current image, providing visual feedback that compensates for the rotational mismatch. This allows the system to maintain adaptability while improving control accuracy through active compensation.
Solution Approach 2:
The system performs self-correction by automatically detecting its own control-reaction-deviation through image processing and autonomously correcting the displayed image. The endoscope system uses its own image output to detect motion discrepancies and applies corrections without requiring external sensor input or manual calibration, enabling it to maintain adaptability while self-correcting control inaccuracies.
Data Source
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.