Endoscope Coordinate Correction Using Image Motion Feedback
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Solution Overview
Problem
In conventional endoscope systems, the coordinate systems of the endoscope and the moving device often fail to coincide, leading to difficulties in intuitively and accurately moving the endoscope in the desired direction, especially when using a robot system with a camera attached to a movable arm.
Innovation Solution
An endoscope system with a processor that detects the movement direction of the endoscope and an object in the image, calculates the deviation between the coordinate systems, and corrects the moving device's coordinate system based on this deviation, using methods like image recognition and motion vector estimation to align the systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the coordinate system of the endoscope and the coordinate system of the moving device do not coincide, then the endoscope can be moved by the moving device, but the actual movement direction differs from the input direction making it difficult to move intuitively and accurately
Solution Approach 1:
The system detects the movement direction of the endoscope through image analysis and compares it with the input direction from the user interface. Based on this feedback, the coordinate system of the moving device is corrected to align with the endoscope's coordinate system, ensuring that future movements are intuitive and accurate.
Solution Approach 2:
Instead of using mechanical sensors or additional hardware to detect coordinate misalignment, the system substitutes a vision-based detection method. The processor analyzes images captured by the endoscope to determine movement direction and calculate coordinate system deviation, replacing complex mechanical measurement systems.
2Measurement precision
If additional sensors are added to detect coordinate system deviation, then measurement precision improves, but device complexity and size increase
Solution Approach 1:
The endoscope serves multiple functions: it not only captures images for visual inspection but also acts as a detection device for coordinate system alignment. The same imaging device is used for both its primary diagnostic function and for measuring movement direction, eliminating the need for separate sensors.
Solution Approach 2:
The system uses its own endoscope images to detect coordinate system deviation rather than requiring external sensors. The processor analyzes the captured images to determine movement direction and calculate alignment errors, allowing the system to self-diagnose and self-correct its coordinate system.
3Manufacturing precision
If additional sensors and components are added to correct coordinate alignment, then coordinate system accuracy improves, but the size and weight of the moving device increase
Solution Approach 1:
The system replaces mechanical correction devices (such as physical alignment mechanisms or additional actuators) with a computational approach. The processor calculates the coordinate system deviation from image analysis and applies software-based correction to the moving device's coordinate system, avoiding additional mechanical components.
Data Source
AI summary
An endoscope system includes: an endoscope; a moving device that holds and moves the endoscope; and at least one processor. The at least one processor is configured to: detect a movement direction of the endoscope moved by the moving device in a coordinate system of the moving device; estimate an area of a moving body in an image captured by the endoscope; detect a movement direction of an object in the image on the basis of another area in the image excluding the area of the moving body; calculate a deviation between a coordinate system of the endoscope and the coordinate system of the moving device on the basis of the movement direction of the endoscope and the movement direction of the object; and correct the coordinate system of the moving device on the basis of the deviation.