Endoscope Force Estimation via Image Feature Displacement
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Solution Overview
Problem
Endoscopes and similar surgical imaging devices face challenges in accurately detecting and monitoring applied forces during operation, which affects their maintenance schedules and expected lifetime, as existing methods require additional sensors and are not effectively integrated with existing imaging hardware.
Innovation Solution
The method involves using the imaging device's imager to detect features within the captured image data, calculating the change in feature position to estimate applied forces, and accounting for rotational orientation to isolate the force component, thereby providing force estimation without the need for dedicated sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If additional sensors (force sensitive resistors, load cells, strain gauges) are added to detect forces applied to endoscopes, then force detection capability is improved, but device complexity and cost increase
Solution Approach 1:
The imaging device performs force detection using its own existing imaging components without requiring external sensors. The system leverages the imager to capture images, detect feature positions, and calculate forces based on feature displacement, allowing the device to serve its own measurement needs
Solution Approach 2:
The patent replaces mechanical force sensors with an optical measurement system. Instead of using physical sensors like strain gauges or load cells, the system uses image processing to detect feature positions and calculate forces based on displacement, substituting a mechanical measurement approach with an optical one
2Measurement precision
If additional sensors are installed on endoscopes for force monitoring, then force measurement accuracy is improved, but ease of manufacture deteriorates
Solution Approach 1:
The imaging device uses its own existing imaging components to perform force measurement, eliminating the need for separate sensor installation during manufacturing. The system leverages the imager to capture images, detect feature positions, and calculate forces based on feature displacement
Solution Approach 2:
The imaging components serve dual purposes: capturing visual data for surgical guidance and detecting feature positions for force measurement. This multi-functionality eliminates the need for dedicated force sensors, simplifying the manufacturing process
3Measurement precision
If feature position changes are monitored to estimate applied forces, then force estimation accuracy is improved, but device complexity increases due to image processing requirements
Solution Approach 1:
The system extracts only the necessary information from images for force measurement - specifically feature positions and their displacements. By focusing on detecting specific features rather than analyzing entire images, the processing complexity is reduced while maintaining force estimation accuracy
Solution Approach 2:
The system uses visual copies (images) of the surgical field to infer physical quantities. By detecting feature positions in image data and calculating displacements, the system derives force information without direct physical contact, simplifying the measurement approach
Data Source
AI summary
A surgical imaging apparatus includes an imager configured to capture image data in a field of view and an elongated probe extending from a proximal end to a distal end. The distal end has a distal window through which the field of view is aligned. A controller is in communication with the imager and configured to detect a feature in the image data and identify a feature location of the feature in the image data. The controller further monitors the feature location in the image data. In response to a change in the feature location from a first position to a second position, the controller calculates an estimated force applied to the elongated probe.