Endoscope System Coordinate Matching via Image Processing
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Solution Overview
Problem
Existing endoscope systems face challenges in accurately moving the endoscope due to mismatched coordinate systems between the endoscope and the moving device, making intuitive and precise movement difficult for the operator.
Innovation Solution
The endoscope system includes a rotatable imaging sensor and optical element that allows the processor to estimate and correct the rotation amounts of the endoscope relative to the moving device, enabling accurate movement by detecting movement directions in captured images and adjusting the holder coordinate system to match the endoscope coordinate system.
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 are made to match, then the ease of operation is improved, but the device complexity increases due to the need for coordinate transformation mechanisms
Solution Approach 1:
The system performs self-calibration by automatically capturing images at multiple positions, detecting feature points, and computing coordinate transformation parameters without requiring external calibration equipment or manual intervention. The endoscope and moving device serve themselves to establish the coordinate relationship through automated image processing and mathematical computation.
Solution Approach 2:
The patent replaces complex mechanical coordinate transformation mechanisms with computational image processing. Instead of using physical calibration tools or mechanical alignment systems, the coordinate transformation parameters are derived by detecting feature points in captured images and performing mathematical calculations to establish the coordinate relationship between the endoscope and moving device.
2Measurement precision
If additional sensors or equipment are added to achieve accurate movement, then the measurement precision is improved, but the device complexity and size increase
Solution Approach 1:
The imaging sensor serves multiple functions: it captures endoscopic images for medical observation and simultaneously captures images of calibration patterns for coordinate system calibration. The same imaging sensor is used for both diagnostic purposes and system calibration, eliminating the need for separate calibration sensors or equipment.
Solution Approach 2:
The system uses its own imaging sensor to perform calibration without requiring external calibration equipment. The endoscope captures images of calibration patterns during the calibration process, and the processor automatically computes transformation parameters from these images, making the system self-sufficient and avoiding additional hardware requirements.
3Volume of moving object
If the moving device is miniaturized, then the invasiveness is reduced, but the measurement precision and control accuracy may deteriorate
Solution Approach 1:
The patent replaces mechanical measurement and control systems with computational image processing methods. By using feature point detection and coordinate transformation algorithms, the system achieves high measurement precision through software-based calculations rather than relying on large mechanical components or complex mechanical measurement devices.
Solution Approach 2:
The system creates a virtual model of the surgical field through image capture and processing. Instead of using large mechanical measurement devices, the system uses digital image data to represent and measure positions and orientations, allowing for precise control with miniaturized hardware since the measurement function is transferred to the computational domain.
Data Source
AI summary
An endoscope system includes an endoscope including an insertion portion, an imaging sensor disposed at a proximal end thereof so as to be rotatable about a longitudinal axis, and an optical element that tilts an optical axis, a robotic arm, and at least one processor. The processor transmits a first signal to the moving device, detects a first moving direction of an object, estimates a first amount of rotation of the optical element by using first two images before and after the transmission with respect to the imaging sensor based on the first movement direction, transmits a second signal to the robotic arm, detects a second moving direction of the object by using second two images before and after the transmission, and estimates a second amount of rotation between the robotic arm and the endoscope based on the second moving direction and the first amount of rotation.