Endoscope Image Processing Rotation Angle Calculation
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Solution Overview
Problem
Endoscopes with limited distal end portion bending capabilities require operators to rotate the device beyond its wrist range, leading to poor operability and increased burden, as the endoscope must be gripped again to adjust the bending plane, complicating navigation within luminal structures.
Innovation Solution
An image processing device calculates rotation angles for the endoscope to match the allowed bending plane with the desired direction, ensuring the cumulative rotation angle falls within a predetermined range, thereby optimizing the endoscope's movement and reducing operator strain.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the endoscope is rotated beyond the wrist movable range to match the bending plane with the desired direction, then the endoscope can be advanced along the desired course, but the operator must grip the endoscope again, reducing operability
Solution Approach 1:
The system pre-calculates the optimal rotation direction (clockwise or counterclockwise) and rotation amount before the operator performs the rotation operation. By determining in advance which rotation direction keeps the cumulative rotation angle within the wrist movable range, the system enables the operator to perform the rotation without needing to grip the endoscope again, thus improving operability while achieving the desired course advancement
2Ease of operation
If the endoscope is rotated in the direction with smaller rotation amount, then the rotation operation is easier, but the endoscope may rotate beyond the wrist movable range, requiring re-gripping
Solution Approach 1:
The system calculates both clockwise and counterclockwise rotation angles required to match the bending plane with the desired direction, then pre-determines which direction keeps the cumulative rotation angle within the predetermined range (wrist movable range). This preliminary determination allows the operator to simply follow the indicated rotation direction without worrying about exceeding the movable range, resolving the contradiction between ease of rotation and staying within operational limits
3Adaptability or versatility
If the cumulative rotation angle is not constrained within a predetermined range, then the endoscope can reach any orientation, but the operator experiences increased fatigue and examination time increases
Solution Approach 1:
The system introduces a constraint parameter (predetermined angle range for cumulative rotation angle) to optimize the rotation operation. By monitoring and controlling the cumulative rotation angle to remain within this predetermined range, the system ensures that the endoscope reaches the desired orientation while minimizing the total rotation amount, thereby reducing operator fatigue and examination time without sacrificing the ability to achieve the required orientation
Data Source
AI summary
An image processing device for an endoscope in which an operation of bending a distal end portion only within one endoscope bending plane including an axis of the distal end portion is allowed, the image processing device having a processor configured to acquire information of a course along which the endoscope travels in the luminal structure, the course being set based on a three-dimensional image indicating the luminal structure, and calculate a first rotation angle of the endoscope at a first branch in the course, the first rotation angle being an angle to match the one endoscope bending plane where the distal end portion is allowed to bend with a plane of the first branch, by a operation of rotation.