Endoscope Image Stitching for Vessel Isolation

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Solution Overview

Problem

During minimally invasive cardiac bypass surgery, the limited view of endoscopes and difficulty in estimating the length of the internal mammary artery (IMA) for bypass procedures lead to extended procedure times and challenges in isolating the artery due to its embedded nature in the thoracic cavity.

Innovation Solution

A system that stitches together field-of-view images from an endoscope to create a composite image of the anatomical target, allowing for enhanced visualization and guidance using a robotically controlled endoscope, with a planning module to select points of interest and overlay pre-operative images for improved visualization and progress tracking.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Object-affected harmful factors

If a standard endoscope with limited field of view is used for minimally invasive surgery, then the surgical approach is less invasive, but the visualization of the blood vessel is insufficient

Engineering Contradiction:

ImproveinvasivenessVSAvoidfield of view

Core Design Contradiction:

Object-affected harmful factorsVSArea of stationary object

Solution Approach 1:

The patent divides the limited endoscope field of view into multiple overlapping images captured at different positions. These segmented views are then stitched together to form a composite image that covers the entire blood vessel, effectively expanding the visualization area without requiring a larger endoscope field of view.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The patent introduces a planning module and image stitching system as intermediaries between the endoscope and the surgeon. This intermediary system processes multiple limited-field images, aligns them based on anatomical landmarks, and generates a comprehensive composite view, thereby overcoming the endoscope's inherent field of view limitation.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Length of stationary object

If the surgeon isolates a longer arterial segment to ensure sufficient length for bypass, then the vessel length requirement is met, but the procedure time is extended

Engineering Contradiction:

Improvevessel lengthVSAvoidprocedure time

Core Design Contradiction:

Length of stationary objectVSLoss of time

Solution Approach 1:

The patent performs preliminary actions by capturing multiple images of the blood vessel before isolation begins and stitching them into a composite image that shows the entire vessel length. This pre-planning allows the surgeon to identify the exact segment needed for bypass, eliminating the need to isolate excessive length and reducing procedure time.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The composite image provides real-time feedback to the surgeon about the blood vessel's anatomy, side branches, and suitable segments for bypass. This visual feedback enables precise determination of the required vessel length, preventing both over-isolation (which wastes time) and under-isolation (which would require re-operation).

Inventive Principle:

Principle #23Feedback

3Object-affected harmful factors

If the surgeon works with elongated instruments inserted between the ribs, then minimally invasive access is achieved, but the isolation of the embedded artery becomes difficult

Engineering Contradiction:

ImproveaccessibilityVSAvoidisolation difficulty

Core Design Contradiction:

Object-affected harmful factorsVSEase of operation

Solution Approach 1:

The patent transitions from two-dimensional endoscope images to a three-dimensional composite representation of the blood vessel. By stitching multiple views together, the system creates a comprehensive spatial map that shows the vessel's course through the chest wall, enabling the surgeon to navigate elongated instruments more effectively and isolate the embedded artery with greater ease.

Inventive Principle:

Principle #17Another dimension (Dimensionality change)

4Measurement precision

If visual servoing is used to move the robot to specific locations, then precise positioning is achieved, but the overall procedure time increases due to step-by-step navigation

Engineering Contradiction:

Improvepositioning accuracyVSAvoidnavigation time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The planning module performs preliminary analysis of the composite image to identify key anatomical landmarks, side branches, and optimal bypass segments before the surgeon begins manipulation. This pre-planning creates a mental or marked roadmap that guides visual servoing operations, reducing the number of navigation steps required and minimizing procedure time while maintaining positioning accuracy.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS11278182B2Enhanced visualization of blood vessels using a robotically steered endoscope

Publication Date: 2022.03.22 KONINKLIJKE PHILIPS NV

AI summary

A system for visualizing an anatomical target includes a scope for internal imaging having a field of view less than a region to be imaged. A planning module is configured to receive video from the scope such that field of view images of the scope are stitched together to generate a composite image of the region to be imaged. An image guidance module is configured to move the scope along the anatomical target during a procedure such that an image generated in the field of view of the scope is displayed as live video overlaid on a field of the composite image.