Endoscope Orientation Reference Markers for Image Stabilization
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
During endoscope navigation through tortuous paths in a patient's anatomy, the mis-mapping between the orientation of the camera view, the gamepad controller, and the catheter tip leads to difficulties in accurately navigating the endoscope, causing user discomfort and potential motion sickness due to frequent rotation of the image.
Innovation Solution
A steerable sheath with reference markers at its distal end is used to map the orientation of the sheath with respect to the imaging device, allowing a processor to calculate and compensate in real-time for changes in orientation, ensuring accurate remapping of the positional relation between the sheath and the imaging device.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the endoscope is manipulated through tortuous paths in the patient's anatomy, then the endoscope can reach target locations inside the patient's body, but the image orientation rotates frequently causing user discomfort and motion sickness
Solution Approach 1:
The system uses gravity sensors to continuously detect the endoscope's orientation relative to gravity, and this feedback is used to automatically rotate the displayed image to maintain a consistent upright orientation. This closed-loop feedback mechanism eliminates the disorienting image rotation that causes motion sickness while preserving the ability to navigate tortuous anatomical paths.
Solution Approach 2:
Instead of mechanically stabilizing the endoscope or requiring manual recalibration by the operator, the system substitutes a sensor-based detection and electronic image rotation mechanism. The gravity sensors replace mechanical orientation references, and electronic image processing replaces mechanical image stabilization, providing automatic compensation for orientation changes.
2Measurement precision
If the camera view is mapped to the catheter tip orientation before insertion, then initial navigation is accurate, but mis-mapping occurs during navigation through tortuous paths reducing navigation accuracy
Solution Approach 1:
The system transitions from a static initial mapping to a dynamic continuous recalibration system. Gravity sensors continuously measure the endoscope's orientation throughout the procedure, and the displayed image is dynamically rotated to compensate for orientation changes. This dynamic approach maintains navigation accuracy despite the catheter's movement through tortuous paths, preventing the mis-mapping that occurs with static initial calibration alone.
Data Source
AI summary
An endoscope imaging system comprises a robotic controlled steerable catheter and an imaging device removably arranged in a tool channel of the catheter. One or more sensors or markers are configured to map a positional relation of the catheter with respect to an orientation of the imaging device. A controller drives the steerable catheter to manipulate the distal end thereof, while the imaging device acquires an image of a subject or sample. While the imaging device acquires the image, a processor calculates a change in positional relation of the catheter with respect to the orientation of the imaging device based on information provided by the one or more sensors or markers. An output unit provides an indication for remapping the orientation of the steerable catheter with respect to the orientation of the imaging device.