Endoscope Protrusion Calibration via Optical Transition Detection
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Solution Overview
Problem
Existing robotic medical systems face challenges in accurately calibrating the protrusion distance between the distal ends of an endoscope and its surrounding sheath, which is crucial for maintaining optimal performance and precision during medical procedures.
Innovation Solution
A robotic system that includes a processor and memory with executable instructions to determine a transition position based on sensor data from a camera at the endoscope's distal end, allowing for relative movements between the scope and sheath to calibrate their distal ends to a specific protrusion distance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual calibration methods are used to adjust the protrusion distance between endoscope and sheath, then the device complexity is reduced, but the measurement precision and manufacturing precision deteriorate
Solution Approach 1:
The patent replaces manual mechanical calibration with an automated optical sensing system. A camera captures images of the sheath opening, and image processing algorithms automatically determine the transition position where the sheath becomes visible. This substitutes mechanical adjustment with optical detection and computational analysis, achieving sub-millimeter calibration precision without requiring complex mechanical calibration fixtures.
Solution Approach 2:
The calibration system performs self-calibration by using the endoscope's own camera to detect the sheath opening position. The system automatically processes images, identifies the transition point, and determines the protrusion distance without requiring external calibration devices or manual intervention. This self-service approach simplifies the overall system while maintaining high measurement precision.
2Manufacturing precision
If automated sensor-based calibration is implemented, then the measurement precision improves, but the device complexity increases
Solution Approach 1:
The endoscope camera serves multiple functions: it provides imaging during medical procedures and simultaneously performs calibration by detecting the sheath opening position. This multi-functionality eliminates the need for separate calibration sensors or devices, reducing overall system complexity while maintaining automated precision calibration capabilities.
Solution Approach 2:
The patent uses image processing algorithms as an intermediary between the camera sensor and the calibration determination. Rather than requiring direct physical contact sensors or complex mechanical measurement devices, the system uses computational image analysis to extract precise positional information from visual data, simplifying the physical hardware while maintaining measurement accuracy.
3Measurement precision
If the scope is retracted into the sheath for calibration, then the detection accuracy improves, but the time required for calibration increases
Solution Approach 1:
The system performs preliminary image capture and processing to identify the transition position where the sheath opening becomes visible. By pre-processing images during the retraction movement and identifying the calibration point in advance, the system minimizes the time the scope needs to remain in the calibrated position, reducing overall calibration time while maintaining detection accuracy.
Solution Approach 2:
The calibration process uses rapid image capture and accelerated image processing to quickly identify the transition position during scope retraction. The system processes images in real-time or near real-time, allowing the scope to move through the calibration range quickly rather than requiring slow, incremental adjustments, thereby reducing the time loss associated with calibration.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system effectively calibrates the endoscope's protrusion, ensuring precise alignment and optimal performance by maintaining a desired protrusion distance, which enhances the accuracy and safety of medical procedures.
Implementation Method 1
The sensor may be a camera capable of capturing images of an opening formed by an inner lumen of the sheath
Data Source
AI summary
A robotic system capable of performing a protrusion calibration of an endoscope is disclosed herein. The endoscope includes an elongated scope with a sensor proximate a distal end and a tubular sheath, coaxially aligned with the elongated scope, which surrounds the elongated scope. The sheath and scope are movable relative to one another on a coaxial axis. The sensor may be a camera capable of capturing an opening formed by an inner lumen of the sheath positioned at a distal end of the sheath when the scope is retracted into the sheath such that the opening is made visible to the camera. A transition position where the sheath becomes visible from hidden may be detected based on analysis of readings from the sensor. Based on the transition position, distal ends of the sheath and the scope can be calibrated to provide a particular protrusion.