Endoscope Route Matching for Accurate Tip Positioning
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Solution Overview
Problem
Current methods for identifying the tip position of an endoscope in three-dimensional images of tubular tissues, such as the large intestine, are inaccurate due to deformations and complex shapes, especially at folded portions, as they rely on sensing technologies that can only track the tip position and not the entire route of the endoscope.
Innovation Solution
A diagnostic endoscopic imaging support apparatus and method that obtains three-dimensional image data, extracts tubular tissue shape data, and matches it with endoscope route data to accurately display the endoscope's route within the tubular tissue, using tree structure data and line segment structure data to perform matching, and provides tip position information for virtual endoscopic image generation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensing technologies (magnetic sensor, optical sensor) are used to track tip position, then tip position identification is enabled, but measurement precision deteriorates due to tissue deformations and complex folded shapes
Solution Approach 1:
The patent transitions from tracking only the tip position (0D point) to reconstructing the entire endoscope route (1D curve) by detecting multiple points along the endoscope shaft. This dimensional expansion allows the system to identify the tip position indirectly through route matching, overcoming the limitations of direct tip sensing in deformed tubular tissues.
Solution Approach 2:
The patent introduces route data as an intermediary between the endoscope and the three-dimensional image data. Instead of directly tracking the tip position which is affected by tissue deformation, the system detects multiple points along the endoscope, constructs a route, and matches this route with the pre-acquired three-dimensional image data to indirectly determine the accurate tip position.
2Measurement precision
If only tip position tracking is performed, then device complexity is reduced, but measurement precision worsens due to inability to account for tissue deformations
Solution Approach 1:
The patent divides the endoscope shaft into multiple detection points rather than tracking only the tip. By segmenting the detection task along the endoscope route, the system can reconstruct the overall path and accurately identify the tip position even when tissue deformations occur, without requiring complex tip-only sensing mechanisms.
3Ease of operation
If marker detection methods are used, then camera position identification is enabled, but ease of operation worsens due to requirement of additional markers and detection systems
Solution Approach 1:
The patent enables the endoscope to serve its own navigation function by utilizing its existing structure. The endoscope shaft itself becomes the detection medium through which multiple points are detected, eliminating the need for external markers or additional sensing systems attached to the endoscope.
Data Source
AI summary
A diagnostic endoscopic imaging support apparatus includes a three-dimensional image data obtaining section that obtains three-dimensional image data of a subject, a tubular tissue shape data obtaining section that extracts and obtains tubular tissue shape data representing a shape of a tubular tissue in the subject from the three-dimensional image data obtained by the three-dimensional image data obtaining section, an endoscope route data obtaining section that obtains endoscope route data representing a route of an endoscope inserted into the subject, and a matching section that performs matching between the tubular tissue shape data and the endoscope route data.