Endoscope Sensor Calibration With Multi-Orientation Magnetic Referencing
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Solution Overview
Problem
Existing magnetically guided endoscopic systems face challenges in accurately calibrating sensors due to positioning inaccuracies, sensitivity issues, and distortions from permanent magnets and the Earth's magnetic field, lacking integrated calibration solutions for inertial and magnetic sensors.
Innovation Solution
A calibration system and method using a calibration device that integrates with a robotic platform to simultaneously calibrate inertial sensors (accelerometer and gyroscope) and magnetic field sensors by orienting the endoscope in multiple directions, adjusting sensitivity, and removing offset values through magnetic interaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional calibration methods are used for endoscope sensors, then individual sensor calibration is possible, but simultaneous and integrated calibration of inertial and magnetic sensors in the presence of a permanent magnet is not achieved
Solution Approach 1:
The patent combines the calibration of inertial sensors (accelerometer and gyroscope) and magnetic field sensors into a single integrated calibration process. The calibration device houses both types of sensors and performs calibration simultaneously by moving the device through known orientations and positions, eliminating the need for separate calibration procedures for each sensor type.
Solution Approach 2:
The calibration device is designed to perform multiple calibration functions in one system. It can calibrate both inertial sensors and magnetic field sensors, and it can do so while accounting for the presence of the permanent magnet within the endoscope. This multi-functional approach allows a single device to handle what would traditionally require multiple separate calibration processes.
2Stability of the object's composition
If Hall-effect magnetic field sensors are rigidly connected to the permanent magnet, then structural stability is maintained, but the sensors detect constant offset values from the magnet's field that must be removed
Solution Approach 1:
The patent performs calibration before actual use to detect and remove the constant offset values generated by the permanent magnet. During calibration, the system measures the magnetic field readings at known positions and orientations, identifies the offset values caused by the permanent magnet, and stores compensation data. This preliminary calibration ensures that during normal operation, the offset values can be subtracted from subsequent measurements to maintain accuracy.
Solution Approach 2:
The calibration process uses feedback from the sensors themselves to identify and correct measurement errors. By moving the calibration device through known orientations and positions, the system compares actual sensor readings with expected values, identifies deviations caused by the permanent magnet's field, and uses this feedback to calculate and apply correction factors to future measurements.
3Ease of manufacture
If sensors are calibrated individually, then each sensor can be adjusted, but simultaneous calibration of multiple sensor types is not achieved
Solution Approach 1:
The calibration device integrates multiple sensor types (inertial and magnetic) into a single calibration unit, allowing simultaneous calibration of all sensors during one operational sequence. This eliminates the need to perform separate calibration procedures for each sensor type, reducing both the complexity of the manufacturing process and the total time required for 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
Enables reliable and simple calibration of endoscope sensors before use, allowing precise manipulation and location during patient diagnostics, overcoming traditional calibration limitations.
Implementation Method 1
a magnetic field source (11, 21) controlled by said electronic processing unit (15, 25) to provide a reference magnetic field value to said endoscope (1)
Implementation Method 2
one or more magnetic field sensors (4), for example one or more Hall-effect sensors
Data Source
AI summary
The invention relates to a system and a method for calibrating sensors accommodated in an endoscope usable in a magnetically guided endoscopic system. The system comprises:an endoscope including one or more sensors to be calibrated;an electronic processing unit;a magnetic field source controlled by the electronic processing unit to provide a reference magnetic field value to the endoscope;a reading unit connected to the endoscope and configured to acquire data representative of measurements made by said one or more sensors of the endoscope to be sent to the electronic processing unit.The system further comprises:a calibration device having a body adapted to house the endoscope;reversible coupling means for reversibly coupling the endoscope to such a body, such reversible coupling means being configured to couple and make the endoscope integral with the body of the calibration device preventing a mutual movement thereof.The body of the calibration device comprises an external reference surface oriented, with respect to the magnetic field source, in a first direction of a plurality of predetermined directions; such a body of the calibration device is movable to orient in sequence, with respect to the magnetic field source, the external reference surface from the first direction in one or more second directions of the plurality of predetermined directions.The electronic processing unit is configured to acquire the data representative of the measurements made by the one or more endoscope sensors when the external reference surface of the calibration device body is oriented both in the first direction and in each of the second directions of the plurality of predetermined directions, and to perform a calibration of the one or more endoscope sensors based on the acquired data.