Endoscopic Stone Size Estimation Without Radiodiagnostic Exposure
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Solution Overview
Problem
Existing ureteroscopic kidney stone removal methods using robots lack accurate stone size measurement, leading to potential urethra damage and radiation exposure risks during surgeries.
Innovation Solution
A method utilizing an endoscope-mounted camera to analyze images through monocular disparity estimation and stone segmentation models, combined with machine learning, for precise stone size estimation and determination of extraction requirements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If radiodiagnostic equipment is used to estimate stone size, then measurement precision is improved, but harmful factors increase due to radiation exposure to doctor and patient
Solution Approach 1:
The patent uses endoscopic images (optical copies) of the stone to create a digital model for size estimation, replacing the need for direct radiodiagnostic measurement. The control unit processes images captured by the endoscope camera to estimate stone size, eliminating radiation exposure while maintaining measurement capability
Solution Approach 2:
The patent replaces the radiodiagnostic measurement system with an optical image-based measurement system. By using the endoscope camera and control unit to analyze stone images, the system substitutes ionizing radiation with non-invasive optical imaging for size estimation
2Object-affected harmful factors
If endoscope alone is used to estimate stone size, then harmful factors are reduced by eliminating radiation exposure, but measurement precision deteriorates due to inability to accurately measure stone size
Solution Approach 1:
The patent introduces a control unit as an intermediary that processes endoscopic images to extract stone size information. The control unit acts as a mediator between the endoscope camera and the surgeon, transforming visual images into quantitative size estimates without requiring direct radiodiagnostic measurement
Solution Approach 2:
The system performs preliminary image processing and stone size estimation during the endoscopic procedure itself, rather than requiring separate radiodiagnostic measurements. The control unit analyzes stone images in real-time or near-real-time, providing size information before extraction decisions are made
3Ease of operation
If robot-based surgical method is used, then ease of operation is improved by reducing doctor fatigue, but measurement precision deteriorates because stone size cannot be accurately measured with endoscope alone
Solution Approach 1:
The patent merges the robotic surgical system with enhanced image processing capabilities. By integrating the control unit that performs stone size estimation from endoscopic images into the robotic system, the combination provides both ease of operation (through robotic assistance) and accurate measurement (through image analysis)
Data Source
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AI summary
Proposed is a method for estimating a stone size, which is a method by which a control unit estimates the size of a stone by analyzing an image acquired through a camera (200). The method includes (a) acquiring an object extraction image and an image capable of identifying a three-dimensional shape of a stone in an original stone image acquired through the camera (200) mounted on an end of an endoscope, (b) acquiring a reconstructed image by combining a result acquired in the process (a) with the original stone image, and (c) acquiring a result of the probability of the size of the stone by inputting the reconstructed image into a machine learning model.