Endoscopic 3D Reconstruction via Tri-Sensor Imaging
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Solution Overview
Problem
Endoscopic devices face challenges in medical applications due to limited texture in body structures, reflections from fluids, and spatial limitations, leading to ambiguities and inaccuracies in image data sets, which hinder comprehensive examination and reconstruction of internal body structures.
Innovation Solution
The use of at least three imaging units with corresponding image sensors to create a 3D surface data set, eliminating ambiguities and providing more reliable information by determining corresponding image points in real-time, allowing for accurate tracking of position and shape changes within the body.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If two image sensors are used to create a stereo image, then three-dimensional representation is achieved, but ambiguities and inaccuracies occur in the image data evaluation
Solution Approach 1:
The patent transitions from two-dimensional stereo imaging to three-dimensional multi-angle imaging by adding a third image sensor. This dimensional expansion allows for more comprehensive spatial information capture, enabling accurate 3D reconstruction without the ambiguities inherent in traditional stereo pairs. The third sensor provides additional perspective data that resolves depth ambiguities.
Solution Approach 2:
The patent changes the geometric parameters of the imaging system by arranging three image sensors in a triangular configuration rather than a linear stereo pair. This parameter change in sensor arrangement optimizes the baseline distances and angles, providing multiple overlapping fields of view that eliminate evaluation ambiguities and improve measurement precision.
2Volume of moving object
If the shaft is made compact for minimal invasiveness, then patient invasiveness is reduced, but imaging elements with large apertures cannot be used
Solution Approach 1:
The patent segments the imaging function across three separate image sensors arranged in a triangular pattern at the distal end of the shaft. This segmentation allows each sensor to have smaller aperture requirements while collectively providing sufficient light gathering capability and depth of field control, enabling compact shaft design without sacrificing image quality.
Solution Approach 2:
By transitioning from a single optical axis to a three-sensor triangular arrangement, the patent exploits spatial dimensionality to achieve compact shaft design. The distributed sensor configuration provides multiple imaging perspectives within a small footprint, maintaining image quality and depth of field while minimizing shaft diameter for reduced patient invasiveness.
3Measurement precision
If three or more image sensors are used to eliminate ambiguities, then measurement precision improves, but device complexity increases
Solution Approach 1:
The patent implements multi-functionality by having each of the three image sensors serve dual purposes: individual sensors can capture images for their specific viewing angles while collectively they provide comprehensive 3D reconstruction data. This universal approach allows the system to achieve high measurement precision without proportionally increasing device complexity, as the sensors work synergistically rather than independently.
Solution Approach 2:
The patent merges the data from three image sensors through a unified evaluation unit that processes all images simultaneously. This combining approach integrates multiple imaging perspectives into a single coherent 3D surface dataset, achieving high measurement precision while managing device complexity through centralized data fusion rather than separate processing systems.
Data Source
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AI summary
The invention relates to an endoscopic apparatus, in particular for medical uses, comprising an endoscope (26; 100) which includes a shaft (30; 102) that can be introduced into a subject (12) to be examined, further comprising a data processing unit (36) and three or more optical imaging units (50, 52, 54), each of which includes an imaging element (56, 58, 60) and an image sensor (70, 72, 74), associated with the respective imaging element, for supplying image data sets (78, 80, 82) to the data processing unit (36), the imaging elements (56, 58, 60) being arranged distally on the shaft (30; 102); the data processing unit (36) is designed and programmed in such a way as to identify, on the basis of the image data sets (78, 80, 82), pixels corresponding with each other in the image data sets (78, 80, 82) and create a 3D surface data set of an object (14) in the subject (12) to be examined, said object (14) being captured by the imaging units (50, 52, 54). The invention also relates to a method for endoscopic examination.