Multi-Pose Endoscope Imaging for Accurate Surgical Distance Measurement
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Solution Overview
Problem
Existing surgical instruments using stereo cameras for depth measurement in surgical spaces face inaccuracies due to a small baseline distance between cameras, leading to less precise depth measurements as the points of interest are further away, and adjusting the camera position to improve accuracy can cause one point to fall out of view.
Innovation Solution
A medical system that adjusts the pose of an endoscope using kinematics data to accurately determine the global coordinates of two points, allowing for precise distance measurement between them by bringing the endoscope close to each point for triangulation, even if one point falls out of view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a small baseline distance between stereo cameras is used, then the device complexity is reduced, but the measurement precision deteriorates as points further away are measured less accurately
Solution Approach 1:
The system dynamically adjusts the pose of the imaging device between capturing images of different points. By moving the imaging device to different positions and orientations, the system maintains measurement accuracy for points at varying distances without requiring a permanently large baseline configuration.
Solution Approach 2:
The system transitions from static stereo triangulation to dynamic multi-pose imaging. By capturing images from multiple poses and combining this with kinematics data, the system adds temporal and spatial dimensions to the measurement process, overcoming the limitations of a fixed small baseline.
2Measurement precision
If the imaging device is moved closer to one point for accurate triangulation, then the measurement precision improves, but the other point may fall out of view
Solution Approach 1:
The system performs preliminary actions by capturing images of the first point from an optimal pose, then deliberately moves to a different pose to capture the second point. Kinematics data recorded during these movements enables the system to reconstruct the first point's position even when it falls out of view during the second capture.
Solution Approach 2:
Kinematics data serves as an intermediary that bridges the gap between different imaging poses. This data allows the system to maintain awareness of all points' positions even when the imaging device's field of view is focused on only one point at a time.
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
This approach provides more accurate distance measurements between points in surgical spaces, enhancing surgical precision, minimizing errors, and improving the safety and efficiency of procedures by allowing surgeons to navigate complex anatomical structures and avoid tissue damage.
Implementation Method 1
capture first imaging data showing a first region of a surface of an anatomical structure
Implementation Method 2
A triangulation technique may be employed to determine a point in 3D space given the point's projections onto images from the left camera and the right camera, which provides a depth measurement for the point
Data Source
AI summary
This disclosure describes a system for measuring a distance between two points in a surgical space. The system moves an imaging device to a first pose to capture first imaging data showing a first region of a surface of an anatomical structure, receives first imaging data, determines a first distance between the imaging device in the first pose and a first point on the surface, and determines first coordinates of the first point. The system moves the imaging device to a second pose to capture second imaging data showing a second region of the surface, receives second imaging data, determines a second distance between the imaging device in the second pose and a second point on the surface, and determines second coordinates for the second point. The system determines, based on the first coordinates and the second coordinates, a third distance between the first point and the second point.