SHADOWING PIPE MOSAICING ALGORITHMS WITH APPLICATION TO ESOPHAGEAL ENDOSCOPY
First Claim
1. A method for creating a mosaiced image of an inner surface of a body lumen, comprising the steps of:
- (a) moving an imaging device through the body lumen;
(b) capturing a video sequence comprising successive images of the inner surface of the body lumen as the imaging device is moved through the body lumen;
(c) determining pose parameters defining a position and an orientation for the imaging device, when capturing the video sequence of the inner surface of the body lumen;
(d) based upon the pose parameters, projecting the successive images onto a model of the inner surface, to form a texture-mapped model; and
(e) transforming the textured mapped model into the mosaiced image that is on a generally flat surface.
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Accused Products
Abstract
In connection with imaging an inner surface of a body lumen, a mosaiced image is created from discrete images or a video produced with a small camera, as the camera is moved through the lumen. In one embodiment, a tethered capsule with a scanning optical fiber provides the images, although other types of endoscopic cameras can instead be used. A surface model of the lumen and camera pose estimates for each image or frame are required for this task. Camera pose parameters, which define camera alignment, are determined for six degrees-of-freedom. The size of each frame projected as a strip on the surface model depends on the longitudinal movement of the camera. The projected frames are concatenated, and the cylinder is unrolled to produce the mosaic image. Further processing, such as applying surface domain blending, improves the quality of the mosaic image.
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Citations
29 Claims
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1. A method for creating a mosaiced image of an inner surface of a body lumen, comprising the steps of:
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(a) moving an imaging device through the body lumen; (b) capturing a video sequence comprising successive images of the inner surface of the body lumen as the imaging device is moved through the body lumen; (c) determining pose parameters defining a position and an orientation for the imaging device, when capturing the video sequence of the inner surface of the body lumen; (d) based upon the pose parameters, projecting the successive images onto a model of the inner surface, to form a texture-mapped model; and (e) transforming the textured mapped model into the mosaiced image that is on a generally flat surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A system for creating a mosaiced image of an inner surface of a body lumen, comprising:
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(a) an imaging device configured and sized to be inserted into a body lumen for producing an output signal corresponding to images of an inner surface of a body lumen as the imaging device is moved therethrough; (b) a memory in which a plurality of machine instructions are stored; (c) a display on which graphic images can be presented to a user; (d) a processor coupled to the display and the memory, the processor executing the machine instructions stored in the memory to carry out a plurality of functions, including; (i) capturing a video sequence comprising successive images of the inner surface of the body lumen as the imaging device is moved through the body lumen; (ii) determining pose parameters defining a position and an orientation for the imaging device, when capturing the video sequence of the inner surface of the body lumen; (iii) based upon the pose parameters, projecting the successive images onto a model of the inner surface, to form a texture-mapped model; and (iv) transforming the textured mapped model into the mosaiced image that is on a generally flat surface. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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Specification