ANATOMICAL SITE RELOCALISATION USING DUAL DATA SYNCHRONISATION
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Abstract
A method and a system for anatomical site relocalisation using dual data synchronisation. Method for repositioning, possibly several times, at a specific location, which has been already explored during a first or “reference exploration”, a flexible endoscope during one or more successive endoluminal or extraluminal subsequent or “new exploration”, or similar procedures, wherein the repositioning is realized either manually, by a human user, or automatically, by a robotic system, from or by way of a synchronisation process between a “new exploration” flexible endoscope video and the “reference exploration” flexible endoscope video displayed in parallel on or in two different windows, on one or more screens.
51 Citations
46 Claims
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1-20. -20. (canceled)
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21. Method for repositioning, possibly several times, at a specific location, which has been already explored during a first or “
- reference exploration”
, a flexible endoscope during one or more successive endoluminal or extraluminal subsequent or “
new exploration”
, or similar procedures, wherein the repositioning is realized either manually, by a human user, or automatically, by a robotic system, from or by means of a synchronisation process between a “
new exploration”
flexible endoscope video and the “
reference exploration”
flexible endoscope video displayed in parallel on or in two different windows, on one or more screens. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38)
- reference exploration”
-
39. Medical system enabling a manual or automatic repositioning of a flexible endoscope at a specific location during at least one “
- new exploration”
subsequent to a first or “
reference exploration”
during which said specific location has already been explored by said endoscope,said medical system (1) comprising; i) a flexible endoscope (2) at least equipped with an image taking device (3), and possibly at least one tool or instrument, ii) display (3′
) and movement control (3″
) means associated with said endoscope (3),iii) a tracking device or system (4) providing the location and orientation of the end tip (2′
) of the endoscope (2), such as an electromagnetic tracking device or a fiberoptic tracking device,iiii) computer means (5) and associated storing means, wherein the frontal or end tip (2′
) of the endoscope (2) is provided with an electromagnetic sensor (4′
) or a similar tracking device, which is affixed to or mounted into the tip (2′
) of the flexible endoscope (2) and the corresponding tracking system (4) allows a 3D position tracking and also an orientation tracking of said tip,medical system wherein said storing means are adapted to store a video acquired through the flexible endoscope during its “
reference exploration”
, together with the corresponding endoscope end tip (2′
) poses, and in that said medical system (1) further comprises means (5, 3) able to display in parallel on or in two different windows on one or more screens the “
new exploration”
flexible endoscope video and the stored “
reference exploration”
video, wherein each of the captured video image frames is associated with a synchronously recorded endoscope tip pose, to compute the live orientation error of the endoscope tip (2″
) between the “
reference exploration” and
the “
new exploration”
, and to perform a repositioning of the flexible endoscope (2) at a specific location already explored during the “
reference exploration”
by realising a synchronisation process between the live “
new exploration” and
the stored “
reference exploration”
, either manually by a human user or automatically, by a robotic system, making use of an adapted synchronisation algorithm performed by the computer means (5) and which rotates the images to compensate for the aforementioned orientation error and selects a corresponding image of the “
reference exploration”
, that spatially matches the endoscope (2) current location in the body of the subject. - View Dependent Claims (40, 41, 42, 43, 44, 45, 46)
- new exploration”
Specification