Angioscopic system and method for dimensional measurement including measurement of the distance from angioscopic ends to designated planes

• US 5,036,463 A
• Filed: 11/23/1988
• Issued: 07/30/1991
• Est. Priority Date: 11/23/1988
• Status: Expired due to Fees

• Current Assignee: University of Florida Research Foundation, Incorporated (State University System of Florida)
• Original Assignee: University of Florida (State University System of Florida)
• Inventors: Abela, George S., Friedl, Stephan E.
• Primary Examiner(s): Hayes, Gail O.
• Application Number:
  US07/275,754
• Time in Patent Office: 979 Days
• Field of Search: 358/98, 358/88, 358/107, 356/384, 356/383, 382/216, 364/360, 364/413.13
• US Class Current: 382/130
• CPC Class Codes: G06T 2207/10012 Stereo images
• CPC Class Codes: G06T 2207/30101 Blood vessel; Artery; Vein; Vascular
• CPC Class Codes: G06T 7/80 Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
• CPC Class Codes: G06T 7/85 Stereo camera calibration
• CPC Class Codes: H04N 13/10 Processing, recording or transmission of stereoscopic or multi-view image signals
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 13/246 Calibration of cameras
• CPC Class Codes: H04N 13/30 Image reproducers optical systems for producing stereoscopic or other three-dimensional effects G02B30/00
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals

Abstract

An angioscopic system includes image processing so as to determine the dimensions of an unknown dimensional feature within the field of view of the angioscope. The system is calibrated by placing a series of known images at known separation distances from the tip of the angioscope and measuring the size of the image which is produced upon a video monitor. This provides a series of data indicating the relationship between the actual size of the feature, the apparent size in pixels on the image, and the known separation distance from the tip of the scope to the feature plane in which the dimensional feature is disposed. Collection of this data allows one to generate, by curve fitting techniques, a functional relationship such that the size of an unknown dimensional feature may be determined when the angioscope is used upon an actual patient. The coefficients generated by the calibration technique are stored in the computer and called up during the measurement process which involves viewing a scene from several different points and using a Newton-Jordan or other minimization technique in order to generate the actual area or other dimensional aspect of the feature of interest. A modified system uses a stereoscopic angioscope in order to provide depth information with respect to an image without the necessity of moving an angioscope tip. A calibrated guidewire may be used to orient and stabilize the tip of the scope. Markings on the guidewire allow one to determine the amount of change in position of the tip.

Claims

1. A system for angioscopic dimensional analysis comprising:

an optical fiber angioscope having a tip for insertion into the interior of a vessel;

a video camera connected to said angioscope;

a monitor to display images of the interior of a vessel from the tip of the angioscope; and

a computer connected to process data from said video camera, said computer having storage means with stored coefficients for conversion of pixels into dimensional units for feature planes at any distance within an operational range of said tip; and

wherein said computer includes input means to receive data representative of the number of pixels corresponding to an unknown dimensional feature of an angioscopic image and processing means to quantify the dimensional feature by use of at least one appropriate coefficient to convert from pixels to dimensional units and by taking into account an actual distance, within said operational range, between said tip and the dimensional feature.

2. The system of claim 1 further comprising a guidewire for guiding the angioscope.

3. A system for angioscopic dimensional analysis comprising:

an optical fiber angioscope having a tip;

a video camera connected to said angioscope;

a monitor to display images from the angioscope; and

a computer connected to process data from said video camera, said computer having storage means with stored coefficients for conversion of pixels into dimensional units for feature planes at different distances from said tip; and

wherein said computer includes input means to receive data representative of the number of pixels corresponding to an unknown dimensional feature of an angioscopic image and processing means to quantify the dimensional feature by use of at least one appropriate coefficient to convert from pixels to dimensional units; and

further comprising a guidewire for guiding the angioscope; and

wherein said guidewire has indicia marked thereon and separated by known distances for viewing by way of the angioscope, and wherein said input means to receive is operable to receive data representative of the number of pixels corresponding to an unknown dimensional feature of an angioscopic image with the tip positioned at a plurality of distances from a feature plane; and

said processing means is operable to determine the distance from said tip to the feature plane based on changes in the data corresponding to moving the position of the tip an unknown amount, quantify this unknown amount of movement from changes in the image of the guidewire by use of at least one appropriate coefficient to convert from pixels to dimensional units, and quantify the dimensional feature by use of at least one appropriate coefficient to convert from pixels to dimensional units; and

said guidewire is operable to stabilize the angioscope and/or orient the angioscope such that the method of angioscopy is improved.

4. A system for angioscopic dimensional analysis comprising:

an optical fiber angioscope having a tip;

a video camera connected to said angioscope;

a monitor to display images from the angioscope; and

a computer connected to process data from said video camera, said computer having storage means with stored coefficients for conversion of pixels into dimensional units for feature planes at different distances from said tip; and

wherein said computer includes input means to receive data representative of the number of pixels corresponding to an unknown dimensional feature of an angioscopic image and processing means to quantify the dimensional feature by use of at least one appropriate coefficient to convert from pixels to dimensional units; and

wherein said input means is operable to receive data representative of the number of pixels corresponding to an unknown dimensional feature of an angioscopic image with the tip positioned at a plurality of distances from a feature plane, and said processing means is operable to determine the distance from said tip to the feature plane based on changes in the data corresponding to moving the position of the tip an amount, and quantify the dimensional feature by use of at least one appropriate coefficient to convert from pixels to dimensional units.

5. The system of claim 4 wherein said processing means is operable to determine the distance from said tip to the feature plane by converting said unknown dimensional feature from pixels into dimensional units Al when the feature plane is at a first unknown distance from said tip based upon a first hypothesized distance from the feature plane to said tip, converting said unknown dimensional feature from pixels into dimensional units A2 when the feature plane is at a second unknown distance from said tip based upon a second hypothesized distance from the feature plane to said tip, said second unknown distance being a known offset from said first unknown distance, and trying different values for said first and second hypothesized distances to yield different values for A1 and A2 by repetitive conversions until A1 and A2 are determined to be sufficiently close that&

the hypothesized distances are accurate, and wherein the dimensional feature is quantified from A1 and/or A2.

6. The system of claim 5, wherein said processing means is operable to convert said unknown dimensional feature from pixels into dimensional units A3 when the feature plane is at a third unknown distance from said tip based upon a third hypothesized distance from the feature plane to the tip, said third unknown distance being a known offset from said first unknown distance and/or a known offset from said second unknown distance, and to try different values for said first, second, and third hypothesized distances to yield different values for A1, A2, and A3 by repetitive conversions until A1, A2, and A3 are determined to be sufficiently close that the hypothesized distances are accurate, and wherein the dimensional feature is quantified from A1, A2, and/or A3.

7. The system of claim 6 wherein the processing means is operable to select accurate distances by determining the hypothesized distances which provide the minimal differences in values for A1, A2, and A3.

8. A method of measuring angioscopic dimensional features using an angioscopic dimensional analysis system having:

an angioscope having a tip and two image-guiding fiber optic bundles spaced apart for providing a stereoscopic image by combining two images, one from each of said fiber optic bundles;

a video camera connected to said angioscope;

a monitor to display images from the angioscope; and

a computer connected to process data from said video camera, said computer having stored coefficients for conversion of pixels into dimensional units for feature planes at different distances from said tip;

the steps comprising;

having the computer receive data representative of the number of pixels corresponding to an unknown dimensional feature of an angioscopic image, the dimensional feature being at an unknown distance within an operational range from said tip;

determining the distance from said tip to the dimensional feature by use of difference in images supplied by the two fiber optic bundles; and

quantifying the dimensional feature by use of at least one appropriate coefficient to convert from pixels to dimensional units.

9. A method of measuring angioscopic dimensional features using an angioscopic dimensional analysis system having:

an angioscopic having a tip;

a video camera connected to said angioscope;

a monitor to display images from the angioscope; and

a computer connected to process data from said video camera, said computer having stored coefficients for conversion of pixels into dimensional units for feature planes at different distances from said tip;

the steps comprising;

having the computer receive data representative of the number of pixels corresponding to an unknown dimensional feature of an angioscopic image; and

quantifying the dimensional feature by use of at least one appropriate coefficient to convert from pixels to dimensional units, and

further comprising the step of determining the distance from the tip to the feature plane.

10. The method of claim 9 wherein the distance from the tip to the feature plane is determined by viewing indicia marked upon a guidewire extending beyond the tip.

11. A method of measuring angioscopic dimensional features using an angioscopic dimensional analysis system having:

an angioscope having a tip;

a video camera connected to said angioscope;

a motor to display images from the angioscope; and

a computer connected to process data from said video camera, said computer having stored coefficients for conversion of pixels into dimensional units for feature planes at different distances from said tip;

the steps comprising;

having the computer receive data representative of the number of pixels corresponding to an unknown dimensional feature of an angioscopic image; and

quantifying the dimensional feature by use of at least one appropriate coefficient to convert from pixels to dimensional units, and

wherein the computer receives data representative of the number of pixels corresponding to an unknown dimensional feature of an angioscope image with the tip positioned at a plurality of distances from a feature plane and further comprising the step of determining the distance from said tip to the feature plane based on changes in the data corresponding to moving the position of the tip an amount.

12. The method of claim 11 further comprising the steps of:

converting said unknown dimensional feature from pixels into dimensional units A1 when the feature plane is at a first unknown distance from said tip based upon a first hypothesized distance from the feature plane to said tip, converting said unknown dimensional feature from pixels into dimensional units A2 when the feature plane is at a second unknown distance from said tip based upon a second hypothesized distance from the feature plane to said tip, said second unknown distance being a known offset from said first unknown distance, and

trying different values for said first and second hypothesized distances to yield different values for A1 and A2 by repetitive conversions until A1 and A2 are determined to be sufficiently close that the hypothesized distances are accurate, and wherein the dimensional feature is quantified from A1 and/or A2.

13. The method of claim 11 further comprising the steps of:

converting said unknown dimensional feature from pixels into dimensional units A1 when the feature plane is at a first unknown distance from said tip based upon a first hypothesized distance from the feature plane to said tip, converting said unknown dimensional feature from pixels into dimensional units A2 when the feature plane is at a second unknown distance from said tip based upon a second hypothesized distance from the feature plane to said tip, said second unknown distance being a known offset from said first unknown distance, converting said unknown dimensional feature from pixels into dimensional units A3 when the feature plane is at a third unknown distance from said tip based upon a third hypothesized distance from the feature plane to the tip, said third unknown distance being a known offset from said first unknown distance and/or a known offset from said second unknown distance, and trying different values for said first, second, and third hypothesized distances to yield different values for A1, A2, and A3 by repetitive conversions until A1, A2, and A3 are determined to be sufficiently close that the hypothesized distances are accurate, and wherein the dimensional feature is quantified from A1, A2, and/or A3.

14. The method of claim 13 further comprising having the computer select accurate distances by determining the hypothesized distances which provide the minimal difference in values for A1, A2, and A3.

15. A method for use with an angioscopic dimensional analysis system having:

an angioscope having a tip;

a video camera connected to said angioscope;

a monitor to display images from the angioscope; and

a computer connected to process data from said video camera;

the steps comprising calibrating the system by;

placing at least one known pattern at a series of known distances from the tip of the angioscope such that the video camera generates a corresponding series of images composed of pixels;

measuring the number of pixels in a dimensional feature of the pattern having known dimensions for each image;

having the computer calculate at least one coefficient for each known distance, each coefficient useful for conversion of pixels to dimensional units; and

storing each of the coefficients.

16. The method of claim 15 wherein said placing step includes the placing of several known patterns at the series of known distances.

17. The method of claim 16 wherein each of said images is a circle.

18. The method of claim 17 wherein a plurality of coefficients are calculated and the calculation of the coefficients includes curve fitting to determine the relationship between the known dimensions, the pixels in dimensional features, and the known distances.

19. The method of claim 15 wherein a plurality of coefficients are calculated and the calculation of the coefficients includes curve fitting to determine the relationship between the known dimensions, the pixels in dimensional features, and the known distances.

20. The method of claim 15 further comprising measuring angioscopic dimensional features with the system by the steps of:

having the computer receive data representative of the number of pixels corresponding to an unknown dimensional feature of an angioscopic image with the tip positioned at a plurality of distances from a feature plane;

determining the distance from said tip to the feature plane based on changes in the data corresponding to moving the position of the tip a known amount; and

quantifying the dimensional feature by use of at least one appropriate coefficient to convert from pixels to dimensional units.

21. The method of claim 20 further comprising the steps of;

converting said unknown dimensional feature from pixels into dimensional units A1 when the feature plane is at a first unknown distance from said tip based upon a first hypothesized distance from the feature plane to said tip, converting said unknown dimensional feature from pixels into dimensional units A2 when the feature plane is at a second unknown distance from said tip based upon a second hypothesized distance from the feature plane to said tip, said second unknown distance being a known offset from said first unknown distance, and trying different values for said first and second hypothesized distances to yield different values for A1 and A2 by repetitive conversions until A1 and A2 are determined to be sufficiently close that the hypothesized distances are accurate, and wherein the dimensional feature is quantified from A1 and/or A2.

22. The method of claim 20 further comprising the steps of:

converting said unknown dimensional feature from pixels into dimensional units A1 when the feature plane is at a first unknown distance from said tip based upon a first hypothesized distance from the feature plane to said tip, converting said unknown dimensional feature from pixels into dimensional units A2 when the feature plane is at a second unknown distance from said tip based upon a second hypothesized distance from the feature plane to said tip, said second unknown distance being a known offset from said first unknown distance, converting said unknown dimensional feature from pixels into dimensional units A3 when the feature plane is at a third unknown distance from said tip based upon a third hypothesized distance from the feature plane to the tip, said third unknown distance being a known offset from said first unknown distance and/or a known offset from said second unknown distance, and trying different values for said first, second, and third hypothesized distances to yield different values for A1, A2, and A3 by repetitive conversions until A1, A2, and A3 are determined to be sufficiently close that the hypothesized distances are accurate, and wherein the dimensional feature is quantified from A1, A2, and/or A3.

23. The method of claim 22 further comprising selecting accurate hypothesized distances by determining the distances which provide the minimal differences in values for A1, A2, and A3.

24. The method of claim 15 wherein the angioscope includes two image guiding fiber optic bundles spaced apart for providing a stereoscopic image by combining two images, one from each of said fiber optic bundles, and wherein the system is calibrated by performing the placing, measuring, having the computer calculate, and storing steps for each of the fiber optic bundles.

25. A method of obtaining an image from a vessel in a patient by an angioscope, the steps comprising:

inserting a guidewire having an end into the vessel;

inserting the angioscope into the vessel with the angioscope having a tip which is coupled to the guidewire; and

maintaining the tip of the angioscope spaced from the end of the guidewire such that the angioscope is oriented to provide a desired image, and

further comprising the step of determining a distance relative to the tip of the angioscope by viewing indicia on said guidewire.

26. The method of claim 25 wherein a video camera is connected to said angioscope;

a monitor is connected to the video camera to display images from the angioscope; and

a computer connected to process data from said video camera, said computer having stored coefficients for conversion of pixels into dimensional units for feature planes at different distances from said tip;

the steps further comprising;

having the computer receive date representative of the number of pixels corresponding to an unknown dimensional feature of an angioscopic image with the tip positioned at a plurality of distances from a feature plane;

determining the distance from said tip to the feature plane based on changes in the data corresponding to moving the position of the tip an unknown amount;

quantifying this unknown amount of movement from changes in the image of the guidewire by use of at least one appropriate coefficient to covert from pixels to dimensional units; and

quantifying the dimensional feature by use of at least one appropriate coefficient to covert from pixels to dimensional units.