Endoscopic imaging of an organ system

• US 7,559,890 B2
• Filed: 02/24/2004
• Issued: 07/14/2009
• Est. Priority Date: 02/26/2003
• Status: Expired due to Fees

• Current Assignee: Zickfeld Associates, LLC
• Original Assignee: Ikona Medical Corporation
• Inventors: Wallace, Jeffrey M, Thakor, Nitish V, Natarajan, Ananth, Peacock, Keith, Venkatesha, Santosh
• Primary Examiner(s): Leubecker; John P
• Assistant Examiner(s): SMITH, PHILIP ROBERT
• Application Number:
  US10/785,802
• Publication Number:
  US 20040220478A1
• Time in Patent Office: 1,967 Days
• Field of Search: 600/103, 600/117, 600/135, 600/160, 600/170, 600/173
• US Class Current: 600/129
• CPC Class Codes: A61B 1/00096 Optical elements
• CPC Class Codes: A61B 1/00177 for 90 degrees side-viewing
• CPC Class Codes: A61B 1/00186 with imaging filters
• CPC Class Codes: A61B 1/0607 for annular illumination
• CPC Class Codes: A61B 1/0625 for multiple fixed illumination angles
• CPC Class Codes: A61B 1/0646 with illumination filters
• CPC Class Codes: A61B 1/303 for the vagina, i.e. vaginoscopes
• CPC Class Codes: A61B 10/0275 with sample notch, e.g. on the side of inner stylet
• CPC Class Codes: A61B 10/0291 for uterus A61B10/0045 takes precedence
• CPC Class Codes: A61B 17/42 Gynaecological or obstetrical instruments or methods ligaturing clamps or clips for the umbilical cord A61B17/122; curettage A61B17/320708; dilators A61M29/00

Abstract

Certain embodiments include an endoscope and methods for imaging using the endoscope. The endoscope may include an imaging channel and a tip positioned at one end of the imaging channel, the tip adapted to collect light from a field of view that extends 360° around at least a portion of the endoscope and to transmit the light to the imaging channel. Certain embodiments may also utilize various sensors, controllers and processing mechanisms to record and process images into a representation, move the endoscope in and out of the endometrial cavity, and to biopsy a portion of the endometrium.

Claims

1. A method of investigating uterine pathologies using a map of the endometrial lining of an uninsufflated uterus of a patient, comprising:

attaching an image sensor to an imaging channel contained within a body portion of an endoscope, where the imaging channel connects to an omni-directional tip located at the end of the body portion of the endoscope and possessing optics that enable the image sensor to image endometrial lining coapted around the circumference of the omni-directional tip;

inserting the body portion of the endoscope into the collapsed cavity formed by the uninsufflated uterus of the patient;

moving a portion of the endoscope that is outside the patient'"'"'s body to move the omni-directional tip of the endoscope around the collapsed cavity formed by the uninsufflated uterus of the patient;

obtaining a series of images of the portions of the endometrial lining that coapt around the circumference of the omni-directional tip of the endoscope as the omni-directional tip moves around the collapsed cavity formed by the uninsufflated uterus of the patient;

processing the series of images to remove at least a portion of the distortion in the images introduced by the omni-directional tip and the endoscope; and

combining at least a portion of the processed images into at least one map of the endometrial lining of the uterus of the patient.

2. A method as in claim 1, wherein:

processing the series of images comprises selecting a ring-like segment from one of the images and applying a transformation to convert the ring-like segment into a first rectangular segment, and selecting a ring like segment from a second of the images and applying a transformation to convert the ring-like segment into a second rectangular segment; and

combining at least a portion of the processed images comprises combining the first rectangular segment and the second rectangular segment.

3. A method as in claim 1, wherein the field of view of the endoscope extends 360 degrees around at least a portion of the endoscope.

4. A method as in claim 1, wherein the endoscope includes at least one of a reflective element and a refractive element.

5. A method as in claim 1, further comprising obtaining images using a specific wavelength or a specific bandwidth of light.

6. A method as in claim 1, further comprising obtaining images using at least one of visible, ultra-violet and infrared wavelength light.

7. A method as in claim 1, further comprising obtaining images using at least one of reflected imaging, scattered light imaging and florescence imaging of the organ system.

8. A method as in claim 1, further comprising a control system adapted to move the endoscope in the organ system, the control system also adapted to measure the change in position of the endoscope as it moves.

9. A method as in claim 1, further comprising illuminating the organ system with broadband light and recording the images with an image sensor positioned outside of the organ system.

10. A method as in claim 9, wherein the image sensor includes a CCD.

11. A method as in claim 1, further comprising illuminating the organ system with light of a particular wavelength or a particular band of wavelengths and recording the images with an image sensor positioned outside of the organ system.

12. A method as in claim 1, further comprising a control system adapted to position the endoscope to a desired location within the organ system based on the map of the endometrial lining of the uterus of the patient.

13. A method as in claim 1, further comprising capturing images using an image sensor positioned within the organ system and transmitting the images to a device positioned outside of the organ system.

14. A method as in claim 13, wherein the image sensor comprises an electrical transducer.

15. A method as in claim 1, further comprising providing a control system to locate a specific area of interest in the endometrial lining based on the map of the endometrial lining of the uterus of the patient, and using the control system to position a biopsy apparatus to obtain a biopsy in the specific area of interest.

16. A method as in claim 15, wherein the biopsy apparatus comprises a collector and plunger system.

17. A method as in claim 15, wherein the biopsy comprises at least one biopsy technique selected from an optical biopsy technique and a physical biopsy technique.

18. A method as in claim 1, further comprising:

providing an imaging sensor to control the timing of the obtaining of images image;

detecting changes in position of the omni-directional tip of the endoscope within the collapsed cavity formed by the uninsufflated uterus of the patient using a position sensor; and

triggering the imaging sensor to obtain an image upon receiving a signal from the position sensor indicating that the omni-directional tip of the endoscope has moved a predetermined distance within the collapsed cavity formed by the uninsufflated uterus of the patient after a first image has been obtained.

19. A method as in claim 18, further comprising:

obtaining a plurality of additional images of the collapsed cavity formed by the uninsufflated uterus of the patient using the imaging device, wherein the omni-directional tip of the endoscope is moved in the collapsed cavity formed by the uninsufflated uterus of the patient between each of the additional images, the additional images each including distortion created by the imaging device,

processing the additional images to remove at least a portion of the distortion in each of the images; and

combining at least a portion of each of the additional images together with the at least a portion of the first image and the at least a portion of the second image.

20. The method of claim 1 further comprising inserting the omni-directional tip of the endoscope to the uterine fundus before capturing the series of images used to form the map of the endometrial lining of the uterus of the patient.

21. The method of claim 1, wherein the body portion is rigid.

22. The method of claim 1, wherein the body portion contains an illumination channel.

23. The method of claim 22, wherein the illumination channel is a ring of optic fibers surrounding the imaging channel.

24. The method of claim 22, further comprising illuminating the endometrial lining of the uninsufflated uterus of the patient by directing light from a tight source located outside the patient into the illumination channel.

25. A method of mapping the endometrial lining of an uninsufflated uterus of a patient, comprising:

attaching an image sensor to an imaging channel contained within a body portion of an endoscope having a distal end and a proximal end, where the imaging channel extends along an optical axis to an omni-directional tip located at the distal end of the body portion of the endoscope, where the omni-directional tip includes a rigid window that extends along a length of the body portion of the endoscope and around the circumference of the body portion of the endoscope and has a field of view projecting out from the rigid window that is capable of imaging a portion of the endometrium alongside the length of the body portion of the endoscope that includes the rigid window;

inserting the omni-directional tip of the endoscope into the collapsed cavity formed by the uninsufflated uterus of the patient so that the endometrial lining of the uninsufflated uterus becomes in contact with the rigid window of the omni-directional tip;

moving a portion of the endoscope that is outside the patient'"'"'s body to move the omni-directional tip of the endoscope around the collapsed cavity formed by the uninsufflated uterus of the patient;

capturing images of portions of the endometrial lining extending around the circumference of the endoscope and in contact with the rigid window using the image sensor as the omni-directional tip moves around the collapsed cavity formed by the uninsufflated uterus of the patient, where the images include warping introduced due to the optics of the omni-directional tip that image light from the field of view of the window;

applying a transformation to each image to dewarp the image and produce anatomical images; and

combining at least a portion of the processed images into at least one map of the endometrial lining of the uterus of the patient.

26. The method of claim 25, wherein:

the rigid window extends 360 degrees around the circumference of the omni-directional tip to create a 360 degree field of view around the optical axis;

the captured images include ring-like segments showing portions of the endometrial lining in contact with the rigid window in the 360 degree field of view on end to the optical axis of the imaging channel;

the transformation maps the ring-like segments to a rectangular anatomical image;

discarding portions of the rectangular anatomical images that are distorted; and

combining the portions of the rectangular anatomical images to form at least one map of the endometrial lining of the uterus of the patient.

27. The method of claim 25, further comprising correcting for non-uniform illumination of the portions of the endometrial lining imaged through the window.

28. The method of claim 25 further comprising:

measuring the change in position of the endoscope as it moves around the collapsed cavity formed by the uninsufflated uterus of the patient;

wherein the combining at least a portion of the processed images into at least one map of the endometrial lining of the uterus of the patient further comprises using the measured change in position to register the portions of the processed images with respect to each other.