System and method for image-based alignment of an endoscope
First Claim
1. A method for confirming correct alignment of a distal end of an endoscope including an imaging arrangement during an endoscopic procedure, the method comprising:
- positioning the distal end of the endoscope adjacent to a target location and capturing a reference image using the imaging arrangement;
sensing a real-time video image using the imaging arrangement;
comparing features of the real-time video image with the reference image to determine whether the endoscope is correctly aligned;
if the endoscope is not correctly aligned;
measuring a mismatch between the reference image and the real-time video image;
providing a visual indication of the mismatch, the visual indication including directionality and magnitude information; and
adjusting a position of the endoscope based on the directionality and magnitude information derived from the mismatch; and
correlating a sub-window of the reference image provided on a display, and centered on the target location, with a corresponding sliding window of the real-time video image provided on the display.
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Accused Products
Abstract
Systems and methods for endoscopic procedures employ a first technique to ensure initial correct alignment of an endoscope (100) with a desired target (10). A reference image (51) is then acquired from an imaging arrangement associated with the endoscope. During a subsequent stage of the procedure, tracking of the endoscope position relative to the target is performed partially or entirely by image-based tracking by comparing features in real-time video image (52) produced by imaging arrangement with features in the reference image (51). The feature comparison may be performed visually by a user, or may be automated to offer more specific corrective suggestions to the user.
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Citations
17 Claims
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1. A method for confirming correct alignment of a distal end of an endoscope including an imaging arrangement during an endoscopic procedure, the method comprising:
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positioning the distal end of the endoscope adjacent to a target location and capturing a reference image using the imaging arrangement; sensing a real-time video image using the imaging arrangement; comparing features of the real-time video image with the reference image to determine whether the endoscope is correctly aligned; if the endoscope is not correctly aligned; measuring a mismatch between the reference image and the real-time video image; providing a visual indication of the mismatch, the visual indication including directionality and magnitude information; and adjusting a position of the endoscope based on the directionality and magnitude information derived from the mismatch; and correlating a sub-window of the reference image provided on a display, and centered on the target location, with a corresponding sliding window of the real-time video image provided on the display. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A system for ensuring correct alignment of an endoscope during performance of an endoscopic procedure, the system comprising:
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an endoscope having a distal end for insertion into a body; an imaging arrangement associated with said endoscope and configured to generate a real-time video image of a region beyond said distal end; and a processing system associated with said imaging arrangement and configured to; (i) in an initial state of alignment with a target location, derive from said imaging arrangement a reference image corresponding to correct alignment with the target location, (ii) derive from said imaging arrangement real-time images of the region beyond said distal end, (iii) co-process said reference image and said real-time images to determine a current alignment status of said endoscope with the target location, (iv) if said endoscope is not currently aligned; measure a mismatch between the reference image and the real-time video image; provide a visual indication of the mismatch, the visual indication including directionality and magnitude information; and adjust a position of the endoscope based on the directionality and magnitude information derived from the mismatch; and (v) correlate a sub-window of the reference image provided on a display, and centered on the target location, with a corresponding sliding window of the real-time video image provided on the display. - View Dependent Claims (14, 15, 16, 17)
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Specification