Methods and devices for endoscopic imaging

• US 7,744,528 B2
• Filed: 10/18/2005
• Issued: 06/29/2010
• Est. Priority Date: 02/26/2003
• Status: Active Grant

• Current Assignee: Zickfeld Associates, LLC
• Original Assignee: Infinite Biomedical Technologies, LLC
• 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:
  US11/252,897
• Publication Number:
  US 20060106283A1
• Time in Patent Office: 1,715 Days
• Field of Search: 600/103, 600/117, 600/173, 600/170, 382/285, 382/287, 382/289, 382294-296, 382/298
• US Class Current: 600/170
• CPC Class Codes: A61B 1/00096 Optical elements
• CPC Class Codes: A61B 1/00177 for 90 degrees side-viewing
• CPC Class Codes: A61B 1/06 with illuminating arrangements
• 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

Embodiments include devices and methods. One embodiment includes a method for imaging an endometrial cavity, including acquiring a plurality of images using an imaging system. A first part of the imaging system is positioned within the endometrial cavity. At least portions of two or more of the images are combined into a representation of at least a portion of the endometrial cavity. The combining at least portions of two of the images may include determining any motion of the first part of the imaging system, between the two or more of the images. Other embodiments are described and claimed.

Claims

1. A method for imaging an organ system cavity comprising:

positioning a first part of an imaging system in the organ system cavity;

acquiring a plurality of images using the imaging system, where the imaging system carries out imaging at angles up to and including 360 degrees around an axis of the first part of the imaging system;

removing distortion from the images by producing image segments from ring-like portions of each of the acquired images using a combination of clipping and dewarping processes that remove distortions introduced by imaging at angles up to and including 360 degrees around an axis of the first part of the imaging system;

combining at least portions of two or more image segments to create a map of at least a portion of the interior surface of the organ system cavity, wherein the combining at least portions of two or more image segments includes determining any motion of the first part of the imaging system relative to the organ system cavity;

wherein determining any motion of the first part of the imaging system is carried out using a visual tracking method that determines motion in the form of at least one motion component selected from the group consisting of translation, rotation, scaling, and deformation; and

wherein at least one of the motion components is used to derive an image registration between two or more images that are used to create the map of at least a portion of the interior surface of the organ system cavity.

2. A method as in claim 1, wherein the organ system cavity comprises an endometrial cavity.

3. A method as in claim 1, wherein the organ system cavity is selected from the group consisting of or portions of a gastrointestinal lumen, an orthopedic joint cavity, a sinus cavity, a nasal passageway, an ear canal, an oral cavity, an intracranial space, a lung cavity, a bladder cavity, a cavity within the heart, a cavity within the vascular system, and at least a portion of the thoracic cavity.

4. A method as in claim 1, wherein the imaging system includes an endoscope, and at least a portion of the endoscope comprises the first part of the imaging system.

5. A method as in claim 4, wherein the endoscope is used to obtain the images and wherein the images are obtained without using insufflation of the organ system cavity.

6. A method as in claim 1, further comprising the use of a plurality of imaging modalities to obtain the at least portions of two or more of the images.

7. A method as in claim 6, where the plurality of imaging modalities are selected from the group consisting of digital cameras, digital endoscopes, stereo endoscopes, stereoscopic imaging systems, multi-spectral imaging systems, imaging systems utilizing electrical transducers, ultrasound imaging systems, nuclear medicine imaging systems, and x-ray imaging systems.

8. A method as in claim 1, further comprising determining the motion of the imaging device between the two or more of the images using at least one implementation selected from the group consisting of software, hardware, and firmware.

9. A method as in claim 1, wherein the images captured by the image system contain information about the tissue at a position selected from:

(ii) on the surface of the organ system cavity, and (ii) below the surface of the organ system cavity.

10. A method as in claim 1, wherein the image of at least a portion of the interior surface of the organ system cavity is used to identify or diagnose pathology within or part of the organ system cavity.

11. A method as in claim 1, wherein the image of at least a portion of the interior surface of the organ system cavity is used as guidance in an image-guided procedure.

12. A method as in claim 11, wherein the image-guided procedure is selected from the group consisting of:

(i) a biopsy, and (ii) the delivery of therapy or a portion of a therapy.

13. A method as in claim 1, wherein the visual motion tracking method includes the use of at least one of:

(i) changes in image pixel intensity, and (ii) patterns in image pixel intensity, to determine the motion of the first part of the imaging system between the two or more images.

14. A method as in claim 13, wherein the visual motion tracking method includes the use of at least one estimator.

15. A method as in claim 14, wherein the at least one estimator includes a motion estimator that is implemented as a Kalman-type filter.

16. A method as in claim 14, wherein the at least one estimator includes a motion estimator that is implemented with an optical flow methodology.

17. A method as in claim 14, wherein the at least one estimator includes a motion estimator, the method further comprising using a compensator to adjust at least one of brightness and contrast, to improve image quality following the use of the motion estimator.

18. A method as in claim 17, where the compensator is implemented as a Laplacian of a Gaussian kernel filter.

19. A method as in claim 1, wherein the visual tracking method identifies features within a plurality of the images and tracks any change in orientation of the features due to motion of the first part of the imaging system between images.

20. A method as in claim 19, wherein the features comprise at least one feature selected from the group consisting of blood vessels, vascular structure, and tissue texture.

21. A method for imaging an organ system cavity comprising:

positioning a first part of an imaging system within the organ system cavity;

acquiring a plurality of images using the imaging system, the imaging system utilizing at least one electrical transducer to produce one or more images of a portion of the organ system cavity, where the imaging system carries out imaging at angles up to and including 360 decrees around an axis of the first part of the imaging system;

removing distortion from the images by producing image segments from ring-like portions of each of the acquired images using a combination of clipping and dewarping processes that remove distortions introduced by imaging at angles up to and including 360 degrees around an axis of the first part of the imaging system;

determining any motion of the first part of the imaging system relative to the organ system cavity; and

combining at least a portion of two or more image segments into a map of at least a portion of the interior surface of the organ system cavity.

22. A method as in claim 21, wherein the acquiring a plurality of images includes using a light imaging system, wherein the light in the light imaging system is selected from the group consisting of ultraviolet light, visible light, near infrared light, and infrared light.

23. A method as in claim 21, wherein the electrical transducer is selected from a group consisting of an ultrasound sensor transducer, a radiation sensor transducer, and a nuclear medicine sensor transducer.

24. A method as in claim 21, where the at least a portion of two or more images includes images that were created or captured by at least two imaging modalities.

25. A method as in claim 21, wherein the image of at least a portion of the interior surface of the organ system cavity is used for the diagnosis or identification of pathology within or part of the organ system cavity.

26. A method as in claim 21, wherein the image of at least a portion of the interior surface of the organ system cavity is used as part of guidance for an image-guided procedure.

27. A method as in claim 26, wherein the image-guided procedure is selected from the group consisting of image-guided biopsy and image-guided therapy delivery.

28. A method as in claim 21, wherein the combining at least a portion of two or more images is accomplished as part of one of:

(i) the acquiring a plurality of images, (ii) during the acquiring a plurality of images, or (iii) after the acquiring a plurality of images is completed.

29. A method as in claim 21, further comprising using the map of at least a portion of the interior surface of the organ system cavity to monitor time varying effects.

30. A method as in claim 21, wherein the combining at least a portion of two or more images removes at least one of noise and artifacts, in the captured images or portions of the captured images.

31. An imaging system comprising:

an endoscope configured to image at angles up to and including 360 degrees around an axis of the endoscope;

at least one image creating sensor configured to capture images from the endoscope;

at least one data processing system; and

at least one motion tracking system to determine motion between two or more images;

wherein the at least one data processing system is configured to remove distortion from the images captured from the endoscope by producing image segments from ring-like portions of each of the acquired images using a combination of clipping and dewarping processes that remove distortions introduced by imaging at angles up to and including 360 degrees around an axis of the endoscope; and

wherein the at least one data processing system is adapted to combine at least a portion of two or more image segments together into a map of at least a portion of an organ system cavity.

32. An imaging system as in claim 31, comprising at least two image creating sensors, wherein the two image creating sensors are adapted to obtain at least two imaging modalities, and wherein the two or more images are acquired by the two imaging sensors.

33. An imaging system as in claim 31, further comprising a display device adapted to display at least a portion of the map of at least a portion of the organ system cavity.

34. An imaging system as in claim 31, wherein the imaging system is adapted to use at least a portion of the map of at least a portion of the organ system cavity as guidance for an image-guided procedure.