Global endoscopic viewing indicator

• US 9,615,772 B2
• Filed: 02/01/2005
• Issued: 04/11/2017
• Est. Priority Date: 02/20/2004
• Status: Active Grant

• Current Assignee: Karl Storz Imaging, Inc (Karl Storz Se & Co. Kg)
• Original Assignee: Karl Storz Imaging, Inc (Karl Storz Se & Co. Kg)
• Inventors: Hale, Eric Lawrence, Schara, Nathan Jon, Hoeg, Hans David
• Primary Examiner(s): Nguyen, Anhtuan T
• Assistant Examiner(s): NEWTON, ALEXANDRA L
• Application Number:
  US11/049,003
• Publication Number:
  US 20050187432A1
• Time in Patent Office: 4,452 Days
• Field of Search: 600101, 600103, 600107-118
• CPC Class Codes: A61B 1/000094 extracting biological structures
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 1/00183 for variable viewing angles
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 2034/2048 using an accelerometer or inertia sensor
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/368 changing the image on a display according to the operator's position
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe

Abstract

A graphical model provides a dynamic representation of the endoscopic view and viewing direction relative to a virtual world. The model can be oriented and adjusted to approximate a real world situation. Angular image navigation coordinates are also provided.

Claims

1. A method for representing an endoscopic view and viewing direction, the method comprising:

acquiring images with an endoscope having a distal end and a view vector that pivots relative to the distal end, the view vector having an attendant view cone that defines a current image;

displaying the current image in a first section of a display;

sensing the attitude of the endoscope using sensors attached to the endoscope;

displaying, in a second section of the display different from the first section of the display and simultaneously with the current image, a virtual representation of an endoscopic environment comprising a graphical representation of the endoscope, a texture mapped version of the current image defined by the view cone, and a graphical representation of a navigation coordinate system in which said graphical representation of the endoscope and texture mapped image are arranged in positions based on the attitude of the endoscope;

updating the texture mapped image as the view cone moves through a solid angle as the view vector pivots; and

updating the positions of the updated texture mapped image and the graphical representation of the endoscope within the graphical representation of the navigation coordinate system as the view cone moves through a solid angle as the view vector pivots.

2. The method of claim 1, wherein the graphical navigation coordinate system defines a globe.

3. The method of claim 1, wherein the virtual representation of the endoscopic environment comprises a wire framed representation of an anatomical structure.

4. The method of claim 1, further comprising displaying a number that indicates the viewing direction on the display on the current image.

5. The method of claim 1, further comprising displaying a graphical representation of the direction of gravity on the display of the current image.

6. The method of claim 1, wherein the virtual representation includes a graphical representation of the direction of gravity.

7. The method of claim 1, wherein said virtual representation includes a graphical representation of at least one tool relative to the endoscope, the view cone, and the texture mapped version of the image.

8. The method of claim 1, wherein the virtual representation of the endoscopic environment is at least partly based on volumetric data obtained from a non-invasive imaging technique.

9. The method of claim 8, wherein the volumetric data is obtained from magnetic resonance imaging.

10. The method of claim 8 wherein the volumetric data is obtained from ultrasound.

11. The method of claim 1, further comprising:

projecting at least a portion of the navigation coordinate system on the display of the current image that corresponds to the graphical representation of the navigation coordinate system of the virtual representation of the endoscopic environment.

12. The method of claim 1, further comprising:

displaying, within the virtual representation of the endoscopic environment, a graphical representation of the view cone arranged in a position within the graphical representation of the navigation coordinate system based on the attitude of the endoscope; and

updating the position of the graphical representation of the view cone within the graphical representation of the navigation coordinate system as the view cone moves through a solid angle as the view vector pivots.