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WO2018046092A1 - Procédé de fonctionnement d'un endoscope et endoscope - Google Patents

Procédé de fonctionnement d'un endoscope et endoscope Download PDF

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Publication number
WO2018046092A1
WO2018046092A1 PCT/EP2016/071334 EP2016071334W WO2018046092A1 WO 2018046092 A1 WO2018046092 A1 WO 2018046092A1 EP 2016071334 W EP2016071334 W EP 2016071334W WO 2018046092 A1 WO2018046092 A1 WO 2018046092A1
Authority
WO
WIPO (PCT)
Prior art keywords
image
endoscope
dimensional image
basis
recordings
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2016/071334
Other languages
German (de)
English (en)
Inventor
Thomas Engel
Maximilian Fleischer
Alexander Michael Gigler
Elfriede Simon
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Siemens Corp
Original Assignee
Siemens AG
Siemens Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Priority to PCT/EP2016/071334 priority Critical patent/WO2018046092A1/fr
Publication of WO2018046092A1 publication Critical patent/WO2018046092A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00194—Optical arrangements adapted for three-dimensional imaging
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/32—Indexing scheme for image data processing or generation, in general involving image mosaicing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10016—Video; Image sequence
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10068—Endoscopic image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/41—Medical
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V2201/00—Indexing scheme relating to image or video recognition or understanding
    • G06V2201/03—Recognition of patterns in medical or anatomical images
    • G06V2201/034—Recognition of patterns in medical or anatomical images of medical instruments

Definitions

  • 3D endoscopes In minimally invasive surgery, such as with laparoscopes, the doctor usually has no immediate insight into the site of the surgery. Nevertheless, to get the best possible spatial orientation, 3D endoscopes can be used. These endoscopes allow the situs to be at least partially detected in 3D, e.g. also for documentation purposes.
  • Orifice Transluminal Endoscopic Surgery which can be seen as equal ⁇ synonymous with minimally invasive surgery without scars, represents a further development of laparoscopic minimally invasive surgery. This natural body openings are used to avoid visible scars after surgery.
  • 3D endoscopy is a very new technology for minimally invasive surgery, which is just beginning to be introduced.
  • 3D endoscopy ie the broadest possible approach in the medical field but also in particular for an extension of the application range of minimally invasive surgery to other clinical pictures with eg difficult accessibility to the site or with increased risk potential for unwanted injury to organs , Gefä ⁇ SEN or nerves, it is important to deal with the resulting technical challenges.
  • the object underlying the invention is to provide a solution which improves the known from the prior art solutions, in particular in which it ensures a further Traumare reduction.
  • the state of the art in which an external localization of the endoscope is carried out to support the guidance of the endoscope, is improved by providing the surgeon or device control with a more comprehensive internal view at the site of the operation and the endoscope so unintentional injuries, for example by avoiding collisions can be prevented.
  • the solution according to the invention is characterized, inter alia, by the fact that restrictions in the orientation are solved by the fact that natural markers of the body are found and used by the determined significant structures in order to join the field of view of the endoscope to a larger volume range.
  • the Orientie ⁇ tion is made easier for the physician.
  • the invention as a natural marker while Oberflä ⁇ chentexturen of organs, vessels such as blood vessels or lymph vessels or lymph nodes, nerves, tendons, muscle groups or packages, etc. are used..
  • the invention thus provides an assembly of individual regions, which are detected in 2D and / or 3D, into a larger measurement volume or volume range, ie in particular in the manner of the approach known in particular from stitching as a technique; In contrast, however, differing in particular by the fact that no rigid markers are used.
  • the peculiarity is that the "measuring object" human can not be regarded as a rigid body, but rather moves, be it by pulsation, which may also be slowed down during the operation, by breathing and breathing excursion or by muscle movements
  • the situs can also change itself by the operating room itself, in that the surgeon himself moves the organs or changes them, for example through incisions in the topology, so that the invention in particular develops its advantages because it is known from the art method improved assembling allowed, because it is taught a new Registrierungspro- process, which is particularly adapted to the special needs of Medical Resident ⁇ rule application.
  • a dreidimensiona ⁇ le image recording In this case preferably at least tried with the endoscope a dreidimensiona ⁇ le image recording. Can thereby take place cavities ⁇ clear representation of the situs so that additional in ⁇ formations to assess the necessary and possible
  • Endoscope guide are available.
  • the phrase "trying" brings it expressed that the endoscope is used fundamentally ⁇ additionally for recording three-dimensional image recording, but due to local conditions such as shadowing can occur that ultimately partly be present as a result, only two-dimensional image recordings.
  • the determination is performed such that at least a first parameter, insbesonde ⁇ re direction, speed, type of motion detected in each of certain significant structure to a possible full ⁇ continuous detection and description of the movement for each of the detected to obtain natural markers (specific significant structure).
  • a parallel recording of vital signs Example ⁇ as heartbeat, pulse, blood pressure, breathing state and / or Lun ⁇ genhellung, the patient are performed, and a determination of at least a given based on the vital parameter characteristic, in particular a correlation Characteristic value per significant structure that reflects the first parameters.
  • the movements can be related to bodily functions, which among other things is helpful for accurate predictions regarding a collision probability.
  • the result becomes more accurate.
  • the detection range of the endoscope in particular ⁇ sondere by moving the endoscope is changed to detect other regions of the surgical site to increase, among other things, the volume of the detected range.
  • the movement of the endoscope may vary due to the fact that according to the invention calculated on ⁇ taken images and subsequently via triangulation methods in a time interval is known alseinan ⁇ of the following images from a region of the operating site, the three dimensional shape of be, and so the above-mentioned be ⁇ eintr foundedung three-dimensional images by shadowing, which have the effect of that not all pixels in the detection area can be detected directly in three dimensions, at least partially removed.
  • the captured image recordings are displayed on a display device, so that the medical personnel can act directly supported thereby.
  • the volume regions joined together are preferably displayed in two dimensions and / or three-dimensionally for display on a display unit.
  • Particularly suitable for documenting the OP is the development in which a recording of at least parts of the recorded image recordings and / or assembled volumes takes place.
  • a recognition of the instruments used in the operation in particular on shape, color, position, marker, also takes place a representation of their spatial position in the surgical field, in particular in relation to organs, on a display device, is a better differentiation of the objects of a displayed ⁇ th scene and thus a speedy response for a viewer, in particular operator possible.
  • a further development of the method according to the invention results if, on the basis of the recognition, an evaluation with regard to the presence of a risk of injury takes place and, on the basis of the evaluation, an issuing of warning messages if the presence, in particular by reaching a threshold value, is confirmed.
  • the endoscope is functionally connected and operated with a position sensor, for example an inertial sensor and / or a magnetic field sensor, a movement of the system can be detected and distinguished from a movement of the organs and other body components in the surgical site.
  • a position sensor for example an inertial sensor and / or a magnetic field sensor
  • the position sensor is provided by inertial sensors and / or a magnetic field sensor, this is then designed for a detection of translations or rotations in at least one coordinate direction.
  • partial regions determined to generate the image of at least two endoscopes are used. As a result, the displayed image volume can be significantly increased again.
  • the endoscope according to the invention has means for carrying out the method according to one of the preceding embodiments and, by implementing the method, makes it possible to realize its advantages.
  • FIGURE is a flowchart with a simplified representation of an embodiment of Ver ⁇ procedure according to the invention
  • step Sl detecting ei ⁇ nes measuring range by means of 2D / 3D image recordings.
  • step S2 determination of natural markers in the 2D / 3D image takes place and, in a third step S3, detection of the movement of the detected natural markers over a sequence of 2D / 3D images. This can be accompanied by one with parallel
  • Detecting the vital parameters of the patient such as heartbeat, heart rate, blood pressure at the time of Jardinaufnah ⁇ me, breathing state / lung filling, etc. in order to obtain as complete as possible detection and description of the movement for each of the recognized natural marker.
  • a fourth step S4 follows a determination of at least one characteristic index for the movement for each of the natural markers, such as amplitude (1D, 2D or 3D if necessary direction), phase position of the movement to pulse or At ⁇ tion, frequency of movement - possibly in relation to pulse or respiratory rate.
  • a fifth step S5 a selection of the markers for a registration and a Stitching to be used, for example, due to the at least one measure.
  • step S8 stitching of the at least two 3D image areas now present on the basis of the sixth and seventh steps S6 and S7 is then carried out, so that a larger amount of information is added. coherent area arises.
  • An embodiment variant without the sixth and seventh steps S6 and S7 is also conceivable, in such a case there is a representation / processing of what can be detected, ie a 2D / 3D representation as described above.
  • a ninth step S9 one depicting ⁇ len of, due to the seventh and eighth step S7 and S8 now present 3D images for the medical staff and represent the combined added volume regions in 3D representation.
  • recognizing the instruments used in the OP on shape, color, location, markers may be provided and a representation of their spatial position in the surgical field and in particular in relation to organs done, possibly issuing alerts when a risk of injury of Organs, vessels, nerves, tendons, etc. exists.
  • the endoscope has a position sensor system to detect a movement of the system and to distinguish it from a movement of the organs and other body parts in the surgical site.
  • an inertial sensor and / or a magnetic field sensor can be used, which are designed for a detection of translations or rotations in at least one coordinate direction.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Veterinary Medicine (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Signal Processing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Endoscopes (AREA)

Abstract

L'invention concerne un endoscope et un procédé de fonctionnement d'un endoscope consistant à : a) détecter in situ une plage de mesure au moyen d'au moins une prise de vue au moins bidimensionnelle d'au moins une première partie de tissu d'un patient ; b) analyser le contenu d'image de chaque prise de vue ; c) détecter au moins une structure significative par prise de vue sur base de l'analyse ; d) déterminer au moins une structure significative pouvant être détectée en continu dans une suite de prises de vue séquentielles ; e) générer une image par assemblage au moins de parties, en particulier d'au moins deux prises de vue, de la succession en une image d'un volume plus important que le volume des images des différents prises de vue, les propriétés de l'assemblage, en particulier le site et/ou l'étendue et/ou le nombre de recouvrements, de zones partielles des prises de vue, en particulier en fonction du type de ce qu'on appelle un "stitching", sur base d'au moins une des structures significatives déterminées, en particulier en fonction du type ce qu'on appelle la "régistration", étant fixées.
PCT/EP2016/071334 2016-09-09 2016-09-09 Procédé de fonctionnement d'un endoscope et endoscope Ceased WO2018046092A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2016/071334 WO2018046092A1 (fr) 2016-09-09 2016-09-09 Procédé de fonctionnement d'un endoscope et endoscope

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2016/071334 WO2018046092A1 (fr) 2016-09-09 2016-09-09 Procédé de fonctionnement d'un endoscope et endoscope

Publications (1)

Publication Number Publication Date
WO2018046092A1 true WO2018046092A1 (fr) 2018-03-15

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Application Number Title Priority Date Filing Date
PCT/EP2016/071334 Ceased WO2018046092A1 (fr) 2016-09-09 2016-09-09 Procédé de fonctionnement d'un endoscope et endoscope

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024115724A1 (fr) * 2022-12-02 2024-06-06 Karl Storz Se & Co. Kg Procédé de marquage d'informations dans des images numériques

Citations (15)

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Publication number Priority date Publication date Assignee Title
US20050065441A1 (en) * 2003-08-29 2005-03-24 Arkady Glukhovsky System, apparatus and method for measurement of motion parameters of an in-vivo device
US20060241499A1 (en) * 2005-02-24 2006-10-26 Irion Klaus M Multifunctional fluorescence diagnosis system
US20070116119A1 (en) * 2005-11-23 2007-05-24 Capso Vision, Inc. Movement detection and construction of an "actual reality" image
WO2008004222A2 (fr) * 2006-07-03 2008-01-10 Yissum Research Development Company Of The Hebrew University Of Jerusalem Procédé et système assités par images d'ordinateur pour guider des instruments à travers des cavités creuses
US20090208143A1 (en) * 2008-02-19 2009-08-20 University Of Washington Efficient automated urothelial imaging using an endoscope with tip bending
WO2009144729A1 (fr) * 2008-05-28 2009-12-03 Technion Research & Development Foundation Ltd. Ensemble de caméras laparoscopiques
US20100130836A1 (en) * 2008-11-14 2010-05-27 Voyage Medical, Inc. Image processing systems
US20140024951A1 (en) * 2012-07-20 2014-01-23 Intuitive Surgical Operations, Inc. Annular vision system
US20150025357A1 (en) * 2013-07-21 2015-01-22 Gyrus Acmi, Inc. (D.B.A. Olympus Surgical Technologies America) Double line imaging device
US20150045619A1 (en) * 2013-08-09 2015-02-12 Chang Bing Show Chwan Memorial Hospital System and method for mosaicing endoscope images using wide angle view endoscope
US20150208904A1 (en) * 2014-01-30 2015-07-30 Woon Jong Yoon Image-based feedback endoscopy system
WO2015115073A1 (fr) * 2014-01-30 2015-08-06 Sony Corporation Système endoscopique, dispositif de traitement d'image, procédé de traitement d'image et programme
WO2015149046A1 (fr) * 2014-03-28 2015-10-01 Dorin Panescu Imagerie tridimensionnelle quantitative de scènes chirurgicales à partir de perspectives d'orifices multiples
WO2016044624A1 (fr) * 2014-09-17 2016-03-24 Taris Biomedical Llc Méthodes et systèmes de cartographie diagnostique de la vessie
WO2016113745A1 (fr) * 2015-01-18 2016-07-21 Dentlytec G.P.L. Ltd Système, dispositif et procédé d'exploration dentaire intra-orale

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050065441A1 (en) * 2003-08-29 2005-03-24 Arkady Glukhovsky System, apparatus and method for measurement of motion parameters of an in-vivo device
US20060241499A1 (en) * 2005-02-24 2006-10-26 Irion Klaus M Multifunctional fluorescence diagnosis system
US20070116119A1 (en) * 2005-11-23 2007-05-24 Capso Vision, Inc. Movement detection and construction of an "actual reality" image
WO2008004222A2 (fr) * 2006-07-03 2008-01-10 Yissum Research Development Company Of The Hebrew University Of Jerusalem Procédé et système assités par images d'ordinateur pour guider des instruments à travers des cavités creuses
US20090208143A1 (en) * 2008-02-19 2009-08-20 University Of Washington Efficient automated urothelial imaging using an endoscope with tip bending
WO2009144729A1 (fr) * 2008-05-28 2009-12-03 Technion Research & Development Foundation Ltd. Ensemble de caméras laparoscopiques
US20100130836A1 (en) * 2008-11-14 2010-05-27 Voyage Medical, Inc. Image processing systems
US20140024951A1 (en) * 2012-07-20 2014-01-23 Intuitive Surgical Operations, Inc. Annular vision system
US20150025357A1 (en) * 2013-07-21 2015-01-22 Gyrus Acmi, Inc. (D.B.A. Olympus Surgical Technologies America) Double line imaging device
US20150045619A1 (en) * 2013-08-09 2015-02-12 Chang Bing Show Chwan Memorial Hospital System and method for mosaicing endoscope images using wide angle view endoscope
US20150208904A1 (en) * 2014-01-30 2015-07-30 Woon Jong Yoon Image-based feedback endoscopy system
WO2015115073A1 (fr) * 2014-01-30 2015-08-06 Sony Corporation Système endoscopique, dispositif de traitement d'image, procédé de traitement d'image et programme
WO2015149046A1 (fr) * 2014-03-28 2015-10-01 Dorin Panescu Imagerie tridimensionnelle quantitative de scènes chirurgicales à partir de perspectives d'orifices multiples
WO2016044624A1 (fr) * 2014-09-17 2016-03-24 Taris Biomedical Llc Méthodes et systèmes de cartographie diagnostique de la vessie
WO2016113745A1 (fr) * 2015-01-18 2016-07-21 Dentlytec G.P.L. Ltd Système, dispositif et procédé d'exploration dentaire intra-orale

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2024115724A1 (fr) * 2022-12-02 2024-06-06 Karl Storz Se & Co. Kg Procédé de marquage d'informations dans des images numériques
DE102022132100A1 (de) 2022-12-02 2024-06-13 Karl Storz Se & Co. Kg Verfahren zur Markierung von Information in digitalen Bildern
DE102022132100B4 (de) 2022-12-02 2025-01-02 Karl Storz Se & Co. Kg Verfahren zur Markierung von Information in digitalen Bildern

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