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WO2025074354A1 - Système optique catadioptrique combiné à vision axiale et panoramique à 360 degrés pour imagerie médicale - Google Patents

Système optique catadioptrique combiné à vision axiale et panoramique à 360 degrés pour imagerie médicale Download PDF

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Publication number
WO2025074354A1
WO2025074354A1 PCT/IB2024/060038 IB2024060038W WO2025074354A1 WO 2025074354 A1 WO2025074354 A1 WO 2025074354A1 IB 2024060038 W IB2024060038 W IB 2024060038W WO 2025074354 A1 WO2025074354 A1 WO 2025074354A1
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WO
WIPO (PCT)
Prior art keywords
mirror
view
camera
light
optical
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.)
Pending
Application number
PCT/IB2024/060038
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English (en)
Inventor
Somayeh RAHMANI
Kiam NASRI
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Individual
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Individual
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Filing date
Publication date
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Priority to PCT/IB2024/060038 priority Critical patent/WO2025074354A1/fr
Publication of WO2025074354A1 publication Critical patent/WO2025074354A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B17/00—Systems with reflecting surfaces, with or without refracting elements
    • G02B17/08—Catadioptric systems
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00096—Optical elements
    • 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
    • A61B1/00174—Optical arrangements characterised by the viewing angles
    • A61B1/00177—Optical arrangements characterised by the viewing angles for 90 degrees side-viewing
    • 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
    • A61B1/00174—Optical arrangements characterised by the viewing angles
    • A61B1/00181—Optical arrangements characterised by the viewing angles for multiple fixed viewing angles
    • 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
    • A61B1/06—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 with illuminating arrangements
    • A61B1/0615—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 with illuminating arrangements for radial illumination
    • 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
    • A61B1/06—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 with illuminating arrangements
    • A61B1/0625—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 with illuminating arrangements for multiple fixed illumination angles
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2407—Optical details
    • G02B23/2423—Optical details of the distal end

Definitions

  • the patent presented here is based on the use of a catadioptric imaging system that includes a conventional field of view camera system and a convex mirror with a special curvature that can provide a 360degree side view. Also in this proposed system, a pinhole mirror is used to achieve 360 degree forward and side vision.
  • the camera unit sensor and lens
  • the frame mirror with a hole in the middle are placed inside a transparent tube of glass or polymer.
  • the doctor can see simultaneously from the front with a 360-degree view of the intestinal wall and easily identify precancerous polyps that could be dangerous if untreated.
  • An endoscopic device comprising a housing, first imaging means in the housing for detecting light emanating from objects from a predetermined first surrounding region annularly surrounding the endoscopic device and for producing a first image of the first surrounding region, a first image sensor for detecting the first image and for producing a first image signal, a first image sensor for sensing the first image and for generating a first image signal representing the first image, a second imaging means in the housing for sensing light emanating from objects in a predetermined second surrounding region and for generating a second image of the second surrounding region, and a second image sensor for sensing the second image and for generating a second image signal representing the second image.
  • the first imaging device comprises a catadioptric imaging system with a first reflective surface, a second reflective surface, and a light refracting interface.
  • This mentioned invention relates to a an endoscopy system and shares aspects of our design in function and purpose. However, the comprising elements and process are completely different, for instance this one emphasizes a two-phased image producing method while ours uses a combined catadioptric system.
  • Dual-view probe for illumination and imaging and use thereof
  • One embodiment of the invention is directed to an imaging probe which comprises a first element supplying electromagnetic radiation in a forward path for illuminating a forward field of view of space in front of the probe, a second element supplying electromagnetic radiation in a sideways and/or rearward path for illuminating a sideways and/or back field of view of space alongside the probe and an image sensor.
  • the probe further includes an imaging device in imaging paths imaging the forward and sideways and/or back fields of view onto the image sensor.
  • the forward path, the sideways and/or rearward path and the imaging paths are unobstructed by any component of the probe.
  • the forward and sideways and/or back fields of view are registered in a fixed spatial relationship relative to one another on the image sensor.
  • This probe can also be used with existing endoscopes or laparoscopes so that it will be easily merged into current instruments of different manufacturers, making it easier and cheaper to use this product without the expense of a totally new endoscopy or laparoscope platform.
  • This probe can also be used to image objects in inanimate environments as well, such as in containers, buildings, rooms, engines and pipes.
  • the objective of the present invention is to provide a single endoscope that provides a field of view substantially greater than a hemisphere comprising a forward field of view and a panoramic field of view that are integrated on a single image plane.
  • the invention is described with respect to a rigid endoscope, but the technology can be implemented on a flexible endoscope as well.
  • the advantage of such an endoscope is that it would provide substantially more information to the physician than any single existing endoscope, and it can be used in place of multiple endoscopes with varying directions of view that are swapped throughout a procedure to provide different views.
  • the invention can also be used in non-medical applications for inspection in closed or generally inaccessible spaces such as for example the interior of jet engines.
  • This mentioned invention is similar to ours in offering an improved panoramic as well as forward view feature in endoscopes.
  • the methods and comprising elements are different, for instance, unlike this patent, ours includes a water spray nozzle for cleaning purposes and the resulting images can be displayed on multiple screen in real-time.
  • the above mentioned device is similar to our claimed one, since they both offer forward and panoramic 360 degree view imaging systems. They also have differences in their design and comprising elements, for instance, ours features a cleaning water spray and a biopsy channel whereas this one makes no mention of these parts.
  • the invention relates to a catadioptric medical imaging system (1), in particular a surgical microscope (2).
  • a catadioptric medical imaging system (1) comprises a camera device (8) and a convex catoptric mirror (20) adapted to be inserted into the surgical cavity (6).
  • the catoptric mirror (20) is mounted on an arm (22) and spaced apart from the camera device (8).
  • This mentioned invention also involves a catadioptric optical system that can be utilized in medical procedures. While the two patents share certain elements and processing methods, their overall purposes and scopes differ. This one is designed to be used primarily in surgery whereas ours can also be used in endoscopic or other similar procedures. Moreover, ours features a water spray element for cleansing purposes.
  • the invention presented here involves the utilization of a catadioptric imaging system, a combination of a traditional perspective imaging system and a convex mirror with a distinct curvature designed to offer a complete 360-degree side view. Furthermore, this patent design incorporates a hyperbolic mirror featuring a central aperture which enables the attainment of both frontal and peripheral vision.
  • a camera set comprising sensors and lenses is integrated alongside the hyperbolic mirror within a transparent tube crafted from either glass or polymer.
  • This setup facilitates a comprehensive visualization of the intestinal wall, allowing medical professionals to simultaneously observe the frontal perspective as well as a panoramic 360-degree view.
  • This system allows doctors to efficiently identify precancerous polyps that could go unnoticed in instances where only a front view is available.
  • This invention marks a significant advancement in medical imaging, offering clarity and insight into the intricate workings of the human body.
  • this system enhances diagnostic accuracy and improves patient outcomes.
  • Colorectal cancer is one of the most common gastrointestinal cancers in the world. According to global cancer statistics in 2018, colorectal cancer is the third most common cancer in the world, accounting for 11.2% of all cancers. In 2018, more than 1.1 million new cases and about 161,663 deaths from colorectal cancer were reported. This cancer is the fourth cause of death among cancers. The World Health Organization has predicted a 77% increase in the diagnosis of new cases and an 11% increase in deaths from colon cancer by 2030.
  • the doctor can view the video images received from the camera installed at the tip of the endoscope on the monitor.
  • the front view of the prop and surgical instruments is suitable for placing the camera. But they are not always suitable for finding the affected area.
  • the operator of the endoscopy and colonoscopy device considering its shape, it is necessary for the operator of the endoscopy and colonoscopy device to have special skills. Since the camera can only have a forward view, a lot of movements are needed to fully see the intestine. Therefore, it is difficult to see the entire bowel without losing a region of the bowel image.
  • the front view of the prop is suitable for placing the camera, they are not always suitable for finding the damaged area, instead, the 360-degree view can see the side and rear directions more appropriately and also It can observe the entire intestinal wall at the same time.
  • Using a wide field of vision in endoscopy can solve many of the above problems and increase the accuracy of disease diagnosis.
  • forward colonoscopy some polyps are hidden from forward view or cannot be distinguished from the surrounding mucosa. Undetected polyps can eventually lead to colon cancer. Therefore, there is a need for improved imaging systems.
  • catadioptric imaging systems including a special type of mirror and camera, which are located next to each other in a specific structure, is discussed to improve the performance of medical optical imaging devices.
  • FOV field of view
  • the camera and mirror are placed inside a cylindrical glass sheath at the end of the endoscopic and laparoscopic device.
  • This new structure has a diameter of about 13 mm and a length of 20 mm.
  • a hyperbolic convex mirror with a hole in the center is used to have both front and side vision.
  • the optical sensor with 4K resolution is installed along the axis of the hyperbolic mirror and you look directly at it.
  • a part of the light rays that enter the front view lens from the front is compressed and passes through the hole in the center of the mirror and hits the CCD of the camera.
  • the lateral light rays are directed towards the camera sensor, thus creating a 360degree and lateral image of the environment surrounding the endoscope prop and specifically the colonoscope. This imaging geometry can be seen in .
  • the material of the mirror can be metal or glass, however, in the proposed design, a metal mirror made of stainless steel called L316 is used. 316 steel has 16% chromium, 10% nickel and 2% molybdenum, which makes it completely resistant to rust and corrosion.
  • the diameter of the recommended mirror is 10 mm and it can be made by CNC lathe and different polishing steps and layering of aluminum oxide metal. shows a view of a hyperbolic mirror with a small curvature and the center hole.
  • a 3D view of the claimed invention can be seen in .
  • This is the front view of the laparoscopy prop.
  • a protective glass in front of the device to protect the front vision lenses.
  • a small glass lens is also used to transmit light to the forward sight, the light is transmitted through the optical fiber to this aperture and illuminates the front view of the prop.
  • a biopsy channel in the initial part of the prop.
  • the diameter of this channel is about 3.3 mm, which is used for vacuum and movement of sampling tools.
  • the exit angle of this channel is determined in such a way that the end of the sampling tool is placed in the middle of the lateral image and the doctor can place the sampling tool in front of the lesion according to the panoramic and 360-degree image that the monitor, observe and rotate the laparoscopy prop to perform sampling or treatment operations.
  • a small pressurized water channel is placed next to the biopsy channel.
  • the doctor uses this pressurized water channel to clean the sampling tool or to clean the area around the lesion or to clean the bleeding caused by the sampling.
  • the images received from the CCD camera simultaneously include side and front view. They are designed in such a way that the center of the circular image corresponds to the front view and its border to the sides is the image related to the side view.
  • the following steps are performed. By placing a mesh pattern called the calibration pattern around the mirror and taking several photos of the laparoscope camera image and by applying a mathematical algorithm to the corner points extracted from the mesh pattern by image processing algorithms, all the system parameters can be obtained.
  • the images received from the camera are circular and have a non-linear structure. It will be difficult for the doctor to understand and analyze these types of images. Therefore, by using image processing algorithms and geometric relationships governing the structure of the mirror and camera, the received images can be converted into images with a natural landscape or panoramic view, in which case It will be possible for the doctor to see an image with a large angular space.
  • Biopsy or suction channel (same as no. 2 in previous figures)
  • the invention is used in fibrescopy and medical procedures that need advanced image processing.
  • the imaging system has an imaging equation that can be extracted with the help of the calibration of its parameters, the images received from the 4k camera can be converted into images with a natural perspective.
  • DSP digital signal processing
  • the received images can be real-time de-distorted and turned into panoramic images.
  • the doctor can simultaneously view frontal and 360-degree side images on two monitors, thus increasing both the accuracy and efficiency of diagnosing lesions.
  • the disclosed design is specifically intended for medical fibrescopes and specifically for colonoscopy procedures.
  • the principle of the patent idea is a new imaging system, it can be used in other industries and other applications including industrial endoscopy, such as those imaging endoscopes used for wells and tanks mapping, or any other industrial equipment that requires both panoramic and forward imaging systems.

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

Abstract

L'idée divulguée est basée sur l'application d'un système d'imagerie catadioptrique qui comprend un système d'imagerie en perspective classique et un miroir convexe ayant une courbure spécifique qui peut fournir une vue latérale à 360 degrés. En outre, dans cette idée exposée, un miroir hyperbolique avec un centre à trou est utilisé pour obtenir à la fois une vision axiale et une vision latérale à 360 degrés. Dans la présente invention, l'ensemble de prise de vues (capteur et lentilles) et le miroir hyperbolique avec un trou au centre sont placés dans un tube transparent constitué de verre ou de polymère. À l'aide de ce système, le médecin peut voir simultanément la vue axiale et une vue à 360 degrés de la paroi intestinale et identifier facilement des polypes précancéreux qui ne peuvent pas être identifiés avec la vue axiale.
PCT/IB2024/060038 2024-10-14 2024-10-14 Système optique catadioptrique combiné à vision axiale et panoramique à 360 degrés pour imagerie médicale Pending WO2025074354A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/IB2024/060038 WO2025074354A1 (fr) 2024-10-14 2024-10-14 Système optique catadioptrique combiné à vision axiale et panoramique à 360 degrés pour imagerie médicale

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2024/060038 WO2025074354A1 (fr) 2024-10-14 2024-10-14 Système optique catadioptrique combiné à vision axiale et panoramique à 360 degrés pour imagerie médicale

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WO2025074354A1 true WO2025074354A1 (fr) 2025-04-10

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013054252A1 (fr) * 2011-10-10 2013-04-18 I-Visus S.R.L. Dispositif permettant de prendre des images panoramiques à 360°
US20140362232A1 (en) * 2012-01-03 2014-12-11 Pan-Vision S.R.L. Objective lens with hyper-hemispheric field of view
CN112363308A (zh) * 2020-12-15 2021-02-12 长春理工大学 紧凑型双通道折反射全景成像光学系统

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013054252A1 (fr) * 2011-10-10 2013-04-18 I-Visus S.R.L. Dispositif permettant de prendre des images panoramiques à 360°
US20140362232A1 (en) * 2012-01-03 2014-12-11 Pan-Vision S.R.L. Objective lens with hyper-hemispheric field of view
CN112363308A (zh) * 2020-12-15 2021-02-12 长春理工大学 紧凑型双通道折反射全景成像光学系统

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