| CPC A61B 1/00078 (2013.01) [A61B 1/00006 (2013.01); A61B 1/00009 (2013.01); A61B 1/00039 (2013.01); A61B 1/00045 (2013.01); A61B 1/0005 (2013.01); A61B 1/00057 (2013.01); A61B 1/00097 (2022.02); A61B 1/00124 (2013.01); A61B 1/0052 (2013.01); A61B 1/0057 (2013.01); A61B 1/01 (2013.01); A61B 1/000095 (2022.02)] | 16 Claims |
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1. An endoscope system comprising:
a flexible elongate insertion tube having a deflectable distal end and a proximal end;
an optical module disposed at the distal end of the insertion tube and adapted to receive image data of a body cavity of a living body, wherein the image data comprises a plurality of image frames;
one or more inertial measurement units (IMUs) disposed within the insertion tube;
a plurality of cables extending proximally through the insertion tube from corresponding anchor points at the distal end of the insertion tube;
a handle releasably connected to the proximal end of the insertion tube, the handle including a plurality of electro-mechanical actuators, each actuator being operatively associated with a corresponding cable of the plurality of cables extending through the insertion tube, and one or more haptic devices for inputting commands for manipulating physical properties of the insertion tube; and
a computer configured to:
manipulate physical properties of the insertion tube by driving the plurality of electro-mechanical actuators in response to one or more command inputs from the one or more haptic devices,
convert the image data received from the optical module into two-dimensional images displayable on a monitor,
create a digital three-dimensional image representation of an anatomy model by combining position and orientation data received from the one or more IMUs, wherein the position and orientation data comprises discrete IMU pose data points sequentially arranged along a path traced through the living body by the distal end of the insertion tube, and the image data received from the optical module, and to further combine the position and orientation data received from the one or more IMUs into the creation of the digital three-dimensional image representation of the anatomy model;
wherein dynamic and automatic adjustment of the plurality of electro-mechanical actuators via the computer is achieved as a response to position and orientation data received from the one or more IMUs; and
wherein the computer is further configured to create the digital three-dimensional image representation by:
associating each image frame or a sampling of image frames with a discrete IMU pose data point to create a discrete image pose datum; and
storing each image pose datum as a) a new reference and b) relative to prior references.
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