US 12,444,130 B2
Method and system for reconstructing the three-dimensional surface of tubular organs
Hongbin Liu, London (GB); George Abrahams, London (GB); and Bu'hussain Hayee, London (GB)
Assigned to King's College London, London (GB)
Appl. No. 18/020,695
Filed by King's College London, London (GB)
PCT Filed Aug. 10, 2021, PCT No. PCT/GB2021/052062
§ 371(c)(1), (2) Date Feb. 10, 2023,
PCT Pub. No. WO2022/034305, PCT Pub. Date Feb. 17, 2022.
Claims priority of application No. 2012497 (GB), filed on Aug. 11, 2020.
Prior Publication US 2023/0267679 A1, Aug. 24, 2023
Int. Cl. G06T 17/00 (2006.01); G06T 7/579 (2017.01); G06T 7/70 (2017.01); G06T 15/04 (2011.01)
CPC G06T 17/00 (2013.01) [G06T 7/579 (2017.01); G06T 7/70 (2017.01); G06T 15/04 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/30092 (2013.01); G06T 2207/30244 (2013.01); G06T 2210/41 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for visualising a three-dimensional internal surface of a region of interest in a lumen comprising:
collecting image data from a camera mounted on an endoscope moving through the region of interest;
collecting motion data in relation to the motion of the endoscope;
collecting endoscope shape data in relation to the shape of the endoscope;
inputting the image data into an algorithm trained to determine camera pose from input image data, and obtaining pose data of the camera relative to the lumen; and
inputting the pose data, the motion data and the endoscope shape data into a model program to virtually construct a three-dimensional model of the three-dimensional internal surface of the region of interest;
wherein the endoscope is a flexible soft robot comprising one or more soft segments able to conform to a shape of the lumen, wherein the one or more soft segments each comprise at least one fluid actuated internal chamber, wherein a pressure and a volume in the at least one fluid actuated internal chamber is used to sense the shape of the soft robot to provide endoscope shape data.