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1. WO2011055245 - PRÉVENTION ET DÉTECTION DE COLLISION AU MOYEN DE DÉTECTEURS DE DISTANCE

Note: Texte fondé sur des processus automatiques de reconnaissance optique de caractères. Seule la version PDF a une valeur juridique

[ EN ]

CLAIMS

1. An endoscopic system (10), comprising:

an endoscope (20) for generating a plurality of monocular endoscopic images (80) of an anatomical region (71) of a body as the endoscope (20) is advanced to a target location within the anatomical region (71),

wherein the endoscope (20) includes at least one distance sensor (22) for generating measurements (81) of a distance of the endoscope (20) from an object within the monocular endoscopic images (80) as the endoscope (20) is advanced to the target location; and an endoscopic control unit (30) in communication with the endoscope (20) to receive the monocular endoscopic images (80) and the distance measurements (81),

wherein the endoscopic control unit (30) includes an endoscopic robot (31) operable to advance the endoscope (20) to the target location, and

wherein the endoscopic control unit (30) is operable to reconstruct a three-dimensional image of a surface of the object within the monocular endoscopic images (80) as a function of the distance measurements (81).

2. The endoscopic system (10) of claim 1, wherein the reconstruction of the three-dimensional image of the surface of the object includes:

building a three-dimensional depth map of the object from a temporal sequence of the monocular endoscopic images (80) of the anatomical region (71); and

correcting the three-dimensional depth map of the object relative to at least two distance measurements, each distance measurement being associated with one of the monocular endoscopic images.

3. The endoscopic system (10) of claim 2, wherein the correction of the three-dimensional image of the surface of the object includes:

generating an error set representative of a comparison of the depth map to a depth of each point of a surface of the object as indicated by the at least two distance measurements.

4. The endoscopic system (10) of claim 3, wherein the correction of the three-dimensional image of the surface of the object further includes:

performing an elastic warping of the reconstruction of the three-dimensional image of the surface of the object as a function of the error set.

5. The endoscopic system (10) of claim 1 , wherein the at least one distance sensor (22) is operable to provide a measurement of any pressure being exerted by the object on the at least one distance sensor (22).

6. The endoscopic system (10) of claim 1, wherein the at least one distance sensor (22) includes at least one of an ultrasound transducer element (43) for transmitting and receiving ultrasound signals having a time of flight that is indicative of the distance from the endoscope (22) to the object.

7. The endoscopic system (10) of claim 1, wherein the at least one distance sensor (22) includes at least one of an ultrasound transducer array (42) for transmitting and receiving ultrasound signals having a time of flight that is indicative of the distance from the endoscope (22) to the object.

8. The endoscopic system (10) of claim 1, wherein the at least one distance sensor (22) is piezoelectric ceramic transducer.

9. The endoscopic system (10) of claim 1, wherein the at least one distance sensor (22) is single crystal transducer.

10. The endoscopic system (10) of claim 1, wherein the at least one distance sensor (22) is piezoelectric thin micro-machined transducer.

1 1. The endoscopic system (10) of claim 1, wherein the at least one distance sensor (22) is built using capacitive micro-machining.

12. The endoscopic system (10) of claim 1,

wherein the endoscope (20) further includes an imaging device (51) on a top distal end of a shaft of endoscope (20); and

wherein the at least one distance sensor (22) includes an ultrasound linear element (52) encircling the imaging device (51).

13. The endoscopic system (10) of claim 1, the at least one wherein distance sensor (22) includes a plurality of sensor elements serving as a phase-array for beam- forming and beam-steering.

14. An endoscopic method (60), comprising:

controlling an endoscopic robot (31) to advance an endoscope (20) to a target location within an anatomical region of a body;

generating a plurality of monocular endoscopic images (80) of the anatomical region (71) as the endoscope (20) is advanced to the target location by the endoscopic robot (31); generating measurements of a distance of the endoscope (20) from an object within the monocular endoscopic images (80) as the endoscope (20) is advanced to the target location by the endoscopic robot (31); and

reconstructing a three-dimensional image of a surface of the object within the monocular endoscopic images (80) as a function of the distance measurements.

15. The endoscopic method (60) of claim 14, wherein the reconstruction of the three-dimensional image of the surface of the object includes:

building a three-dimensional depth map of the object from a temporal sequence of the monocular endoscopic images (80) of the anatomical region (71); and

correcting the three-dimensional depth map of the object relative to at least two distance measurements, each distance measurement being associated with one of the monocular endoscopic images.

16. The endoscopic method (60) of claim 15, wherein the correction of the three-dimensional image of the surface of the object includes:

generating an error set representative of a comparison of the depth map to a depth of each point of a surface of the object as indicated by the at least two distance measurements.

17. The endoscopic method (60) of claim 16, wherein the correction of the three-dimensional image of the surface of the object further includes:

performing an elastic warping of the reconstruction of the three-dimensional image of the surface of the object as a function of the error set.

18. The endoscopic method (60) of claim 14, further comprising:

generating measurements of a pressure being exerted by the object on the endoscope

(20).

19. An endoscopic control unit (30), comprising :

an endoscopic robot (31) for advancing an endoscope (20) to a target location within the anatomical region (71) within a body; and

a collision/avoidance detection unit (34) is operable, as the endoscope (20) is advanced to the target location by the endoscopic robot (31), to receive a plurality of monocular endoscopic images (80) of the anatomical region (71) and to receive measurements (81) of a distance of the endoscope (20) from an object within the monocular endoscopic images (80), wherein the collision/avoidance detection unit (34) is further operable to reconstruct a three-dimensional image of a surface of the object within the monocular endoscopic images (80) as a function of the distance measurements (81).

20. The endoscopic control unit (30) of claim 19, wherein the reconstruction of the three-dimensional image of the surface of the object includes:

building a three-dimensional depth map of the object from a temporal sequence of the monocular endoscopic images (80) of the anatomical region (71); and

correcting the three-dimensional depth map of the object relative to at least two distance measurements (81), each distance measurement (81) being associated with one of the monocular endoscopic images.