System and method for image-based alignment of an endoscope
View Patent ↗Systems and methods for endoscopic procedures employ a first technique to ensure initial correct alignment of an endoscope ( 100 ) with a desired target ( 10 ). A reference image ( 51 ) is then acquired from an imaging arrangement associated with the endoscope. During a subsequent stage of the procedure, tracking of the endoscope position relative to the target is performed partially or entirely by image-based tracking by comparing features in real-time video image ( 52 ) produced by imaging arrangement with features in the reference image ( 51 ). The feature comparison may be performed visually by a user, or may be automated to offer more specific corrective suggestions to the user.
1. A method for confirming correct alignment of a distal end of an endoscope including an imaging arrangement during an endoscopic procedure, the method comprising:
positioning the distal end of the endoscope adjacent to a target location and capturing a reference image using the imaging arrangement;
sensing a real-time video image using the imaging arrangement;
comparing features of the real-time video image with the reference image to determine whether the endoscope is correctly aligned;
if the endoscope is not correctly aligned:
measuring a mismatch between the reference image and the real-time video image;
providing a visual indication of the mismatch, the visual indication including directionality and magnitude information; and
adjusting a position of the endoscope based on the directionality and magnitude information derived from the mismatch; and
correlating a sub-window of the reference image provided on a display, and centered on the target location, with a corresponding sliding window of the real-time video image provided on the display.
2. The method of claim 1 , wherein said step of positioning employs a target location identified in three-dimensional image data of a region of a body to be treated.
3. The method of claim 2 , wherein said three-dimensional image data is derived from an imaging technique selected from: computerized tomography; magnetic resonance imaging; positron emission tomography; and ultrasound.
4. The method of claim 1 , wherein the positioning step employs a position sensor associated with the distal end of the endoscope, said position sensor configured to aid in the measuring of the mismatch between the reference image and the real-time video image.
5. The method of claim 4 , wherein the positioning step is performed by comparing a position of the distal end of the endoscope as measured in the measuring step and the target location.
6. The method of claim 4 , wherein said position sensor is part of an elongated element deployed within a working channel of the endoscope, and wherein said elongated element is withdrawn from the working channel prior to said comparing step.
7. The method of claim 1 , wherein said target location is not visible in said reference image.
8. The method of claim 1 , further comprising displaying simultaneously said reference image and said real-time video image to facilitate the visual indication of the mismatch.
9. The method of claim 1 , wherein said comparing step includes co-processing said reference image and at least one frame from the real-time video image, the method further comprising generating an alarm signal if the visual indication of the mismatch exceeds a predefined value.
10. The method of claim 1 , wherein said comparing includes co-processing said reference image and at least one frame from said real-time video to determine a displacement correction required to compensate for erroneous movement of the endoscope, the method further comprising generating a display indicative to a user of said displacement correction required to compensate for the erroneous movement of the endoscope.
11. The method of claim 1 , wherein said comparing includes co-processing said reference image and at least one frame from said real-time video to determine a transformation relating said real-time video frame to said reference image, the method further comprising generating a display corresponding to said real-time video with addition of an indication of a target location, position of said indication being derived at least in part by use of said transformation.
12. The method of claim 1 , wherein the endoscope is a bronchoscope.
13. A system for ensuring correct alignment of an endoscope during performance of an endoscopic procedure, the system comprising:
an endoscope having a distal end for insertion into a body;
an imaging arrangement associated with said endoscope and configured to generate a real-time video image of a region beyond said distal end; and
a processing system associated with said imaging arrangement and configured to:
(i) in an initial state of alignment with a target location, derive from said imaging arrangement a reference image corresponding to correct alignment with the target location,
(ii) derive from said imaging arrangement real-time images of the region beyond said distal end,
(iii) co-process said reference image and said real-time images to determine a current alignment status of said endoscope with the target location,
(iv) if said endoscope is not currently aligned:
measure a mismatch between the reference image and the real-time video image;
provide a visual indication of the mismatch, the visual indication including directionality and magnitude information; and
adjust a position of the endoscope based on the directionality and magnitude information derived from the mismatch; and
(v) correlate a sub-window of the reference image provided on a display, and centered on the target location, with a corresponding sliding window of the real-time video image provided on the display.
14. The system of claim 13 , wherein said processing system is configured to co-process said reference image and said real-time images, said processing system further generating an alarm signal if the visual indication of the mismatch exceeds a predefined value.
15. The system of claim 13 , further comprising a display for displaying at least said real-time images to a user, wherein said processing system is configured to co-process said reference image and said real-time images to determine a displacement correction required to compensate for erroneous movement of the endoscope, said processing system further generating an indication on said display indicative to a user of said displacement correction required to compensate for the erroneous movement of the endoscope.
16. The system of claim 13 , further comprising a display for displaying at least said real-time images to a user, wherein said processing system is configured to co-process said reference image and said real-time images to determine a transformation relating said real-time video frame to said reference image, said processing system further generating on said display an indication of a target location, position of said indication being derived at least in part by use of said transformation.
17. The system of claim 13 , further comprising a position sensor carried by an elongated element removably deployable along a working channel of said endoscope.