Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
The present invention relates, generally, to reporting the approximate three-dimensional orientation of the steerable distal portion of an endoscope to the user of the endoscope. More particularly, the present invention relates to a system and method for providing the endoscope-user a display from which to more easily determine the approximate three-dimensional orientation of the steerable distal portion of the endoscope, thereby facilitating navigation of the endoscope. The present invention also relates to a system and method for limiting the amount the steerable distal portion can bend overall to reduce or eliminate the user's ability to over-retroflex the steerable distal portion of the endoscope.
1. A method for graphically visualizing an orientation of a steerable distal portion of an elongate instrument, said instrument comprising at least one tensioning member attached to said steerable distal portion, said method comprising:
actuating said at least one tensioning member to result in an approximate y-bend and an approximate x-bend of said steerable distal portion, wherein said approximate y-bend and said approximate x-bend define an approximate overall bend of said steerable distal portion; and
displaying on a graphical user interface an icon representing a magnitude and a direction of the approximate overall bend of said steerable distal portion,
wherein:
an origin is defined on the graphical user interface;
a distance between the icon and the origin corresponds to the magnitude of the approximate overall bend; and
an orientation of the icon with reference to the origin corresponds to the direction of the approximate overall bend.
2. The method according to claim 1 , wherein actuating said at least one tensioning member further comprises:
providing a tension to said at least one tensioning member, wherein said tension correlates to the approximate x-bend and the approximate y-bend.
3. The method according to claim 1 , wherein actuating said at least one tensioning member further comprises:
providing a plurality of pull-distances of said at least one tensioning member for steering said steerable distal portion, wherein said plurality of pull-distances correlates to a plurality of approximate bends in x-z and y-z planes.
4. The method according to claim 1 , further comprising:
displaying on said graphical user interface an indicator, wherein a location of said icon on said indicator relevant to a position of the origin on said indicator represents the approximate magnitude of said overall bend.
5. The method according to claim 4 :
wherein said indicator is at least one oval.
6. The method according to claim 4 :
wherein said indicator is at least one square.
7. The method according to claim 1 , further comprising:
displaying on said graphical user interface an indicator, wherein a location of said icon on said indicator relevant to a position of the origin on said indicator represents the magnitude and the direction of said approximate overall bend.
8. The method according to claim 7 , further comprising:
displaying on said graphical user interface a cross-hair, wherein the location of said icon on said cross-hair represents combined x-z and y-z components of the approximate overall bend.
9. The method according to claim 8 :
wherein the origin is the center of said cross-hair.
10. The method according to claim 8 :
wherein said cross-hair passes through an approximate center of at least one non-circular shape.
11. The method according to claim 8 :
wherein said cross-hair passes through an approximate center of at least one circle.
12. The method according to claim 11 :
wherein said at least one circle comprises a plurality of concentric circles.
13. The method according to claim 12 :
wherein an inner one of the concentric circles represents 90 degrees of the approximate overall bend and an outer one of the concentric circles represents 180 degrees of the approximate overall bend of said steerable distal portion.
14. The method according to claim 1 ,
further comprising calculating said approximate overall bend by approximating said approximate overall bend using √{square root over ((y−bend) 2 +(x−bend) 2 )}.
15. The method of claim 1 , further comprising:
receiving, from a sensor located on said steerable distal portion, a signal indicative of said approximate overall bend.
16. The method according to claim 1 , wherein the graphical user interface represents an x-y plane of an x-y-z reference frame and the origin corresponds to an intersection of the x-y plane and the z-axis.