Multifunctional visualization instrument with orientation control
A multifunctional laryngoscope is provided that includes a handle comprising a proximal end and a distal end and a display screen on the handle. The laryngoscope includes a laryngoscope camera at the distal end of the handle and an introducer comprising an orientation sensor at a distal end of the introducer. The laryngoscope includes a processor programmed to execute instructions for receiving from a steering input a steering command in a first reference frame, and mapping the steering command to a second reference frame oriented to the distal end of the introducer based on an orientation signal from the orientation sensor.
1. A method for controlling a steerable introducer, comprising:
receiving, at a processor, an orientation signal from an inertial measurement unit (IMU) located at a distal end of a steerable introducer, the orientation signal defining an angular orientation of the distal end of the introducer;
receiving, at the processor, a steering command comprising a steering direction in a user reference frame;
translating the steering command from the user reference frame to a gravity-based reference frame based on the angular orientation of the distal end of the introducer; and
steering the distal end of the introducer according to the translated steering command.
2. The method of claim 1 , wherein the user reference frame is defined in reference to an anatomical feature of a patient.
3. The method of claim 1 , wherein the user reference frame is defined by a user input.
4. The method of claim 1 , further comprising:
receiving, at the processor, an image from a camera at the distal end of the introducer;
rotating the image into the user reference frame; and
displaying the rotated image at a display screen.
5. The method of claim 4 , wherein the processor is part of a video laryngoscope having a camera.
6. The method of claim 5 , further comprising displaying, in the user reference frame, an image captured by the camera of the video laryngoscope.
7. The method of claim 1 , wherein the introducer is an endoscope.
8. The method of claim 1 , wherein steering the distal end includes causing the distal end to bend.
9. A method for controlling a steerable introducer by a video laryngoscope, comprising:
receiving, at a processor of the video laryngoscope, an orientation signal from an inertial measurement unit (IMU) located at a distal end of a steerable introducer, the orientation signal defining an angular orientation of the distal end of the introducer;
receiving, at the processor, a steering command comprising a steering direction in a user reference frame;
translating the steering command from the user reference frame to a gravity-based reference frame based on the angular orientation of the distal end of the introducer; and
steering, by the video laryngoscope, the distal end of the introducer according to the translated steering command.
10. The method of claim 9 , wherein the user reference frame is defined in reference to an anatomical feature of a patient.
11. The method of claim 9 , wherein the user reference frame is defined by a user input.
12. The method of claim 9 , wherein the introducer is an endoscope.
13. The method of claim 9 , further comprising displaying, in the user reference frame, an image captured by a camera of the video laryngoscope.
14. The method of claim 9 , wherein steering the distal end includes causing the distal end to bend.
15. A visualization system, comprising:
an introducer comprising an inertial measurement unit (IMU) at a distal end of the introducer;
a laryngoscope, coupled to the introducer, programmed to execute operations including:
receiving, by the laryngoscope, an orientation signal from the inertial measurement unit (IMU) located at the distal end of the steerable introducer, the orientation signal defining an angular orientation of the distal end of the introducer;
receiving, by the laryngoscope, a steering command comprising a steering direction in a user reference frame;
translating the steering command from the user reference frame to a gravity-based reference frame based on the angular orientation of the distal end of the introducer; and
causing the distal end of the introducer to bend according to the translated steering command.
16. The system of claim 15 , wherein the user reference frame is defined in reference to an anatomical feature of a patient.
17. The system of claim 15 , wherein the user reference frame is defined by a user input.
18. The system of claim 15 , wherein the user reference frame is aligned with gravity.
19. The system of claim 15 , wherein the introducer includes an orientation marker.
20. The system of claim 15 , wherein the operations further include:
receiving, by the laryngoscope, an image from a camera at the distal end of the introducer; and
rotating the image to align with a reference frame of an image captured by a camera of the laryngoscope.