Full-field three-dimensional surface measurement
Embodiments of the present invention may be used to perform measurement of surfaces, such as external and internal surfaces of the human body, in full-field and in 3-D. Embodiments of the present invention may include an electromagnetic radiation source, which may be configured to project electromagnetic radiation onto a surface. The electromagnetic radiation source may be configured to project the electromagnetic radiation in a pattern corresponding to a spatial signal modulation algorithm. The electromagnetic radiation source may also be configured to project the electromagnetic radiation at a frequency suitable for transmission through the media in which the radiation is projected. An image sensor may be configured to capture image data representing the projected pattern. An image-processing module may be configured to receive the captured image data from the image sensor and to calculate a full-field, 3-D representation of the surface using the captured image data and the spatial signal modulation algorithm. A display device may be configured to display the full-field, 3-D representation of the surface.
1. A system for providing a full-field, three-dimensional representation of a target surface inside a human body, the system comprising:
a shaft, the shaft having a proximal end and a distal end adapted to be inserted into the human body and guided to the target surface inside the human body;
projection components for projecting electromagnetic radiation onto the target surface in a projected pattern, the projection components comprising an electromagnetic radiation emitter connected to the proximal end of the shaft, a projection lens located at the distal end of the shaft, fiber optics capable of transmitting the electromagnetic radiation from the electromagnetic radiation emitter to the projection lens, and a grating positioned between the electromagnetic radiation emitter and the projection lens, wherein electromagnetic radiation that is emitted from the electromagnetic radiation emitter and that passes through the grating and the projection lens is projected onto the target surface in the projected pattern;
imaging components for capturing a plurality of successive images of electromagnetic radiation reflected from the target surface, the imaging components comprising an imaging lens located at the distal end of the shaft and an image sensor configured to capture image data, wherein the imaging components are configured such that each frame of the image sensor captures only a single image consisting of a single reflection of the projected pattern modulated by the target surface, and wherein with multiple successive frames of the image sensor, the image sensor is configured to capture a plurality of successive images that differ from each other due to relative movement between the projection lens and the target surface;
an image processing module configured to receive the captured image data from the image sensor and to calculate a full-field, three-dimensional representation of the target surface for each image of the plurality of successive images using the captured image data and a spatial signal modulation algorithm, resulting in a plurality of successive full-field, three-dimensional representations of the target surface; and
a display device configured to display the plurality of successive full-field, three-dimensional representations of the target surface.
2. The system of claim 1 further comprising one or more of:
an instrument port; and
an irrigation module.
3. The system of claim 2 , wherein the irrigation module comprises:
a channel to provide liquid or air; and
a suction channel to remove liquid or air.
4. The system of claim 1 , wherein the projection lens and the image sensor are integrated into the distal end of the shaft.
5. The system of claim 1 , wherein the electromagnetic radiation emitter is configured to project electromagnetic radiation using a frequency that enables the image sensor to capture image data in liquid media.
6. The system of claim 1 , wherein the electromagnetic radiation emitter is configured to project electromagnetic radiation using a frequency that enables the image sensor to capture image data in gaseous media.
7. The system of claim 1 , wherein the electromagnetic radiation emitter is configured to project infrared radiation.
8. A method for providing a full-field, three-dimensional representation of a target surface, the method comprising:
projecting electromagnetic radiation onto the target surface in a projected pattern using projection components, the projection components comprising an electromagnetic radiation emitter, a projection lens, fiber optics capable of transmitting the electromagnetic radiation from the electromagnetic radiation emitter to the projection lens, and a grating positioned between the electromagnetic radiation emitter and the projection lens, wherein electromagnetic radiation that is emitted from the electromagnetic radiation emitter and that passes through the grating and the projection lens is projected onto the target surface in the projected pattern;
capturing image data by an image sensor, wherein each frame of the image sensor captures only a single image consisting of a single reflection of the projected pattern modulated by the target surface, and wherein with multiple successive frames of the image sensor, the image sensor captures a plurality of successive images that differ from each other due to relative movement between the projection lens and the target surface;
providing the captured image data to an image processing module;
calculating, by a processor of the image processing module, a full-field, three-dimensional representation of the target surface for each image of the plurality of successive images captured by the image sensor using the captured image data and a spatial signal modulation algorithm, resulting in a plurality of successive full-field, three-dimensional representations of the target surface; and
displaying the plurality of successive full-field, three-dimensional representations of the target surface on a display device.
9. The method of claim 8 , wherein the electromagnetic radiation emitter is configured to project electromagnetic radiation using a frequency that enables the image sensor to capture image data in liquid media.
10. The method of claim 8 , wherein the electromagnetic radiation emitter is configured to project electromagnetic radiation using a frequency that enables the image sensor to capture image data in gaseous media.
11. The method of claim 8 , wherein the electromagnetic radiation emitter is configured to project infrared radiation.
12. The system of claim 1 , wherein the system does not include a grating positioned between the imaging lens and the image sensor.
13. The method of claim 8 , wherein the reflection of the projected pattern does not pass through a grating from the target surface to the image sensor.
14. The system of claim 1 , wherein the shaft is a flexible shaft.
15. The system of claim 1 , wherein the shaft is a flexible catheter.
16. The method of claim 8 , wherein the projection lens and the image sensor are integrated into a distal end of a shaft.
17. The system of claim 1 , wherein the shaft is part of a probe.
18. The method of claim 8 , wherein the electromagnetic radiation emitter and the image sensor are integrated into a system for providing a continuous, full-field, three-dimensional representation of a target surface, the system comprising one or more of:
a shaft;
an instrument port; and
an irrigation module.
19. The method of claim 18 , wherein the irrigation module comprises:
a channel to provide liquid or air; and
a suction channel to remove liquid or air.
20. The method of claim 8 , wherein the electromagnetic radiation emitter and the image sensor are integrated into an endoscopic capsule, the endoscopic capsule comprising:
an antenna module;
a wireless radio module configured to transmit the captured image data to the image processing module using the antenna module; and
a battery module configured to provide power.