Method for dealing with singularities in gravity referenced endoscopic imaging
A method for avoiding rapid or sudden image rotation or reversal in a gravity leveled endoscopic imaging system is disclosed. A mathematical neighborhood of a singular viewing configuration is defined and within this neighborhood the endoscopic image orientation follows specified rules.
1. A method for avoiding rapid or sudden image rotation in a gravity leveled endoscopic imaging system, comprising:
receiving an input specifying a neighborhood size and directionality from a user;
monitoring the attitude of said view vector wherein said monitoring comprises accounting for endoscope pitch, endoscope roll, and view vector angle relative to the endoscope axis;
specifying a neighborhood of a viewing singularity based on said user input;
repeatedly comparing said view vector attitude to said neighborhood wherein said comparing comprises determining whether said view vector is within said neighborhood; and
providing a certain image orientation according to said neighborhood directionality whenever said view vector is within said neighborhood;
wherein said certain image orientation is based on an image up vector specified by the user.
2. The method of claim 1 , wherein said certain image orientation is the image orientation which existed as said view vector entered into said neighborhood.
3. The method of claim 1 , wherein said directionality of said neighborhood comprises a smooth mathematical function.
4. The method of claim 1 , further comprising indicating to the user whenever said view vector enters said neighborhood.
5. The method of claim 1 , wherein the input specifying a neighborhood size and directionality is received from a user via a graphical user interface.
6. The method of claim 1 , wherein the input specifying a neighborhood size and directionality is received from a user via a graphical user interface.
7. A method for avoiding rapid or sudden image rotation in a gravity leveled endoscopic imaging system, comprising:
receiving an input specifying a neighborhood size and directionality from a user;
monitoring the attitude of said view vector wherein said monitoring comprises accounting for endoscope pitch, endoscope roll, and view vector angle relative to the endoscope axis;
specifying a neighborhood of a viewing singularity based on said user input;
repeatedly comparing said view vector attitude to said neighborhood wherein said comparing comprises determining whether said view vector is within said neighborhood; and
providing a certain image orientation according to said neighborhood directionality whenever said view vector is within said neighborhood;
wherein the input specifying a neighborhood size and directionality is received from a user via a graphical user interface.
8. The method of claim 7 , wherein said certain image orientation is the image orientation which existed as said view vector entered into said neighborhood.
9. The method of claim 8 , wherein said image orientation is based on an image up vector that existed when the view vector moved into the neighborhood.
10. The method of claim 7 , wherein said directionality of said neighborhood comprises a smooth mathematical function.
11. The method of claim 7 , further comprising indicating to the user whenever said view vector enters said neighborhood.
12. A method for avoiding rapid or sudden image rotation in a gravity leveled endoscopic imaging system, comprising:
receiving an input during a medical procedure from a user manipulating an endoscope during the medical procedure that specifies a neighborhood size and directionality from the user;
monitoring the attitude of said view vector wherein said monitoring comprises accounting for endoscope pitch, endoscope roll, and view vector angle relative to the endoscope axis;
specifying a neighborhood of a viewing singularity based on said user input;
repeatedly comparing said view vector attitude to said neighborhood wherein said comparing comprises determining whether said view vector is within said neighborhood; and
providing a certain image orientation according to said neighborhood directionality whenever said view vector is within said neighborhood.
13. The method of claim 12 , wherein said certain image orientation is the image orientation which existed as said view vector entered into said neighborhood.
14. The method of claim 12 , wherein said directionality of said neighborhood comprises a smooth mathematical function.
15. The method of claim 12 , further comprising indicating to the user whenever said view vector enters said neighborhood.
16. The method of claim 12 , wherein said certain image orientation is based on an image up vector specified by the user.