Proc. SPIE. 10054, Advanced Biomedical and Clinical Diagnostic and Surgical Guidance Systems XV
KEYWORDS: Endoscopy, Biomedical optics, 3D acquisition, Cancer, 3D image reconstruction, Cameras, Diagnostics, 3D modeling, Image analysis, Endoscopes, 3D metrology, Computed tomography, 3D image processing
Because the view angle of the endoscope is narrow, it is difficult to get the whole image of the digestive tract at once. If there are more than two lesions in the digestive tract, it is hard to understand the 3D positional relationship among the lesions. Virtual endoscopy using CT is a present standard method to get the whole view of the digestive tract. Because the virtual endoscopy is designed to detect the irregularity of the surface, it cannot detect lesions that lack irregularity including early cancer. In this study, we propose a method of endoscopic entire 3D image acquisition of the digestive tract using a stereo endoscope. The method is as follows: 1) capture sequential images of the digestive tract by moving the endoscope, 2) reconstruct 3D surface pattern for each frame by stereo images, 3) estimate the position of the endoscope by image analysis, 4) reconstitute the entire image of the digestive tract by combining the 3D surface pattern. To confirm the validity of this method, we experimented with a straight tube inside of which circles were allocated at equal distance of 20 mm. We captured sequential images and the reconstituted image of the tube revealed that the distance between each circle was 20.2 ± 0.3 mm (n=7). The results suggest that this method of endoscopic entire 3D image acquisition may help us understand 3D positional relationship among the lesions such as early esophageal cancer that cannot be detected by virtual endoscopy using CT.
Functional gastrointestinal disorders (FGID) are the most common gastrointestinal disorders. The term ”functional” is generally applied to disorders where there are no structural abnormalities. Gastrointestinal dysmotility is one of the several mechanisms that have been proposed for the pathogenesis of FGID and is usually examined by manometry, a pressure test. There have been no attempts to examine the gastrointestinal dysmotility by endoscopy. We have proposed an imaging system for the assessment of gastric motility using a three-dimensional endoscope. After we newly developed a threedimensional endoscope and constructed a wave simulated model, we established a method of extracting three-dimensional contraction waves derived from a three-dimensional profile of the wave simulated model obtained with the endoscope. In the study, the endoscope and the wave simulated model were fixed to the ground. However, in a clinical setting, it is hard for endoscopists to keep the endoscope still. Moreover, stomach moves under the influence of breathing. Thus, three-dimensional registration of the position between the endoscope and the gastric wall is necessary for the accurate assessment of gastrointestinal motility. In this paper, we propose a motion compensation method using three-dimensional scene flow. The scene flow of the feature point calculated by obtained images in a time series enables the three-dimensional registration of the position between the endoscope and the gastric wall. We confirmed the validity of a proposed method first by a known-movement object and then by a wave simulated model.
We proposed the 360-degree 3D display system which is composed of a flat panel display, a light control film, and holographic optical element (HOE). The HOE is a diffraction grating which is made by holography technique. HOE lens can be produced on the thin polygonal glass plate. The light control film and HOE lenses are used to control the direction of light from the flat panel display in our system. The size of proposed system depends on the size of the flat panel display is because other parts of proposed system are thin and placed on the screen of the flat panel display. HOE lenses and a light control film are used to control lights from multiple pixels of a flat panel display to multiple viewpoints. To display large 3D images and to increase viewpoints, we divided parallax images into striped images and distributed them on the display for multiple viewpoints. Therefore, observers can see the large 3D image around the system. To verify the effectiveness of the proposed system, we made the experimental system. To verify the effectiveness of the proposed system, we constructed the part of the proposed system. The experimental system is composed of the liquid crystal display (LCD), prototype HOE lenses, and light control films. We confirmed that experimental system can display two images to different viewpoints. This paper describes the configuration of the proposed system, and also describes the experimental result.
We propose an intestine volume measurement method using a compound eye type endoscope. This method aims at assessment of the gastrointestinal function. Gastrointestinal diseases are mainly based on morphological abnormalities. However, gastrointestinal symptoms are sometimes apparent without visible abnormalities. Such diseases are called functional gastrointestinal disorder, for example, functional dyspepsia, and irritable bowel syndrome. One of the major factors for these diseases is abnormal gastrointestinal motility. For the diagnosis of the gastrointestinal tract, both aspects of organic and functional assessment is important. While endoscopic diagnosis is essential for assessment of organic abnormalities, three-dimensional information is required for assessment of the functional abnormalities. Thus, we proposed the three dimensional endoscope system using compound eye. In this study, we forces on the volume of gastrointestinal tract. The volume of the gastrointestinal tract is thought to related its function. In our system, we use a compound eye type endoscope system to obtain three-dimensional information of the tract. The volume can be calculated by integrating the slice data of the intestine tract shape using the obtained three-dimensional information. First, we evaluate the proposed method by known-shape tube. Then, we confirm that the proposed method can measure the tract volume using the tract simulated model. Our system can assess the wall of gastrointestinal tract directly in a three-dimensional manner. Our system can be used for examination of gastric morphological and functional abnormalities.
This paper described evaluation of the three-dimensional endoscope system for assessing the gastrointestinal motility.
Gastrointestinal diseases are mainly based on the morphological or anatomical abnormity. However, sometimes the gastrointestinal
symptoms are apparent without visible abnormalities. Such diseases are called functional gastrointestinal
disorder, for example, functional dyspepsia, and irritable bowel syndrome. One of the major factors of these diseases is
the gastrointestinal dysmotility. Assessment procedures for motor function are either invasive, or indirect. We thus propose
a three-dimensional endoscope system for assessing the gastrointestinal motility. To assess the dynamic motility of
the stomach, three-dimensional endoscopic imaging of stomach lining is performed. Propagating contraction waves are
detected by subtracting estimated stomach geometry without contraction waves from one with contraction waves. After
detecting constriction waves, their frequency, amplitude, and speed of propagation can be calculated. In this study, we
evaluate the proposed system. First, we evaluate the developed three-dimensional endoscope system by a flat plane. This
system can measure the geometry of the flat plane with an error of less than 10 percent of the distance between endoscope
tip and the object. Then we confirm the validity of a prototype system by a wave simulated model. The detected wave is
approximated by a Gaussian function. In the experiment, the amplitude and position of the wave can be measure with 1
mm accuracy. These results suggest that the proposed system can measure the speed and amplitude of contraction. In the
future, we evaluate the proposed system in vivo experiments.
Minimally invasive surgical techniques for endoscope become widely used, for example, laparoscopic operation, NOTES (Natural Orifice Translumenal Endoscopic Surgery), robotic surgery and so on. There are so many demand and needs for endoscopic diagnosis. Especially, palpation is most important diagnosis on any surgery. However, conventional endoscopic system has no tactile sensibility. There are many studies about tactile sensor for medical application. These sensors can measure object at a point. It is necessary to sense in areas for palpation. To overcome this problem, we propose compound eye type tactile endoscope. The proposed system consists of TOMBO (Thin Observation Module by Bound Optics) and clear silicon rubber. Our proposed system can estimate hardness of target object by measuring deformation of a projected pattern on the silicon rubber. The purpose of this study is to evaluate the proposed system. At first, we introduce approximated models of the silicone and the object. We formulate the stiffness of object, the deformation of silicone, and the whole object. We investigate the accuracy of measured silicone’s lower surface for deformation of silicone by prototype system. Finally, we evaluate the calculated stiffness of the soft object.