Systems, apparatuses, and methods for endoscopy
Inventors
Patel, Neal • Zhao, Philip • Bream, Devon
Assignees
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Publication Number
US-11864730-B2
Publication Date
2024-01-09
Expiration Date
Abstract
A portable endoscopic system comprising an imaging unit for an endoscopic procedure. The imaging unit has an imaging coupler for receiving imaging information from an imaging assembly of an endoscope; a display integrated into a housing of the imaging unit; an image processing unit for processing the received imaging information into images of a time series and to displaying the image in real-time; a motion sensor configured to detect a motion of the housing; and a detection processing unit. The detection processing unit is configured to classify at least one anatomical feature in each image of the time series based on an artificial intelligence classifier; determine a confidence metric of the classification; determine a motion vector based on the detected motion; and display, concurrently with the corresponding image, the classification of the at least one anatomical feature, the determined confidence metric, and the determined motion vector.
Core Innovation
Portable wireless endoscopic imaging unit systems include an imaging unit housing-integrated real-time display and motion sensing. An imaging processor performs detection processing and classifies anatomical features in each frame of a time-series while an endoscope images a cavity, and determines a confidence metric for the classification. The processor also determines a motion vector for the endoscope imaging the cavity, including displacement based on gyroscope/accelerometer signals to estimate endoscope/end-effector motion.
Concurrently, the system overlays the classification, confidence metric, and motion vector on the displayed imagery while the endoscope images the cavity, optionally identifying treatment sites. The document describes the system for prostate interventions during therapy for benign prostatic hyperplasia (BPH), including prostate localization and implant placement, and further describes a training processing unit that supports training anatomical models using high-confidence versus low-confidence frames and manual verification.
The document also describes a kit including the portable wireless imaging unit and instructions, and presents broader region of interest (ROI)/condition and non-medical inspection use cases.
Claims Coverage
The partial content includes four independent claims covering a method, a system, a non-transitory storage medium, and a kit. Across these independent claims, the same core inventive workflow is repeated: classify an anatomical feature in endoscope imagery while imaging, compute a confidence metric, determine a motion vector, and request a display that overlays selected outputs over the imagery to support deployment of an end effector during BPH therapy.
Endoscopic anatomical feature classification with confidence metric and motion vector
receiving imagery from an endoscope imaging a cavity, performing a classification for the anatomical feature while the endoscope images the cavity, determining a confidence metric for the classification while the endoscope images the cavity, and determining a motion vector for the endoscope imaging the cavity while the endoscope images the cavity
Overlay display of classification, confidence metric, and motion vector to support end effector deployment during BPH therapy
requesting a display to simultaneously present the imagery and at least two of the classification, the confidence metric, or the motion vector over the imagery while the endoscope images the cavity during therapy for benign prostatic hyperplasia (BPH), and requesting an end effector to be deployed within the cavity being imaged based on the classification, the confidence metric, and the motion vector during the therapy for the BPH
Processor endoscope display system for BPH therapy with overlaid classification outputs and end effector deployment
a system comprising a processor, an endoscope, a display, and an end effector, wherein the processor is programmed to receive imagery from the endoscope imaging a cavity, perform a classification for the anatomical feature, determine a confidence metric for the classification, determine a motion vector for the endoscope imaging the cavity, and request the display to simultaneously present the imagery and at least two of the classification, the confidence metric, or the motion vector over the imagery while the endoscope images the cavity during therapy for BPH, and request the end effector to be deployed within the cavity being imaged based on the classification, the confidence metric, and the motion vector during the therapy for the BPH
Non-transitory instructions enabling classification confidence metric motion vector overlay for end effector deployment during BPH therapy
a non-transitory storage medium storing instructions for execution by a processor to receive imagery from an endoscope imaging a cavity, perform a classification for the anatomical feature, determine a confidence metric for the classification, determine a motion vector for the endoscope imaging the cavity, and request the display to simultaneously present the imagery and at least two of the classification, the confidence metric, or the motion vector over the imagery while the endoscope images the cavity during therapy for BPH, and request the end effector to be deployed within the cavity being imaged based on the classification, the confidence metric, and the motion vector during the therapy for the BPH
Kit including processor and display for overlaid classification outputs and end effector deployment during BPH therapy
a kit comprising a processor and a display, wherein the processor is programmed to receive imagery from an endoscope imaging a cavity, perform a classification for the anatomical feature, determine a confidence metric for the classification, determine a motion vector for the endoscope imaging the cavity, and request the display to simultaneously present the imagery and at least two of the classification, the confidence metric, or the motion vector over the imagery while the endoscope images the cavity during therapy for BPH, and request the end effector to be deployed within the cavity being imaged based on the classification, the confidence metric, and the motion vector during the therapy for the BPH
Across the independent claims, the inventive core is endoscopic classification with a confidence metric and a motion vector, combined with a display request to overlay selected outputs on the endoscope imagery during BPH therapy, thereby enabling deployment of an end effector within the imaged cavity based on the classification, confidence metric, and motion vector.
Stated Advantages
reduce localization/implant placement errors during prostate interventions for benign prostatic hyperplasia (BPH)
Documented Applications
therapy for benign prostatic hyperplasia (BPH) in a cavity imaged by an endoscope, including end effector deployment based on classification, confidence metric, and motion vector
broader region of interest (ROI)/condition use cases and non-medical inspection use cases presented in the document
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