Systems and methods for video-based positioning and navigation in gastroenterological procedures

One or more non-transitory computer-readable media that store instructions that, when executed by one or more processors of a computing system, cause the computing system to carry out actions comprising:

• receiving, by one or more computing devices of the computing system, a video data stream generated by an endoscopic device during a gastroenterological procedure for a patient;
• generating, by the one or more computing devices, a three-dimensional model of at least a portion of an anatomical structure viewed by the endoscopic device;
• obtaining, by the one or more computing devices, location data associated with one or more detected abnormalities based on localization data generated from the video data stream of the endoscopic device;
• generating, by the one or more computing devices, a visual presentation of the three-dimensional model and the location data associated with the one or more detected abnormalities;
• providing, by the one or more computing devices, the visual presentation of the three-dimensional model and the location data associated with the detected abnormality for use in diagnosis of the patient;
• and
• obtaining, by the one or more computing devices, a probability of an abnormality detection based on a three-dimensional reconstruction of a local region of the anatomical structure;
• wherein the three-dimensional reconstruction of the local region of the anatomical structure is used in determining a physical location of a detected polyp within the local region or is used in estimating an orientation of a detected polyp.

One or more non-transitory computer-readable media that store instructions that, when executed by one or more processors of a computing system, cause the computing system to carry out actions comprising:

• receiving, by one or more computing devices of the computing system, a video data stream generated by an endoscopic device during a gastroenterological procedure for a patient;
• generating, by the one or more computing devices, a three-dimensional model of at least a portion of an anatomical structure viewed by the endoscopic device;
• obtaining, by the one or more computing devices, location data associated with one or more detected abnormalities based on localization data generated from the video data stream of the endoscopic device;
• generating, by the one or more computing devices, a visual presentation of the three-dimensional model and the location data associated with the one or more detected abnormalities;
• and
• providing, by the one or more computing devices, the visual presentation of the three-dimensional model and the location data associated with the detected abnormality for use in diagnosis of the patient;
• wherein generating, by the one or more computing devices, the three-dimensional model of at least the portion of the anatomical structure viewed by the endoscopic device comprises:
• obtaining, by the one or more computing devices, one or more generic anatomical structures to be used as a base for the three-dimensional model and
• updating, by the one or more computing devices, the three-dimensional model from the generic anatomical structure based at least in part on the video data stream of the endoscopic device.