System and method for force estimation applied to endoscopes
AssigneeArthrex, Inc.
InventorsAndrew Bohl, John Hygelund
Life of this patent
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Abstract
A surgical imaging apparatus includes an imager configured to capture image data in a field of view and an elongated probe extending from a proximal end to a distal end. The distal end has a distal window through which the field of view is aligned. A controller is in communication with the imager and configured to detect a feature in the image data and identify a feature location of the feature in the image data. The controller further monitors the feature location in the image data. In response to a change in the feature location from a first position to a second position, the controller calculates an estimated force applied to the elongated probe.
Claims20
A method for detecting an applied force to a surgical imaging device comprising an elongated probe extending from a proximal body, the method comprising:
- capturing image data in a field of view;
- detecting a feature in the image data;
- in response to a feature location of the feature in the image data, assigning a first position to the feature;
- monitoring the feature location of the feature in the image data;
- detecting a change in the feature location of the feature from the first position to a second position;
- and
- in response to the change in the feature location of the feature to the second position, calculating a force estimate applied to the elongated probe.
A surgical imaging apparatus comprising:
- an imager configured to capture image data in a field of view;
- an elongated probe extending from a proximal end to a distal end, wherein the distal end comprises a distal window through which the field of view is aligned;
- and
- a controller in communication with the imager, the controller configured to:
- detect a feature in the image data;
- identify a feature location of the feature in the image data;
- monitor the feature location in the image data;
- and
- in response to a change in the feature location from a first position to a second position, calculate a force applied to the elongated probe.
A surgical imaging apparatus comprising:
- an imager configured to capture image data in a field of view and disposed in a housing;
- an elongated probe extending from the housing from a proximal end to a distal end, wherein the distal end comprises a distal window through which the field of view is aligned, wherein the elongated probe is connected to the housing via a rotational coupling;
- and
- a controller in communication with the imager, the controller configured to:
- detect a feature in the image data;
- identify a feature location of the feature in the image data;
- determine a rotational orientation of the elongated probe relative to the imager in response to a datum location of a datum identified in the image data;
- monitor the feature location and the datum location in the image data;
- and
- in response to a change in the feature location from a first position to a second position, calculate a force applied to the elongated probe, wherein the calculation of the force accounts for a portion of the change in the feature location associated with the rotational orientation based on the datum location.
Dependencies are inferred from the claim text.