Endoscope protrusion calibration

A system for calibrating an endoscope, the system comprising:

• a scope;
• a camera proximate a distal end of the scope;
• a sheath surrounding and coaxially aligned with the scope;
• and
• at least one computer-readable memory in communication with at least one processor, the memory having stored thereon computer-executable instructions that when executed cause the at least one processor to:
• determine a transition position representing a position of a distal end of the scope relative to a distal end of the sheath where the sheath becomes detectable in an image captured by the camera;
• and
• cause a coaxial movement of the scope relative to the sheath based at least in part on the transition position and an offset.

A method for calibrating a protrusion of a scope relative to a sheath that surrounds and is coaxially aligned with the scope, the method comprising:

• capturing one or more images with a camera proximate a distal end of the scope;
• filtering the one or more images based on a visual property of the sheath to generate a filtered portion;
• determining that the filtered portion satisfies a threshold;
• determining a transition position;
• and
• determining a target protrusion based at least in part on the transition position.