FR3032104B1 - Procede de determination du decalage entre axes median et optique d'un endoscope - Google Patents

Procede de determination du decalage entre axes median et optique d'un endoscope

Info

Publication number
FR3032104B1
FR3032104B1 FR1550792A FR1550792A FR3032104B1 FR 3032104 B1 FR3032104 B1 FR 3032104B1 FR 1550792 A FR1550792 A FR 1550792A FR 1550792 A FR1550792 A FR 1550792A FR 3032104 B1 FR3032104 B1 FR 3032104B1
Authority
FR
France
Prior art keywords
endoscope
median
axis
shots
shift
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR1550792A
Other languages
English (en)
Other versions
FR3032104A1 (fr
Inventor
Sylvain Bernhardt
Vincent Agnus
Stephane Nicolau
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Institut De Rech Sur Les Cancers De Lappareil Digestif Ircad
Institut Hospitalo Univ De Chirurgie Mini Invasive Guidee Par Limage
Institut de Recherche contre les Cancers de l'Appareil Digestif (IRCAD)
Original Assignee
Institut De Rech Sur Les Cancers De Lappareil Digestif Ircad
Institut Hospitalo Univ De Chirurgie Mini Invasive Guidee Par Limage
Institut de Recherche contre les Cancers de l'Appareil Digestif (IRCAD)
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Institut De Rech Sur Les Cancers De Lappareil Digestif Ircad, Institut Hospitalo Univ De Chirurgie Mini Invasive Guidee Par Limage, Institut de Recherche contre les Cancers de l'Appareil Digestif (IRCAD) filed Critical Institut De Rech Sur Les Cancers De Lappareil Digestif Ircad
Priority to FR1550792A priority Critical patent/FR3032104B1/fr
Priority to PCT/FR2016/050203 priority patent/WO2016124846A1/fr
Priority to US15/548,359 priority patent/US20180040139A1/en
Priority to EP16707854.2A priority patent/EP3253274A1/fr
Publication of FR3032104A1 publication Critical patent/FR3032104A1/fr
Application granted granted Critical
Publication of FR3032104B1 publication Critical patent/FR3032104B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
    • A61B1/00089—Hoods
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2407—Optical details
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/174—Segmentation; Edge detection involving the use of two or more images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments
    • G06T7/248—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/529—Depth or shape recovery from texture
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20068—Projection on vertical or horizontal image axis

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Radiology & Medical Imaging (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Signal Processing (AREA)
  • Astronomy & Astrophysics (AREA)
  • Multimedia (AREA)
  • Quality & Reliability (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

La présente invention a pour objet un procédé de détermination du décalage ou désalignement entre l'axe médian ou de révolution et l'axe optique d'un endoscope rigide ou d'un dispositif similaire de prise de vues comprenant un corps rigide à enveloppe extérieure cylindrique profilée dans la direction de l'axe optique, ou comprenant au moins un segment d'extrémité rigide avec une telle enveloppe. Procédé caractérisé en ce qu'il consiste à effectuer, avec une caméra (3) faisant partie de l'endoscope (1), une pluralité de prises de vue avec un champ de vision limité par un contour, dont le positionnement par rapport à l'axe médian (A) est, pour chaque prise de vue, physiquement défini et spécifique, une rotation angulaire relative entre le contour et l'endoscope (1) intervenant entre deux prises de vues successives, et à déterminer un point ou un pixel dans les images successivement acquises dont la position demeure inchangée entre les différentes prises de vues, ce point correspondant à la projection dans le plan image (3) de l'axe médian ou de révolution (A) du corps rigide (2) de l'endoscope (1).
FR1550792A 2015-02-02 2015-02-02 Procede de determination du decalage entre axes median et optique d'un endoscope Active FR3032104B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR1550792A FR3032104B1 (fr) 2015-02-02 2015-02-02 Procede de determination du decalage entre axes median et optique d'un endoscope
PCT/FR2016/050203 WO2016124846A1 (fr) 2015-02-02 2016-02-01 Procede de determination du decalage entre axes median et optique d'un endoscope
US15/548,359 US20180040139A1 (en) 2015-02-02 2016-02-01 Method for determining the offset between the central and optical axes of an endoscope
EP16707854.2A EP3253274A1 (fr) 2015-02-02 2016-02-01 Procede de determination du decalage entre axes median et optique d'un endoscope

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1550792A FR3032104B1 (fr) 2015-02-02 2015-02-02 Procede de determination du decalage entre axes median et optique d'un endoscope

Publications (2)

Publication Number Publication Date
FR3032104A1 FR3032104A1 (fr) 2016-08-05
FR3032104B1 true FR3032104B1 (fr) 2017-02-10

Family

ID=53269657

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1550792A Active FR3032104B1 (fr) 2015-02-02 2015-02-02 Procede de determination du decalage entre axes median et optique d'un endoscope

Country Status (4)

Country Link
US (1) US20180040139A1 (fr)
EP (1) EP3253274A1 (fr)
FR (1) FR3032104B1 (fr)
WO (1) WO2016124846A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11631197B2 (en) * 2020-10-01 2023-04-18 Ford Global Technologies, Llc Traffic camera calibration

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7187810B2 (en) * 1999-12-15 2007-03-06 Medispectra, Inc. Methods and systems for correcting image misalignment
US6498642B1 (en) * 2000-05-03 2002-12-24 Karl Storz Endovision Endoscope inspection system
JP3639561B2 (ja) * 2002-04-08 2005-04-20 オリンパス株式会社 内視鏡用フード
FR2864878B1 (fr) * 2004-01-06 2006-04-14 Thomson Licensing Sa Procede et systeme de determination du deplacement d'un pixel, et support d'enregistrement pour la mise en oeuvre du procede

Also Published As

Publication number Publication date
FR3032104A1 (fr) 2016-08-05
EP3253274A1 (fr) 2017-12-13
WO2016124846A1 (fr) 2016-08-11
US20180040139A1 (en) 2018-02-08

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