User-interface with navigational aids for endoscopy procedures

Patent metadata

Field	Value
Publication number	US-11832787-B2
Application number	US-202117562599-A
Country	US
Kind code	B2
Filing date	Dec 27, 2021
Priority date	May 24, 2021
Publication date	Dec 5, 2023
Grant date	Dec 5, 2023

Abstract

A user-interface for aiding navigation of an endoscope through a lumen of a tubular anatomical structure during an endoscopy procedure includes a video region in which a live video feed received from the endoscope is displayed and an observation location map. The observation location map depicts a point of observation from which the live video feed is acquired within the lumen relative to a cross-sectional depiction of the lumen as the endoscope longitudinally traverses the tubular anatomical structure within the lumen during the endoscopy procedure.

First claim

What is claimed is:

1. At least one non-transitory machine-accessible storage medium that provides instructions that, when executed by a machine, will cause the machine to perform operations comprising:
generating an endoscopy user-interface for display on a screen during an endoscopy procedure;
outputting a live video feed of a lumen of a tubular anatomical structure received from an endoscope during the endoscopy procedure for display within a video region of the endoscopy user-interface; and
generating an observation location map for display within the endoscopy user-interface, wherein the observation location map depicts a point of observation from which the live video feed is acquired within the lumen relative to a cross-sectional depiction of the lumen as the endoscope moves longitudinally along the tubular anatomical structure within the lumen during the endoscopy procedure, wherein the cross-sectional depiction comprises a cross-sectional perimeter shape depiction of the lumen and the observation location map conveys a position of the point of observation relative to the cross-sectional perimeter shape depiction.

2. The at least one non-transitory machine-accessible storage medium of claim 1 , wherein the cross-sectional depiction comprises a localized cross-section in a vicinity of a distal tip of the endoscope.

3. The at least one non-transitory machine-accessible storage medium of claim 1 , wherein the observation location map is contemporaneously presented proximate to the live video feed within the endoscopy user-interface to provide real-time navigation context with the live video feed.

4. The at least one non-transitory machine-accessible storage medium of claim 1 , wherein generating the observation location map comprises:
determining a focus of expansion point within the live video feed;
identifying a cross-sectional perimeter of the lumen in the live video feed; and
comparing a relative position of the focus of expansion point to the cross-sectional perimeter.

5. The at least one non-transitory machine-accessible storage medium of claim 1 , further providing instructions that, when executed by the machine, will cause the machine to perform further operations, comprising:
generating a velocity indicator for display within the endoscopy user-interface, wherein the velocity indicator visually depicts in real-time a direction of longitudinal motion of the endoscope moving through the lumen and a magnitude of longitudinal motion of the endoscope moving through the lumen.

6. The at least one non-transitory machine-accessible storage medium of claim 5 , wherein the velocity indicator comprises a dynamic bar graph that extends in a positive direction from a zero point to indicate a positive longitudinal motion of the endoscope moving through the lumen or extends in a negative direction from the zero point to indicate a negative longitudinal motion of the endoscope moving through the lumen.

7. The at least one non-transitory machine-accessible storage medium of claim 5 , wherein the velocity indicator is contemporaneously presented proximate to the live video feed within the endoscopy user-interface to provide real-time navigation context with the live video feed.

8. The at least one non-transitory machine-accessible storage medium of claim 1 , further providing instructions that, when executed by the machine, will cause the machine to perform further operations, comprising:
generating a visibility indicator that indicates a proportion of interior surface area of the tubular anatomical structure surrounding the lumen that was viewable versus unviewable in the live video feed as the endoscope traverses a longitudinal section of the tubular anatomical structure.

9. The at least one non-transitory machine-accessible storage medium of claim 8 , wherein the proportion of interior surface area that was viewable versus unviewable is based upon a temporal integration window ranging between 5 to 30 seconds.

10. The at least one non-transitory machine-accessible storage medium of claim 8 , wherein the visibility indicator discretizes the proportion of interior surface area into four or less ranges.

11. The at least one non-transitory machine-accessible storage medium of claim 8 , wherein the visibility indicator discretizes the proportion into three discrete ranges that are color coded.

12. The at least one non-transitory machine-accessible storage medium of claim 1 , wherein the endoscope comprises a colonoscope, the tubular anatomical structure comprises a colon, and the endoscopy procedure comprises a colonoscopy procedure.

13. The at least one non-transitory machine-accessible storage medium of claim 12 , wherein generating the observation location map comprises generating the observation location map during a withdrawal phase of the colonoscopy procedure.

14. At least one non-transitory machine-accessible storage medium that provides instructions that, when executed by a machine, will cause the machine to output a signal for rendering a user-interface to a display, the user-interface adapted for navigating an endoscope through a lumen of a tubular anatomical structure during an endoscopy procedure, the user-interface comprising:
a video region in which a live video feed received from the endoscope is displayed; and
an observation location map that depicts a point of observation from which the live video feed is acquired within the lumen relative to a cross-sectional depiction of the lumen as the endoscope longitudinally traverses the tubular anatomical structure within the lumen during the endoscopy procedure, wherein the observation location map comprises an observation point marker disposed within a cross-sectional perimeter shape depiction of the lumen and conveys a position of the point of observation relative to the cross-sectional perimeter shape depiction.

15. The at least one non-transitory machine-accessible storage medium of claim 14 , further providing instructions that, when executed by the machine, will cause the machine to perform further operations, comprising:
generating a velocity indicator for display within the endoscopy user-interface, wherein the velocity indicator visually depicts in real-time a direction of longitudinal motion of the endoscope moving through the lumen and a magnitude of longitudinal motion of the endoscope moving through the lumen.

16. The at least one non-transitory machine-accessible storage medium of claim 15 , wherein the velocity indicator comprises a dynamic bar graph that extends in a positive direction from a zero point to indicate a positive longitudinal motion of the endoscope moving through the lumen or extends in a negative direction from the zero point to indicate a negative longitudinal motion of the endoscope moving through the lumen.

17. The at least one non-transitory machine-accessible storage medium of claim 14 , wherein the user-interface further comprises:
a visibility indicator that indicates a proportion of interior surface area of the tubular anatomic structure surrounding the lumen that was viewable versus unviewable in the live video feed as the endoscope traverses a longitudinal section of the tubular anatomical structure.

18. The at least one non-transitory machine-accessible storage medium of claim 17 , wherein the proportion of interior surface area that was viewable versus unviewable is based upon a temporal integration window.

19. The at least one non-transitory machine-accessible storage medium of claim 18 , wherein the visibility indicator discretizes the pr

Assignees

• Verily Life Sciences Llc

Inventors

• Freedman Daniel
• Blau Yacob Yochai
• Veikherman Dmitri
• Goldenberg Roman
• Rivlin Ehud

Classifications

• G06T11/26

  Drawing of charts or graphs · CPC title

• G06T11/10

  Texturing; Colouring; Generation of textures or colours (retouching, inpainting or scratch removal G06T5/77) · CPC title

• A61B1/000094

  extracting biological structures · CPC title

• A61B1/31

  for the rectum, e.g. proctoscopes, sigmoidoscopes {, colonoscopes} · CPC title

• A61B1/00048

  Constructional features of the display · CPC title