| 摘要 |
An endoscopic method involves an advancement of an endoscope (20) as controlled by an endoscopic robot (31) to a target location within an anatomical region of a body, and a generation of a plurality of monocular endoscopic images (80) of the anatomical region as the endoscope (20) is advanced to the target location by the endoscopic robot (31). For avoiding or detecting a collision of the endoscope (20) with and object within monocular endoscopic images (80) (e.g., a ligament within monocular endoscopic images of a knee), the method further involves a generation of distance measurements of the endoscope (20) from the object as the endoscope (20) is advanced to the target location by the endoscopic robot (31), and a reconstruction of a three-dimensional image of a surface of the object within the monocular endoscopic images (80) as a function of the distance measurements (81). |
