| 摘要 |
An endoscopy system (1) comprises an endoscope (2) with a camera (3) at its tip. The endoscope extends through an endoscope guide (4) for guiding movement of the endoscope and for measurement of its movement as it enters the body. The guide (4) comprises a generally conical body (5) having a through passage (105) through which the endoscope (2) extends. A motion sensor comprises an optical transmitter (7) and a detector (8) mounted alongside the passage (105) to measure the insertion-withdrawal linear motion and also rotation of the endoscope by the endoscopist. The camera (3), the motion sensor (7/8), and the flexure controller (10) are all connected to a processor (11) which feeds a display. The processor (11) determines the extent of correlation of motion data provide by inputs from the sensor (7/8) and the flexure controller (10) with data concerning position and orientation of the endoscope tip derived from the camera images. This processing provides very comprehensive data in real time or recorded for playback later. For example a video sequence as shown in Fig. 2 may be presented with meta-data to indicate the high risk regions. <Figure 1> |
