Title:
GASTROINTESTINAL ENDOSCOPY VISUAL RECONSTRUCTION NAVIGATION SYSTEM AND METHOD
Document Type and Number:
WIPO Patent Application WO/2024/098240
Kind Code:
A1
Abstract:
Provided are a gastrointestinal endoscopy visual reconstruction navigation system and method. The system comprises a data acquisition module (101), a map construction module (102), and a path planning module (103). The data acquisition module (101) is configured for acquiring virtual camera pose data and image depth data, and sending the acquired virtual camera pose data and image depth data to the map construction module (102). The map construction module (102) is configured for building an optical flow self-supervision network and an improved residual network according to the virtual camera pose data and the image depth data; and performing camera pose estimation and depth map estimation according to the optical flow self-supervision network and the improved residual network, respectively, to construct an environment map. The path planning module (103) is configured for extracting a topological center line according to the environment map and performing path planning and navigation around the topological center line. Therefore, the problems of difficulty in extracting feature points and inability to accurately discern the direction in an endoscopic image under the characteristics of low illumination and few textures can be solved.
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Inventors:
XIONG JING (CN)
TAN MIN (CN)
XIA ZEYANG (CN)
XIE GAOSHENG (CN)
TAN MIN (CN)
XIA ZEYANG (CN)
XIE GAOSHENG (CN)
Application Number:
PCT/CN2022/130535
Publication Date:
May 16, 2024
Filing Date:
November 08, 2022
Export Citation:
Assignee:
SHENZHEN INST OF ADV TECH CAS (CN)
International Classes:
A61B1/31; G06T7/73
Attorney, Agent or Firm:
BEIJING CHENGHUI LAW FIRM (CN)
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