Colonoscope 3D display integration medical robotics system

Endoscopy is nearly the most typical instruments that meet the demand of minimum invasive surgery (MIS). However, owing to the complex condition of human intestinal tract and the limitation of traditional colonoscopy, colonoscopy is sometimes a difficult and dangerous procedure. Most difficulties during colonoscopy arise as a result of unpredictable looping of the instrument shaft within the colonic anatomy. In order to recognize and straighten the loops, therefore, three-dimension shape detection becomes a key technology for both traditional and intelligent colonoscope. In the operation for straitening the loops, it is necessary to twist the colonoscope. To acquire the turning angle relative to the patient position, it is very valuable for surgeon to know pose parameters of head of colonoscope. In this paper, integration system of FBG sensor-based shape sensing and binocular vision-based position of head are presented, which use spatial curve curvature information to reconstruction flexible rod and binocular vision-based to detect the pose relative to reference frame. Using 3D reconstruction technology and LAN-based data acquisition for FBG sensor, two systems are integrated into an effective system which can be used to display the shape and pose relative to world coordinate system in real time and provide an intelligent platform for doctor in the process of colonoscopy to reduce the pain of patient. Some experiments have been done to verify the validity of the whole system.