Correction of distortion in endoscope images

A Novel Method for Space Circular Target Detection in Machine Vision

Computer-vision-based space circular target detection has a wide range of applications in visual measurement, object detection, and other fields. The space circular target is projected into an ellipse in the camera for localization. Traditional methods based on monocular vision use a precise calculation model to calculate the center coordinate and normal vector of the space circular target according to the image’s elliptic parameters. However, this accurate calculation method has the disadvantage of poor anti-interference ability in practical application. Aiming at the shortcomings of the above traditional calculation method, this paper proposes an optimization method for fitting the circular target in 3D space, where the image ellipse is projected back into 3D space and then detects the center coordinate and normal vector of the space circular target. Unlike the traditional method, this approach is not sensitive to the image’s elliptic parameters; it has stronger noise resistance performance and notable application value. The feasibility and effectiveness of the proposed method were verified by both simulation and practical experimental results.

Integrated photoacoustic and hyperspectral dual-modality microscopy for co-imaging of melanoma and cutaneous squamous cell carcinoma in vivo

Skin carcinoma such as melanoma (MM) and cutaneous squamous cell carcinoma (cSCC) are considered as the highest mortality and the most aggressive skin cancers in dermatology. In view that early diagnosis and treatment can greatly improve the survival rate and life quality of the patients, developing noninvasive and effective evaluation methods is of great significance for the detection and identification of early stage cutaneous cancers. In this article, we propose a hybrid photoacoustic and hyperspectral dual-modality microscopy to evaluate and differentiate skin carcinoma by structural and multiphysiological parameters. The proposed system's imaging abilities are verified by mimic phantoms and normal mice experiments. Furthermore, in vivo characterization and evaluation results of MM and cSCC mice are obtained successfully, which prove this novel method could be used as a reliable and useful method for skin cancer detection in early stages.

An Open-Source Computer Vision Tool for Automated Vocal Fold Tracking From Videoendoscopy

OBJECTIVES

Contemporary clinical assessment of vocal fold adduction and abduction is qualitative and subjective. Herein is described a novel computer vision tool for automated quantitative tracking of vocal fold motion from videolaryngoscopy. The potential of this software as a diagnostic aid in unilateral vocal fold paralysis is demonstrated.

STUDY DESIGN

Case-control.

METHODS

A deep-learning algorithm was trained for vocal fold localization from videoendoscopy for automated frame-wise estimation of glottic opening angles. Algorithm accuracy was compared against manual expert markings. Maximum glottic opening angles between adults with normal movements (N = 20) and those with unilateral vocal fold paralysis (N = 20) were characterized.

RESULTS

Algorithm angle estimations demonstrated a correlation coefficient of 0.97 (P < .001) and mean absolute difference of 3.72° (standard deviation [SD], 3.49°) in comparison to manual expert markings. In comparison to those with normal movements, patients with unilateral vocal fold paralysis demonstrated significantly lower maximal glottic opening angles (mean 68.75° ± 11.82° vs. 49.44° ± 10.42°; difference, 19.31°; 95% confidence interval [CI] [12.17°-26.44°]; P < .001). Maximum opening angle less than 58.65° predicted unilateral vocal fold paralysis with a sensitivity of 0.85 and specificity of 0.85, with an area under the receiver operating characteristic curve of 0.888 (95% CI [0.784-0.991]; P < .001).

CONCLUSION

A user-friendly software tool for automated quantification of vocal fold movements from previously recorded videolaryngoscopy examinations is presented, termed automated glottic action tracking by artificial intelligence (AGATI). This tool may prove useful for diagnosis and outcomes tracking of vocal fold movement disorders.

LEVEL OF EVIDENCE

IV Laryngoscope, 131:E219-E225, 2021.

A clinically translatable hyperspectral endoscopy (HySE) system for imaging the gastrointestinal tract

Hyperspectral imaging (HSI) enables visualisation of morphological and biochemical information, which could improve disease diagnostic accuracy. Unfortunately, the wide range of image distortions that arise during flexible endoscopy in the clinic have made integration of HSI challenging. To address this challenge, we demonstrate a hyperspectral endoscope (HySE) that simultaneously records intrinsically co-registered hyperspectral and standard-of-care white light images, which allows image distortions to be compensated computationally and an accurate hyperspectral data cube to be reconstructed as the endoscope moves in the lumen. Evaluation of HySE performance shows excellent spatial, spectral and temporal resolution and high colour fidelity. Application of HySE enables: quantification of blood oxygenation levels in tissue mimicking phantoms; differentiation of spectral profiles from normal and pathological ex vivo human tissues; and recording of hyperspectral data under freehand motion within an intact ex vivo pig oesophagus model. HySE therefore shows potential for enabling HSI in clinical endoscopy.

Global and Local Panoramic Views for Gastroscopy: An Assisted Method of Gastroscopic Lesion Surveillance

Gastroscopy plays an important role in the diagnosis of gastric disease. In this paper, we develop an image panoramic system to assist endoscopists in improving lesion surveillance and reducing many of the tedious operations associated with gastroscopy. The constructed panoramic view has two categories: 1) the local view broadens the endoscopist's field of view in real time. Combining with the original gastroscopic video, this mosaicking view enables the endoscopist to diagnose the lesion comprehensively; 2) the global view constructs a large-area panoramic scene of the internal gastric surface, which can be used for intraoperative surgical navigation and postoperative scene review. Due to the irregular texture and inconsistent reflection of the gastric internal surface, common registration methods cannot accurately stitch this surface. Thereby, a six degree of freedom position tracking endoscope is devised to accommodate for the accumulated mosaicking error and provide efficient mosaicking results. For the global view, a dual-cube constraint model and a Bundle Adjustment algorithm are incorporated to deal with the mosaicking error caused by the irregular inflation and nonrigid deformation of the stomach. Moreover, texture blending and frame selection schemes are developed to make the mosaicking results feasible in real-clinical applications. The experimental results demonstrate that our system performs with a speed of 7.12 frames/s in a standard computer environment, and the mosaicking mean error is 0.43 mm for local panoramic view and 3.71 mm for global panoramic view.

Single shot telecentricity measurement by Fourier space grid separation

The experimental documentation of the properties of an optical system represents a particular challenge. Besides the measurement of focal quality and field distortions, telecentric systems have to yield a parallel beam propagation direction. In this paper we propose a method to test, document and optimize the telecentricity of a laser scanning system by scanning two crossed polka dot beam splitters at once. By separating both beam splitters in Fourier space we were able to detect tilting angles below 2 · 10(-3) rad for four different laser wavelengths within the same optical system. By this we determined the optimum system parameters for our scanning laser optical tomography (SLOT) setup.

Defining optical distortion in rigid endoscopes

OBJECTIVES/HYPOTHESIS

To describe lens and perspective distortion using new measures that have practical meaning to the surgeon, and to apply these measures to show the extent of optical distortion in rigid endoscopes used in endoscopic sinus surgery.

STUDY DESIGN

Laboratory measurements on rigid endoscopes.

METHODS

Barrel and perspective distortion were measured in 4-mm diameter 0°, 30°, 45°, and 70° rigid sinus endoscopes. Images of square grids were obtained with the endoscopes aligned in a specially constructed test rig. The terms relative size (RS) and relative distance (RD) were introduced to describe size and distance errors; and the term relative angle (RA) was used for assessing perspective errors.

RESULTS

All the endoscopes exhibited similar barrel distortion. RS of the image at the periphery was 52%; RD was 80%. For RA values of 30°, 45°, and 70°, RS values were 77%, 58%, and 32%, respectively. Objects at the edge of the surgical field appear significantly more distant than suggested by their screen position. Perspective distortion occurs, unless RA = 0°. Barrel distortion of the lens helped to offset the effects of perspective distortion.

CONCLUSION

Optical distortion can be quantified and understood using straightforward definitions. High levels of distortion are common, particularly due to perspective distortion, which is dependent on RA but independent of barrel distortion and the viewing angle of the endoscope.

Clinical study using novel endoscopic system for measuring size of gastrointestinal lesion

AIM: To verify the performance of a lesion size measurement system through a clinical study.

METHODS: Our proposed system, which consists of a conventional endoscope, an optical device, an optical probe, and a personal computer, generates a grid scale to measure the lesion size from an endoscopic image. The width of the grid scale is constantly adjusted according to the distance between the tip of the endoscope and lesion because the lesion size on an endoscopic image changes according to the distance. The shape of the grid scale was corrected to match the distortion of the endoscopic image. The distance was calculated using the amount of laser light reflected from the lesion through an optical probe inserted into the instrument channel of the endoscope. The endoscopist can thus measure the lesion size without contact by comparing the lesion with the size of the grid scale on the endoscopic image. (1) A basic test was performed to verify the relationship between the measurement error e_M and the tilt angle of the endoscope; and (2) The sizes of three colon polyps were measured using our system during endoscopy. These sizes were immediately measured by scale after their removal.

RESULTS: There was no error at α = 0°. In addition, the values of e_M (mean ± SD) were 0.24 ± 0.11 mm (α = 10°), 0.90 ± 0.58 mm (α = 20°) and 2.31 ± 1.41 mm (α = 30°). According to these results, our system has been confirmed to measure accurately when the tilt angle is less than 20°. The measurement error was approximately 1 mm in the clinical study. Therefore, it was concluded that our proposed measurement system was also effective in clinical examinations.

CONCLUSION: By combining simple optical equipment with a conventional endoscope, a quick and accurate system for measuring lesion size was established.

Foveated endoscopic lens

We present a foveated miniature endoscopic lens implemented by amplifying the optical distortion of the lens. The resulting system provides a high-resolution region in the central field of view and low resolution in the outer fields, such that a standard imaging fiber bundle can provide both the high resolution needed to determine tissue health and the wide field of view needed to determine the location within the inspected organ. Our proof of concept device achieves 7 ≈ 8 μm resolution in the fovea and an overall field of view of 4.6 mm. Example images and videos show the foveated lens' capabilities.

Methods for removing glare in digital endoscope images

BACKGROUND

Images produced by rod-lens telescopes used in minimally invasive surgery are brightest in the central region and darker at the periphery. To enable a clear view of the darker regions of the image, the intensity of light from the source usually is set to a high level. This often causes substantial reflection and glare from surgical tools and some tissue surfaces, which can be disturbing for the surgeon. This study investigated digital image processing methods in an attempt to reduce glare without introducing other adverse qualities into the images.

METHODS

Two methods of reducing glare in local high-brightness regions of the image were evaluated. The first method reduced intensity by a fixed amount while also optionally introducing a slight color. The second method combined a proportion of the original intensity value with a proportion of a lower intensity value, again with an optional color bias. Two surgical video clips were modified with each of 13 different glare-reduction variants using these methods. These and the original sequence were played to a group of 10 experienced surgeons for subjective assessment.

RESULTS

The pixel-based methods both showed statistically significant improvements over the original version. The incorporation of a slight yellow bias was preferred to a straightforward gray-level reduction. The simple approach of using a lower level of brightness alone was found to be unacceptable. Both new methods work in real time at normal video speeds.

CONCLUSIONS

Antiglare methods have been found that reduce the perception of glare and are otherwise unobtrusive. This encourages further work to refine the preferred methods and to test them with a larger group over a wider range of video sequences. Clinical trials then will follow.

Improving the accuracy of feature extraction for flexible endoscope calibration by spatial super resolution

Many applications in the domain of medical as well as industrial image processing make considerable use of flexible endoscopes - so called fiberscopes - to gain visual access to holes, hollows, antrums and cavities that are difficult to enter and examine. For a complete exploration and understanding of an antrum, 3d depth information might be desirable or yet necessary. This often requires the mapping of 3d world coordinates to 2d image coordinates which is estimated by camera calibration. In order to retrieve useful results, the precise extraction of the imaged calibration pattern's markers plays a decisive role in the camera calibration process. Unfortunately, when utilizing fiberscopes, the image conductor introduces a disturbing comb structure to the images that anticipates a (precise) marker extraction. Since the calibration quality crucially depends on subpixel-precise calibration marker positions, we apply static comb structure removal algorithms along with a dynamic spatial resolution enhancement method in order to improve the feature extraction accuracy. In our experiments, we demonstrate that our approach results in a more accurate calibration of flexible endoscopes and thus allows for a more precise reconstruction of 3d information from fiberoptic images.

Automatic Adaptive Enhancement for Images Obtained With Fiberscopic Endoscopes

Modern techniques for medical diagnostics and therapy in keyhole surgery scenarios as well as technical inspection make use of flexible endoscopes. Their characteristic bendable image conductor consists of a very limited number of coated fibers, which leads to so-called comb structure. This effect has a negative impact on further image processing steps such as feature tracking because these overlaid image structures are wrongly detected as image features. With respect to these tasks, we propose an automatic approach to generate optimal spectral filter masks for enhancement of fiberscopic images. We apply the Nyquist-Shannon sampling theorem to the spectrum of fiberscopically acquired images to obtain parameters for optimal filter mask calculation. This can be done automatically and independently of scale and resolution of the image conductor as well as type and resolution of the image sensor. We designed and verified simple rotation invariant masks as well as star-shaped rotation variant masks that contain information about orientation between the fiberscope and sensor. A subjective survey among experts between different modes of filtering certified the best results to the adapted star-shaped mask for high-quality glass fiberscopes. We furthermore define an objective metric to evaluate the results of different filter approaches, which verifies the results of the subjective survey. The proposed approach enables the automated reduction of fiberscopic comb structure. It is adaptive to arbitrary endoscope and sensor combinations. The results give the prospect of a large field of possible applications to reduce fiberscopic structure both for visual optimization in clinical environments and for further digital imaging tasks.

Development of a camera model and calibration procedure for oblique-viewing endoscopes

Oblique-viewing endoscopes (oblique scopes) are widely used in medical practice. They are essential for certain procedures such as laparoscopy, arthroscopy and sinus endoscopy. In an oblique scope the viewing directions are changeable by rotating the scope cylinder. Although a camera calibration method is necessary to apply augmented reality technologies to oblique endoscopic procedures, no method for oblique scope calibration has yet been developed. In the present paper, we formulate a camera model and a calibration procedure for oblique scopes. In the calibration procedure, Tsai's calibration is performed at zero rotation of the scope cylinder, then the variation of the external camera parameters corresponding to the rotation of the scope cylinder is modeled and estimated as a function of the rotation angle. Accurate estimation of the rotational axis is included in the procedure. The accuracy of this estimation was demonstrated to have a significant effect on overall calibration accuracy in the experimental evaluation, especially with large rotation angles. The projection error in the image plane was approximately two pixels. The proposed method was shown to be clinically applicable.

Implementation, calibration and accuracy testing of an image-enhanced endoscopy system

This paper presents a new method for image-guided surgery called image-enhanced endoscopy. Registered real and virtual endoscopic images (perspective volume renderings generated from the same view as the endoscope camera using a preoperative image) are displayed simultaneously; when combined with the ability to vary tissue transparency in the virtual images, this provides surgeons with the ability to see beyond visible surfaces and, thus, provides additional exposure during surgery. A mount with four photoreflective spheres is rigidly attached to the endoscope and its position and orientation is tracked using an optical position sensor. Generation of virtual images that are accurately registered to the real endoscopic images requires calibration of the tracked endoscope. The calibration process determines intrinsic parameters (that represent the projection of three-dimensional points onto the two-dimensional endoscope camera imaging plane) and extrinsic parameters (that represent the transformation from the coordinate system of the tracker mount attached to the endoscope to the coordinate system of the endoscope camera), and determines radial lens distortion. The calibration routine is fast, automatic, accurate and reliable, and is insensitive to rotational orientation of the endoscope. The routine automatically detects, localizes, and identifies dots in a video image snapshot of the calibration target grid and determines the calibration parameters from the sets of known physical coordinates and localized image coordinates of the target grid dots. Using nonlinear lens-distortion correction, which can be performed at real-time rates (30 frames per second), the mean projection error is less than 0.5 mm at distances up to 25 mm from the endoscope tip, and less than 1.0 mm up to 45 mm. Experimental measurements and point-based registration error theory show that the tracking error is about 0.5-0.7 mm at the tip of the endoscope and less than 0.9 mm for all points in the field of view of the endoscope camera at a distance of up to 65 mm from the tip. It is probable that much of the projection error is due to endoscope tracking error rather than calibration error. Two examples of clinical applications are presented to illustrate the usefulness of image-enhanced endoscopy. This method is a useful addition to conventional image-guidance systems, which generally show only the position of the tip (and sometimes the orientation) of a surgical instrument or probe on reformatted image slices.

New approach for enlargement of medical electronic endoscopic images

To compensate for the imperfections of the endoscopic mechanical structure and the limitations of working space, a new technology based on the recursive minimum/maximum method is proposed to enlarge images obtained by the medical electronic endoscope. This method can be used repeatedly to obtain image enlargement to 2x by optimizing the neighborhood information of the pixels of interest in adjustable windows. In order to ensure the best evaluation of the pixel, the algorithm criterion is presented to decide whether the new gray value is assigned to the pixel. Experimental results from enlarged endoscopic images are presented that demonstrate that the recursive minimum/maximum method for image enlargement can preserve the fine details with rich edge information and with better visualization.

Videoendoscopic distortion correction and its application to virtual guidance of endoscopy

Modern video-based endoscopes offer physicians a wide-angle field of view (FOV) for minimally invasive procedures. Unfortunately, inherent barrel distortion prevents accurate perception of range. This makes measurement and distance judgment difficult and causes difficulties in emerging applications, such as virtual guidance of endoscopic procedures. Such distortion also arises in other wide FOV camera circumstances. This paper presents a distortion-correction technique that can automatically calculate correction parameters, without precise knowledge of horizontal and vertical orientation. The method is applicable to any camera-distortion correction situation. Based on a least-squares estimation, our proposed algorithm considers line fits in both FOV directions and gives a globally consistent set of expansion coefficients and an optimal image center. The method is insensitive to the initial orientation of the endoscope and provides more exhaustive FOV correction than previously proposed algorithms. The distortion-correction procedure is demonstrated for endoscopic video images of a calibration test pattern, a rubber bronchial training device, and real human circumstances. The distortion correction is also shown as a necessary component of an image-guided virtual-endoscopy system that matches endoscope images to corresponding rendered three-dimensional computed tomography views.

Registration of physical space to laparoscopic image space for use in minimally invasive hepatic surgery

While laparoscopes are used for numerous minimally invasive (MI) procedures, MI liver resection and ablative surgery is infrequently performed. The paucity of cases is due to the restriction of the field of view by the laparoscope and the difficulty in determining tumor location and margins under video guidance. By merging MI surgery with interactive, image-guided surgery (IIGS), we hope to overcome localization difficulties present in laparoscopic liver procedures. One key component of any IIGS system is the development of accurate registration techniques to map image space to physical or patient space. This manuscript focuses on the accuracy and analysis of the direct linear transformation (DLT) method to register physical space with laparoscopic image space on both distorted and distortion-corrected video images. Experiments were conducted on a liver-sized plastic phantom affixed with 20 markers at various depths. After localizing the points in both physical and laparoscopic image space, registration accuracy was assessed for different combinations and numbers of control points (n) to determine the quantity necessary to develop a robust registration matrix. For n = 11, average target registration error (TRE) was 0.70 +/- 0.20 mm. We also studied the effects of distortion correction on registration accuracy. For the particular distortion correction method and laparoscope used in our experiments, there was no statistical significance between physical to image registration error for distorted and corrected images. In cases where a minimum number of control points (n = 6) are acquired, the DLT is often not stable and the mathematical process can lead to high TRE values. Mathematical filters developed through the analysis of the DLT were used to prospectively eliminate outlier cases where the TRE was high. For n = 6, prefilter average TRE was 17.4 +/- 153 mm for all trials; when the filters were applied, average TRE decreased to 1.64 +/- 1.10 mm for the remaining trials.

Quantitative endoscopy: initial accuracy measurements

The geometric optics of an endoscope can be used to determine the absolute size of an object in an endoscopic field without knowing the actual distance from the object. This study explores the accuracy of a technique that estimates absolute object size from endoscopic images. Quantitative endoscopy involves calibrating a rigid endoscope to produce size estimates from 2 images taken with a known traveled distance between the images. The heights of 12 samples, ranging in size from 0.78 to 11.80 mm, were estimated with this calibrated endoscope. Backup distances of 5 mm and 10 mm were used for comparison. The mean percent error for all estimated measurements when compared with the actual object sizes was 1.12%. The mean errors for 5-mm and 10-mm backup distances were 0.76% and 1.65%, respectively. The mean errors for objects <2 mm and > or =2 mm were 0.94% and 1.18%, respectively. Quantitative endoscopy estimates endoscopic image size to within 5% of the actual object size. This method remains promising for quantitatively evaluating object size from endoscopic images. It does not require knowledge of the absolute distance of the endoscope from the object, rather, only the distance traveled by the endoscope between images.

Morphological assessment of the soft palate in habitual snoring using image analysis

OBJECTIVES

Define differences in palatal and uvular dimensions between habitual snorers and healthy nonsnoring control subjects. Document the changes in palatal configuration after different types of palatoplasty.

STUDY DESIGN

A prospective controlled clinical study was performed analyzing video recordings of the soft palate and oropharynx of 251 subjects (121 habitual snorers, 79 patients after laser-assisted uvulopalatoplasty ([LAUP], and 51 healthy volunteers).

METHODS

The recordings were captured using a rigid endoscope with a reference measure applied to the soft palate and a mark at the junction of the soft and hard palate. Four parameters were studied in the captured pictures after correction for the distortion deformity in fiberoptic endoscopic images: 1) length of soft palate, 2) length of uvula, 3) width of uvula, and 4) distance between posterior pillars.

RESULTS

Analysis showed that habitual snorers, compared with healthy volunteers have significantly increased soft palate length (P = .00001), increased uvula length (P = .0002) and width (P = .00001), and narrowed oropharyngeal isthmus (distance between the posterior pillars) (P = .04). In patients studied after LAUP, the length of the soft palate is significantly shorter (P = .00001) than in the preoperative cohort, and the oropharyngeal isthmus is significantly narrower (P = .00001). Moreover, this latter distance is significantly narrower (P = .00001) when compared with healthy volunteers.

CONCLUSIONS

Habitual snorers have a long soft palate, a long wide uvula, and a narrowed oropharyngeal isthmus. LAUP shortens and tightens the elongated palate and causes a further reduction in the space between the posterior pillars.

A new approach for nonlinear distortion correction in endoscopic images based on least squares estimation

Images captured with a typical endoscope show spatial distortion, which necessitates distortion correction for subsequent analysis. In this paper, a new methodology based on least squares estimation is proposed to correct the nonlinear distortion in the endoscopic images. A mathematical model based on polynomial mapping is used to map the images from distorted image space onto the corrected image space. The model parameters include the polynomial coefficients, distortion center, and corrected center. The proposed method utilizes a line search approach of global convergence for the iterative procedure to obtain the optimum expansion coefficients. A new technique to find the distortion center of the image based on curvature criterion is presented. A dual-step approach comprising token matching and integrated neighborhood search is also proposed for accurate extraction of the centers of the dots contained in a rectangular grid, used for the model parameter estimation. The model parameters were verified with different grid patterns. The distortion-correction model is applied to several gastrointestinal images and the results are presented. The proposed technique provides high-speed response and forms a key step toward online camera calibration, which is required for accurate quantitative analysis of the images.

Technique of distortion correction in endoscopic images using a polynomial expansion

A new technique to correct non-linear distortion of endoscopic images based on L2-norm approximation is proposed. A mathematical model is defined that maps the endoscopic images from the distorted image plane onto an undistorted image plane. A set of model parameters is defined, consisting of the image distortion centre, corrected centre and expansion polynomial coefficients representing radial distortion correction. A new method to find the image distortion centre based on a curvature criterion is also developed. The expansion coefficients are estimated on the basis of the degree of straightness of the grid lines in an image of a test grid consisting of dots in a rectangular pattern. The corrected image centre is computed by ensuring that the distances between neighbouring test dots of different grid lines in the corrected image are the same. The quantitative data providing the results and errors of the expansion characteristics are presented. The performance of the proposed distortion correction algorithm is validated with grid patterns of different orientations. The algorithm is also applied to typical endoscopic images, and the results are presented. The high-speed response of the proposed technique is a key step towards on-line camera calibration.

A new method for distortion correction of electronic endoscope images

A new method to correct the barrel distortion of an electronic endoscope image is presented. A correction model assuming circularly symmetric distortion is introduced with the following model parameters: the center of distortion and the coefficients of polynomials representing the distortion correction in the radial direction. If the imaging system is distortion-free, straight lines in the object space should be imaged as straight lines. Based on this criterion, a distorted image of a standard pattern consisting of a grid of several straight lines is recorded, and the model parameters are then estimated as a basis for straightening distorted lines. This method has the advantage of not needing a careful placement of the standard pattern for calibration. Correction results are presented for the grid pattern chart to verify a sufficient degree of correction. Examples of distortion correction of real intestinal images and physicians' comments are also presented.

Profilometry of a gastrointestinal surface by an endoscope with laser beam projection

An active triangulation method that uses an endoscope with laser beam projection is proposed for measuring the profile of a gastrointestinal surface. When a laser beam is projected onto an object surface in a given direction, the coordinates of the beam spot in an endoscope image are uniquely related to the distance from the endoscope to the surface. This relation is investigated experimentally, and the results are presented in a look-up table. By calibration of the image with this look-up table, a profile measurement with high precision is realized. Results of experiments with both a test object with known dimensions and a sample extracted from a real stomach are described.

Endoscopic measurement of lesion size: improved accuracy with image processing

Endoscopic measurement of lesions is of great importance in the design and performance of clinical trials, as, for example, in studies of ulcer disease. Endoscopes are constructed with wide-angle lenses that significantly distort the image by creating a relative compression of points in its periphery. We have recently developed a computer program to correct the distortion of the wide-angle lens. We sought to determine the accuracy of the currently used open-biopsy forceps measurement technique and compare it to that of an image-processing technique designed to correct image distortion. The overall error of the open-biopsy forceps technique using an in vitro ulcer model was under-estimation of lesion size by 41.8% +/- 23.3%. When image processing was used to correct distortion, error was significantly decreased to 1.8% +/- 2.2% (p < 0.05). In vivo measurements were made using an inserted object of known size (coated chewing gum). The mean error of the forceps technique in vivo was 26.5% +/- 5.7% (under-estimation of size), which improved significantly to an error of 2.8% +/- 3.2% (p < 0.05) with the image-processing technique. We conclude that image processing significantly enhances the accuracy of measurement at endoscopy.

Geometrical reconstruction of images obtained with electronic endoscopy

We use an electronic video endoscope (Fujinon EG7-HR2) to image the mitral valve in situ in an isolated pig heart preparation. From video recordings, images are digitized and analysed with a computer. A complication encountered during the study concerned the geometric wide angle distortion caused by the device. The present paper describes a method developed to reconstruct the image, and to correct for this distortion. In order to quantify the relation between object and image, model equations were formulated based on mild assumptions. Points in object space are transformed through a non-linear relation to corresponding points in image space. Furthermore, an oblique camera view, and an aspect ratio correction factor, are accounted for. As a test object, a regular grid of points was recorded at several distances from the camera. The images of the grid points were digitized, and the model equations were fitted to these data. From test measurements, carried out in air as well as in water, it was concluded that the distortion could be quantified by three parameters. Application of the straightforward correction procedure enables us to obtain quantitative information from endoscopic images.