Method for dealing with singularities in gravity referenced endoscopic imaging

Abstract

A method for avoiding rapid or sudden image rotation or reversal in a gravity leveled endoscopic imaging system is disclosed. A mathematical neighborhood of a singular viewing configuration is defined and within this neighborhood the endoscopic image orientation follows specified rules.

1 . A method for helping a user predict rapid or sudden image rotation in a gravity leveled endoscopic imaging system, the method comprising:
 monitoring the attitude of the view vector of an endoscope having an longitudinal axis, said monitoring comprising accounting for endoscope pitch, endoscope roll, and view vector angle relative to the longitudinal axis;   specifying a neighborhood of a viewing singularity; and   displaying a graphical representation of said view vector and a graphical representation of said neighborhood.   
     
     
         2 . The method of  claim 1 , further comprising receiving an input specifying a neighborhood size and directionality from a user, wherein the step of specifying a neighborhood of a viewing singularity is based on the user input. 
     
     
         3 . The method of  claim 2 , wherein the input specifying a neighborhood size and directionality is received from a user via a graphical user interface. 
     
     
         4 . The method of  claim 1 , further comprising displaying a graphical representation of the endoscope. 
     
     
         5 . The method of  claim 1 , further comprising displaying the direction of gravity. 
     
     
         6 . The method of  claim 1 , further comprising displaying a viewing sphere. 
     
     
         7 . The method of  claim 6 , further comprising displaying a pole. 
     
     
         8 . The method of  claim 6 , further comprising displaying a full coordinate grid. 
     
     
         9 . The method of  claim 1 , further comprising displaying a warning when the view vector is in the vicinity of a pole. 
     
     
         10 . A method for helping a user predict rapid or sudden image rotation in a gravity leveled endoscopic imaging system, the method comprising:
 receiving an input during a medical procedure from a user manipulating an endoscope during the medical procedure that specifies a neighborhood size and directionality from the user, the endoscope having a longitudinal axis;   monitoring the attitude of the view vector of the endoscope, said monitoring comprising accounting for endoscope pitch, endoscope roll, and view vector angle relative to the longitudinal axis;   specifying a neighborhood of a viewing singularity based on said user input; and   displaying a graphical representation of said view vector and a graphical representation of said neighborhood.   
     
     
         11 . The method of  claim 10 , wherein the input specifying a neighborhood size and directionality is received from a user via a graphical user interface. 
     
     
         12 . The method of  claim 10 , further comprising displaying a graphical representation of the endoscope. 
     
     
         13 . The method of  claim 10 , further comprising displaying the direction of gravity. 
     
     
         14 . The method of  claim 10 , further comprising displaying a viewing sphere. 
     
     
         15 . The method of  claim 14 , further comprising displaying a pole. 
     
     
         16 . The method of  claim 14 , further comprising displaying a full coordinate grid. 
     
     
         17 . The method of  claim 10 , further comprising displaying a warning when the view vector is in the vicinity of a pole.