Guided anatomical manipulation for endoscopic procedures

Abstract

Various embodiments of the present disclosure encompass manipulative endoscopic guidance device employing an endoscopic viewing controller (20) for controlling a display of an endoscopic view (11) of an anatomical structure, and a manipulative guidance controller (30) for controlling a display of one or more guided manipulation anchors (50-52) within the display of the endoscopic view (11) of the anatomical structure. A guided manipulation anchor (50-52) is representative of a location marking and/or a motion directive of a guided manipulation of the anatomical structure (e.g., grasping, pulling, pushing, sliding, reorienting, tilting, removing, or repositioning of the anatomical structure). The manipulative guidance controller (30) may generate an anchor by analyzing a correlation of the endoscopic view (11) of the anatomical structure with a knowledge base of image(s), model(s) and/or details corresponding to the anatomical structure and by deriving the anchor based on a degree of correlation of the endoscopic view (11) of the anatomical structure with the knowledge base.

1 . A manipulative endoscopic guidance device, comprising:
 an endoscopic viewing controller configured to control a display of an endoscopic view of an anatomical structure; and   a manipulative guidance controller configured to control a display of at least one guided manipulation anchor within the display of the endoscopic view of the anatomical structure, the one or each guided manipulation anchor being representative of at least one of a location marking and a motion directive of a guided manipulation of the anatomical structure.   
     
     
         2 . The manipulative endoscopic guidance device of  claim 1 , wherein the manipulative guidance controller being configured to control the display of the at least one guided manipulation anchor within the display of the endoscopic view of the anatomical structure includes:
 the manipulative guidance controller configured to analysis a correlation of the endoscopic view of the anatomical structure with a baseline image of the anatomical structure; and   the manipulative guidance controller configured to derive the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure with the baseline image of the anatomical structure.   
     
     
         3 . The manipulative endoscopic guidance device of  claim 1 , wherein the manipulative guidance controller being configured to control the display of the at least one guided manipulation anchor within the display of the endoscopic view of the anatomical structure includes:
 the manipulative guidance controller configured to analysis a correlation of the endoscopic view of the anatomical structure with an anatomical structure model; and   the manipulative guidance controller configured to derive the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure with the anatomical structure model.   
     
     
         4 . The manipulative endoscopic guidance device of  claim 1 , wherein the manipulative guidance controller being configured to control the display of the at least one guided manipulation anchor within the display of the endoscopic view of the anatomical structure includes:
 the manipulative guidance controller configured to analysis a correlation of the endoscopic view of the anatomical structure with an anatomical structure image compilation; and   the manipulative guidance controller configured to derive the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure with the anatomical structure image compilation.   
     
     
         5 . The manipulative endoscopic guidance device of  claim 1 , wherein the manipulative guidance controller being configured to control the display of the at least one guided manipulation anchor within the display of the endoscopic view of the anatomical structure includes:
 the manipulative guidance controller configured to analysis a correlation of the endoscopic view of the anatomical structure with at least one salient feature of the anatomical structure; and   the manipulative guidance controller configured to derive the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure with the at least one salient feature of the anatomical structure.   
     
     
         6 . The manipulative endoscopic guidance device of  claim 1 , wherein the manipulative guidance controller being configured to control the display of the at least one guided manipulation anchor within the display of the endoscopic view of the anatomical structure includes:
 the manipulative guidance controller configured to analysis a correlation of the endoscopic view of the anatomical structure with an endoscopic procedure associated with the anatomical structure; and   the manipulative guidance controller configured to derive the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure of the anatomical structure with the endoscopic procedure.   
     
     
         7 . The manipulative endoscopic guidance device of  claim 1 ,
 wherein the manipulative guidance controller is further configured to control a command of a robot to perform at least one guided manipulation of the anatomical structure in accordance with the least one guided manipulation anchor.   
     
     
         8 . The manipulative endoscopic guidance device of  claim 1 , wherein the endoscopic viewing controller and the manipulative guidance controller are at least partially integrated. 
     
     
         9 . A manipulative guidance controller, comprising:
 a non-transitory machine-readable storage medium encoded with instructions for execution by at least one processor, the non-transitory machine-readable storage medium including the instructions to:
 receive an endoscopic view of the anatomical structure; and 
 control a display of at least one guided manipulation anchor within the endoscopic view of the anatomical structure, the one or each guided manipulation anchor being representative of at least one of a location marking and a motion directive of a guided manipulation of the anatomical structure. 
   
     
     
         10 . The manipulative guidance controller of  claim 9 , wherein instructions to control the display of the at least one guided manipulation anchor within the endoscopic view of the anatomical structure includes instructions to:
 analysis a correlation of the endoscopic view of the anatomical structure with a baseline image illustrative of the anatomical structure; and   derive the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure with the baseline image.   
     
     
         11 . The manipulative guidance controller of  claim 9 , wherein instructions to control the display of the at least one guided manipulation anchor within the endoscopic view of the anatomical structure includes instructions to:
 analysis a correlation of the endoscopic view of the anatomical structure with an anatomical structure model; and   derive the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure of the anatomical structure with the anatomical structure model.   
     
     
         12 . The manipulative guidance controller of  claim 9 , wherein instructions to control the display of the at least one guided manipulation anchor within the endoscopic view of the anatomical structure includes instructions to:
 analysis a correlation of the endoscopic view of the anatomical structure with an anatomical structure image compilation; and   derive the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure with the anatomical structure image compilation.   
     
     
         13 . The manipulative guidance controller of  claim 9 , wherein instructions to control the display of the at least one guided manipulation anchor within the endoscopic view of the anatomical structure includes instructions to:
 analysis a correlation of the endoscopic view of the anatomical structure with at least one salient feature of the anatomical structure; and   derive the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure with the at least one salient feature of the anatomical structure.   
     
     
         14 . The manipulative guidance controller of  claim 9 , wherein instructions to control the display of the at least one guided manipulation anchor within the endoscopic view of the anatomical structure includes instructions to:
 analysis a correlation of the endoscopic view of the anatomical structure with an endoscopic procedure associated with the anatomical structure; and   derive the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure with the endoscopic procedure.   
     
     
         15 . The manipulative guidance controller of  claim 9 , wherein the non-transitory machine-readable storage medium further includes the instructions to:
 controlling a command of a robot to perform at least one guided manipulation of the anatomical structure in accordance with the least one guided manipulation anchor.   
     
     
         16 . A manipulative endoscopic guidance method executable by a manipulative guidance controller, the endoscopic manipulative endoscopic guidance method comprising:
 receiving, by the manipulative guidance controller, an endoscopic view of an anatomical structure; and   controlling, by the manipulative guidance controller, a display of at least one guided manipulation anchor within the endoscopic view of the anatomical structure, the one or each guided manipulation anchor being representative of at least one of a location marking and a motion directive of a guided manipulation of the anatomical structure.   
     
     
         17 . The manipulative endoscopic guidance method of  claim 16 , wherein the controlling, by the manipulative guidance controller, of the display of the at least one guided manipulation anchor within the endoscopic view of the anatomical structure includes:
 analyzing, by the manipulative guidance controller, a correlation of the endoscopic view of the anatomical structure with a baseline image of the anatomical structure; and   deriving, by the manipulative guidance controller, the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure with the baseline image of the anatomical structure.   
     
     
         18 . The manipulative endoscopic guidance method of  claim 16 , wherein the controlling, by the manipulative guidance controller, of the display of the at least one guided manipulation anchor within the endoscopic view of the anatomical structure includes:
 analyzing, by the manipulative guidance controller, a correlation of the endoscopic view of the anatomical structure with at least one of an anatomical structure model and an anatomical structure image compilation; and   deriving, by the manipulative guidance controller, the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure with the at least of the anatomical structure model and the anatomical structure image compilation.   
     
     
         19 . The manipulative endoscopic guidance method of  claim 16 , wherein the controlling, by the manipulative guidance controller, of the display of the at least one guided manipulation anchor within the endoscopic view of the anatomical structure includes:
 analyzing, by the manipulative guidance controller, a correlation of the endoscopic view of the anatomical structure with at least one of a salient feature of the anatomical structure and an endoscopic procedure associated with the anatomical structure; and   deriving, by the manipulative guidance controller, the at least one guided manipulation anchor based on a degree of correlation of the endoscopic view of the anatomical structure with the at least one of the salient feature and the endoscopic procedure.   
     
     
         20 . The manipulative endoscopic guidance method of  claim 16 , further comprising:
 controlling, by the manipulative guidance controller, a commanding of a robot to perform at least one guided manipulation of the anatomical structure in accordance with the least one guided manipulation anchor.