Minimally invasive medicine has become mainstream because of its crucial clinical significance in providing a low risk of postoperative complications, limited blood loss, short postoperative recovery time, and small sizes of associated physiological tissue wounds. Endoscopic navigation systems comprise a research hot spot in medical science and technology and are an essential means to achieve precision medicine and improve surgical operation safety. As a core component in endoscopic navigation during minimally invasive surgery, endoscopes play a critical role in disease diagnosis and treatment. The development of endoscopic vision technologies has resulted in a renewed drive to further develop endoscopic navigation systems. Multiple endoscopic optical imaging modalities provide data sources for endoscopic vision technology, including white-light endoscopy, contrast-enhanced imaging and technologies involving magnified observation. Endoscopic vision is a specific application of computer vision involving the use of endoscopes that include instrument tracking, endoscopic view expansion, and suspicious lesion tracking in the application of endoscopic navigation. These techniques help surgeons or surgical robots locate instruments and lesions and expand the field of view of the endoscope. Although these technologies have been applied to various clinical and pre-clinical diagnoses and treatments, the use and combination of these advanced technologies in endoscopic navigation system for specific clinical requirements remains challenging. This review performs a broad survey of advanced endoscopic vision technologies and their application in endoscopic navigation systems. Finally, we discuss the challenges and future directions in implementing and developing endoscopic navigation systems.

Novel endoscopic biophotonic diagnostic technologies have the potential to non-invasively detect the interior of a hollow organ or cavity of the human body with subcellular resolution or to obtain biochemical information about tissue in real time. With the capability to visualize or analyze the diagnostic target in vivo, these techniques gradually developed as potential candidates to challenge histopathology which remains the gold standard for diagnosis. Consequently, many innovative endoscopic diagnostic techniques have succeeded in detection, characterization, and confirmation: the three critical steps for routine endoscopic diagnosis. In this review, we mainly summarize researches on emerging endoscopic optical diagnostic techniques, with emphasis on recent advances. We also introduce the fundamental principles and the development of those techniques and compare their characteristics. Especially, we shed light on the merit of novel endoscopic imaging technologies in medical research. For example, hyperspectral imaging and Raman spectroscopy provide direct molecular information, while optical coherence tomography and multi-photo endomicroscopy offer a more extensive detection range and excellent spatial–temporal resolution. Furthermore, we summarize the unexplored application fields of these endoscopic optical techniques in major hospital departments for biomedical researchers. Finally, we provide a brief overview of the future perspectives, as well as bottlenecks of those endoscopic optical diagnostic technologies. We believe all these efforts will enrich the diagnostic toolbox for endoscopists, enhance diagnostic efficiency, and reduce the rate of missed diagnosis and misdiagnosis.

Endoscopic optical imaging technologies for the detection and evaluation of dysplasia and early cancer have made great strides in recent decades. With the capacity of in vivo early detection of subtle lesions, they allow modern endoscopists to provide accurate and effective optical diagnosis in real time. This review mainly analyzes the current status of clinically available endoscopic optical imaging techniques, with emphasis on the latest updates of existing techniques. We summarize current coverage of these technologies in major hospital departments such as gastroenterology, urology, gynecology, otolaryngology, pneumology, and laparoscopic surgery. In order to promote a broader understanding, we further cover the underlying principles of these technologies and analyze their performance. Moreover, we provide a brief overview of future perspectives in related technologies, such as computer-assisted diagnosis (CAD) algorithms dealing with exploring endoscopic video data. We believe all these efforts will benefit the healthcare of the community, help endoscopists improve the accuracy of diagnosis, and relieve patients’ suffering.

The camera is the main sensor of vison-based human activity recognition, and its high-precision calibration of distortion is an important prerequisite of the task. Current studies have shown that multi-parameter model methods achieve higher accuracy than traditional methods in the process of camera calibration. However, these methods need hundreds or even thousands of images to optimize the camera model, which limits their practical use. Here, we propose a novel point-to-point camera distortion calibration method that requires only dozens of images to get a dense distortion rectification map. We have designed an objective function based on deformation between the original images and the projection of reference images, which can eliminate the effect of distortion when optimizing camera parameters. Dense features between the original images and the projection of the reference images are calculated by digital image correlation (DIC). Experiments indicate that our method obtains a comparable result with the multi-parameter model method using a large number of pictures, and contributes a 28.5% improvement to the reprojection error over the polynomial distortion model.

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