Abstract: This disclosure provides methods, devices, and systems for navigating medical instruments. The present implementations more specifically relate to photometric image enhancement techniques for endoscopy. In some aspects, a machine learning model may be trained to infer an enhanced image from a low-quality image captured by the camera of an endoscope. As used herein, the term “low-quality image” refers to any image containing visual artifacts, obstructions, and/or other deficiencies. By contrast, an “enhanced image” is a digitally modified representation of a low-quality image that removes and/or corrects at least some of the visual artifacts, obstructions, or other deficiencies in the low-quality image. A controller for a medical system may extract information from the enhanced image based on one or more image processing operations and generate a graphical user interface (GUI) for navigating the instrument within the anatomy based at least in part on the information extracted from the enhanced image data.

Abstract: The present disclosure provides for determination of object characteristics/properties based at least in part on images captured from within a subject. The object characteristics/properties can include, without limitations, size, weight, and/or shape of the object. An object depicted in the images may be identified and may be reconstructed in three-dimensional (3D) space as a volumetric representation (e.g., a 3D reconstruction of the object). The object characteristics/properties may be estimated based at least in part on the volumetric representation. In some embodiments, a scale associated with the volumetric representation may be determined and applied to the volumetric representation.

Abstract: This disclosure provides methods, devices, and systems for percutaneous access. The present implementations more specifically relate to needle incision guidance techniques that provide real-time information about the coaxiality of a scope and a needle. In some aspects, a coaxiality indication system may generate a graphical interface that indicates a coaxiality of a needle and a scope based, at least in part, on first sensor data indicating a pose of the needle and second sensor data indicating a pose of the scope. The coaxiality of the needle and the scope may be represented by a three-dimensional model of the needle projected onto an image received from a camera disposed on the scope. Alternatively, or in addition, the coaxiality of the needle and the scope may be represented by a graphical feature depicting the orientation of the scope and orientation of the needle in relation to a common frame of reference.