US Patent 11445108 Turn direction guidance of an endoscopic device

Method and system are provided for direction guidance of an endoscopic device in a tubular organ. The method receives a current image frame from a camera disposed on the endoscopic device, where the current image frame captures a visible lumen of the tubular organ. The method determines an area of the visible lumen in the current image frame and a ratio of the area of the visible lumen to a minimum enclosing circle of the visible lumen. If the ratio breaches a defined threshold, the method adjusts a target direction of the endoscopic device in a direction from a center of the visible lumen towards a center of the image frame and outputs a notification of the adjusted target direction to a controller of the endoscopic device.