US Patent 9603508 Method for capturing and displaying endoscopic maps

A method for capturing and displaying endoscopic maps is disclosed generally comprising providing an endoscope with a view vector that pivots relative to the longitudinal axis of the endoscope, programming a scan trajectory along which the view vector moves relative to the longitudinal axis of the endoscope to provide a predefined sequence of views of a surface, and capturing a sequence of images corresponding to the predefined sequence of views as the view vector moves along that scan trajectory. A set of configuration coordinates is associated with each of the captured images, and the images and the coordinates associated therewith are used to create a map of the interior surface that is larger than the view attending the view vector.