A robot unit (10) employs an oblique endoscope (12) for generating a video stream (13) of a workspace volume (40), and a robot (11) for moving the endoscope (12) within the workspace volume (40). A control unit (20) employs a robot controller (21), a sweep control module (23) and an image reconstructor (22). The robot controller (21) commands the robot (11) to execute one or more image acquisition sweeps of the endoscope (12) within the workspace volume (40), each image acquisition sweep including one or more rotational motions of the endoscope (12) within the workspace volume (40). The sweep control module (23) links each endoscopic image generated during the image acquisition sweep(s) to a corresponding rotational pose of the endoscope (12) within the workspace volume (40). The image reconstructor (22) reconstructs a volume image of the workspace volume (40) from the linking of the generated endoscopic images to the corresponding rotational poses of the endoscope (12) within the workspace volume (40).一種自動機單元(10)採用一傾斜內視鏡(12)用於產生一工作區體積(40)之一視訊流(13),以及一自動機(11)用於在該工作區體積(40)內移動該內視鏡(12)。一控制單元(20)採用一自動機控制器(21)、一掃描控制模組(23)及一影像重構器(22)。該自動機控制器(21)命令該自動機(11)執行該內視鏡(12)在該工作區體積(40)內的一或多次影像擷取掃描,各影像擷取掃描包含該內視鏡(12)在該工作區體積(40)內的一或多次轉動運動。該掃描控制模組(23)將在該或該等影像擷取掃描期間所產生之各內視鏡影像與該內視鏡(12)在該工作區體積(40)內之一對應轉動姿勢相連結。該影像重構器(22)從經產生之內視鏡影像與該內視鏡(12)在該工作區體積(40)內之該對應轉動姿勢之連結中重構該工作區體積(40)的一體積影像。10...自動機單元11...自動機12...傾斜內視鏡13...視訊流20...控制單元21...自動機控制器22...影像重構器23...掃描控制模組24...影像顯示模組
