Intraoperative stereo imaging system

• US 20050053192A1
• Filed: 08/09/2004
• Published: 03/10/2005
• Est. Priority Date: 08/07/2003
• Status: Active Grant

• Current Assignee: Xoran Technologies LLC
• Original Assignee: Xoran Technologies Inc.
• Inventors: Sukovic, Predrag, Clinthorne, Neal, Bair, Nathaniel
• Granted Patent: US 7,209,538 B2
• Time in Patent Office: Days
• US Class Current: 378/41
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 6/022 Stereoscopic imaging
• CPC Class Codes: A61B 6/504 for diagnosis of blood vessels, e.g. by angiography
• CPC Class Codes: A61B 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: G03C 9/00 Stereo-photographic or similar processes

Abstract

A surgical imaging system includes spaced-apart first and second x-ray sources mounted above a patient support surface. An x-ray detector mounted below the patient support surface generates first x-ray images based upon x-rays from the first x-ray source and second x-ray images based upon x-rays from the second x-ray source. These first and second x-ray images are used to generate a stereofluoroscopic image via a stereo display for a surgeon performing image-guided surgery. The stereofluoroscopic imaging system may be used in conjunction with robotic surgery. A surgical robot operatively controls a surgical tool in an area between the first x-ray source and the x-ray detector, and between the second x-ray source and the x-ray detector. The system may optionally include a first video camera mounted proximate the first x-ray source and a second video camera mounted proximate the second x-ray source. The stereo display selectively displays the first and second video images or the first and second x-ray image, and dissolves between the sources to correlate an outer view with the fluoroscopic view.

Claims

1. A surgical imaging system comprising:

a first x-ray source at a first location above a patient support surface;

a second x-ray source laterally spaced from the first x-ray source and above the patient support surface;

an x-ray detector mounted below the patient support surface, the x-ray detector generating first x-ray images based upon x-rays from the first x-ray source and second x-ray images based upon x-rays from the second x-ray source; and

a surgical robot operatively controlling a surgical tool in an area between the first x-ray source and the x-ray detector, and between the second x-ray source and the x-ray detector.

2. The system of claim 1 further including a first video camera mounted proximate the first x-ray source and a second video camera mounted proximate the second x-ray source, the first video camera generating first video images, the second video camera generating second video images.

3. The system of claim 2 wherein the first video camera has a field of view similar to that of the first x-ray source and the second video camera has a field of view similar to that of the second x-ray source.

4. The system of claim 3 further including a stereo display displaying the first and second x-ray images.

5. The system of claim 4 wherein the stereo display selectively displays the first and second video images or the first and second x-ray images.

6. The system of claim 1 further including a stereo display displaying the first and second x-ray images.

7. The system of claim 1 wherein the x-ray detector is movable between a first position where the x-ray detector receives x-rays from the first x-ray source and a second position where the x-ray detector receives x-rays from the second x-ray source.

9. The system of claim 1 wherein the first x-ray source alternates generating x-rays with the second x-ray source.

10. The system of claim 1 wherein the first x-ray source and the second x-ray source are mounted to move along an arc above the patient support surface.

11. The system of claim 10 wherein the first x-ray source and the second x-ray source are mounted to four-bar linkages.

12. The system of claim 10 wherein the detector is mounted to move along an arc.

8. The system of claim A further including an actuator for moving the x-ray detector between the first position and the second position.

13. A surgical imaging system comprising:

a first x-ray source at a first location above a patient support surface;

a second x-ray source laterally spaced from the first x-ray source and above the patient support surface;

an x-ray detector mounted below the patient support surface, the x-ray detector generating first x-ray images based upon x-rays from the first x-ray source and second x-ray images based upon x-rays from the second x-ray source; and

a first video camera mounted proximate the first x-ray source and a second video camera mounted proximate the second x-ray source, the first video camera generating first video images, the second video camera generating second video images.

14. The system of claim 13 further including a surgical robot operatively controlling a surgical tool in an area between the first x-ray source and the x-ray detector, and between the second x-ray source and the x-ray detector.

15. The system of claim 14 wherein the first video camera has a field of view similar to that of the first x-ray source and the second video camera has a field of view similar to that of the second x-ray source.

16. The system of claim 15 further including a stereo display displaying the first and second x-ray images.

17. The system of claim 16 wherein the stereo display selectively displays the first and second video images or the first and second x-ray images.

18. The system of claim 13 further including a stereo display displaying the first and second x-ray images.

19. The system of claim 13 wherein the x-ray detector is movable between a first position where the x-ray detector receives x-rays from the first x-ray source and a second position where the x-ray detector receives x-rays from the second x-ray source.

20. The system of claim 19 further including an actuator for moving the x-ray detector between the first position and the second position.

21. The system of claim 13 wherein the first x-ray source alternates generating x-rays with the second x-ray source.