METHOD AND APPARATUS FOR MINIMALLY INVASIVE SURGERY USING ENDOSCOPES

• US 20060281971A1
• Filed: 05/16/2006
• Published: 12/14/2006
• Est. Priority Date: 06/14/2005
• Status: Active Grant

• Current Assignee: Siemens Medical Solutions USA Incorporated (Siemens AG)
• Original Assignee: Siemens Corporate Research Incorporated (Siemens AG)
• Inventors: Sauer, Frank, Khamene, Ali, Vogt, Sebastian
• Granted Patent: US 9,289,267 B2
• Time in Patent Office: Days
• US Class Current: 600/109
• CPC Class Codes: A61B 1/0005 combining images e.g. side-by-side, superimposed or tiled
• CPC Class Codes: A61B 1/04 combined with photographic or television appliances
• CPC Class Codes: A61B 2090/364 Correlation of different images or relation of image positions in respect to the body
• CPC Class Codes: A61B 2090/376 using X-rays, e.g. fluoroscopy
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 90/36 Image-producing devices or illumination devices not otherwise provided for
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

A method and apparatus for presenting three-dimensional data to a physician is provided to facilitate the flexible navigation of an endoscope and surgical instruments with respect to anatomical structures. In accordance with a first embodiment a first set of data corresponding to a three dimensional model of a patient'"'"'s anatomy is received. This three-dimensional model may be rendered from images taken in CT or MRI scanning, as discussed above In accordance with this embodiment, this model is then combined with a second set of data corresponding to a view obtained from an endoscope. In another embodiment, the view from the illustrative endoscope is displayed as an inset image on the display of the three-dimensional image. In yet another embodiment, the three-dimensional image comprises a graphical representation of at least a first surgical instrument, such as said endoscope. The surgeon may select among various combinations of views and may zoom in or out from any particular view.

Claims

1. A method of providing a display for use in a surgical procedure comprising:

receiving a first set of data corresponding to a view of an image taken by an endoscope; and

combining said first set of data with a second set of data to produce a combined image, said second set of data corresponding to a three-dimensional model of a patient'"'"'s anatomy.

2. The method of claim 1 wherein said combined image comprises a global view from the perspective of a user performing said surgical procedure.

3. The method of claim 1 wherein said combined image comprises a local view from the perspective of said endoscope.

4. The method of claim 1 wherein said second set of data comprises data corresponding to an image collected by a computed tomography or magnetic resonance imaging process.

5. The method of claim 4 wherein said combined image comprises a stereoscopic augmented reality visualization.

6. The method of claim 4 wherein said step of combining comprises displaying said first set of data as a first view inset as a video image in a second view, said second view providing a view of a portion of said image collected by a computer tomography or magnetic resonance imaging process.

7. The method of claim 1 wherein said first view comprises a two dimensional image inset into said second view.

8. The method of claim 1 further comprising:

receiving an input from a user; and

displaying an image associated with said first set of data or said second set of data in response to receiving said input.

9. The method of claim 1 further comprising:

receiving a third set of data corresponding to positional data of a surgical instrument; and

combining said third set of data with said second set of data to produce a graphical representation of said surgical instrument on said desired display.

10. The method of claim 9 wherein said combined image comprises an image from the perspective of said surgical instrument.

11. The method of claim 9 wherein said third set of data comprises data representing the optical axis of said endoscope.

12. The method of claim 9 wherein said third set of data comprises data representing an optical field of view of said endoscope.

13. The method of claim 12 wherein said combined image comprises a display of the intersection of said optical field of view with a first anatomical structure in a patient'"'"'s body.

14. The method of claim 13 wherein said combined image comprises an image created by texture mapping said optical field of view of said endoscope onto a three-dimensional representation of a portion of said patient'"'"'s anatomy.

15. The method of claim 9 wherein said third set of data comprises data representing the orientation of said surgical instrument.

16. The method of claim 9 wherein said positional data is data obtained by a tracking system.

17. The method of claim 16 wherein said tracking system comprises an infrared optical tracking system adapted to determine the position of at least a first optical marker.

18. The method of claim 16 wherein said tracking system comprises a magnetic tracking system adapted to determine the position of at least a first magnetic coil.

19. The method of claim 9 wherein said surgical instrument comprises a tracked pointer.

20. The method of claim 19 further comprising:

determining at least a first position of said tracked pointer in order to register an anatomical model of said patient to said patient'"'"'s anatomy.

21. The method of claim 19 further comprising:

determining at least a first position of said tracked pointer in order to update an anatomical model of said patient during said surgical procedure.

22. An apparatus for providing a display for use in a surgical procedure comprising:

means for receiving a first set of data corresponding to a view of an image taken by an endoscope; and

means for combining said first set of data with a second set of data to produce a combined image, said second set of data corresponding to a three-dimensional model of a patient'"'"'s anatomy.

23. The apparatus of claim 22 wherein said combined image comprises a global view from the perspective of a user performing said surgical procedure.

24. The apparatus of claim 22 wherein said combined image comprises a local view from the perspective of said endoscope.

25. The apparatus of claim 22 wherein said second set of data comprises data corresponding to an image collected by a computed tomography or magnetic resonance imaging process.

26. The apparatus of claim 22 further comprising:

means for varying the magnification of at least a portion of said combined image.

27. The apparatus of claim 25 wherein said combined image comprises a stereoscopic augmented reality visualization.

28. The apparatus of claim 25 wherein said means for combining comprises means for displaying said first set of data as a first view inset as a video image in a second view, said second view comprising a view of a portion of said image collected by a computer tomography or magnetic resonance imaging process.

29. The apparatus of claim 22 further comprising:

means for receiving a third set of data corresponding to positional data of a surgical instrument; and

means for combining said third set of data with said second set of data to produce a graphical representation of said surgical instrument on said desired display.

30. The apparatus of claim 29 wherein said combined image comprises an image from the perspective of said surgical instrument.

31. The apparatus of claim 29 wherein said third set of data comprises data representing the optical axis of said endoscope.

32. The apparatus of claim 29 wherein said third set of data comprises data representing an optical field of view of said endoscope.

33. The apparatus of claim 32 wherein said combined image comprises a display of the intersection of said optical field of view with a first anatomical structure in a patient'"'"'s body.

34. The apparatus of claim 33 wherein said combined image comprises an image created by texture mapping said optical field of view of said endoscope onto a three-dimensional representation of a portion of said patient'"'"'s anatomy.

35. The apparatus of claim 29 wherein said third set of data comprises data representing the orientation of said surgical instrument.

36. The apparatus of claim 29 wherein said positional data is data obtained from a tracking system.

37. The apparatus of claim 36 wherein said tracking system comprises an infrared optical tracking system adapted to determine the position of at least a first optical marker.

38. The apparatus of claim 36 wherein said tracking system comprises a magnetic tracking system adapted to determine the position of at least a first magnetic coil.

39. The apparatus of claim 29 wherein said surgical instrument comprises a tracked pointer.

40. The apparatus of claim 39 further comprising:

determining at least a first position of said tracked pointer in order to register an anatomical model of said patient to said patient'"'"'s anatomy.

41. A computer readable medium comprising computer program instructions which, when executed by a processor, define steps for providing a display for use in a surgical procedure, said steps comprising:

receiving a first set of data corresponding to a view of an image taken by an endoscope; and

combining said first set of data with a second set of data to produce a combined image, said second set of data corresponding to a three-dimensional model of a patient'"'"'s anatomy.

42. The computer readable medium of claim 41 wherein said combined image comprises a global view from the perspective of a user performing said surgical procedure.

43. The computer readable medium of claim 41 wherein said combined image comprises a local view from the perspective of said endoscope.

44. The computer readable medium of claim 41 wherein said second set of data comprises data corresponding to an image collected by a computed tomography or magnetic resonance imaging process.

45. The computer readable medium of claim 44 wherein said computer program instructions which, when executed by a processor, define said step of combining comprise computer program instructions which, when executed by a processor, define the step of displaying said first set of data as a first view inset as a video image in a second view, said second view providing a view of a portion of said image collected by a computer tomography or magnetic resonance imaging process.

46. The computer readable medium of claim 41 further comprising computer program instructions which, when executed by a processor, define the steps of:

receiving a third set of data corresponding to positional data of a surgical instrument; and

combining said third set of data with said second set of data to produce a graphical representation of said surgical instrument on said desired display.

47. The computer readable medium of claim 46 wherein said combined image comprises an image from the perspective of said surgical instrument.

48. The computer readable medium of claim 46 wherein said combined image comprises an image of the intersection of said optical field of view with a first anatomical structure in a patient'"'"'s body.

49. The computer readable medium of claim 48 wherein said combined image comprises an image created by texture mapping said optical field of view of said endoscope onto a three-dimensional representation of a portion of said patient'"'"'s anatomy.

50. The computer readable medium of claim 46 wherein said positional data is obtained by a tracking system, said tracking system comprising an infrared optical tracking system adapted to determine the position of at least a first optical marker.

51. The computer readable medium of claim 46 wherein said surgical instrument comprises a tracked pointer.

52. The computer readable medium of claim 51 further comprising computer program instructions which, when executed by a processor, define the step of:

determining at least a first position of said tracked pointer in order to register an anatomical model of said patient to said patient'"'"'s anatomy.