Imaging System for Three-Dimensional Observation of an Operative Site

• US 20110122229A1
• Filed: 08/20/2008
• Published: 05/26/2011
• Est. Priority Date: 08/24/2007
• Status: Active Grant

• Current Assignee: Université Grenoble Alpes
• Original Assignee: Universite Joseph Fourier
• Inventors: Moreau-Gaudry, Alexandre, Voros, Sandrine, Boschet, Christophe, Fouard, Celine, Cinquin, Philippe
• Granted Patent: US 9,220,399 B2
• Time in Patent Office: Days
• US Class Current: 348/47
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/042 characterised by a proximal camera, e.g. a CCD camera

Abstract

The invention relates to an endoscopic imaging system for observation of an operative site (2) inside a volume (1) located inside the body of an animal, comprising:

• • Image capture means (3) intended to provide data on the operative site (2),
  • Processing means (4) to process data derived from the image capture means,
  • Display means (5) displaying data processed by the processing means (4), characterized in that: The image capture means (3) comprise at least two image capture devices that are independent and mobile relative to one another, the image capture devices being intended to be positioned inside the volume (1), and in that:
  • The processing means (4) comprise computing means to obtain three-dimensional data on the observed operative site (2) from data provided by the image capture devices, and means to reconstruct a three-dimensional image of a region of interest of the operative site from the three-dimensional data obtained.

Claims

1. An endoscopic imaging system for observation of an operative site within a volume located inside the body of an animal, comprising:

Image capture means intended to provide information on the operative site,

Processing means to process data provided by the image capture means,

Display means to display data processed by the processing means,

wherein;

The image capture means comprises at least two image capture devices that are independent and mobile relative to one another, the image capture devices being intended to be positioned inside the volume, and;

The processing means comprises computing means to obtain three-dimensional data on the observed operative site based on data received from the image capture devices, and reconstruction means to reconstruct a three-dimensional image of a region of interest in the operative site based on the obtained three-dimensional data.

2. The system of claim 1, wherein the image capture devices are ultrasonic probes.

3. The system of claim 1, wherein, the image capture devices are cameras.

4. The system of claim 3, wherein the cameras are in movement with respect to each other.

5. The system of claim 1, wherein the processing means further comprises synthesis means to synthesize an image of the region of interest, said synthesis means comprising means to merge the reconstructed three-dimensional image of the region of interest with data derived from the cameras on the region of interest, said data being interpolated to the desired resolution.

6. The system of claim 1, wherein the region of interest corresponds to an entire operative site.

7. The system of claim 1, wherein said system further comprises means to select a viewing angle, the display means comprising means to display the three-dimensional image corresponding to the selected viewing angle.

8. The system of claim 3, further comprising means to determine the relative position of the cameras.

9. The system of claim 8, wherein the means to determine the relative position comprises a magnetic positioning device to locate the cameras.

10. The system of claim 8, wherein the means to determine the relative position comprises an optic locating device to locate the cameras, based on data derived from the cameras.

11. The system of claim 10, wherein the optic locating device for the cameras comprises a reference element arranged so that said optic locating device can be observed by at least two cameras.

12. The system of claim 10, wherein the optic locating device for the cameras comprises at least two reference cameras arranged so said reference cameras are able to observe the other cameras.

13. The system of claim 12, wherein the reference cameras are positioned outside the volume, each of the cameras positioned inside the volume being coupled with a non-deformable member, the non-deformable member having one part extending outside the volume so that said part can be observed by the reference cameras.

14. The system of claim 10, wherein the means to determine the relative position comprises means to project a texture onto the operative site, so as to form a reference system for the cameras.

15. The system of claim 3, wherein the cameras are cameras having a volume of less than 5 mm³.

16. The system of claim 3, wherein each camera comprises an attachment device adapted to attach the camera inside the volume.

17. The system of claim 16, wherein the attachment device comprises a first element fixed to the camera and a second separate element, the first and second elements able to be magnetically coupled, the second element being intended to remain outside the volume.

18. The system of claim 3, further comprising a mechanical structure intended to be placed inside the volume for attachment of the cameras.

19. The system of claim 18, wherein the mechanical structure is a structure adapted to be inserted via endoscopic route into the volume and able to be deployed inside the volume.

20. The system of claim 3, wherein the image capture means comprises at least three cameras, two of these three cameras being fixed to an instrument intended to be inserted inside the volume.