INTRAOPERATIVE CAMERA CALIBRATION FOR ENDOSCOPIC SURGERY
First Claim
1. A surgical navigation system, comprising:
- an endoscope (30) includingan electromagnetic tracker (40) within a working channel of the endoscope (30) for generating electromagnetic sensing signals indicative of at least one pose of the endoscope (30) within an anatomical region, andan endoscopic camera (50) within an imaging channel of the endoscope (30) for generating endoscopic images of the anatomical region; and
an imaging unit (80) operable to generate an intraoperative calibration of the electromagnetic tracker (40) and the endoscopic camera (50) as a function of an image registration between a preoperative scan image of a calibration site within the anatomical region and at least one endoscopic image of the calibration site within the anatomical region.
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Abstract
A surgical navigation system employs an endoscope (30) and an imaging unit (80). The endoscope (30) include an electromagnetic tracker (40) within a working channel of endoscope (30) for generating electromagnetic sensing signals indicative of one or more poses of the endoscope (30) within an anatomical region, and an endoscopic camera (50) within an imaging channel of the endoscope (30) for generating endoscopic images of the anatomical region. The imaging unit (80) executes an intraoperative calibration of the electromagnetic tracker (40) and the endoscopic camera (50) as a function of an image registration between the preoperative scan image of a calibration site within the anatomical region and one or more endoscopic images of the calibration site within the anatomical region.
166 Citations
20 Claims
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1. A surgical navigation system, comprising:
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an endoscope (30) including an electromagnetic tracker (40) within a working channel of the endoscope (30) for generating electromagnetic sensing signals indicative of at least one pose of the endoscope (30) within an anatomical region, and an endoscopic camera (50) within an imaging channel of the endoscope (30) for generating endoscopic images of the anatomical region; and an imaging unit (80) operable to generate an intraoperative calibration of the electromagnetic tracker (40) and the endoscopic camera (50) as a function of an image registration between a preoperative scan image of a calibration site within the anatomical region and at least one endoscopic image of the calibration site within the anatomical region. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 14, 15)
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9. A surgical navigation system, comprising:
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an endoscope (30) including an electromagnetic tracker (40) within a working channel of the endoscope (30) for generating electromagnetic sensing signals indicative of at least one pose of the endoscope (30) within an anatomical region, and an endoscopic camera (50) within an imaging channel of the endoscope (30) for generating endoscopic images of the anatomical region; an electromagnetic tracking unit responsive to the electromagnetic signals to electromagnetic track the endoscope (30) within the anatomical region relative to a global reference; and an imaging unit (80) operable to execute an intraoperative calibration of the electromagnetic tracker (40) and the endoscopic camera (50) as a function of an image registration between a preoperative scan image of a calibration site within the anatomical region and at least one endoscopic image of the calibration site within the anatomical region and as a function of an electromagnetic registration of the global reference and the preoperative scan image. - View Dependent Claims (10, 11, 12, 13)
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16. A surgical navigation method, comprising:
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executing an intraoperative calibration of an electromagnetic tracker (40) and an endoscopic camera (50) as a function of an image registration of a preoperative scan image of a calibration site within an anatomical region to at least one endoscopic image of the calibration site within the anatomical region; and displaying an image integration of the preoperative scan image of the anatomical region and the at least one endoscopic image of the anatomical region derived from the image registration. - View Dependent Claims (17, 18, 19, 20)
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Specification