Apparatus and method for registration of points of a data field with respective points of an optical image
First Claim
1. A method for representing the interior of bodies, the method comprising:
- providing an optical imaging system comprising a camera and a monitor, wherein an endoscope is connected in series with the camera to create an optical image;
attaching a position sensor to a body to compensate for changes in position of the body;
allocating a spatial data field to the body disposed in a certain position;
identifying points on the body and identifying characteristic points, corresponding thereto, in the data field;
calibrating the optical imaging system by registering the characteristic points with the points on the body;
detecting continuously the spatial position of the camera;
calculating a representation of the data field corresponding to a current angle of view of the camera; and
selectively representing the optical image, the data field, and both the optical image and the data field superimposed, on the monitor.
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Abstract
An apparatus and method enables a precise superimposition of an optical representation with a data field to support the navigation during endoscopic operations. An optical representation is acquired by an endoscope with a camera and displayed on a screen. A sensor is attached to the endoscope or camera to continuously detect its spacial position. A spacial data field is also acquired, from such techniques as X-ray tomography, NMR tomography or ultrasound, and allocated to a body in a certain position. A sensor which is adapted to be attached to the body compensates for any movement of the body. A computer is provided for registering selected points of the data field with respective points of the optical representation by displacement certain points of the data field while superimposed on the optical representation.
232 Citations
9 Claims
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1. A method for representing the interior of bodies, the method comprising:
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providing an optical imaging system comprising a camera and a monitor, wherein an endoscope is connected in series with the camera to create an optical image; attaching a position sensor to a body to compensate for changes in position of the body; allocating a spatial data field to the body disposed in a certain position; identifying points on the body and identifying characteristic points, corresponding thereto, in the data field; calibrating the optical imaging system by registering the characteristic points with the points on the body; detecting continuously the spatial position of the camera; calculating a representation of the data field corresponding to a current angle of view of the camera; and selectively representing the optical image, the data field, and both the optical image and the data field superimposed, on the monitor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus for imaging the interior of bodies;
- the apparatus comprising;
a camera having an endoscope operably attached thereto; a first position sensor attached to the camera or the endoscope to provide a frame of reference with respect to the camera; a second position sensor adapted to be attached to a body to compensate for changes in position of the body; a monitor for displaying an optical image recorded by the camera together with a data field representing a model to be superimposed on the optical image; a computer comprising a memory device for storing the data field representing the model; means for detecting the position of the first position sensor; and means for registering selected points of the data field representing points of the model with respective points of the optical image by displacement of a second image corresponding to at least one point of the data field displayed on the monitor to be superimposed on the optical image.
- the apparatus comprising;
Specification