Video-based systems for computer assisted surgery and localisation
First Claim
1. An apparatus for computer assisted surgery comprising:
- camera means for viewing a part of a patient'"'"'s body,projector means for projecting a predetermined bar pattern of light onto the part of the patient'"'"'s body being viewed by said camera means,processing and controlling means connected to said camera means for generating three-dimensional intra-operative images of the part of the patient'"'"'s body from signals generated by the camera means representative of a view of said predetermined bar pattern projected onto the part of the patient'"'"'s body, said processing and controlling means operating to combine said three-dimensional intra-operative images with pre-operative three-dimensional images generated by a scanner and pre-stored in said processing and controlling means into a combined image, and display means, coupled to said processing and controlling means, for displaying said combined image, wherein said processing and controlling means operates to combine the intra-operative and pre-operative images in accordance with the following steps;
(i) defining, with respect to a scanner based co-ordinate system and from analysis of said pre-operative images, a representation of measured shape and position of the part of the patient'"'"'s body,(ii) identifying features of interest in said pre-operative images with reference to the scanner based co-ordinate system,(iii) defining, with respect to an intra-operative camera based co-ordinate system and from analysis of said intra-operative images in dependence upon said predetermined bar pattern, a further representation of measured shape and position of the part of the patient'"'"'s body,(iv) calculating a co-ordinate transformation between said intra-operative camera based co-ordinate system and said scanner based co-ordinate system by matching said pre-operative and intra-operative images,(v) calculating positions of said features of interest with respect to said intra-operative camera based co-ordinate system depending upon said co-ordinate transformation and said features of interest, and(vi) combining said pre-operative and intra-operative images to provide localization for frameless stereotaxy without performing manual registration of features of the patient.
1 Assignment
0 Petitions
Accused Products
Abstract
The apparatus comprises video cameras for viewing part of a patient'"'"'s body and a slide projector for projecting a predetermined pattern of light onto the patient'"'"'s body which is viewed by the cameras. A workstation and video frame grabber performs controlling and processing functions and are arranged to process said images from the cameras using image processing algorithms. The images from the cameras are superimposed upon prestored images which are generated from X-ray or CT scans. A passive pointer, having a predetermined pattern thereon which is recognisable by the controlling and processing means is used by the surgeon. The pattern is used to identify the exact position of a tip of the pointer in relation to the patient'"'"'s body and is displayed on a monitor with the superimposed images.
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Citations
17 Claims
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1. An apparatus for computer assisted surgery comprising:
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camera means for viewing a part of a patient'"'"'s body, projector means for projecting a predetermined bar pattern of light onto the part of the patient'"'"'s body being viewed by said camera means, processing and controlling means connected to said camera means for generating three-dimensional intra-operative images of the part of the patient'"'"'s body from signals generated by the camera means representative of a view of said predetermined bar pattern projected onto the part of the patient'"'"'s body, said processing and controlling means operating to combine said three-dimensional intra-operative images with pre-operative three-dimensional images generated by a scanner and pre-stored in said processing and controlling means into a combined image, and display means, coupled to said processing and controlling means, for displaying said combined image, wherein said processing and controlling means operates to combine the intra-operative and pre-operative images in accordance with the following steps; (i) defining, with respect to a scanner based co-ordinate system and from analysis of said pre-operative images, a representation of measured shape and position of the part of the patient'"'"'s body, (ii) identifying features of interest in said pre-operative images with reference to the scanner based co-ordinate system, (iii) defining, with respect to an intra-operative camera based co-ordinate system and from analysis of said intra-operative images in dependence upon said predetermined bar pattern, a further representation of measured shape and position of the part of the patient'"'"'s body, (iv) calculating a co-ordinate transformation between said intra-operative camera based co-ordinate system and said scanner based co-ordinate system by matching said pre-operative and intra-operative images, (v) calculating positions of said features of interest with respect to said intra-operative camera based co-ordinate system depending upon said co-ordinate transformation and said features of interest, and (vi) combining said pre-operative and intra-operative images to provide localization for frameless stereotaxy without performing manual registration of features of the patient. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for use in computer aided surgery comprising the steps of:
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using a scanner to generate pre-operative three-dimensional images relating to a part of a patient'"'"'s body, projecting a predetermined bar pattern of light onto the part of the patient'"'"'s body, viewing said predetermined bar pattern, generating intra-operative three-dimensional images in accordance with captured intra-operative images and the predetermined bar pattern projected on the part of the patient'"'"'s body, defining, with respect to a scanner based co-ordinate system and from analysis of said pre-operative images, a representation of measured shape and position of the part of the patient'"'"'s body, identifying features of interest in said pre-operative images with reference to the scanner based co-ordinate system, defining, with respect to an intra-operative camera based co-ordinate system and from analysis of said intra-operative images in dependence upon said predetermined bar pattern, a further representation of measured shape and position of the part of the patient'"'"'s body, calculating a co-ordinate transformation between said intra-operative camera based co-ordinate system and said scanner based co-ordinate system by matching said pre-operative and intra-operative images, calculating positions of said features of interest with respect to said intra-operative camera based co-ordinate system depending upon said co-ordinate transformation in combination with positions of said features of interest, combining said pre-operative and intra-operative images into a combined image to provide localization for frameless stereotaxy without a requirement for performing manual registration of the part of the patient'"'"'s body, and displaying said combined image. - View Dependent Claims (14, 15, 16, 17)
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Specification