Apparatus and method for photogrammetric surgical localization
First Claim
1. An apparatus for establishing workspace coordinates for features of a medical workspace including a patient'"'"'s body region, the apparatus comprising:
- a first camera and a second camera calibrated to each other and the medical workspace and positioned relative to the medical workspace, the first and second cameras having respective first and second sightlines of the medical workspace, the first and second sightlines being arranged at an angle and the first and second cameras being capable of producing workspace images of the medical workspace; and
a computer in communication with the first and second cameras, the computer configured toestablish a workspace coordinate framework of the medical workspace, receive information relating to the workspace images, receive a set of scan coordinates of a scan image in a scan coordinate framework, the scan image having identifiable features,align the scan coordinate framework with the workspace coordinate framework, anddetermine workspace coordinates of the identifiable features.
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Abstract
A method and apparatus for defining the location of a medical instrument relative to features of a medical workspace including a patient'"'"'s body region are described. Pairs of two-dimensional images are obtained, preferably by means of two video cameras making images of the workspace along different sightlines which intersect. A fiducial structure is positioned in the workspace for defining a three dimensional coordinate framework, and a calibration image pair is made. The calibration image pair comprises two 2D projections from different locations of the fiducial structure. After the calibration image pair is made, the fiducial structure is removed. A standard projection algorithm is used to reconstruct the 3D framework of the fiducial structure from the calibration image pair. Appropriate image pairs can then be used to locate and track any other feature such as a medical instrument, in the workspace, so long as the cameras remain fixed in their positions relative to the workspace. The computations are desirably performed with a computer workstation including computer graphics capability, image processing capability, and providing a real-time display of the workspace as imaged by the video cameras. Also, the 3D framework of the workspace can be aligned with the 3D framework of any selected volume scan, such as MRI, CT, or PET, so that the instrument can be localized and guided to a chosen feature. No guidance arc or other apparatus need be affixed to the patient to accomplish the tracking and guiding operations.
334 Citations
27 Claims
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1. An apparatus for establishing workspace coordinates for features of a medical workspace including a patient'"'"'s body region, the apparatus comprising:
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a first camera and a second camera calibrated to each other and the medical workspace and positioned relative to the medical workspace, the first and second cameras having respective first and second sightlines of the medical workspace, the first and second sightlines being arranged at an angle and the first and second cameras being capable of producing workspace images of the medical workspace; and a computer in communication with the first and second cameras, the computer configured to establish a workspace coordinate framework of the medical workspace, receive information relating to the workspace images, receive a set of scan coordinates of a scan image in a scan coordinate framework, the scan image having identifiable features, align the scan coordinate framework with the workspace coordinate framework, and determine workspace coordinates of the identifiable features. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. An apparatus for establishing the workspace coordinates for features of a medical workspace including a patient'"'"'s body region, the apparatus comprising:
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a first camera and a second camera positionable and calibrated to the medical workspace, the first and second cameras configured to provide a plurality of images of the medical workspace; a digitizer in communication with the first and second cameras for digitizing each of the images to produce digital image signals; and a computer in communication with the digitizer to receive the digital image signals therefrom, the computer defining a workspace coordinate framework for the medical workspace and being configured to determine workspace coordinates in the workspace coordinate framework of any selected point which can be identified from the images, receive a set of scan coordinates for selected landmarks present in a scan made in a scan coordinate framework, correlate the scan coordinates with the workspace coordinates of the landmarks as derived from one of the images, and convert the scan coordinates of the landmarks in the scan to corresponding workspace coordinates in the workspace framework. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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Specification