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Visual navigation system for endoscopic surgery

  • US 8,248,413 B2
  • Filed: 09/18/2006
  • Issued: 08/21/2012
  • Est. Priority Date: 09/18/2006
  • Status: Active Grant
First Claim
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1. A method comprising:

  • during an endoscopic procedure on a body performed by a surgeon, inputting intra-operative scan data generated during the endoscopic procedure by a medical scanning device, the intra-operative scan data being representative of a region of interest in the body;

    inputting pre-operative scan data generated prior to the endoscopic procedure by a medical scanning device, the pre-operative scan data being representative of the region of interest in the body;

    coregistering the pre-operative scan data with the intra-operative scan data;

    capturing data indicative of positions and orientations of a flexible endoscope during the endoscopic procedure;

    generating real-time three-dimensional surface models of the region of interest based on the intra-operative scan data, preoperative scan data, and the data indicative of positions and orientations of the flexible endoscope;

    coregistering the generated real-time three-dimensional surface models with live video images generated by a video camera coupled to the flexible endoscope; and

    displaying, simultaneously and coregistered with each other, the generated real-time three-dimensional surface models and the live video images on a display device, wherein the real-time three-dimensional surface models are rendered from a point of view based on the position and orientation of the body during the endoscopic procedure and not on the point of view of the camera.

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