System and methods for intraoperative guidance feedback
First Claim
1. A surgical guidance system comprising:
- a storage medium for storing pre-operative image data associated with a patient;
an integrated surface topology imaging and optical position measurement device comprising;
an optical projection device configured to project optical radiation onto an exposed surface of the patient, such that backscattered optical radiation is suitable for optical surface topology detection;
an optical source having a wavelength selected to illuminate a set of fiducial markers provided on a movable instrument;
two or more cameras, wherein at least one of said two or more cameras is configured for imaging the backscattered optical radiation, and wherein at least two of said two or more cameras are configured for imaging the set of fiducial markers when illuminated; and
a surgical guidance controller operatively connected to said integrated surface topology imaging and optical position measurement device and said storage medium, wherein said surgical guidance controller includes a processor configured to;
control said optical projection device to illuminate the exposed surface and obtain, based on one or more images from said at least one camera, topological image data associated with the exposed surface; and
control said optical source to illuminate the set of fiducial markers and obtain, from said two or more cameras, positional image data associated with said set of fiducial markers;
determine a position and an orientation of said movable instrument relative to said exposed surface; and
register said topological image data, and said position and orientation of said movable instrument to said pre-operative image data;
wherein said optical projection device, said optical source, and said two or more cameras are rigidly mounted on a frame, such that a fixed spatial relationship exists therebetween, thereby maintaining a fixed calibration of said system without requiring inter-operative recalibration.
4 Assignments
0 Petitions
Accused Products
Abstract
Systems and methods for surgical guidance and image registration are provided, in which three-dimensional image data associated with an object or patient is registered to topological image data obtained using a surface topology imaging device. The surface topology imaging device may be rigidly attached to an optical position measurement system that also tracks fiducial markers on a movable instrument. The instrument may be registered to the topological image data, such that the topological image data and the movable instrument are registered to the three-dimensional image data. The three-dimensional image data may be CT or MRI data associated with a patient. The system may also co-register images pertaining to a surgical plan with the three-dimensional image data. In another aspect, the surface topology imaging device may be configured to directly track fiducial markers on a movable instrument. The fiducial markers may be tracked according to surface texture.
171 Citations
40 Claims
-
1. A surgical guidance system comprising:
-
a storage medium for storing pre-operative image data associated with a patient; an integrated surface topology imaging and optical position measurement device comprising; an optical projection device configured to project optical radiation onto an exposed surface of the patient, such that backscattered optical radiation is suitable for optical surface topology detection; an optical source having a wavelength selected to illuminate a set of fiducial markers provided on a movable instrument; two or more cameras, wherein at least one of said two or more cameras is configured for imaging the backscattered optical radiation, and wherein at least two of said two or more cameras are configured for imaging the set of fiducial markers when illuminated; and a surgical guidance controller operatively connected to said integrated surface topology imaging and optical position measurement device and said storage medium, wherein said surgical guidance controller includes a processor configured to; control said optical projection device to illuminate the exposed surface and obtain, based on one or more images from said at least one camera, topological image data associated with the exposed surface; and control said optical source to illuminate the set of fiducial markers and obtain, from said two or more cameras, positional image data associated with said set of fiducial markers; determine a position and an orientation of said movable instrument relative to said exposed surface; and register said topological image data, and said position and orientation of said movable instrument to said pre-operative image data; wherein said optical projection device, said optical source, and said two or more cameras are rigidly mounted on a frame, such that a fixed spatial relationship exists therebetween, thereby maintaining a fixed calibration of said system without requiring inter-operative recalibration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
-
-
18. A method of registering surface topological image data to preoperative image data using an integrated system comprising a surface topology imaging device and an optical position measurement device;
-
the surface topology imaging device comprising; an optical projection device configured to project optical radiation onto an exposed surface of a patient, such that backscattered optical radiation is suitable for optical surface topology detection; and one or more first cameras configured for imaging the backscattered optical radiation wherein the optical projection device; the optical position measurement device comprising; an optical source having a wavelength selected to illuminate a set of fiducial markers provided on a movable instrument; and two or more second cameras for imaging the set of fiducial markers when illuminated; wherein the surface topology imaging device and the optical position measurement device are rigidly mounted on a frame such that a fixed spatial relationship exists therebetween; the method comprising; obtaining pre-operative image data associated with a patient; obtaining pre-determined calibration data for relating the coordinate system of the optical position measurement device and the coordinate system of the surface topology imaging device; optically scanning the exposed surface of the patient with the optical projection device and obtaining, based on one or more images from the one or more first cameras, topological image data associated with the exposed surface; illuminating the set of fiducial markers by powering the optical source and obtaining, from the second cameras, optical images of the set of fiducial markers; processing the optical images to determine a position and orientation of the movable instrument relative to the exposed surface, based on the pre-determined calibration data; and registering the topological image data, and the position and orientation of the movable instrument, to the pre-operative image data. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33)
-
-
34. A surgical guidance system comprising:
-
a storage medium for storing pre-operative image data associated with a patient; a surface topology imaging device comprising; an optical projection device configured to project optical radiation onto an exposed surface of the patient and onto a set of fiducial markers provided on a movable instrument, such that backscattered optical radiation is suitable for optical surface topology detection; and one or more cameras configured for imaging the backscattered optical radiation; and a surgical guidance controller operatively connected to said surface topology imaging device and said storage medium, wherein said surgical guidance controller includes a processor configured to; control said optical projection device to illuminate the exposed surface and the set of fiducial markers and to obtain, based on one or more images from said one or more cameras, topological image data associated with the exposed surface and the set of fiducial markers; determine a position and an orientation of said movable instrument relative to said exposed surface; and register said topological image data, and said position and orientation of said movable instrument to said pre-operative image data; wherein said optical projection device and said one or more cameras are rigidly mounted on a frame, such that a fixed spatial relationship exists therebetween, thereby maintaining a fixed calibration of said system without requiring inter-operative recalibration.
-
-
35. A method of registering a topological image data to pre-operative image data for surgical guidance, wherein the topological image data is obtained by a surface topology imaging device, the method comprising the steps of:
-
storing the pre-operative image data associated with a patient; controlling the surface topology imaging device to; project optical radiation onto an exposed surface of the patient and a set of fiducial markers provided on a movable instrument; obtain, based on one or more images from one or more cameras, topological image data associated with the exposed surface and the fiducial markers; processing the topological image data to; identify, in the topological image data, surfaces corresponding to the fiducial markers; and determine, based on the identified surfaces, a position and orientation of the movable instrument relative to the exposed surface; and registering the topological image data, and the position and orientation of the movable instrument, to the pre-operative image data. - View Dependent Claims (36, 37, 38, 39, 40)
-
Specification