Full-field three-dimensional surface measurement

• US 9,456,752 B2
• Filed: 03/14/2013
• Issued: 10/04/2016
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Virtual 3-D Technologies Corp.
• Original Assignee: Aperture Diagnostics Ltd.
• Inventors: Zeien, Robert
• Primary Examiner(s): Le, Long V
• Assistant Examiner(s): Ho, Don N
• Application Number:
  US13/830,477
• Publication Number:
  US 20140276093A1
• Time in Patent Office: 1,300 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 1/00016 using wireless means
• CPC Class Codes: A61B 1/00032 internally powered
• CPC Class Codes: A61B 1/005 Flexible endoscopes
• CPC Class Codes: A61B 1/015 Control of fluid supply or evacuation
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 1/041 Capsule endoscopes for imaging
• CPC Class Codes: A61B 1/051 Details of CCD assembly
• CPC Class Codes: A61B 1/07 using light-conductive means, e.g. optical fibres
• CPC Class Codes: A61B 5/0073 by tomography, i.e. reconstruction of 3D images from 2D projections A61B5/0066 takes precedence
• CPC Class Codes: A61B 5/0077 Devices for viewing the surface of the body, e.g. camera, magnifying lens
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/0086 using infrared radiation
• CPC Class Codes: G01B 11/25 by projecting a pattern, e.g. one or more lines, moiré fringes on the object G01B11/255 takes precedence ; image analysis for depth or shape recovery G06T7/50
• CPC Class Codes: G01B 11/2522 the position of the object changing and being recorded
• CPC Class Codes: G06T 2200/32 involving image mosaicing
• CPC Class Codes: G06T 7/521 from laser ranging, e.g. using interferometry; from the projection of structured light

Abstract

Embodiments of the present invention may be used to perform measurement of surfaces, such as external and internal surfaces of the human body, in full-field and in 3-D. Embodiments of the present invention may include an electromagnetic radiation source, which may be configured to project electromagnetic radiation onto a surface. The electromagnetic radiation source may be configured to project the electromagnetic radiation in a pattern corresponding to a spatial signal modulation algorithm. The electromagnetic radiation source may also be configured to project the electromagnetic radiation at a frequency suitable for transmission through the media in which the radiation is projected. An image sensor may be configured to capture image data representing the projected pattern. An image-processing module may be configured to receive the captured image data from the image sensor and to calculate a full-field, 3-D representation of the surface using the captured image data and the spatial signal modulation algorithm. A display device may be configured to display the full-field, 3-D representation of the surface.

Claims

1. A system for providing a continuous, full-field, three-dimensional representation of a target surface inside a human body, the system comprising:

a catheter, the catheter having a proximal end and a distal end adapted to be inserted into the human body and guided to the target surface inside the human body;

projection components for projecting infrared radiation onto the target surface in a projected pattern, the projection components comprising an infrared radiation emitter connected to the proximal end of the catheter, a projection lens located at the distal end of the catheter, fiber optics capable of transmitting the infrared radiation from the infrared radiation emitter to the projection lens, and a grating positioned between the infrared radiation emitter and the projection lens, wherein infrared radiation that is emitted from the infrared radiation emitter and that passes through the grating and the projection lens is projected onto the target surface in the projected pattern;

imaging components for capturing a plurality of successive images of infrared radiation reflected from the target surface, the imaging components comprising an imaging lens located at the distal end of the catheter, an infrared image sensor connected to the proximal end of the catheter and configured to capture image data corresponding to the plurality of successive images of infrared radiation reflected from the target surface, and fiber optics capable of transmitting infrared radiation from the imaging lens to the infrared image sensor;

an image processing module configured to receive the captured image data from the infrared image sensor and to calculate a full-field, three-dimensional representation of the target surface for each image of the plurality of successive images of infrared radiation reflected from the target surface using the captured image data and a spatial signal modulation algorithm, wherein the images comprise successive reflections of the projected pattern modulated by the target surface, and wherein the images differ from each other due to relative movement between the catheter and the target surface, resulting in a plurality of successive full-field, three-dimensional representations of the target surface; and

a display device configured to display the plurality of successive full-field, three-dimensional representations of the target surface.

2. The system of claim 1 further comprising one or more of:

an instrument port; and

an irrigation module.

3. The system of claim 2, wherein the irrigation module comprises:

a channel to provide liquid or air; and

a suction channel to remove liquid or air.

4. A method for providing a continuous, full-field, three-dimensional representation of a target surface inside a human body, the method comprising:

projecting infrared radiation onto the target surface inside the human body in a projected pattern using projection components, the projection components comprising an infrared radiation emitter, a projection lens located at the distal end of a catheter wherein the distal end of the catheter is positioned inside the human body, fiber optics capable of transmitting the infrared radiation from the infrared radiation emitter to the projection lens, and a grating positioned between the infrared radiation emitter and the projection lens, wherein infrared radiation that is emitted from the infrared radiation emitter and that passes through the grating and the projection lens is projected onto the target surface in the projected pattern;

capturing, by an infrared image sensor, image data corresponding to a plurality of successive images of infrared radiation reflected from the target surface, wherein the images comprise successive reflections of the projected pattern modulated by the target surface, and wherein the images differ from each other due to relative movement between the catheter and the target surface;

providing the captured image data to an image processing module;

calculating, by a processor of the image processing module, a full-field, three-dimensional representation of the target surface for each image of the plurality of successive images of infrared radiation reflected from the target surface using the captured image data and a spatial signal modulation algorithm, resulting in a plurality of successive full-field, three-dimensional representations of the target surface; and

displaying the plurality of successive full-field, three-dimensional representations of the target surface on a display device.

5. The method of claim 4, wherein the infrared radiation emitter and the infrared image sensor are integrated into a system for providing a continuous, full-field, three-dimensional representation of a target surface, the system comprising one or more of:

an instrument port; and

an irrigation module.

6. The method of claim 5, wherein the irrigation module comprises:

a channel to provide liquid or air; and

a suction channel to remove liquid or air.