Generation of three-dimensional scans for intraoperative imaging
Inventors
Liu, Yang • Askari Karchegani, Maziyar
Assignees
Happycam LLC • Unify Medical Inc
Publication Number
US-11710249-B2
Publication Date
2023-07-25
Expiration Date
2040-12-21
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Abstract
A system for executing a three-dimensional (3D) intraoperative scan of a patient is disclosed. A 3D scanner controller projects the object points included onto a first image plane and the object points onto a second image plane. The 3D scanner controller determines first epipolar lines associated with the first image plane and second epipolar lines associated with the second image plane based on an epipolar plane that triangulates the object points included in the first 2D intraoperative image to the object points included in the second 2D intraoperative image. Each epipolar lines provides a depth of each object as projected onto the first image plane and the second image plane. The 3D scanner controller converts the first 2D intraoperative image and the second 2D intraoperative image to the 3D intraoperative scan of the patient based on the depth of each object point provided by each corresponding epipolar line.
Core Innovation
The invention discloses a surgical imaging and navigation system designed for intraoperative three-dimensional (3D) scanning of patient anatomy. At its core, the system comprises a 3D scanner with a non-statistical projection pattern generator, a projector that projects a series of non-statistical patterns onto the patient, and an image sensor that captures two-dimensional intraoperative images of object points on the patient for each projected pattern. The 3D scanning controller processes these images to reconstruct a 3D scan by determining the actual position of each object point based on the sequence of identified positions from the multiple patterns.
A problem addressed by the invention, as described in the background, is the lack of robust and accurate guidance in current surgical imaging and navigation systems, especially for both hard and soft tissue procedures. Traditional approaches lack the ability to provide accurate real-time intraoperative 3D scanning and registered guidance, which is crucial for surgery, therapeutic monitoring, and medical training applications.
Through projection of structured non-statistical patterns in series and intelligent processing of the captured images, the system generates high-precision 3D intraoperative scans. This 3D data can then be co-registered with preoperative images, such as CT or MRI, and displayed to the surgical team in real time, supporting navigation and decision-making throughout the procedure.
Claims Coverage
The patent claims cover one primary independent inventive feature, focusing on a system for executing a 3D intraoperative scan using non-statistical projection patterns for surgical navigation.
System for 3D intraoperative scanning using non-statistical projection patterns
The system comprises: - A 3D scanner that includes: - A projector to project a series of non-statistical patterns onto a patient, with each pattern being a variation in its identified characteristics and projected in a defined serial order. - An image sensor that captures 2D intraoperative images of object points on the patient after each pattern projection. - A non-statistical projection pattern generator configured to generate patterns with varying characteristics for encoding spatial information. - A 3D scanning controller containing at least one processor and memory with instructions to: - Identify the position of each object point from each captured image after each pattern is projected. - Determine the actual position of each object point based on averaging the positions identified across all projected patterns. - Convert the 2D intraoperative images into a 3D intraoperative scan of the patient based on actual object point positions. - A controller with at least one processor and memory programmed to: - Co-register pre-operative image data from at least one pre-operative image (e.g., CT or MRI) with intraoperative image data provided by the 3D intraoperative scan. - Instruct a display to simultaneously present the co-registered pre-operative image data and the intraoperative 3D scan data to assist surgical navigation in real time.
The claims primarily cover a system architecture integrating non-statistical projection pattern-based 3D scanning with intraoperative registration and display capabilities for surgical navigation.
Stated Advantages
The system enables accurate guidance for surgical applications involving both hard tissues and soft tissues.
The use of structured, controllable, and dynamic non-statistical projection patterns increases the accuracy and speed of intraoperative 3D scans.
Improved 3D scan quality facilitates enhanced image registration between intraoperative scans and preoperative images (e.g., MRI and CT), thereby aiding in surgical navigation.
Real-time co-registration and display of intraoperative and preoperative imaging data provide surgeons with robust procedure guidance.
Documented Applications
Surgical guidance in operations involving both hard tissue (e.g., bone) and soft tissue using intraoperative 3D imaging and navigation.
Therapeutic monitoring by comparing intraoperative 3D scans taken at different times during a procedure.
Medical training utilizing accurate, real-time surgical imaging and navigation data.
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