Generation of three-dimensional scans for intraoperative imaging
Inventors
Liu, Yang • Askari Karchegani, Maziyar
Assignees
Happycam LLC • Unify Medical Inc
Publication Number
US-12106504-B2
Publication Date
2024-10-01
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 control computing device projects the object points included onto a first image plane and the object points onto a second image plane. The 3D scanner control computing device 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 control computing device 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 provides a system for executing three-dimensional (3D) intraoperative scans of a patient. This system utilizes a 3D scanner control computing device which projects object points onto two image planes and determines epipolar lines based on an epipolar plane, enabling triangulation of object points between two 2D intraoperative images. Each epipolar line serves to provide a depth measurement of each object as projected onto each image plane, facilitating the conversion from 2D intraoperative images to a 3D intraoperative scan.
The problem addressed is that current surgical imaging and navigation hardware and software, particularly in spine and orthopedic fields, do not provide robust procedural guidance as required by surgeons. There is a need for systems that deliver accurate guidance for both hard and soft tissue surgical applications and that can be effectively used in surgery, therapeutic monitoring, and medical training, as well as systems that combine augmented reality, real-time imaging, procedural guidance, and decision support.
The core technical process involves capturing two or more intraoperative 2D images of patient anatomy using the 3D scanner, projecting patterns onto the patient, and using the identified features or patterns in those images to generate and match epipolar lines for triangulation. Depth information is thus recovered for every object point based on their appearance across the image planes. This information is then used to generate the 3D scan, which is co-registered with preoperative image data for visualization and navigation during surgery.
Claims Coverage
The independent claim defines the main inventive features related to a system for executing a 3D intraoperative scan of a patient using non-statistical pattern projection and image registration techniques for surgical navigation.
Non-statistical pattern projection for 3D intraoperative scanning
A 3D scanner including a projector, image sensor, processor, and memory with instructions to: - Generate a plurality of non-statistical patterns, each with identified characteristics that vary across the series. - Instruct the projector to project each non-statistical pattern onto the patient in sequence, adjusting the characteristic variations based on the sequence step. - Capture a 2D intraoperative image of patient object points after each pattern projection. - Identify the position of each object point captured after each pattern projection. - Determine an actual position for each object point based on the average of identified positions across patterns. - Convert the 2D intraoperative images into a 3D intraoperative scan using the actual positions of object points.
Image registration and display for surgical navigation
- Co-register pre-operative image data captured from at least one pre-operative image of the patient with intraoperative image data provided by the 3D intraoperative scan. - Instruct a display to show the co-registered pre-operative image data with intraoperative image data from the 3D intraoperative scan to assist the surgeon during the surgical operation.
The claim coverage centers on a system that innovatively projects and analyzes non-statistical patterns for generating real-time 3D intraoperative scans, combined with image registration and visualization, to facilitate surgical navigation.
Stated Advantages
The system improves the robustness and accuracy of intraoperative 3D scans, thereby enhancing image registration between intraoperative 3D scans and preoperative images and improving surgical navigation.
The technology enables fast 3D scanning, with frame rates up to 4,000 frames per second, accelerating surgical navigation compared to conventional exhaustive methods.
Dynamic pattern projection reduces residual pattern-to-depth dependence, further increasing the accuracy and speed of 3D scanning for medical applications.
Improved 3D scans enable accurate guidance for both hard and soft tissue applications in surgery.
The system is capable of being used in various medical fields such as surgery, therapeutic monitoring, and medical training.
Documented Applications
Intraoperative 3D scanning and image registration for surgical guidance in fields such as orthopedics, neurosurgery, spine surgery, craniofacial surgery, cancer surgery, plastic surgery, and general surgery.
Monitoring of organ movement during surgical procedures to ensure registration accuracy.
Real-time procedural guidance, augmented reality display, and decision support during surgery using co-registered 2D/3D images.
Use in smart surgical instruments with navigation capability, including attachments to various surgical tools such as drills, saws, graspers, and robotic arms.
Integration with other surgical navigation and robotic surgery systems, including communication of image registration data with external systems.
Medical training and therapeutic monitoring applications using real-time 3D scanning data.
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