Generation of three-dimensional scans for intraoperative imaging
Inventors
Liu, Yang • Askari Karchegani, Maziyar
Assignees
Happycam LLC • Unify Medical Inc
Publication Number
US-12118738-B2
Publication Date
2024-10-15
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 system for executing three-dimensional (3D) intraoperative scans of a patient to generate a plurality of intraoperative images, enabling a surgeon to navigate during surgical operations. The system employs a 3D scanner with a projector, image sensor, and a pattern generator, which projects a predetermined pseudo random pattern onto the patient. The image sensor captures two-dimensional (2D) intraoperative images of object points on the patient that correspond to specific dots in the pseudo random pattern.
A 3D scanning controller is configured to associate each object point in the captured 2D intraoperative image with a corresponding dot in the projected pseudo random pattern, based on the predetermined position of each dot. The 3D scanning controller then converts the 2D intraoperative images to 3D intraoperative scans of the patient by correlating these associations, thereby providing depth information for surgical navigation.
The problem being addressed is that current surgical imaging and navigation hardware and software do not provide robust or accurate procedural guidance as desired by surgeons, particularly for applications involving both hard and soft tissues. There is a need for a system capable of accurate guidance in a variety of applications, combining augmented reality, real-time imaging, procedure guidance, and decision support in a single integrated solution.
Claims Coverage
The patent claims cover a system for generating intraoperative 3D scans using pseudo random pattern projection and image registration to support surgical navigation, with several inventive features addressing pattern calibration, depth computation, and integration into hand-held devices.
Pseudo random pattern-based 3D scanner system with depth calculation
A system comprising a 3D scanner that includes a projector, image sensor, and pattern generator configured to generate a pseudo random pattern of multiple dots with predetermined positions, project this pattern onto the patient, and capture a 2D intraoperative image of object points. A 3D scanning controller associates each captured object point with its corresponding projected dot, converting the 2D intraoperative image to a 3D intraoperative scan of the patient based on these associations. A controller co-registers pre-operative image data with intraoperative image data and instructs a display to present the co-registered data during surgical navigation.
The claim coverage centers on a novel intraoperative imaging and navigation system employing projected pseudo random patterns for accurate 3D scanning, precise depth acquisition, and real-time image registration and display for guided surgical procedures.
Stated Advantages
Improved 3D scan can enhance the image registration between intraoperative 3D scan and preoperative images (e.g., MRI and CT), thereby improving surgical navigation.
Projection of predetermined patterns and associations accelerates 3D scanning compared to conventional exhaustive search methods.
The system provides accurate guidance for surgical applications for both hard and soft tissues.
The technology is suitable for use in various applications, including surgery, therapeutic monitoring, and medical training.
Combines multiple imaging modalities and real-time display features for comprehensive intraoperative support.
Documented Applications
Surgical imaging and navigation to provide intraoperative guidance to surgeons and other medical professionals.
Surgical applications involving both hard tissues and soft tissues.
Therapeutic monitoring, enabling monitoring of organ movement and changes during procedures.
Medical training, offering enhanced visualization and procedure guidance.
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