DE102011087357A1 - Method for updating preoperatively recorded three-dimensional image data of body by preoperatively recorded three-dimensional image data updating device, involves correcting three-dimensional image data using position data of endoscope - Google Patents

Method for updating preoperatively recorded three-dimensional image data of body by preoperatively recorded three-dimensional image data updating device, involves correcting three-dimensional image data using position data of endoscope

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Publication number
DE102011087357A1
DE102011087357A1 DE102011087357A DE102011087357A DE102011087357A1 DE 102011087357 A1 DE102011087357 A1 DE 102011087357A1 DE 102011087357 A DE102011087357 A DE 102011087357A DE 102011087357 A DE102011087357 A DE 102011087357A DE 102011087357 A1 DE102011087357 A1 DE 102011087357A1
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Germany
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image data
body
3d image
updating
data
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DE102011087357A
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German (de)
Inventor
Joachim Oertel
Klaus M. Irion
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Karl Storz SE and Co KG
Universitaet des Saarlandes DE
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Karl Storz SE and Co KG
Universitaet des Saarlandes DE
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Priority to DE102011087357A priority Critical patent/DE102011087357A1/en
Publication of DE102011087357A1 publication Critical patent/DE102011087357A1/en
Application status is Pending legal-status Critical

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    • A61B1/00002Operational features of endoscopes
    • A61B1/00004Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00009Operational features of endoscopes characterised by electronic signal processing of image signals
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    • A61B1/00002Operational features of endoscopes
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Abstract

The method involves carrying out determination of three-dimensional data by a measuring system (3) partially integrated into an exoscope or endoscope (2). The preoperatively recorded three-dimensional image data (21) of a body (5) is corrected by using the position data of the exoscope or endoscope determined by a navigation system (6) and the actual exoscope or endoscopic three-dimensional data. The position of body is determined and the three-dimensional image data of the body is corrected by using the position data of the body determined by the navigation system. An independent claim is included for a device for updating preoperatively recorded three-dimensional image data of a body.

Description

  • The present invention relates to a method and a device for updating preoperatively recorded by means of tomograph 3D image data of a body with respect to a current operational situation, wherein the body is both a human and animal body or body area, but also to a technical object. The operative situation is to be understood as investigations, manipulations or structural changes of a body. Based on 3D data, which were obtained with the help of an endoscope or an exoscope, the preoperatively obtained 3D image data are corrected. The preoperatively recorded 3D image data lie, for example, in as a volume data set in the form of successive tomographic slice images.
  • From the DE10333543A1 For example, a method for coupled presentation of intraoperative and preoperative images in the medical imaging environment is known. Here, preoperatively acquired 3D images are combined with intraoperatively obtained 3D images, which were obtained via an endoscope, and output together. The combination takes place using so-called markers in the captured image area.
  • This procedure does not give the user sufficient information about intraoperatively changed situations.
  • The invention is based on the object to provide a method and a device for updating preoperatively recorded 3D image data of a body with respect to the current operative situation, which allow a reliable detection and correction of preoperatively recorded 3D image data of a body.
  • This object is solved by the features of the two independent claims 1 and 10. Advantageous developments are the subject of the dependent claims.
  • According to the invention, in the method for updating preoperatively recorded 3D image data, the detection of the 3D data is carried out by means of a measurement system integrated in an exo-or endoscope. While the endoscope is intended for introduction into the body, ie at least partial introduction into the body, the exoscope is not intended for insertion into the body, but rather for extracorporeal observation of the body. For a more detailed explanation of an exemplary exoscope is on the EP2162050A1 directed. With the help of the integrated 3D measuring system, 3D data can be acquired, from which the three-dimensional shape of the body, in particular of the body, within the detection range of the measuring system, which typically represents part of the exo- or endoscope, are obtained.
  • With the aid of the position of the exo- or endoscope detected by a navigation system, which on the one hand contains the spatial position as well as the orientation, it is possible to determine the spatial area which is detected by the measuring system or by the exo-or endoscope and to link the acquired 3D data with the preoperatively recorded 3D image data of the body and thereby correct the preoperatively recorded 3D image data and update it accordingly. The update takes into account the current operational situation.
  • This method according to the invention proves to be a very reliable source of information for the user. This can on the one hand be the surgeon himself, but also a navigation system that uses the updated 3D image data for navigation as well as other persons or devices that benefit from the updated or corrected 3D image data, which preoperatively for example by a Computed tomography (CT), magnetic resonance imaging (MR), positron emission tomography (PET) or ultrasound imaging (UST) were recorded. Precisely by this type of method, it is possible to dispense with very costly and unwieldy intraoperative tomography systems while maintaining reliable and up-to-date 3D information about the body. By eliminating the need for open intraoperative scanners, it is possible to significantly reduce operating costs and expenses for such operations, thereby making the operation available to a broader patient population and achieving better overall surgical outcomes.
  • It has proven to be particularly advantageous not only to update the preoperatively obtained 3D image data once but to possibly update it several times so that the once updated 3D image data are repeatedly updated. This leads to a particularly reliable information content of the 3D image data.
  • In addition, by using a simple exo-or endoscope with integrated measuring system according to the invention, the use of complex and complex devices to be operated and maintained can be reduced, which considerably facilitates handling during the operation. This is particularly advantageous in difficult surgical situations.
  • The measuring system according to the invention is characterized in that it is at least partially integrated with essential components in the exo- or endoscope and thus in the environment of the operating situation little or no additional space needed, which is very positive for a small-lumen access or on the Handling affects. In this case, essential components of the measuring system, in particular an associated light source, a camera unit or an evaluation unit of the measuring system can be deposited from the exo- or endoscope, in particular spatially clearly arranged outside the operative situation. This training, in conjunction with the other components to the above advantages.
  • The device according to the invention exhibits, inter alia, the following components: an exo-or endoscope with integrated measuring system for intracorporeal and intraoperative acquisition of 3D data, a navigation system for detecting the position of the exo- or endoscope and optionally additionally for detecting the position of the body to be examined, an evaluation unit for updating the preoperatively recorded 3D image data based on the exo- or endoscopically recorded 3D data of the body as well as the position data of the exo-or endoscope with the measuring system integrated therein. These components are preferably associated with a display unit for displaying 3D image data of either the originally preoperatively recorded 3D image data or the updated 3D image data. This device shows the comparable advantages as the method according to the invention, which can be carried out with the device according to the invention.
  • In the following, advantageous developments of the method according to the invention or of the device according to the invention are shown, whose characteristics, as well as in combination with one another, represent advantageous developments of the methods or devices according to the invention.
  • Preferably, the method according to the invention additionally shows a detection of the position of the body being examined. This detection takes place by means of the navigation system, which is used to capture the position data of the exo- or endoscope. The preferred simultaneous detection of the position of the body as well as the position of the exo-or endoscope a very compact and efficient embodiment of the invention is created, which is characterized in particular by a small space requirement as well as by a low component requirements and by a speedy implementation of the updating process , The updating of the 3D image data may preferably also take account of changes due to the current operation situation and additional changes due to a change in the position of the body, in particular due to the relative change in position of the exo-or endoscope to the position of the body and thus the coverage of the Exo - Or endoscope and thus to the field of surgical intervention is of particular importance. According to the invention, a very secure and reliable updated 3D image data result is possible.
  • Preferably, the position of the exo- or endoscope and of the body is continuously or continuously determined or determined on the basis of an optical or electromagnetic navigation principle, thereby creating the possibility of always generating up-to-date and reliable updated 3D image data and thus enabling the user of this 3D Image data always a reliable basis eg to decide on the way forward.
  • According to a preferred embodiment, the measurement system integrated into the exo-or endoscope is designed such that a measuring method for determining the spatial position of the detected region is carried out by means of triangulation or on the basis of the optical or electromagnetic transit time measurement. An exemplary measuring system that works on the basis of triangulation is from the EP1597539A1 known. This shows a well into an endoscope to be integrated method or a measuring system for measuring the topography of a measured object.
  • As an alternative to the triangulation-based measuring methods for determining a topography, transit time measuring systems have proven to be suitable, which in particular simultaneously record several positions of the surface to be measured and measure them in their spatial position / topography. A particularly advantageous system that can be integrated into an exo- or endoscope, is from the DE 10 2008 018 636 A1 known. This device has the great advantage that no enlargement of the exo-or endoscope diameter is required, as for image transmission and transmission of necessary for the transit time measurement method to be transmitted light using existing in the Exo- or endoscope optical components, be it rod lenses or optical fibers , can be used. Extensive additional new optical components do not have to be integrated into the exoscope or endoscope.
  • As a result, it is possible for this method according to the invention and the associated device to be used particularly advantageously in medical fields in which only little operative space is available, in particular in the field of neurosurgery or ear, nose and throat surgery. Preferably, the exo- or endoscope is proximal with a Image splitter, which separates the information of the endoscopic or exoscopic image of the information of the measuring system and passes on two separate image sensors. This creates a very advantageous integration with low integration costs, which is characterized in particular by no additional increase in the exo or endoscope diameter.
  • In a corresponding manner, it has been proven to combine existing components of the exo-or endoscope with the triangulation system and thereby not or only slightly increase the diameter of the exo-or endoscope and thereby keep the range of application in different applications as large as possible and ease of use to increase. It has proven to be particularly advantageous to choose the diameter of the endoscope smaller than 12 mm, in particular less than 6 mm, since this makes possible an approach in the field of neurosurgery and in particular in the field of ENT.
  • Furthermore, it has proven useful to capture information about tissue-specific surface properties by means of a fluorescence method integrated in the exo-or endoscope in order to determine, for example, whether it is carcinogenic tissue or not. Such methods are known, for example, as so-called PDD methods (photodynamic diagnostics), for example using ALA, a special marker for the fluorescent labeling of carcinogenic tissue. In addition to this, there are a number of other fluorescence-based methods which can be applied by appropriate design of the exo- and endoscopes to obtain said differentiated tissue-specific surface information, in particular with regard to the property of the tissue, in particular with regard to the carcinogenic properties and to mark them selectively, in particular color-highlighted in the 3D image data and optionally later supply them to a reproduction by means of a display device. This makes it possible to generate a very meaningful, up-to-date and reliable picture.
  • Furthermore, it has proved to be very advantageous to further develop the invention in that the updating of the preoperative 3D image data can take place in different modes. The different modes can be used individually or several together, in particular all together. A particularly advantageous mode is characterized in that the removal of tissue within the framework of the operative situation is detected with the aid of the measuring system and the preoperatively recorded 3D image data are updated such that the detected removed tissue is marked as virtual removal in the image data or is marked and thus specifically detects the removal, in particular as a solid is detected and displayed. The representation is preferably carried out by means of a display device in the form of a display, which allows different sections through the 3D image data, in particular by a removed space area. Preferably, these cuts are made in the sagittal, axial or coronal direction. Preferably, this color marking is made as a transparent color marking, as this allows a representation of the non-ablated area as a translucent structure and thus the non-ablated area is represented differentiated and thus simultaneously perceivable.
  • As a further advantageous mode, it has proven useful to integrate new tissue or implants which were introduced in the operative situation and detected by the integrated measuring system into the 3D image data and to specifically represent them there as virtual superimpositions of tissue. This is preferably done by a special texturing of the virtual superimposed tissue. In addition, various other possibilities for distinguishing real tissue or ablated tissue, in particular by differences in brightness, color differences or texture differences are possible and have also proven themselves, since they allow a reliable distinction.
  • In addition, tissue-specific information, such as can be obtained, for example, by means of the fluorescence methods mentioned above, has also been proven by a virtual superposition of surface information with the preoperatively recorded 3D image data and thereby by the real image data or structures in the to make detected bodies distinguishable. This is preferably done in such a way that this virtually superimposed tissue-specific surface information shows a different color, brightness or texture property than the other 3D image information shown. This ensures that the user is provided with the necessary or helpful information in a simple, reliable and, in particular, up-to-date manner and that, in particular, he can selectively distinguish the ablated tissue, the altered tissue or even the newly introduced tissue, and in addition to the real one Differentiated tissue can make visible. This makes it possible to provide a particularly advantageous method and a device which can be used as the basis for decisions during or after an operative intervention.
  • Preferably, in tissue removal (tumor removal), with the aid of Measurement system measured tissue removal in the corresponding area in the 3D image data set pixels or voxelweise removed by the CT density values are set to a previously defined and selective value corresponding to the removed tissue. This virtual tissue removal in the preoperatively acquired 3D image data set corresponds to the real tissue removal at the surgical site.
  • If, in addition, a tissue-specific finding (tumor, carcinoma) occurs, which is detected, for example, by a fluorescence method, this specific surface information is superimposed into the corresponding area in the 3D image data record. Since this is a pure surface information (property of the surface), only one pixel or voxel is preferred for the layer depth. The advantage of this mode is that with residual tumor components in critical areas of operation, for example brain parts, these are specifically marked in the 3D image data set and are available for later treatment, in particular irradiation with high-energy radiation for the treatment of tumors.
  • In addition, alternatively or additionally, in the case of an implantation or even during a tissue entry, the surface topography of the new structure can in particular be detected continuously by means of the measuring system and superimposed into the corresponding region of the 3D image data. If, for example, the surgical cavity is refilled via an implant or tissue material, this mode can be used to continuously update the 3D image data and the entire course of the surgery can be continuously recorded and documented structurally and quantitatively.
  • In addition, it is preferably possible to make the updated 3D image data visible, wherein the differently changed data are displayed differently selectively depending on the previously mentioned modes. This provides a very reliable, safe and up-to-date information about the current investigation.
  • Preferably, the evaluation and the modification and updating of the 3D image data takes place in an evaluation unit, preferably centrally all relevant information about the 3D image data, the 3D data of the measuring system, the position data of the navigation system of the exo- or endoscope, in which Measuring system is integrated, as well as optionally evaluates the positional data of the body and updated accordingly the 3D image data. The updated data is then preferably stored and made available for later presentation by a preferably connected presentation unit. This integrated training provides a very efficient device that is able to provide very meaningful information up to date and reliably.
  • A preferred embodiment of the invention shows the use of artificial markers or natural landmarks, which are also detected preoperatively, in particular by tomography systems such as CT systems, MRI systems, PET systems or UST systems, and thus integrated into the 3D image data set are. By means of this data on the artificial markers or natural landmarks, the 3D image data obtained preoperatively can be correlated better with the position data or 3D data obtained by the navigation system or by the measuring system integrated in the exo-or endoscope, so that corresponding Referencing a coincidence of the coordinate systems and the data obtained can be achieved. This leads just by the common use of the same artificial marker or the natural landmarks in or on the body, be it additionally applied or integrated in the body, in particular contained in the body marker or landmarks for a particularly reliable and secure referencing of the systems. This ensures a very reliable and secure updating of the 3D image data, which has a positive effect on the subsequent actions, which are due to the updated 3D image data.
  • In particular, it has been found useful to update the updated 3D image data of a presentation unit, e.g. to supply a display device which is adapted to represent the updated 3D image data in a sectional view, in particular in a coronal, axial or sagittal cutting direction or prepare. The preparation as a sectional representation takes place either in the central evaluation unit or in an image processing unit which is integrated in the presentation unit. Due to this decentralized design, an advantageous load distribution of the evaluation tasks is ensured, so that overall a particularly efficient method is ensured.
  • In addition to the image reproduction in the form of a cut, in addition, a 3D representation using a stereo display has proven particularly useful. Here, the common stereo presentation techniques, be it Shutterertechniken, color selection techniques, polarization technology, etc., can be used. Since the updated 3D image data are present as a 3D data record and in particular contain different information about the surface properties or structural properties, these special structures can be obtained via so-called rendering algorithms and can be displayed particularly advantageously on a stereo display and presented to the user in a particularly tangible and comprehensible manner , According to the invention the possibility is created, the three-dimensional structure of the detected Body, in particular parts thereof, such as carcinogenic tissue, selectively and particularly tangible and detectable represent. This promotes reliability and manageability during surgical intervention by the method according to the invention or the device according to the invention.
  • In addition, it has proven particularly useful to determine areas of the body which were not detected by the integrated measuring system for detecting the topography but have been changed by interpolation of the 3D image data, if necessary in conjunction with the acquired measured 3D data unmeasured structure, which was determined only by interpolation, differentiated to mark the other 3D image data. For example, this can be done by special color selection, brightness selection, transparency choice or by special texture of the data, so that these interpolated, marked data can be displayed according to differentiated to the other 3D image information. This differentiated representation of the interpolated data is particularly advantageous, since they do not have the same reliability, even if they are updated on the basis of the method performed. This differentiation provides improved information which is advantageous for further handling of the system.
  • According to a preferred embodiment of the invention, the device shows an endoscope with associated camera and light source, which can alternatively be operated in a white light mode or a fluorescence mode. This means that corresponding selection means are arranged in the illumination beam path or in the beam path or in the transmission path of the acquired image, which make it possible, for example, to suppress disturbing frequency ranges in the illumination as well as in the detection of the image in fluorescence mode. These selection devices can be either electronic or optical filters. Especially in the image transmission channel, the provision of very selective filters with narrow-band passbands in the frequency range of fluorescence is important, as this can better detect and evaluate the typically very weak fluorescence. With the help of the fluorescence mode, tissue-specific information, eg. B. on the use of tumor-specific fluorescent markers to identify their specific excitation and specific detection, and in conjunction with the 3D information of the integrated measuring system three-dimensionally to capture. With the help of these data, the 3D image data can be selectively and specifically modified so that these tissue-specific information obtained via the fluorescence mode can be displayed.
  • Moreover, it is possible to operate the same exo-or endoscope in a normal white light mode, which is typically used without these special filters. For this purpose, the special filters are preferably deactivated in the beam path. It has also proved to be particularly advantageous that a number of components of the exo- or endoscope can be used identically both in the fluorescent and in the white light mode and thus no additional space or other effort is required. In particular, it has proven useful to provide a single light-emitting element, in particular at the distal end of the exo-or endoscope, which emits both the light for the measuring system and for the fluorescence mode and preferably for the white-light mode. In particular, the distal end of a glass fiber bundle with or without additional optics has proven to be the only common light-emitting element, via which both the white light, the illumination light for the fluorescence image mode and the information for the measuring system are transmitted. Through this synergetic functional training of the exo- and endoscope of the invention, it is possible to keep the diameter low, without the functionality suffers.
  • It has proved to be particularly advantageous to design the light source in such a way that, in the fluorescence mode, a same wavelength range of a single common light source is used, as for the integrated measuring system. This makes it possible to keep the costs and space for the overall device limited. In particular, light sources which have proven useful in the near infrared region, e.g. emit at 700 to 850 nm.
  • In addition to the ability to perform the different modes individually and in particular sequentially, it has proven particularly useful to simultaneously capture the 3D data of the measuring system as well as the exo- or endoscopic image data, so that at the same time reliable and up-to-date information for reliable and correct updating of preoperative 3D image data. It has also proven to be particularly advantageous to additionally record the fluorescence image data simultaneously with the 3D image data and the exo- or endoscopic image data so that this information is also present in a time-synchronized manner and processed synchronously, so that in a preferred embodiment the updated 3D image data Present image data in real time and thus practically at the same time on the screens the currently changed and supplemented 3D image data can be provided. As a result, a significant gain in data quality is created, which is reflected in an improved examination or surgical result of the body.
  • In the following the invention will be explained in more detail with reference to a selected example with reference to FIGS. The invention is not limited to this example.
  • Show it:
  • 1 a schematic representation of a device according to the invention
  • 2 a representation of measured by the endoscope and non-measured surfaces of a body cavity.
  • An inventive device for updating preoperatively recorded 3D image data 21 of a body 5 is in its entirety with the numeral 1 designated. With a tomograph 20 become preoperative 3D image data 21 of a body 5 a patient in the form of several consecutive sectional images recorded and stored. These image data can be acquired, for example, using a computer tomograph (CT), a magnetic resonance tomograph (MRT), a positron emission tomograph (PET) or an ultrasound tomograph (UST).
  • The location of the body 5 is over and over on the body before and during surgery 5 attached markers 15 from the navigation system 6 with the help of the navigation camera 16 recorded and a data processing system 12 communicated. When the preoperatively captured 3D image data 21 of the body 5 already with those on the body 5 attached markers 15 were recorded, a comparison of the preoperative 3D image data is now already before the operation 21 with the navigation system 6 recorded and evaluated positional data of the body 5 possible to make a referencing based on the detected current location of the body 5 with respect to preoperative 3D image data.
  • Intraoperatively, ie during the operation, an endoscope comes 2 For use in a body cavity of a body 5 of the patient is introduced. The endoscope 2 includes parts of a measuring system 3 for measuring a surface of the body cavity (topography) and for generating 3D data of the measured part of the body 5 , In the endoscope 2 are means for light or image forwarding nine provided, on the one hand, a signal radiation of the measuring system 3 and optionally direct further illumination light, such as white light and fluorescent excitation light, from proximal to distal and, on the other hand, from the surface of the body cavity of the body 5 pick up reflected radiation and conduct it from distal to proximal. Preferably, fluorescence radiation and signal radiation of the measuring system 3 via a single light-emitting element 13 broadcast.
  • The light source can be one from the endoscope 2 housed separately light source 11 be with the endoscope 2 connected is. The light source 11 optionally generates modulated near-infrared radiation or laser radiation for the measuring system 3 , White light for illumination and optical observation of the body cavity or fluorescent excitation light to be on the surface to be measured of the body cavity of the body 5 To stimulate fluorescence or autofluorescence and based on the detected fluorescence radiation information about the surface property, for example, whether it is carcinogenic tissue or not to win.
  • At the proximal end of the endoscope 2 there is a camera 10 , This contains in the 1 illustrated embodiment, two image sensors 4 and 17 , wherein radiation transmitted from distal to proximal radiation of different wavelengths or wavelength ranges via a beam splitter 18 separated and on the different sensors 4 and 17 is directed. The sensor 4 is a time-of-flight sensor (TOF sensor) that provides phase information of the body 5 reflected, infrared modulated signal radiation of the measuring system 3 receives. This phase information, which represent different transit times and thus different distances are from one to the camera 10 Connected camera control unit (CCU) evaluated and sent to a data processing system 12 ' forwarded. The information can be acquired as intraoperative 3D data of the surface of the body cavity of the body 5 be evaluated so that a so-called depth image can be obtained.
  • The sensor 17 is as an image sensor for detecting reflected white light and from the surface of the body 5 emitted fluorescent light formed.
  • The data processing system 12 ' can also be from the sensor 17 captured and evaluated by the camera control unit image data as a white light or fluorescent light image. These image data are taken with the 3D data of the surface of the body cavity of the body 5 combined and charged to a stereo image. This can be on a stereo display 14 presented and made available to the surgeon.
  • The navigation system 6 includes a navigation camera 16 , the markers 15 and 15 ' that are on the body 5 or at the endoscope 2 are attached, optically detected. In this way, position (position and orientation) of the body 5 and the endoscope 2 recorded continuously during the operation and with the help of the data processing system 12 saved and processed. A movement of the body 5 and also the endoscope 2 with the measuring system 3 during the surgery can always be considered.
  • In the data processing system 12 ' are now the navigation system 6 recorded position data of the endoscope 2 and the body 5 and the captured 3D data of the surface of the body cavity of the body 5 merged. In this way, the exact location of this from the measuring system 3 recorded surface with all measured structures relative to the body 5 be determined.
  • In the evaluation unit 7 are the ones from the data processing system 12 ' merged position data from endoscope 2 and body 5 as well as the TOF sensor 4 captured 3D data used to capture the preoperatively recorded 3D image data 21 of the body 5 to update. The information currently obtained during the operation on the surface of the body cavity of the body 5 So are in the preoperatively recorded 3D image data 21 and these in turn adapted to reflect the current situation of the operation. This updated 3D image data set 22 is on a presentation unit 8th displayed and thus made available to the surgeon.
  • Updating the preoperative 3D image data 21 may comprise different modes according to the invention. In particular, a tissue ablation, for example, in the case of surgical removal of a tumor or of bone tissue, is represented in such a way that the in the preoperative image data 21 existing structures that are ablated during ablation from the preoperative image data 21 removed or by another representation on the display unit 8th be replaced or marked in color.
  • Also, specific surface information, such as fluorescent tissue, in the updated 3D image data set 22 represented and marked, for example, color and stored.
  • Furthermore, a tissue structure or an implant detected in the intraoperative 3D data in the body 5 into the preoperative 3D image data 21 displayed selectively by another texture.
  • The entire course of the surgery can thus be continuously recorded and documented quantitatively and the updated 3D image data 22 be used for further decisions on the continuation of the procedure.
  • Another mode is in 2 shown. The endoscope 2 is located with the distal end in the body cavity 26 of the body 5 , Due to the limited field of view 23 of the endoscope 2 is through the measuring system 3 only a limited part of the surface 24 the body cavity 26 detected. A remaining surface 25 the body cavity 26 will not be measured. It is therefore beneficial if the endoscope 2 with measuring system 3 designed as a wide-angle system to the largest possible part of the body cavity 26 capture and measure three-dimensionally.
  • It is advantageous if the endoscope 2 is at least partially fixed via an endoscope holder (not shown). The acquisition of 3D data of the surface of the body cavity 26 via the measuring system 3 can thus be averaged over a period of time during which no tissue manipulation is performed. An accurate result is achieved.
  • With the endoscope not visible or not measured areas 25 The surface can assist in updating the preoperative 3D image data 21 not directly taken into account. These areas are called pseudostructures in the updated 3D image data 22 shown. In this illustration, the measured surfaces 24 opposite the non-measured surfaces 25 especially marked in color. In this way, the surgeon can distinguish which parts of the body 5 in the presentation 8th be updated constantly, and which not.
  • In addition, a non-measured structure 25 the body cavity 26 be determined by computational interpolation, in which on the basis of the measured 3D data and the non-measured 3D image data interpolated updated 3D image data 22 through the evaluation unit 7 be determined and optionally specially marked and on the display unit 8th as interpolated surfaces 27 be issued selectively.
  • LIST OF REFERENCE NUMBERS
  • 1
     contraption
    2
     endoscope
    3
     measuring system
    4
     TOF sensor
    5
     body
    6
     navigation system
    7
     evaluation
    8th
     display unit
    9
     Means for transmitting light
    10
     camera
    11
     light source
    12, 12 '
     Data processing equipment
    13
     light-emitting element
    14
     stereo display
    15, 15 '
     marker
    16
     navigation camera
    17
     sensor
    18
     beamsplitter
    20
     tomograph
    21
     preoperative 3D image data
    22
     updated 3D image data
    23
     Field of view of the endoscope
    24
     measured surface
    25
     non-measured surface
    26
     body cavity
    27
     interpolated surface
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
  • Cited patent literature
    • DE 10333543 A1 [0002]
    • EP 2162050 A1 [0006]
    • EP 1597539 A1 [0016]
    • DE 102008018636 A1 [0017]

Claims (21)

  1. Method for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) with regard to the current operative situation, whereby intraoperatively exo or endoscopic 3D data are acquired intracorporally and with these the 3D image data ( 21 ), characterized in that the detection of the 3D data by means of a at least partially in an exo- or endoscope ( 2 ) integrated measuring system ( 3 ), that a detection of the position of the exo- or endoscope ( 2 ) by means of a navigation system ( 6 ), and that a correction of the preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) using the navigation system ( 6 ) recorded position data of the exo- or endoscope ( 2 ) and by the measuring system ( 3 ) recorded current exo- or endoscopic 3D data takes place.
  2. Method for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to claim 1, characterized in that in addition a detection of the position of the body ( 5 ) by means of a navigation system ( 6 ), and that a correction of the 3D image data ( 21 ) of a body ( 5 ) using the navigation device ( 6 ) captured positional data of the body ( 5 ) he follows.
  3. Method for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to claim 1 or 2, characterized in that the continuous determination of the position of the endoscope ( 2 ) and the body ( 5 ) based on an optical or electromagnetic navigation principle.
  4. Method for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to one of claims 1 to 3, characterized in that in the measuring system ( 3 ) was based on triangulation or on an optical or electromagnetic propagation time measurement.
  5. Method for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to any one of claims 1 to 4, characterized in that tissue-specific surface information in particular by means of an integrated fluorescence method obtained and for updating the 3D image data ( 21 ) is used.
  6. Method for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to one of claims 1 to 5, characterized in that the update is carried out using one or more of the following different modes: - virtual removal of tissue in the preoperatively recorded 3D image data ( 21 ) - virtual superimposition of tissue-specific endoscopically acquired surface information in preoperatively recorded 3D image data ( 21 ), - virtual insertion of tissue or implant materials in preoperatively recorded 3D image data ( 21 ).
  7. Method for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to one of claims 1 to 6, characterized in that in addition to the modification and storage of the 3D image data ( 21 ) additionally the modified 3D image data ( 22 ) being represented.
  8. Method for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to one of claims 1 to 7, characterized in that preoperative 3D image data ( 21 ) of a body ( 5 ) with artificial markers or natural landmarks, in particular by means of a tomography system ( 20 ) and that intraoperatively a referencing of the coordinate systems of the preoperative 3D image data ( 21 ) and the body ( 5 ) on the basis of artificial markers or landmarks.
  9. Method for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to one of claims 1 to 8, characterized in that 3D image data ( 22 ) are interpolated and updated outside of an area detected by the measuring system on the basis of the 3D image data, the position data and in particular the 3D data.
  10. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to a method of one of the preceding claims, characterized in that the device ( 1 ) comprises the following components: an exo- or endoscope ( 2 ) with a measuring system ( 3 ) for the intraoperative acquisition of 3D data, - a navigation system ( 6 ) for detecting the position of the exo- or endoscope ( 2 ) and in particular the body ( 5 ), - an evaluation unit ( 7 ) for updating 3D image data ( 21 ) on the basis of the exo- or endoscopically recorded 3D data of the body ( 5 ) and the location data and - a presentation unit ( 8th ) for displaying the updated 3D image data ( 22 ).
  11. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) one Body ( 5 ) according to claim 10, characterized in that the measuring system ( 3 ) is designed so that it is based on an optical triangulation several positions of the surface of the observed body ( 5 ) and missed.
  12. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to claim 10, characterized in that the measuring system ( 3 ) is designed so that it is based on a time-of-flight measurement (time-of-flight) several positions of the considered surface of the body ( 5 ) and missed.
  13. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to claim 12, characterized in that the measuring system ( 3 ) Means of the exo- or endoscope ( 2 ) for exo- or endoscopic image or light transmission ( nine ) used.
  14. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to one of claims 10 to 13, characterized in that the evaluation unit ( 7 ) has a mode in which virtual tissue in 3D image data ( 21 ) is plotted according to the exo- or endoscopically recorded 3D data.
  15. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to one of claims 10 to 14, characterized in that the evaluation unit ( 7 ) has a mode in which 3D image data ( 21 ) are superimposed with tissue-specific endoscopic surface information.
  16. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to one of claims 10 to 15, characterized in that the evaluation unit ( 7 ) has a mode in which to virtually tissue or implant material in 3D image data ( 21 ) is displayed according to the 3D data.
  17. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to one of claims 10 to 16, characterized in that the device ( 1 ) an endoscope ( 2 ) with associated camera ( 10 ) and a light source ( 11 ) operable in a white light and a fluorescence mode.
  18. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to claim 17, characterized in that a single light-emitting element ( 13 ) for the measuring system ( 3 ) and the fluorescence mode is provided in particular with a uniform wavelength range or spectrum.
  19. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to claim 17 or 18, characterized in that the device ( 1 ) is designed so that 3D data of the measuring system ( 3 ) and exo- or endoscopic image data and / or fluorescence image data can be detected simultaneously.
  20. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to claim 19, characterized in that the device ( 1 ) is designed so that from the 3D data of the measuring system ( 3 ) and exo or endoscopic image data and / or fluorescence image data, a stereo image is calculated and displayed on a stereo display ( 14 ) is pictured.
  21. Contraption ( 1 ) for updating preoperatively recorded 3D image data ( 21 ) of a body ( 5 ) according to any one of claims 10 to 20, characterized in that the exo- or endoscope ( 2 ) has a diameter of 12 mm or less, in particular less than 6 mm.
DE102011087357A 2011-11-29 2011-11-29 Method for updating preoperatively recorded three-dimensional image data of body by preoperatively recorded three-dimensional image data updating device, involves correcting three-dimensional image data using position data of endoscope Pending DE102011087357A1 (en)

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