WO2007115825A1 - Procédé et dispositif d'augmentation sans enregistrement - Google Patents

Procédé et dispositif d'augmentation sans enregistrement Download PDF

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Publication number
WO2007115825A1
WO2007115825A1 PCT/EP2007/003204 EP2007003204W WO2007115825A1 WO 2007115825 A1 WO2007115825 A1 WO 2007115825A1 EP 2007003204 W EP2007003204 W EP 2007003204W WO 2007115825 A1 WO2007115825 A1 WO 2007115825A1
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WO
WIPO (PCT)
Prior art keywords
tracked
camera
image
anatomy
registration
Prior art date
Application number
PCT/EP2007/003204
Other languages
English (en)
Inventor
Nassir Navab
Marco Feuerstein
Original Assignee
Nassir Navab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nassir Navab filed Critical Nassir Navab
Publication of WO2007115825A1 publication Critical patent/WO2007115825A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00043—Operational features of endoscopes provided with output arrangements
    • A61B1/00045—Display arrangement
    • A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2055—Optical tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Definitions

  • This invention relates to a method and to a device, which is a registration-free augmentation device, for collocating the view of a tracked endocope with an intraoperative reconstruction of anatomy for image guided surgery using an endoscope or another camera and a C-arm or another imaging device capable of intraoperative 3D or 4D reconstructions of anatomy with one or more co-registered tracking systems to localize the endoscope, the imaging device and its reconstructions, as well as additional surgical instruments in a common coordinate system.
  • a mix or overlay of preoperatively acquired patient data on live camera or endoscope images in real time is disclosed. Tracking systems are utilized to track the camera.
  • the disadvantage of these methods is that a cumbersome registration of the preoperative patient data is necessary.
  • a further disadvantage of these methods is that the deformation of the anatomy caused by the new boundary condition of the intervention makes it that the preoperative patient data does not match the actual situation unless the deformations and changes in the anatomy are estimated. This is however error prone and often not reliable and not fast enough for an intra-operative use. Manual, semi-automatic or other known registration techniques are required to achieve the co- registration of all coordinate systems.
  • US 6,851,855 discloses the use of a mobile C-arm and a calibration phantom to localize the C- arm in coordinate system allocated to the tracking system resulting in co-registeration of reconstructed patient volume and the tracking system.
  • an additional instrument can be used to navigate in the patient volume without further registration steps.
  • US 6,851 ,855 and US 6,932,506 do not introduce other tracked imaging devices such as endoscopic cameras, which are commonly used for minimally invasive surgery. Therefore the relationship of such imaging devices to the C-arm is not known in a common coordinate system.
  • Image guided surgery usually requires a preoperative patient data set, which is registered to the patient anatomy and surgical instruments. By means of a tracking system, the surgical instruments are related to the patient data to guide the surgeon to the operating region.
  • preoperative imaging data can hardly be used for this guidance due to intraoperative organ deformations caused by appliance of carbon dioxide pneumoperitoneum, respiratory motion, lung deflation, and heart beat.
  • Intraoperatively acquired 3D or 4D volume reconstructions can however provide updated data of the patient anatomy to more accurately guide the surgeon.
  • the object of the present invention is to improve visualization methods for image guided surgery of the above type such that the said disadvantages of the known arrangements are avoided and that in particular the disadvantage of the cumbersome registration of the preoperative patient data, the further disadvantage namely the lack of matching of the preoperative patient data to the actual patient anatomy and finally the disadvantage of the missing of visual augmented information for the surgeon are compensated and thus a more reliable operation is guaranteed.
  • the invention achieves this objective for a computer guided surgery using a registration-free augmentation device by providing real-time images acquired with an endoscope that can be brought into the same coordinate system as the volume reconstructed by a mobile or stationary C-arm capable of cone beam CT or another intraoperative imaging device or devices capable of volume reconstruction.
  • the position and orientation of the imaging devices and a camera such as an endoscope or laparoscope is determined by multiple co-registered tracking systems.
  • the volume can be augmented on the view of the endoscope in real time to provide the surgeon with a visualization of anatomical structures, which cannot be seen by the endoscope.
  • the method is called registration-free in the sense that the patient or the target to be visualized is not used for registration.
  • a further advantageous feature of the registration-free augmentation device is the superimposition of information onto the endoscope image using any monitor.
  • Fig. 1 a schematic view of a tracked imaging device by the example of an optically tracked X-ray C-arm
  • Fig. 2 a schematic view of a tracked camera by the example of an optically tracked laparoscope
  • Fig. 3 a schematic view of a tracked instrument by the example of an optically tracked pointer
  • Fig. 4 a schematic view of a laparoscopic intervention on a body with an optical tracking, system, a tracked laparoscope, a tracked X-ray C-arm, and the combined visualization
  • Fig. 5 schematic views of body tissue, respective volumetric image data and semi-transparent
  • Fig. 6 a block diagram outlining the synchronized recording and processing of data.
  • Figure 1 shows a schematic of a tracked imaging device 1 by the example of an optically tracked X-ray C-arm.
  • the apparatus consists of two major parts, an imaging device 11 capable of intraoperative acquisition of volumetric image data, either as 3D or 4D data sets, and a tracking body of imaging device 12 rigidly attached to the moving part of the imaging device 11.
  • the tracking body of imaging device 12 can be an instance of an optical tracking body with retro- reflective balls. Nevertheless, the system could use different means of position and orientation tracking as well.
  • the volumes (not shown) recorded by the imaging device 1 are sent to a computer for instance via Ethernet (not shown).
  • FIG. 2 shows a schematic of a tracked camera 2 by the example of an optically tracked laparoscopic camera with a forward-oblique telescope.
  • the tracked camera 2 consists of two major parts, the camera 21 and a tracking body of camera 22 attached to the camera 21.
  • the image data is processed in the laparoscope's base station (not shown) and transmitted to the computer using for example the NTSC standard (not shown).
  • the drawing shows an optical tracking system that could be replaced by any other system providing position and orientation data.
  • the camera 21 has been calibrated in advance for example by using a checkerboard pattern. Besides the projection parameters, undistorted information has been recovered using standard procedures. Finally, the transformation from the tracking body of camera 22 to the centre coordinates of the camera 21 is estimated using hand-eye-calibration. - A -
  • Figure 3 shows a schematic of a tracked instrument 3 through an example of an optically tracked pointer.
  • the tracked instrument 3 has an instrument 31 and a tracking body of instrument 32, which is for instance an optical tracking target but could be replaced by any other tracking system as well.
  • Figure 4 shows a schematic view of an actual surgical intervention.
  • the world coordinate system is defined by a tracking system 4, which is for instance an optical tracking system that could be replaced by any other suitable tracking system.
  • the body 5 is scanned using the tracked imaging device 1 thus obtaining volumetric image data of a portion of anatomy 51.
  • the tracked camera 2 is inserted through a trocar for camera 24 providing a live image of tracked camera 23 (ref. Fig. 5) from the abdominal cavity that must be undistorted.
  • the computer creates a rendered image of 3D or 4D volume 13 (ref. Fig. 5) using the current camera parameters and merges both images into one augmented view 25.
  • depth information can be used to create more realistic renderings by synthesizing occlusions.
  • some useful three-dimensional visualization can be used to convey depth information to the user for example using a head-mounted display, shutter glasses or anaglyphs.
  • the colors and opacity of the data voxels can be chosen arbitrarily to visualize certain features of the data set by defining a suitable transfer function, usually by the means of an online transfer function editor.
  • Figure 5 shows a schematic of the available information, which are the augmented view 25 generated by the system from an undistorted live image of tracked camera 23 and of the anatomy 51 as provided by the tracked camera 2 and a rendered image of the 3D or 4D volume 13. Besides the anatomy 51, the tip of an instrument 31 can be visualized in the camera image 23 and hence in the augmented view 25 as well. This provides the surgeon with a more natural view of the intervention as occlusions can be rendered naturally.
  • depth information can be used to create more realistic renderings by synthesizing occlusions.
  • some useful three- dimensional visualization can be used to convey depth information to the user for example using a head-mounted display, shutter glasses or anaglyphs.
  • the colors and opacity of the data voxels can be chosen arbitrarily to visualize certain features of the data set by defining a suitable transfer function, usually by the means of an online transfer function editor.
  • Figure 6 shows a flow chart of the system. Three patterns, namely the information from the tracking system 4, the data from the tracked imaging device 1, and feed time-stamped records of the tracked camera 2 are processed by a computer.
  • Position and orientation tracking records are stored for the moving part of the imaging device 11 as measured for the attached tracking body of imaging device 12, the camera 21 as measured for the attached tracking body of camera 22, and the instrument 31 as measured for the attached tracking body of instrument 32.
  • the records are synchronized such that the newest corresponding readings are used.
  • the system generates the visualization as described for Fig. 4 from the best datasets.
  • Imaging device 11 imaging device 12 tracking body of imaging device 13 image of 3D or 4D volume

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Endoscopes (AREA)

Abstract

Cette invention concerne un dispositif d'augmentation sans enregistrement conçu pour enregistrer une image d'une caméra de poursuite (23) présentant une reconstruction peropératoire d'une anatomie (51) à des fins de chirurgie guidée par l'image avec un ou plusieurs systèmes de poursuite conjointement enregistrés (4), au moins une caméra de poursuite (2) et un dispositif d'imagerie de poursuite (1) conçus pour la reconstruction peropératoire en 3D ou en 4D de l'anatomie (51). Le mode de réalisation consiste à déplacer le dispositif d'imagerie (11) et la caméra (21) dans le même système de coordonnés, de telle sorte que les données acquises par les deux différents systèmes d'imagerie puissent être visualisés simultanément à l'intérieur du même espace. Une image d'un volume (13) en 3D ou en 4D de l'anatomie (51) est visualisée et enregistrée de manière spatiale à l'aide de la géométrie de visualisation de la caméra de poursuite (2), superposée sur une image ou sur un ensemble d'images de la caméra de poursuite (2), ce qui permet d'obtenir une vue augmentée (25).
PCT/EP2007/003204 2006-04-12 2007-04-11 Procédé et dispositif d'augmentation sans enregistrement WO2007115825A1 (fr)

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Cited By (20)

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WO2010067281A1 (fr) 2008-12-11 2010-06-17 Koninklijke Philips Electronics N.V. Système et procédé de génération d'images de l'intérieur et de l'extérieur d'un patient
WO2011026958A1 (fr) * 2009-09-07 2011-03-10 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Procédé de superposition d'une image intra-opératoire instantanée d'un champ opératoire avec une image préopératoire du champ opératoire
WO2012056034A1 (fr) * 2010-10-28 2012-05-03 Fiagon Gmbh Accessoire de navigation pour appareils optiques en médecine et procédé associé
WO2015086364A1 (fr) * 2013-12-10 2015-06-18 Koninklijke Philips N.V. Enregistrement exempt de radiation d'un système de détection d'une forme optique sur un système d'imagerie
WO2015091226A1 (fr) * 2013-12-19 2015-06-25 Koninklijke Philips N.V. Vue laparoscopique étendue avec une vision à rayons x
WO2015091015A3 (fr) * 2013-12-19 2015-09-03 Koninklijke Philips N.V. Dispositif de suivi d'objet
US10070828B2 (en) 2013-03-05 2018-09-11 Nview Medical Inc. Imaging systems and related apparatus and methods
US10499997B2 (en) 2017-01-03 2019-12-10 Mako Surgical Corp. Systems and methods for surgical navigation
EP2599433B1 (fr) * 2011-11-29 2020-03-11 Karl Storz SE & Co. KG Dispositif d'acquisition de données 3d endoscopique
US10758209B2 (en) 2012-03-09 2020-09-01 The Johns Hopkins University Photoacoustic tracking and registration in interventional ultrasound
US10806346B2 (en) 2015-02-09 2020-10-20 The Johns Hopkins University Photoacoustic tracking and registration in interventional ultrasound
US10846860B2 (en) 2013-03-05 2020-11-24 Nview Medical Inc. Systems and methods for x-ray tomosynthesis image reconstruction
US11291507B2 (en) 2018-07-16 2022-04-05 Mako Surgical Corp. System and method for image based registration and calibration
US11357574B2 (en) 2013-10-31 2022-06-14 Intersect ENT International GmbH Surgical instrument and method for detecting the position of a surgical instrument
US11430139B2 (en) 2019-04-03 2022-08-30 Intersect ENT International GmbH Registration method and setup
US11610346B2 (en) 2017-09-22 2023-03-21 Nview Medical Inc. Image reconstruction using machine learning regularizers
US11612307B2 (en) 2016-11-24 2023-03-28 University Of Washington Light field capture and rendering for head-mounted displays
US11741619B2 (en) 2021-01-04 2023-08-29 Propio, Inc. Methods and systems for registering preoperative image data to intraoperative image data of a scene, such as a surgical scene
US12016642B2 (en) 2021-09-08 2024-06-25 Proprio, Inc. Constellations for tracking instruments, such as surgical instruments, and associated systems and methods
US12034904B2 (en) 2021-09-22 2024-07-09 Proprio, Inc. Endoscopic imaging systems for generating three dimensional images, and associated systems and methods

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Cited By (34)

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US8553839B2 (en) 2008-12-11 2013-10-08 Koninklijke Philips N.V. System and method for generating images of a patient's interior and exterior
EP2375988A1 (fr) * 2008-12-11 2011-10-19 Koninklijke Philips Electronics N.V. Système et procédé de génération d'images de l'intérieur et de l'extérieur d'un patient
WO2010067281A1 (fr) 2008-12-11 2010-06-17 Koninklijke Philips Electronics N.V. Système et procédé de génération d'images de l'intérieur et de l'extérieur d'un patient
WO2011026958A1 (fr) * 2009-09-07 2011-03-10 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Procédé de superposition d'une image intra-opératoire instantanée d'un champ opératoire avec une image préopératoire du champ opératoire
US9641808B2 (en) 2010-10-28 2017-05-02 Fiagon Gmbh Navigating attachment for optical devices in medicine, and method
CN103237518A (zh) * 2010-10-28 2013-08-07 菲亚戈股份有限公司 在医学中用于光学仪器的导航附加部和方法
EP2632382B1 (fr) 2010-10-28 2017-09-20 Fiagon AG Medical Technologies Accessoire de navigation pour appareils optiques en médecine et procédé associé
WO2012056034A1 (fr) * 2010-10-28 2012-05-03 Fiagon Gmbh Accessoire de navigation pour appareils optiques en médecine et procédé associé
EP2599433B1 (fr) * 2011-11-29 2020-03-11 Karl Storz SE & Co. KG Dispositif d'acquisition de données 3d endoscopique
US10758209B2 (en) 2012-03-09 2020-09-01 The Johns Hopkins University Photoacoustic tracking and registration in interventional ultrasound
US10846860B2 (en) 2013-03-05 2020-11-24 Nview Medical Inc. Systems and methods for x-ray tomosynthesis image reconstruction
US10070828B2 (en) 2013-03-05 2018-09-11 Nview Medical Inc. Imaging systems and related apparatus and methods
US11357574B2 (en) 2013-10-31 2022-06-14 Intersect ENT International GmbH Surgical instrument and method for detecting the position of a surgical instrument
WO2015086364A1 (fr) * 2013-12-10 2015-06-18 Koninklijke Philips N.V. Enregistrement exempt de radiation d'un système de détection d'une forme optique sur un système d'imagerie
US10786309B2 (en) 2013-12-10 2020-09-29 Koninklijke Philips N.V. Radiation-free registration of an optical shape sensing system to an imaging system
CN105873538A (zh) * 2013-12-10 2016-08-17 皇家飞利浦有限公司 光学形状感测系统到成像系统的无辐射配准
JP2016539713A (ja) * 2013-12-10 2016-12-22 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． イメージングシステムへの光学形状検知システムの放射線のない登録
RU2687883C2 (ru) * 2013-12-19 2019-05-16 Конинклейке Филипс Н.В. Устройство слежения за объектом
CN105578985B (zh) * 2013-12-19 2017-09-01 皇家飞利浦有限公司 对象跟踪设备
CN105578985A (zh) * 2013-12-19 2016-05-11 皇家飞利浦有限公司 对象跟踪设备
WO2015091015A3 (fr) * 2013-12-19 2015-09-03 Koninklijke Philips N.V. Dispositif de suivi d'objet
WO2015091226A1 (fr) * 2013-12-19 2015-06-25 Koninklijke Philips N.V. Vue laparoscopique étendue avec une vision à rayons x
US10542959B2 (en) 2013-12-19 2020-01-28 Koninklijke Philips N.V. Object tracking device
US10806346B2 (en) 2015-02-09 2020-10-20 The Johns Hopkins University Photoacoustic tracking and registration in interventional ultrasound
US11612307B2 (en) 2016-11-24 2023-03-28 University Of Washington Light field capture and rendering for head-mounted displays
US10499997B2 (en) 2017-01-03 2019-12-10 Mako Surgical Corp. Systems and methods for surgical navigation
US11707330B2 (en) 2017-01-03 2023-07-25 Mako Surgical Corp. Systems and methods for surgical navigation
US11610346B2 (en) 2017-09-22 2023-03-21 Nview Medical Inc. Image reconstruction using machine learning regularizers
US11806090B2 (en) 2018-07-16 2023-11-07 Mako Surgical Corp. System and method for image based registration and calibration
US11291507B2 (en) 2018-07-16 2022-04-05 Mako Surgical Corp. System and method for image based registration and calibration
US11430139B2 (en) 2019-04-03 2022-08-30 Intersect ENT International GmbH Registration method and setup
US11741619B2 (en) 2021-01-04 2023-08-29 Propio, Inc. Methods and systems for registering preoperative image data to intraoperative image data of a scene, such as a surgical scene
US12016642B2 (en) 2021-09-08 2024-06-25 Proprio, Inc. Constellations for tracking instruments, such as surgical instruments, and associated systems and methods
US12034904B2 (en) 2021-09-22 2024-07-09 Proprio, Inc. Endoscopic imaging systems for generating three dimensional images, and associated systems and methods

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