Intraoperative camera calibration for endoscopic surgery

A technology of endoscope and camera, applied in the field of real-time tracking of surgical tools
CN103313675AInactive Publication Date: 2013-09-18KONINKLIJKE PHILIPS ELECTRONICS NV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
KONINKLIJKE PHILIPS ELECTRONICS NV
Publication Date
2013-09-18
Estimated Expiration
Not applicable · inactive patent

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Abstract

A surgical navigation system employs an endoscope (30) and an imaging unit (80). The endoscope (30) include an electromagnetic tracker (40) within a working channel of endoscope (30) for generating electromagnetic sensing signals indicative of one or more poses of the endoscope (30) within an anatomical region, and an endoscopic camera (50) within an imaging channel of the endoscope (30) for generating endoscopic images of the anatomical region. The imaging unit (80) executes an intraoperative calibration of the electromagnetic tracker (40) and the endoscopic camera (50) as a function of an image registration between the preoperative scan image of a calibration site within the anatomical region and one or more endoscopic images of the calibration site within the anatomical region.
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Description

technical field

[0001] The present invention generally relates to real-time tracking of surgical tools within an anatomical region of the body based on pre-operative scan images and endoscopic images of the anatomical region. The present invention specifically relates to calculating an offset transformation matrix between an endoscopic camera and an electromagnetic ("EM") tracker using a pre-operative scan image of an anatomical region and one or more endoscopic images. Background technique

[0002] EM-guided endoscopy has been recognized as a valuable tool for many pulmonary applications. The advantage of this technique over traditional endoscopy is based on the real-time link to a three-dimensional ("3D") roadmap of the lung while performing an interventional procedure. This linking requires tracking of the endoscope tip in a global coordinate system to thus integrate endoscopic images of the lungs with preoperative scan images of the lungs (e.g. computed tomography image...

Claims

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