Combined surface reconstruction and registration for laparoscopic surgery

A surface reconstruction and laparoscopic technology, applied in the fields of surgery, application, medical science, etc., can solve the problems of complex surface texture registration, small field of view, limited information amount, etc.

Active Publication Date: 2014-08-27
SIEMENS HEATHCARE GMBH
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Problems solved by technology

Additionally, laparoscopic cameras typically provide a small field of view, which limits the amount of information available for registration of preoperati

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  • Combined surface reconstruction and registration for laparoscopic surgery
  • Combined surface reconstruction and registration for laparoscopic surgery
  • Combined surface reconstruction and registration for laparoscopic surgery

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Embodiment Construction

[0021] The following disclosure describes the invention in terms of several embodiments relating to methods, systems and devices for combining resurfacing and registration procedures for use in laparoscopic surgical applications. Fusion of 3D preoperative models and laparoscopic images into a single space is challenging due to, for example, tissue deformation, small field of view of laparoscopic cameras, and lack of common features across modalities. In some embodiments, these challenges are addressed by first generating an intra-operative three-dimensional model of the tissue and registering the model to the laparoscopic image. This alleviates some problems such as tissue deformation caused by insufflation. The various methods, systems, and devices described herein offer several additional benefits over conventional systems, including, but not limited to: improved registration accuracy, visualization of three-dimensional anatomical models in laparoscopic video, improved robus...

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Abstract

A computer-implemented method of performing a combined surface reconstruction and registration of stereo laparoscopic images includes a computer system generating an intraoperative three-dimensional model of an anatomical area of interest and receiving a plurality of stereo endoscopic images of the anatomical area of interest from a laparoscope. The computer system performs a first stereo reconstruction process using the stereo endoscopic images to yield a first surface image corresponding to the anatomical area of interest and aligns the first surface image with a surface of the intraoperative three-dimensional model using a rigid registration process. Then, the computer system performs a second stereo reconstruction process using the first surface image and prior knowledge from a pre-operative three dimensional model to yield a second surface image corresponding to the anatomical area of interest and aligns the second surface image with the surface of the intraoperative three-dimensional model using a non-rigid registration process.

Description

[0001] This application claims priority to US Provisional Application Serial No. 61 / 768,682, filed February 25, 2013, which is hereby incorporated by reference in its entirety. technical field [0002] The following disclosure describes the invention in terms of several embodiments relating to methods, systems and devices for combining resurfacing and registration procedures for use in laparoscopic surgical applications. The technique is particularly well suited, but not limited to, surgical applications utilizing three-dimensional models generated intraoperatively, for example using a rotating angiography system. Background technique [0003] In minimally invasive abdominal surgery such as hepatectomy, laparoscopic cameras are used to provide the surgeon with visualization of anatomical regions of interest. For example, when removing a tumor, the surgeon's goal is to safely remove the tumor without damaging critical structures such as blood vessels. [0004] To plan surger...

Claims

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Application Information

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IPC IPC(8): A61B19/00G06T11/00G06T17/00
Inventor P.芒特尼M.阿伦A.卡普尔P.努尔德P.梅韦斯
Owner SIEMENS HEATHCARE GMBH
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