Dartmouth College

Alex Hartov

Keith Douglas Paulsen

David W Roberts

Songbai Ji

Xiaoyao Fan

Brian William Pogue

Frederic Leblond

Scott Christian Davis

Dax Kepshire

A system for, and method of, extracting a surface profile from a stereo pair of images obtained at an arbitrary setting S of an optical system, includes determining surface profile reconstruction parameters for images obtained with the optical system at a reference setting So of the optical system; determining warping parameters for a digital image processor for warping images obtained with the optical system at the arbitrary setting S into images corresponding to the reference setting So; obtaining the stereo pair of images from at least one camera of the optical system; warping the stereo pair of images into images corresponding to the reference setting So, and using the surface profile reconstruction parameters to determine the surface profile. In a particular embodiment, the surface profile is passed to a computer model of tissue deformation and used to determine an intra-surgery location of a tumor or other anatomic feature of tissue.

Method and apparatus for calibration of stereo-optical three-dimensional surface-mapping system

A system and method for determining intraoperative locations of a lesion in tissue from lesion locations determined in preoperative imaging includes determining three dimensional locations of surface features of the organ in the preoperative images. A preoperative surface map is extracted from stereo images annotated with surface features from preoperative images. An intraoperative surface map of the organ is extracted from stereo images, and surface features are identified in the stereo images corresponding to surface features annotated into the preoperative surface map. Three dimensional displacements of the surface features are determined and used to constrain a computer model of deformation of the organ. In embodiments, the model of deformation is adapted or constrained to model locations and dimensions of surgical cavities using an optical flow method and/or locations of surgical instruments in the organ. The model of deformation is used to determine intraoperative locations for the lesion.

Method and apparatus for determining tumor shift during surgery using a stereo-optical three-dimensional surface-mapping system

A method for providing patient registration without fiducials comprises the steps of: spatially placing an ultrasound image of a patient randomly at different starting positions relative to a preoperative image; creating an independent registration corresponding to each different starting positions, by optimizing a spatial transformation between the preoperative image and the ultrasound image to provide a first batch of registrations; executing a second registration to fine-tune the alignment between the preoperative image and the ultrasound image; and concatenating the spatial transformation to obtain spatial transformation between the patient in an operating room and a corresponding preoperative image.

System and method for providing patient registration without fiducials

A system and methods are presented for emulating the appearance of prominent features captured in ultrasound through directional dilation of a magnetic resonance gradient image along a direction determined by the relative ultrasound scan-head location with respect to the magnetic resonance gradient image in order to improve the robustness and reliability of registration.

System and method for registering ultrasound and magnetic resonance images

A tomographic fluorescent imaging device for imaging fluorophores in biological tissues has a scanned laser for scanning the tissue and a camera for receiving light from the biological tissue at an angle to the beam at a second wavelength ten or more nanometers greater in wavelength than the wavelength of the laser. Use of both intrinsic and extrinsic fluorophores is described. Images are obtained at each of several positions of the beam. An image processing system receives the series of images, models a path of the beam through the tissue, and determines depth of fluorophore in tissue from intersections of the modeled path of the beam and the path of the received light. The laser is of 600 nm or longer wavelength, to provide penetration of tissue. The imaging device is used during surgery to visualize lesions of various types to ensure complete removal of malignant tumors. An alternative embodiment uses differences in intensity of fluorescent radiation from tissue as observed at different wavelengths to determine depth of fluorophore in tissue. An embodiment operates at multiple wavelengths to construct tomographic images of chromophores, such as hemoglobin, and is capable of dynamic imaging.

Method and apparatus for depth-resolved fluorescence, chromophore, and oximetry imaging for lesion identification during surgery

A dual imaging probefor obtaining both ultrasound and electrical impedance data is disclosed along with methods of using the dual imaging probeto interrogate tissue. An electrical impedance imaging overlayis adapted to be positioned on a transducer windowof an ultrasound probe, and may be integrally formed as part of the ultrasound probeor as a modular adapter for coupling with, and optionally uncoupling from, an ultrasound probeto form the dual imaging probe. A method (FIG.) of reconstructing composite images using both ultrasound and electrical impedance data is described. Applications for medical diagnosis are described. A particular use for prostate imaging is described.

Growing community of inventors

Enfield, NH, United States of America

Alex Hartov