Dartmouth College

Xiaoyao Fan

Keith Douglas Paulsen

Songbai Ji

David W Roberts

Alexander Hartov

Sohail K Mirza

Alex Hartov

William R Warner

An intraoperative stereovision system has a stereo imager configured to provide stereo images at first and second time (iSV0, iSV(n)) to an image processor configured with a computerized mechanical model of a spinal column, the computerized mechanical model configured to model vertebrae as rigid, displaceable, bodies. The image processor is configured to extract an iSV0 surface model from iSV0 and an iSV(n) surface model from the iSV(n); to register these surfaces, and identify differences therefrom. The image processor is configured to adjust the computerized mechanical model according to the identified differences thereby causing the adjusted computerized mechanical model to track the iSV(n) surface model at each of multiple timepoints.

Intraoperative stereovision-based vertebral position monitoring

This invention provides a hand-held stereovision (HHS) system that is an efficient, accurate, and radiation-free imaging device to acquire intraoperative profiles of the exposed spine in prone position. The reconstructed intraoperative stereovision surfaces (iSV) are registered with preoperative CT (pCT; supine position) in a nonrigid fashion to generate updated CT images (uCT) and correct for vertebral posture and alignment changes. Updated CT images are uploaded to a commercial navigation system for surgical navigation.

Hand-held stereovision system for image updating in surgery

A surgical guidance system has two cameras to provide stereo image stream of a surgical field; and a stereo viewer. The system has a 3D surface extraction module that generates a first 3D model of the surgical field from the stereo image streams; a registration module for co-registering annotating data with the first 3D model; and a stereo image enhancer for graphically overlaying at least part of the annotating data onto the stereo image stream to form an enhanced stereo image stream for display, where the enhanced stereo stream enhances a surgeon's perception of the surgical field. The registration module has an alignment refiner to adjust registration of the annotating data with the 3D model based upon matching of features within the 3D model and features within the annotating data; and in an embodiment, a deformation modeler to deform the annotating data based upon a determined tissue deformation.

Surgical navigation with stereovision and associated methods

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.

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Lebanon, NH, United States of America

Xiaoyao Fan