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US 11,883,105 B2Granted
Surgical navigation system using image segmentation
AssigneeSynaptive Medical Inc.
InventorsArun Victor Jagga, Cameron Piron
Life of this patent
Estimating the term…
Abstract
A system for tracking a piece of medical equipment intraoperatively using a collinear array of fiducial markers positioned at known fixed distances relative to each other on the medical equipment and a camera capturing an image on a single image plane. Representations of the fiducial markers are segmented from a captured image, 3D orientation and position of the medical equipment are calculated using the segmented representations, and the orientation and position of the medical equipment are tracked relative to the camera. The orientation and position of the medical equipment may be registered within a 3D virtual space. The system may be used as part of a surgical navigation system.
Claims18
A system for intraoperatively tracking a medical equipment within a three-dimensional virtual space in real time, the system comprising:
- a collinear array comprising a plurality of fiducial markers, each fiducial marker disposed at a known fixed distance relative to another fiducial marker in relation to the medical equipment, the plurality of fiducial markers comprising a plurality of active fiducial markers configured to emit a plurality of signals, each active fiducial marker comprising a flashing light-emitting diode, the plurality of active fiducial markers configured to emit the plurality of signals at a distinct combination of frequencies that is distinguishable from that of another plurality of active fiducial markers of another plurality of fiducial markers to uniquely identify the medical equipment relative to another medical equipment;
- a camera for capturing an image of the medical equipment on a single image plane, to thereby provide a captured image, the captured image comprising an image of at least some fiducial markers of the plurality of fiducial markers;
- and
- a processor configured to receive input from the camera and configured by a set of instructions to:
- segment a plurality of representations of the plurality of fiducial markers from the captured image, to thereby provide a plurality of segmented representations;
- calculate a three-dimensional orientation and a position of the medical equipment using the plurality of segmented representations;
- track the three-dimensional orientation and the position of the medical equipment relative to the camera;
- and
- register the three-dimensional orientation and the position of the medical equipment within the three-dimensional virtual space.
6 more elements
A surgical navigation system for intraoperatively tracking a medical equipment in real time, the system comprising:
- a first medical equipment;
- a first collinear array comprising a plurality of a first set of fiducial markers coupled with the first medical equipment, each fiducial marker of the first set of fiducial markers disposed at a known fixed distance relative to another fiducial marker of the first set of fiducial markers in relation to the first medical equipment, the first set of fiducial markers comprising a plurality of active fiducial markers configured to emit a plurality of signals, each active fiducial marker comprising a flashing light-emitting diode, the plurality of active fiducial markers configured to emit the plurality of signals at a distinct combination of frequencies that is distinguishable from that of a second set of fiducial markers having another plurality of active fiducial markers to uniquely identify the first medical equipment relative to a second medical equipment;
- a first camera for capturing an image of the first medical equipment on a single image plane, to thereby provide a captured image, the captured image comprising an image of at least some fiducial markers of the first set of fiducial markers;
- a second camera for tracking the second set of fiducial markers;
- and
- a processor configured to receive the input from the first camera and the second camera, the processor configured by a set of instructions to:
- register the second set of fiducial markers within a three-dimensional virtual space;
- segment a plurality of representations of the first set of fiducial markers from the captured image, to thereby provide a plurality of segmented representations;
- calculate a three-dimensional orientation and a position of the first medical equipment using the plurality of segmented representations;
- and
- register the three-dimensional orientation and the position of the first medical equipment within the three-dimensional virtual space.
8 more elements
A method of fabricating a system for intraoperatively tracking a medical equipment within a three-dimensional virtual space in real time, the method comprising:
- providing a collinear array comprising a plurality of fiducial markers, each fiducial marker disposed at a known fixed distance relative to another fiducial marker in relation to the medical equipment, the plurality of fiducial markers comprising a plurality of active fiducial markers configured to emit a plurality of signals, each active fiducial marker comprising flashing light-emitting diode, the plurality of active fiducial markers configured to emit the plurality of signals at a distinct combination of frequencies that is distinguishable from that of another plurality of active fiducial markers of another plurality of fiducial markers to uniquely identify the medical equipment relative to another medical equipment;
- providing a camera for capturing an image of the medical equipment on a single image plane, to thereby provide a captured image, the captured image comprising an image of at least some fiducial markers of the plurality of fiducial markers of the medical equipment;
- and
- providing a processor configured to receive input from the camera and configured by a set of instructions to:
- segment a plurality of representations of the plurality of fiducial markers for the medical equipment from the captured image, to thereby provide a plurality of segmented representations;
- calculate a three-dimensional orientation and a position of the medical equipment using the plurality of segmented representations;
- track the three-dimensional orientation and the position of the medical equipment relative to the camera;
- and
- register the three-dimensional orientation and the position of the one medical equipment within the three-dimensional virtual space.
6 more elements
Dependencies are inferred from the claim text.