Method and apparatus for quantitative and depth resolved hyperspectral fluorescence and reflectance imaging for surgical guidance

A system for surgical guidance of surgeons operating on an organ comprising:

• a stereo camera configured to captured intraoperative stereo images of the organ in a surgical field;
• a processor adapted to extract a 3-D surface model from the intraoperative stereo images;
• fluorescence imaging apparatus configured to captured fluorescence images of the organ;
• the processor further configured to:
• preoperative model of the organ built from one or both of preoperative MRI and CAT scan data,
• input or identify an initial tumor location of a tumor in the organ,
• input or identify initial key structure locations of key structures in the preoperative model of the organ,
• extract initial tissue surface features from the preoperative model of the organ;
• generate a 3-D map of fluorophore concentrations in tissue;
• determine a 3-D warp field that maps the initial tissue surface features into surface features of the intraoperative 3-D surface model of the organ,
• execute a mechanical model of the organ to determine shift of the initial tumor location to an intraoperative tumor location in the organ corresponding to when the interoperative images were captured, and
• determine shift of the key structures from the initial key structure locations to intraoperative structure locations corresponding to when the interoperative stereo images were captured;
• and
• a display device;
• the processor being configured to display the intraoperative tumor location in the organ with intraoperative key structure locations and the 3-D map of fluorophore concentrations in tissue.