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US 12,746,071 B2Granted
Computer-impemented method for determining a transformation specification with preoperative image data using search images from a surgical microscope
AssigneeCarl Zeiss Meditec AG
InventorsStefan Saur, Christoph Hauger
Life of this patent
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Abstract
Various examples relate to techniques for recording, in association with surgery carried out on a patient, measurement data with depth resolution, such that, on the basis thereof, it is possible to determine a transformation specification which mediates between images captured by means of a robotic visualization system, e.g. a surgical microscope, and preoperative volume image data.
Claims20
A computer-implemented method, comprising:
- actuating a robotic visualization system that includes a surgical microscope for recording search images which at least partly depict a patient, wherein the robotic visualization system is actuated in order to record at least two search image sequences, wherein each of the at least two search image sequences comprises a plurality of corresponding search images,
- during the recording of the at least two search image sequences, actuating at least one motor of the robotic visualization system in order to reposition the robotic visualization system multiple times, such that the plurality of search images of the respective search image sequence scan a search region assigned to the respective search image sequence, wherein a first search region is assigned to a first search image sequence of the at least two search image sequences, wherein a second search region is assigned to a second search image sequence of the at least two search image sequences, wherein the robotic visualization system is first actuated for recording the first search image sequence and is subsequently actuated for recording the second search image sequence,
- evaluating one or more of the search images of the first search image sequence and, based on evaluating the one or more of the search images of the first search image sequence, determining values for at least one imaging parameter of the robotic visualization system which is used for recording the second search image sequence,
- determining an arrangement of a target region in at least one of the search images,
- based on the arrangement of the target region in the at least one of the search images, actuating the robotic visualization system for recording measurement data with depth resolution, wherein the measurement data is indicative of a topography of an anatomy of the patient,
- based on the topography of the anatomy of the patient, determining a transformation specification between images recorded by the robotic visualization system and preoperative volume image data of the patient, and
- controlling the surgical microscope to capture images during surgery and implementing computer-assisted surgery by superimposing the preoperative volume image data and the captured images based on the transformation specification.
4 more elements
A data processing unit, configured to carry out the following steps:
- actuating a robotic visualization system that includes a surgical microscope for recording search images which at least partly depict a patient, wherein the robotic visualization system is actuated in order to record at least two search image sequences, wherein each of the at least two search image sequences comprises a plurality of corresponding search images,
- during the recording of the at least two search image sequences, actuating at least one motor of the robotic visualization system in order to reposition the robotic visualization system multiple times, such that the plurality of search images of the respective search image sequence scan a search region assigned to the respective search image sequence, wherein a first search region is assigned to a first search image sequence of the at least two search image sequences, wherein a second search region is assigned to a second search image sequence of the at least two search image sequences, wherein the robotic visualization system is first actuated for recording the first search image sequence and is subsequently actuated for recording the second search image sequence,
- evaluating one or more of the search images of the first search image sequence and, based on evaluating the one or more of the search images of the first search image sequence, determining values for at least one imaging parameter of the robotic visualization system which is used for recording the second search image sequence,
- determining an arrangement of a target region in at least one of the search images, and
- based on the arrangement of the target region in the at least one of the search images, actuating the robotic visualization system for recording measurement data with depth resolution, wherein the measurement data is indicative of a topography of an anatomy of the patient,
- based on the topography of the anatomy of the patient, determining a transformation specification between images recorded by the robotic visualization system and preoperative volume image data of the patient, and
- controlling the surgical microscope to capture images during surgery and implementing computer-assisted surgery by superimposing the preoperative volume image data and the captured images based on the transformation specification.
4 more elements
Dependencies are inferred from the claim text.