Marker-free tracking registration and calibration for em-tracked endoscopic system
AssigneeKoninklijke Philips Electronics N.V.
InventorsXin Liu, Luis Felipe Gutierrez
Life of this patent
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Abstract
A system and method for image-based registration between images locating (304) a feature in a pre-operative image and comparing (307) real-time images taken with a tracked scope with the pre-operative image taken of the feature to find a real-time image that closely matches the pre-operative image. A closest match real-time image is registered (308) to the pre-operative image to determine a transformation matrix between a position of the pre-operative image and a position of the real-time image provided by a tracker such that the transformation matrix permits tracking real-time image coordinates using the tracker in pre-operative image space.
Claims21
A method for image-based registration between images, comprising:
- locating (304) a feature in a pre-operative image;
- comparing (307) real-time images taken with a tracked scope with the pre-operative image taken of the feature to find a real-time image that closely matches the pre-operative image;
- and
- registering (308) a closest match real-time image to the pre-operative image to determine a transformation matrix between a position of the pre-operative image and a position of the real-time image provided by a tracker such that the transformation matrix permits tracking real-time image coordinates using the tracker in pre-operative image space.
A system for image-based registration between images, comprising:
- an endoscope (406) including a camera (408) for collecting real-time images during a procedure, the endoscope including a tracker (410) for locating a tip of the endoscope;
- and
- a computer implemented program (412) stored in memory media configured to compare a set of real-time images taken by the camera with a pre-operative image for a same subject to find a closest match between the real-time images and the pre-operative image, the program being configured to determine a transformation matrix (420) to enable endoscopic tracking using pre-operative image space free from the use of contact markers.
A method for camera position calibration for guided endoscopy, comprising:
- collecting (350) pre-operative images of a subject having markers;
- touching (352) each of the markers using a tracker to register the pre-operative image and a camera images associated with the tracker;
- determining (354) a preoperative image associated with an endoscope location at a first position as determined by the tracker;
- adjusting (356) the endoscope until an image obtained by the camera matches with the pre-operative image at a second position as determined by the tracker;
- and
- determining (358) a rotation and translation matrix between the first and second positions to calibrate the tracker to the camera.
A system for camera position calibration for guided endoscopy, comprising:
- an endoscope (108) including a camera (130) for collecting real-time images during a procedure, the endoscope including a tracker (104) for locating a tip of the endoscope;
- pre-operative images collected using markers (122), the pre-operative images having coordinates registered with coordinates of the tracker by touching each of the markers using the tracker;
- and
- a rotation and translation matrix (113) stored in memory and derived by a motion of adjusting the endoscope from a first position to a second position where the first position includes a first camera pose and the second position includes a second camera pose which better matches a reference pre-operative image such that the matrix provides calibration between the tracker and the camera.
Dependencies are inferred from the claim text.