Method, system and apparatus for tracking surgical imaging devices

A computing device comprising a processor, the processor configured to:

• receive a first intraoperative image of a first area of a patient from a first imaging device, the first intraoperative image having a first intraoperative image resolution finer than a preoperative image resolution of a preoperative image;
• receive a position of the first imaging device in a coordinate system from an optical tracking system;
• receive a second intraoperative image of a second area of the patient from a second imaging device, the second intraoperative image depicting the second area within the first area, and the second intraoperative image having a second intraoperative image resolution finer than that of the first intraoperative image resolution;
• register the second intraoperative image with the first intraoperative image, thereby providing a registration of the second intraoperative image with the first intraoperative image;
• determining a position of the second imaging device in the coordinate system based on the registration of the second intraoperative image with the first intraoperative image;
• determine whether a subsequent imaging device is detected, and
• when the subsequent imaging device is detected,
• receive a subsequent intraoperative image of a subsequent area of the patient from the subsequent imaging device, the subsequent intraoperative image depicting the subsequent area within a previous area, and the subsequent intraoperative image having a subsequent intraoperative image resolution finer than a previous intraoperative image resolution;
• register the subsequent intraoperative image with a previous intraoperative image, thereby providing a registration of the subsequent intraoperative image with the previous intraoperative image;
• and
• determine a position of the subsequent imaging device in the coordinate system based on the registration of the subsequent intraoperative image with the previous intraoperative image;
• and
• otherwise, control a display to present the preoperative image overlaid with the first intraoperative image, the first intraoperative image overlaid with second intraoperative image, based on the position of the second imaging device,
• the previous intraoperative image overlaid with the subsequent intraoperative image, and each of the first intraoperative image and the second intraoperative image related to a distinct imaging modality.

A method of providing a computing device for tracking positions of surgical imaging devices, the method comprising providing a processor configured to:

• receive a first intraoperative image of a first area of a patient from a first imaging device, the first intraoperative image having a first intraoperative image resolution finer than that of a preoperative image;
• receive a position of the first imaging device in a coordinate system from an optical tracking system;
• receive a second intraoperative image of a second area of the patient from a second imaging device, the second intraoperative image depicting the second area within the first area, and the second intraoperative image having a second intraoperative image resolution finer than that of the first intraoperative image resolution;
• register the second intraoperative image with the first intraoperative image, thereby providing a registration of the second intraoperative image with the first intraoperative image;
• determining a position of the second imaging device in the coordinate system based on the registration of the second intraoperative image with the first intraoperative image;
• determine whether a subsequent imaging device is detected, and
• when the subsequent imaging device is detected,
• receive a subsequent intraoperative image of a subsequent area of the patient from the subsequent imaging device, the subsequent intraoperative image depicting the subsequent area within a previous area, and the subsequent intraoperative image having a subsequent intraoperative image resolution finer than a previous intraoperative image resolution;
• register the subsequent intraoperative image with a previous intraoperative image, thereby providing a registration of the subsequent intraoperative image with the previous intraoperative image;
• and
• determine a position of the subsequent imaging device in the coordinate system based on the registration of the subsequent intraoperative image with the previous intraoperative image;
• and
• otherwise, control a display to present the preoperative image overlaid with the first intraoperative image, the first intraoperative image overlaid with second intraoperative image, based on the position of the second imaging device,
• the previous intraoperative image overlaid with the subsequent intraoperative image, and
• each of the first intraoperative image and the second intraoperative image related to a distinct imaging modality.