Apparatus and method for photogrammetric surgical localization

A method for determining a position of a medical instrument relative to a patient's anatomy, comprising:

• providing volume scan data representative of an anatomy;
• establishing a medical workspace using sensors;
• identifying portions of the anatomy through selective illumination of the anatomy;
• computing positions of the identified portions with respect to the medical workspace;
• deriving a relation between the medical workspace and the volume scan data using the computed positions of the identified portions;
• tracking the position of a medical instrument using the sensors;
• and
• aligning the position of a region of interest and the position of medical instrument by using the relation.

A method for determining the position of a medical instrument relative to a patient's anatomy within a medical workspace, comprising:

• providing volume scan data representative of a patient's anatomy, the volume scan data having a first 3D coordinate framework;
• arranging a first camera and a second camera along respective first and second sightlines of a medical workspace, wherein the first and second sightlines are arranged at an angle;
• acquiring a first pair of images of the medical workspace, wherein each image of the first pair is acquired using the first and second video camera;
• calibrating the first and second camera to each other and the medical workspace;
• establishing a second 3D coordinate framework of the medical workspace utilizing the first pair of images;
• illuminating a plurality of points on the surface of the patient's anatomy with a laser, the selection of the plurality of points being one of manual and automatic selection;
• acquiring subsequent pairs of images of the medical workspace using the first and second cameras taken along the first and second sightlines, respectively, as used by the first pair of images;
• computing the positions of the plurality of points in the second 3D coordinate framework using the subsequent image pairs;
• deriving a correspondence between the first 3D coordinate framework and the second 3D coordinate framework;
• providing pattern recognition data and medical instrument structure data corresponding to a plurality of different medical instruments;
• recognizing a medical instrument from the plurality of different medical instruments, appearing in the subsequent image pairs, using the recognition and medical instrument structure data;
• tracking a position of an operative portion of the medical instrument in the second 3D coordinate framework using the subsequent pairs of images;
• determining a position of a region of interest in the second 3D coordinate framework, using the correspondence and a position of the region of interest described in the first 3D coordinate framework;
• and
• comparing the positions of the operative portion of the medical instrument and the region of interest in the first 3D coordinate framework.

A method for determining the position of a medical instrument relative to a patient's anatomy within a medical workspace, comprising:

• providing volume scan data representative of a patient's anatomy, the volume scan data having a first 3D coordinate framework;
• providing a fiducial structure within a medical workspace containing the patient's anatomy, wherein the fiducial structure includes a plurality of markers arranged to define a 3D coordinate system;
• arranging a first camera and a second camera along respective first and second sightlines of a medical workspace, wherein the first and second sightlines are arranged at an angle;
• acquiring a first pair of images of the medical workspace containing the fiducial structure, wherein each image of the first pair is acquired using the first and second cameras;
• calibrating the first and second cameras to each other and the medical workspace;
• establishing a second 3D coordinate framework of the medical workspace containing the fiducial structure utilizing the first pair of images;
• illuminating a plurality of points on the surface of the patient's anatomy with a laser, the selection of the plurality of points being one of manual and automatic selection;
• acquiring subsequent pairs of images of the medical workspace using the first and second cameras taken along the first and second sightlines, respectively, as used by the first pair of images;
• computing the positions of the plurality of points in the second 3D coordinate framework using the subsequent image pairs;
• deriving a correspondence between the first 3D coordinate framework and the second 3D coordinate framework;
• providing pattern recognition data and medical instrument structure data corresponding to a plurality of different medical instruments;
• recognizing a medical instrument from the plurality of different medical instruments, appearing in the subsequent image pairs, using the recognition and medical instrument structure data;
• tracking a position of an operative portion of the medical instrument in the second 3D coordinate framework using the subsequent pairs of images;
• determining a position of a region of interest in the second 3D coordinate framework, using the correspondence and a position of the region of interest described in the first 3D coordinate framework;
• and
• comparing the positions of the operative portion of the medical instrument and the region of interest in the first 3D coordinate framework.