Combined surface reconstruction and registration for laparoscopic surgery
US9129422B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 6, 2014 |
| Grant date | Sep 8, 2015 |
| Priority date | — |
| Expiry date | Jun 2, 2034 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG06T2210/41
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A computer-implemented method of performing a combined surface reconstruction and registration of stereo laparoscopic images includes a computer system generating an intraoperative three-dimensional model of an anatomical area of interest and receiving a plurality of stereo endoscopic images of the anatomical area of interest from a laparoscope. The computer system performs a first stereo reconstruction process using the stereo endoscopic images to yield a first surface image corresponding to the anatomical area of interest and aligns the first surface image with a surface of the intraoperative three-dimensional model using a rigid registration process. Then, the computer system performs a second stereo reconstruction process using the first surface image and prior knowledge from a pre-operative three dimensional model to yield a second surface image corresponding to the anatomical area of interest and aligns the second surface image with the surface of the intraoperative three-dimensional model using a non-rigid registration process.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.