Combined surface reconstruction and registration for laparoscopic surgery

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.

Description

[0001] This application claims priority to US Provisional Application Serial No. 61 / 768,682, filed February 25, 2013, which is hereby incorporated by reference in its entirety. technical field [0002] The following disclosure describes the invention in terms of several embodiments relating to methods, systems and devices for combining resurfacing and registration procedures for use in laparoscopic surgical applications. The technique is particularly well suited, but not limited to, surgical applications utilizing three-dimensional models generated intraoperatively, for example using a rotating angiography system. Background technique [0003] In minimally invasive abdominal surgery such as hepatectomy, laparoscopic cameras are used to provide the surgeon with visualization of anatomical regions of interest. For example, when removing a tumor, the surgeon's goal is to safely remove the tumor without damaging critical structures such as blood vessels. [0004] To plan surger...

AI Technical Summary

Problems solved by technology

Additionally, laparoscopic cameras typically provide a small field of view, which limits the amount of information available for registration of preoperative models

Furthermore, for some tissues, registration is further complicated by the absence of tissue surface texture and common landmarks across modalities

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