IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
US-0912099
(2006-04-20)
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등록번호 |
US-7480402
(2009-01-20)
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국제출원번호 |
PCT/IL06/000474
(2006-04-20)
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§371/§102 date |
20071019
(20071019)
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국제공개번호 |
WO06/111965
(2006-10-26)
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발명자
/ 주소 |
|
출원인 / 주소 |
|
대리인 / 주소 |
|
인용정보 |
피인용 횟수 :
9 인용 특허 :
9 |
초록
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System for displaying an augmented image of an organ of a patient, including an image fusion processor coupled with a stereoscopic image detector, a tomographic image processor, and with a display, the tomographic image processor being further coupled with a tomographic image detector, the stereosco
System for displaying an augmented image of an organ of a patient, including an image fusion processor coupled with a stereoscopic image detector, a tomographic image processor, and with a display, the tomographic image processor being further coupled with a tomographic image detector, the stereoscopic image detector producing a pair of stereoscopic images respective of an exposed region of the organ, the tomographic image detector acquiring at least one two dimensional image of a concealed region of the organ, the concealed region being concealed from the view of the stereoscopic image detector, the tomographic image processor producing at least one tomographic image representation of the concealed region, according to an output of the tomographic image detector, the image fusion processor registering the pair of stereoscopic images with the tomographic image representation, the image fusion processor producing the augmented image, by superimposing the tomographic image representation on the pair of stereoscopic images, the display displaying the augmented image.
대표청구항
▼
The invention claimed is: 1. System for displaying an augmented image of an organ of a patient, the system comprising: an image fusion processor coupled with a stereoscopic image detector, a tomographic image processor, and with a display, said tomographic image processor being further coupled with
The invention claimed is: 1. System for displaying an augmented image of an organ of a patient, the system comprising: an image fusion processor coupled with a stereoscopic image detector, a tomographic image processor, and with a display, said tomographic image processor being further coupled with a tomographic image detector, said stereoscopic image detector producing a pair of stereoscopic images respective of an exposed region of said organ, said tomographic image detector acquiring at least one two-dimensional image of a concealed region of said organ, said concealed region being concealed from the view of said stereoscopic image detector, said tomographic image processor producing at least one tomographic image representation of said concealed region, according to an output of said tomographic image detector, said image fusion processor registering said pair of stereoscopic images with said at least one tomographic image representation, said image fusion processor producing said augmented image, by superimposing said at least one tomographic image representation on said pair of stereoscopic images, said display displaying said augmented image. 2. The system according to claim 1, further comprising a user interface coupled with said image fusion processor, said image fusion processor controlling at least one visual feature of at least one of said 5 at least one tomographic image representation and said pair of stereoscopic images, according to an output of said user interface. 3. The system according to claim 1, wherein the type of said tomographic image detector is selected from the list consisting of: o ultrasonic; infrared; computer tomography; magnetic resonance imager; positron emission tomography; and single photon emission computer tomography. 4. The system according to claim 1, wherein said display is selected from the list consisting of: cathode ray tube; autostereoscopic display; head-mounted display; volumetric display; and multi liquid crystal display. 5. The system according to claim 1, wherein said at least one tomographic image representation is a three-dimensional image reconstructed by said image fusion processor, according to said at least one two-dimensional image. 6. The system according to claim 1, wherein said at least one 0 tomographic image representation includes said at least one two-dimensional image. 7. The system according to claim 1, wherein said image fusion processor registers said pair of stereoscopic images with said at least 5 one tomographic image representation, according to a first set of three-dimensional coordinates respective of a first set of at least three points in a first reconstructed three-dimensional image, reconstructed from said pair of stereoscopic images, and according to a second set of three-dimensional coordinates respective of a second set of at o least three points, in said at least one tomographic image representation. 8. The system according to claim 7, wherein each of said first set of at least three points and said second set of at least three points, is associated with an anatomic landmark located on said exposed region, wherein said stereoscopic image detector acquires a first image of said anatomic landmark, said first image including said first set of at least three points, and wherein said tomographic image detector acquires a second image of said anatomic landmark, said second image including said second set of at least three points. 9. The system according to claim 7, wherein each of said first set of at least three points and said second set of at least three points, is associated with at least one fiducial which is attached to said organ, wherein said stereoscopic image detector acquires a first image of said at least one fiducial, in said exposed region, said first image including said first set of at least three points, and wherein said tomographic image detector acquires a second image of said at least one fiducial, in said concealed region, said second image including said second set of at least three points. 10. The system according to claim 9, wherein said at least one fiducial includes a single fiducial, in the form of a conical pyramid, wherein said first image is associated with a base of said single fiducial, and wherein said second image is associated with a cross section of said single fiducial. 11. The system according to claim 10, wherein the geometry of said base is a polygon selected from the list consisting of: square; rectangle; triangle; pentagon; hexagon; parallelogram; and trapezoid. 12. The system according to claim 9, wherein said at least one fiducial is o constructed from a plurality of layers, each of said layers having a different physical characteristic, such that said tomographic image processor can determine the location of a respective one of said at least one two-dimensional image, along a longitudinal axis of a respective one of said at least one fiducial, relative to a base of said 5 respective at least one fiducial, according to said different physical characteristic. 13. The system according to claim 7, wherein said image fusion processor determines a first coordinate and a second coordinate of o said first set of three-dimensional coordinates, according to indices of respective pixels respective of said first set of at least three points, in a first image detected by said stereoscopic image detector, wherein said image fusion processor determines a third coordinate of said first set of three-dimensional coordinates, in a 5 direction along an optical axis respective of said stereoscopic image detector, according to a disparity value respective of respective points of said first set of at least three points, and wherein said image fusion processor determines said second set of three-dimensional coordinates, according an output of said 0 tomographic image processor. 14. The system according to claim 9, wherein said at least one fiducial includes a single fiducial in the form of a conic pyramid. 15. The system according to claim 9, wherein said at least one fiducial includes at least three fiducials, each of said at least one fiducials being in the form of a right circular cylinder. 16. Method for displaying an augmented image of an organ of a patient, the method comprising the procedures of: registering a pair of stereoscopic images of an exposed region of said organ, with at least one tomographic image representation respective of a concealed region of said organ, said concealed region being concealed from the view of a stereoscopic image detector, acquiring said pair of stereoscopic images; producing said augmented image, by superimposing said at least one tomographic image representation on said pair of stereoscopic images; and displaying said augmented image. 17. The method according to claim 16, comprising a preliminary procedure of acquiring said pair of stereoscopic images by said stereoscopic image detector. 18. The method according to claim 16, comprising a preliminary 5 procedure of producing said at least one tomographic image representation by a tomographic image processor, according to at least one two-dimensional image of said concealed region, detected by a tomographic image detector. 19. The method according to claim 16, comprising a procedure of controlling at least one visual feature respective of at least one of said at least one tomographic image representation and said pair of stereoscopic images, before performing said procedure of displaying. 20. The method according to claim 16, comprising a preliminary procedure of producing an image of a selected portion of said concealed region, by applying a segmentation algorithm to said tomographic image representation. 21. The method according to claim 16, comprising a preliminary procedure of reconstructing a three-dimensional image, according to at least one two-dimensional image of said concealed region, thereby producing said at least one tomographic image representation. 22. The method according to claim 16, wherein said at least one tomographic image representation is a three-dimensional image reconstructed by said image fusion processor, according to said at least one two-dimensional image. 23. The method according to claim 16, wherein said at least one tomographic image representation includes at least one two-dimensional image of said concealed region. 24. The method according to claim 16, wherein said procedure of producing comprises the procedures of: producing a first two-dimensional projection, by projecting a three-dimensional image of said organ, on a first image plane defined by a stereoscopic image detector acquiring said pair of stereoscopic images, according to at least one two-dimensional image of said concealed region, said first image plane being determined according to said procedure of registering; and producing a second two-dimensional projection, by projecting said three-dimensional image on a second image plane defined by said stereoscopic image detector, according to said at least one two-dimensional image, said second image plane being determined according to said procedure of registering. 25. The method according to claim 24, wherein each of said procedures of producing said first two-dimensional projection and said second two-dimensional projection, is performed by defining a first set of pixels in said at least one tomographic image representation, and defining a second set of pixels in said pair of stereoscopic images, and wherein every pixel in said first set of pixels substantially corresponds to a matching pixel in said second set of pixels. 26. The method according to claim 16, wherein said procedure of registering is enhanced according to an output of a position and orientation determining system, coupled with said stereoscopic image detector and with a tomographic image detector, acquiring at least one two-dimensional image of said concealed region. 27. The method according to claim 26, wherein the type of said position and orientation determining system is selected from the list consisting of: electromagnetic; optic; and sonic. 28. The method according to claim 16, wherein said procedure of registering is performed according to a first set of three-dimensional coordinates respective of a first set of at least three points in a first reconstructed three-dimensional image, reconstructed from said pair of stereoscopic images, and according to a second set of three-dimensional coordinates respective of a second set of at least three points, in said at least one tomographic image representation. 29. The method according to claim 28, wherein each of said first set of at least three points and said second set of at least three points, is associated with an anatomic landmark located on said exposed region, wherein said stereoscopic image detector acquires a first image of said anatomic landmark, said first image including said first set of at least three points, and wherein a tomographic image detector, acquiring at least one two-dimensional image of said concealed region, acquires a second image of said anatomic landmark, said second image including said second set of at least three points. 30. The method according to claim 28, wherein each of said first set of at least three points and said second set of at least three points, is associated with at least one fiducial which is attached to said organ, wherein said stereoscopic image detector acquires a first image of said at least one fiducial, in said exposed region, said first image including said first set of at least three points, and wherein said tomographic image detector, acquiring at least one two-dimensional image of said concealed region, acquires a second image of said at least one fiducial, in said concealed region, said second image including said second set of at least three points. 31. The method according to claim 30, wherein said at least one fiducial is constructed from a plurality of layers, each of said layers having a different physical characteristic, such that a tomographic image processor producing said tomographic image representation, can determine the location of a respective one of said at least one two-dimensional image, along a longitudinal axis of a respective one of said at least one fiducial, relative to a base of said respective at least one fiducial, according to said different physical characteristic. 32. The method according to claim 28, further comprising the procedures of: determining a first coordinate and a second coordinate of said first set of three-dimensional coordinates, according to indices of respective pixels respective of said first set of at least three points, in a first image detected by said stereoscopic image detector; determining a third coordinate of said first set of three-dimensional coordinates, in a direction along an optical axis respective of said stereoscopic image detector, according to a disparity value respective of respective points of said first set of at least three points, and determining said second set of three-dimensional coordinates, according an output of a tomographic image processor producing said tomographic image representation. 33. The method according to claim 16, further comprising a procedure of applying an attenuation function to said at least one tomographic image representation, before performing said procedure of displaying, such that a most recent light intensity of the most recent one of said at least one tomographic image representation, is greater than a least recent light intensity of the least recent one of said at least one tomographic image representation. 34. The method according to claim 16, wherein said procedure of registering is performed by: determining a rotation of said at least one tomographic image representation relative to said pair of stereoscopic images, according to a Quaternion vector respective of said at least one tomographic image representation and said pair of stereoscopic images; determining a translation of said at least one tomographic image representation relative to said pair of stereoscopic images, according to a first centeroid respective of a first coordinate system respective of said at least one tomographic image representation, and a second centeroid respective of a second coordinate system respective of said pair of stereoscopic image, and determining a scale of at least one of said at least one tomographic image representation relative to said pair of stereoscopic images, according to a first set of scaling values respective of said first coordinate system, and a second set of scaling values respective of said second coordinate system. 35. The method according to claim 16, wherein said registering procedure is performed by determining a rotation between said at least one tomographic image representation and said pair of stereoscopic images, by determining a first Quaternion vector and a second Quaternion vector, said first Quaternion vector being determined by: acquiring a first image of a set of at least three points, located on a flat anatomic plane associated with said organ; acquiring a second image of said set of at least three points, by said stereoscopic image detector; determining a line at which a first plane respective of said first image, intersects a second plane respective of said second image, and rotating at least one of said first plane and said second plane, about said line, such that said first plane and said second plane are located substantially on the same plane; and said second Quaternion vector being determined by rotating at least one of said first plane and said second plane, about a normal common to said first plane and said second plane, such that said set of at least three points in said first image are substantially aligned with those on said second image. 36. The method according to claim 16, wherein said procedure of registering is performed by determining a plurality of corresponding points in said at least one tomographic image representation and in said pair of stereoscopic images. 37. The method according to claim 36, wherein said corresponding points are determined according to a procedure selected from the list consisting of: iterative closest points; distance invariant; feature based; and three-dimensional cross correlation.
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