Locating tumors using structured light scanning
Provided in accordance with the present disclosure are systems for identifying a position of target tissue relative to surgical tools using a structured light detector. An exemplary system includes antennas configured to interact with a marker placed proximate target tissue inside a patient's body, a structured light pattern source, a structured light detector, a display device, and a computing device configured to receive data from the antennas indicating interacting with the marker, determine a distance between the antennas and the marker, cause the structured light pattern source to project and detect a pattern onto the antennas. The instructions may further cause the computing device to determine, a pose of the antennas, determine, based on the determined distance between the antennas and the marker, and the determined pose of the antennas, a position of the marker relative to the antennas, and display the position of the marker relative to the antennas.
1 . A surgical system, comprising:
a medical imaging device configured to acquire medical images of a surgical site within a patient; and
a computing device operably coupled to the medical imaging device, the computing device including a processor and a memory storing instructions which, when executed by the processor, cause the computing device to:
determine a position and an orientation of a surgical tool relative to a structured light detector by determining a distortion of at least a portion of a pattern projected onto the surgical tool;
receive medical images acquired by the medical imaging device;
determine a distance between the surgical tool and a target within the patient based on the determined position and an orientation pose of the surgical tool;
cause a display device to display at least one of:
an image guidance view including at least one medical image of the received medical images acquired by the medical imaging device and a representation of the surgical tool relative to the target based on the determined position and an orientation of the surgical tool; and
a textual guidance view including the determined distance between the surgical tool and the target.
2 . The system according to claim 1 , wherein the instructions, when executed by the processor, cause the computing device to cause the display device to display the image guidance view and the textual guidance view.
3 . The system according to claim 1 , wherein the instructions, when executed by the processor, cause the computing device to:
identify a marker in at least one of the medical images;
identify the target in at least one of the medical images;
determine a position of the target relative to the marker; and
determine a distance between the surgical tool and the target.
4 . The system according to claim 3 , wherein the distance between the surgical tool and the target is determined based on the determined position of the target relative to the marker.
5 . The system according to claim 1 , wherein the instructions, when executed by the processor, cause the computing device to:
identify a marker in at least one of the medical images;
identify an edge of the target in at least one of the medical images;
determine a position of the edge of the target relative to the marker; and
determine a distance between the surgical tool and the edge of the target.
6 . The system according to claim 5 , wherein the instructions, when executed by the processor, cause the computing device to display the determined distance between the surgical tool and the edge of the target.
7 . The system according to claim 5 , wherein the distance between the surgical tool and the edge of the target is determined based on the determined position of the edge of the target relative to the marker.
8 . The system according to claim 1 , wherein the surgical tool includes an antenna configured to be percutaneously inserted through tissue.
9 . The system according to claim 1 , wherein the structured light detector includes at least one of an infrared imaging device, a laser, or an LED laser emitting a collimated beam.