Stereo imaging acquisition by lens translation
View Patent ↗A stereo-imaging device that operates by translating a single lens in front of an exposed imaging sensor, or translating one of the objective lens group for higher image quality. The device and method is used as a surgical instrument guide. An objective lens with a translating lens part can directly attached in front of a camera with an exposed sensor or an endoscopic circuit with an exposed imaging fiber bundle surface to capture/record the image shift generated by the lens translation. The stereo-imaging device can realize a camera which can swing back and forth from regular 2D image capturing mode to the stereo mode to capture images for 3D viewing, or a switchable stereo endoscope without size increases of multiple imaging systems to be used for periodical 3D inspections.
1. A method for tracking a surgical instrument during internal surgery, the method comprising:
providing a video sensor configured to image an observed area containing at least a portion of the surgical instrument and an area around the surgical instrument;
directing light from the observed area through a lens to the video sensor, wherein the lens is at a first linear extent and wherein the video sensor captures a first image;
translating the lens in a linear direction to a second linear extent, wherein δ is a lens translating distance defined by a distance between the first linear extent and the second linear extent;
directing light from the observed area through the lens at the second linear extent to the video sensor, wherein the video sensor captures a second image;
processing the first image and the second image to estimate a position of the surgical instrument relative to the area around the surgical instrument, wherein the track of the surgical instrument is based upon the position estimate; and
establishing the track of the surgical instrument based upon the position estimate, and
wherein an image shift Δ between the first image and the second image is equal to δ×(γ+1) where γ is a magnification of an object related to a distance of the object from the lens.
2. The method according to claim 1 , wherein processing the first image and the second image to estimate a position comprises processing the first image and the second image to produce a stereo image of the observed area and establishing the track of the surgical instrument comprises viewing the stereo image.
3. The method according to claim 1 , wherein the lens is housed in a device attached to the surgical instrument.
4. The method according to claim 1 , wherein processing the first image and the second image to estimate a position of the surgical instrument comprises:
calculating a shift value for a reference point on an object within the observed area between the first image and the second image; and
calculating a distance to the object based on the shift value.
5. The method according to claim 4 , further comprising:
providing an alert based on the calculated distance.
6. A method for tracking a surgical instrument during internal surgery, the method comprising:
providing a surgical instrument;
providing a surgical instrument guide attached to the surgical instrument; wherein the surgical instrument guide has a MEMS translation lens optical system providing an image shift;
providing a video sensor configured to image an observed area containing at least a portion of the surgical instrument and an area around the surgical instrument;
directing light from the observed area through the MEMS translation lens optical system to the video sensor, wherein the MEMS translation lens optical system is at a first linear extent and wherein the video sensor captures a first image;
translating the MEMS translation lens optical system in a linear direction to a second linear extent;
directing light from the observed area through the MEMS translation lens optical system at the second linear extent to the video sensor, wherein the video sensor captures a second image;
processing the first image and the second image to estimate a position of the surgical instrument relative to the area around the surgical instrument, wherein the track of the surgical instrument is based upon the position estimate; and
establishing the track of the surgical instrument based upon the position estimate,
and wherein the MEMS translation lens optical system provides an image shift according to the following equation:
visible image shift Δ=δ×(γ+1)
where δ is a physical shift distance of a translating lens relative to an optical axis of the MEMS translation lens optical system in the MEMS translation portion; and
where γ is a magnification of an object related to a distance of the object from the translating lens.
7. The method of claim 6 , said surgical instrument having means for displaying a 3-D image of the observed area, said image optionally including the surgical instrument or portions thereof and/or portions of an operational field.
8. A method for tracking a surgical instrument during internal surgery, the method comprising:
providing a video sensor configured to image an observed area containing at least a portion of the surgical instrument and an area around the surgical instrument;
directing light from the observed area through a lens to the video sensor, wherein the lens is at a first linear extent and wherein the video sensor captures a first image;
translating the lens in a linear direction to a second linear extent;
directing light from the observed area through the lens at the second linear extent to the video sensor, wherein the video sensor captures a second image;
processing the first image and the second image to estimate a position of the surgical instrument relative to the area around the surgical instrument, wherein the track of the surgical instrument is based upon the position estimate; and
establishing the track of the surgical instrument based upon the position estimate,
wherein the lens has an optical axis and wherein translating the lens in a linear direction comprises translating the lens in a direction transverse to the optical axis.
9. The method according to claim 8 , wherein processing the first image and the second image to estimate a position comprises processing the first image and the second image to produce a stereo image of the observed area and establishing the track of the surgical instrument comprises viewing the stereo image.
10. The method according to claim 8 , wherein the lens is housed in a device attached to the surgical instrument.
11. The method according to claim 8 , wherein processing the first image and the second image to estimate a position of the surgical instrument comprises:
calculating a shift value for a reference point on an object within the observed area between the first image and the second image; and
calculating a distance to the object based on the shift value.
12. The method according to claim 11 , further comprising:
providing an alert based on the calculated distance.
13. The method according to claim 6 , wherein processing the first image and the second image to estimate a position comprises processing the first image and the second image to produce a stereo image of the observed area and establishing the track of the surgical instrument comprises viewing the stereo image.
14. The method according to claim 6 , wherein the lens is housed in a device attached to the surgical instrument.
15. The method according to claim 6 , wherein processing the first image and the second image to estimate a position of the surgical instrument comprises:
calculating a shift value for a reference point on an object within the observed area between the first image and the second image; and
calculating a distance to the object based on the shift value.
16. The method according to claim 15 , further comprising:
providing an alert based on the calculated distance.
17. A method for tracking a surgical instrument during internal surgery, the method comprising:
providing a surgical instrument;
providing a surgical instrument guide attached to the surgical instrument; wherein the surgical instrument guide has a MEMS translation lens optical system providing an image shift;
providing a video sensor configured to image an observed area containing at least a portion of the surgical instrument and an area around the surgical instrument;
directing light from the observed area through the MEMS translation lens optical system to the video sensor, wherein the MEMS translation lens optical system is at a first linear extent and wherein the video sensor captures a first image;
translating the MEMS translation lens optical system in a linear direction to a second linear extent;
directing light from the observed area through the MEMS translation lens optical system at the second linear extent to the video sensor, wherein the video sensor captures a second image;
processing the first image and the second image to estimate a position of the surgical instrument relative to the area around the surgical instrument, wherein the track of the surgical instrument is based upon the position estimate; and
establishing the track of the surgical instrument based upon the position estimate,
and wherein the MEMS translation lens optical system has an optical axis wherein translating the lens in a linear direction comprises translating the lens in a direction transverse to the optical axis.
18. The method according to claim 17 , wherein processing the first image and the second image to estimate a position comprises processing the first image and the second image to produce a stereo image of the observed area and establishing the track of the surgical instrument comprises viewing the stereo image.
19. The method according to claim 17 , wherein the lens is housed in a device attached to the surgical instrument.
20. The method according to claim 18 , wherein processing the first image and the second image to estimate a position of the surgical instrument comprises:
calculating a shift value for a reference point on an object within the observed area between the first image and the second image; and
calculating a distance to the object based on the shift value.
21. The method according to claim 20 , further comprising:
providing an alert based on the calculated distance.