System and methods for intraoperative guidance feedback
Systems and methods for surgical guidance and image registration are provided, in which three-dimensional image data associated with an object or patient is registered to topological image data obtained using a surface topology imaging device. The surface topology imaging device may be rigidly attached to an optical position measurement system that also tracks fiducial markers on a movable instrument. The instrument may be registered to the topological image data, such that the topological image data and the movable instrument are registered to the three-dimensional image data. The three-dimensional image data may be CT or MRI data associated with a patient. The system may also co-register images pertaining to a surgical plan with the three-dimensional image data. In another aspect, the surface topology imaging device may be configured to directly track fiducial markers on a movable instrument. The fiducial markers may be tracked according to surface texture.
1. A spectrally-selective structured light surgical navigation system comprising:
a structured light detection device comprising:
an optical projection device configured to project structured light patterns onto an exposed surface of a patient, such that backscattered optical radiation is suitable for structured light detection;
at least one camera configured for imaging the backscattered optical radiation;
wherein said optical projection device or said at least one camera are configured such that the backscattered optical radiation is detectable within each spectral band of a plurality of spectral bands; and
processing circuitry operatively connected to said structured light detection device, wherein said processing circuitry includes a processor and a memory, wherein said processor is configured to execute instructions stored in the memory for performing the steps of:
controlling said structured light detection device to illuminate the exposed surface and detect images within each spectral band;
process the images to generate a topological image data set associated with the exposed surface, wherein the topological image data set comprises topological image data associated with each spectral band; and
generating one or more navigation images based on the topological image data set.
2. The spectrally-selective structured light surgical navigation system according to claim 1 wherein, prior to generating one or more navigation images, said processing circuitry is further configured to process the topological image data set according to pre-selected spectral criteria in order to differentiate features therein.
3. The spectrally-selective structured light surgical navigation system according to claim 2 wherein said processing circuitry is configured to process the topological image data set by:
identifying clutter image data within the topological image data set based on a pre-determined association between clutter and colour; and
generating decluttered topological image data by removing the clutter image data from the topological image data set.
4. The spectrally-selective structured light surgical navigation system according to claim 3 wherein said processing circuitry is configured to identify the clutter image data by comparing intensity values between different spectral bands.
5. The spectrally-selective structured light surgical navigation system according to claim 3 wherein said processing circuitry is configured such that muscular tissue is identified as clutter, and such that when the topological image data set characterizes both bony and muscular tissue, the decluttered topological image data is substantially absent of the muscular tissue.
6. The spectrally-selective structured light surgical navigation system according to claim 3 wherein processor is configured such that the clutter image data is identified by:
processing intensity values in two or more spectral bands to generate one or more ratiometric measures; and
comparing the one or more ratiometric measures to respective threshold values associated with the presence of clutter.
7. The spectrally-selective structured light surgical navigation system according to claim 3 wherein said processing circuitry is further configured to:
employ the decluttered topological image data when performing registration with pre-operative image data.
8. The spectrally-selective structured light surgical navigation system according to claim 3 wherein said processing circuitry is further configured to:
process the decluttered topological image data to generate one or more decluttered images.
9. The spectrally-selective structured light surgical navigation system according to claim 2 wherein said processing circuitry is configured to process the topological image data set by:
identifying surgical tool image data within the topological image data set based on a pre-determined association between surgical tools and colour; and
generating updated topological image data by removing the surgical tool image data from the topological image data set.
10. The spectrally-selective structured light surgical navigation system according to claim 2 wherein said optical projection device is configured to emit broadband light, and wherein said at least one camera is configured to spectrally filter the backscattered optical radiation such that the backscattered optical radiation is detectable within each spectral band of the plurality of spectral bands.
11. The spectrally-selective structured light surgical navigation system according to claim 10 wherein said at least one camera comprises a plurality of cameras, wherein said plurality of cameras have associated therewith a set of spectral filters for spectral filtering the backscattered optical radiation such that the backscattered optical radiation is detectable within each spectral band of the plurality of spectral bands.
12. The spectrally-selective structured light surgical navigation system according to claim 10 wherein a plurality of selectable filters are individually selectable for use with each camera of said at least one camera, and wherein said processing circuitry is configured to control filter selection such that the backscattered optical radiation is detectable within each spectral band of the plurality of spectral bands.
13. The spectrally-selective structured light surgical navigation system according to claim 2 wherein said optical projection device comprises a plurality of selectable filters that are individually selectable for filtering optical radiation emitted by a light source associated with said optical projection device, and wherein said processing circuitry is configured to control filter selection for selectively generating spectrally filtered optical radiation according to the plurality of spectral bands.
14. The spectrally-selective structured light surgical navigation system according to claim 2 wherein a light source associated with said optical projection device is configured to selectively emit optical radiation within each spectral band of said plurality of spectral bands, and wherein said processing circuitry is configured to control said optical projection device for selectively generating optical radiation within the plurality of spectral bands.