Intraoperative medical imaging method and system

1. A method of optical coherence tomography (OCT) image acquisition, using a computer processor, an OCT imaging system, a three dimensional imaging system and a navigation system, to provide a three dimensional visual representation of a patient intraoperatively, the patient having a surface and having discernable surface features and subsurface features, the method comprising:

acquiring a three dimensional imaging scan of an in vivo portion of the surface of the patient using the three dimensional imaging system;

registering the three dimensional imaging scan of the in vivo portion of the patient with the patient intraoperatively;

acquiring a first OCT imaging scan covering a first sub-portion of the in vivo portion of the patient using the OCT imaging system, the OCT imaging system tracked by the navigation system;

acquiring a second OCT imaging scan covering a second sub-portion of the in vivo portion of the patient using the OCT imaging system;

warping at least one of the first OCT imaging scan, the second OCT imaging scan, and the three dimensional imaging scan to refine registration thereof;

stitching, together, the first OCT imaging scan and the second OCT imaging scan using a stitching algorithm to produce an amalgamated OCT image;

correlating the first OCT imaging scan and the second OCT imaging scan with the three dimensional imaging scan by finding and applying a refining transform that matches the discernable surface and subsurface features of the first OCT imaging scan and the second OCT imaging scan with the discernable surface and subsurface features of the 3D image to refine registration thereof;

combining the three dimensional imaging scan and the amalgamated OCT image to create an enhanced three dimensional image of the in vivo portion of the patient; and

effecting display of the enhanced three dimensional image by a display device in real time,

wherein stitching comprises:

applying a registration transform to a plurality of tracking marker positions of a tracked OCT probe in a physical space, thereby providing an image space of the plurality of tracking marker positions;

determining an interrogation point position of the tracked OCT probe in the physical space using the plurality of tracking marker positions;

determining an interrogation point position of the tracked OCT probe in the image space using the plurality of tracking marker positions;

stripping the three dimensional imaging scan of surrounding anatomy to reduce occlusion therein;

computing the registration transform from a position of a common reference in an OCT image space to the interrogation point position of the tracked OCT probe in the image space;

applying the registration transform to the first OCT imaging scan, thereby importing the first OCT imaging scan into the image space; and

mapping the first OCT imaging scan onto the three dimensional imaging scan,

wherein at least one of applying the registration transform to the plurality of tracking marker positions and applying the registration transform to the first OCT imaging scan comprises at least one of:

minimizing a Euclidean distance between a surface feature extracted from the first OCT image and a surface of the three dimensional imaging scan;

extrapolating a plurality of voxels from a point cloud array of voxels, wherein a depth value, based on a reflection time, is associated with each voxel in the point cloud array of voxels; and

fitting the surface of the three dimensional imaging scan by using an iterative cost minimization algorithm, using the iterative cost minimization algorithm comprising using an iterative closest point (ICP) technique, and

wherein the three dimensional imaging system comprises at least one of a magnetic resonance imaging device and a stereoscopic camera using photometric imaging and geometric imaging.

2. The method of claim 1 , wherein combining the three dimensional imaging scan and the amalgamated OCT image comprises forming a spatial correspondence between the amalgamated OCT image and the registered three dimensional image of the patient.

3. The method of claim 1 , further comprising:

acquiring a subsequent OCT imaging scan covering a subsequent sub-portion of the in vivo portion of the patient using the OCT imaging system;

stitching together a previous OCT imaging scan and the subsequent OCT imaging scan using the stitching algorithm to produce a subsequent amalgamated OCT image;

combining the three dimensional imaging scan and the subsequent amalgamated OCT image to create a subsequent enhanced three dimensional image of the in vivo portion of the patient;

updating the subsequent enhanced three dimensional image; and

effecting display of the subsequent enhanced three dimensional image by a display device in real-time.

4. The method of claim 1 , further comprising displaying the enhanced three dimensional image.

5. The method of claim 1 , wherein stitching the OCT imaging scans comprises correlating overlapping portions of the OCT imaging scans to identify common features in the two OCT imaging scans by the computer processor.

6. The method of claim 5 , wherein the common features in the OCT imaging scans comprise one or more subsurface features.

7. The method of claim 1 , wherein combining the three dimensional imaging scan and the amalgamated OCT image is performed such that pixels, in the three dimensional imaging scan that correspond to locations in the sub-portions covered by the amalgamated OCT image, are replaced by values derived from the amalgamated OCT image.

8. The method of claim 1 , wherein the three dimensional imaging system is also tracked by the navigation system.

9. The method of claim 1 ,

wherein the three dimensional imaging system comprises a structured light camera, and

wherein the three dimensional imaging system employs structured light.

10. The method of claim 1 , wherein the three dimensional imaging system outputs a 3D contour scan image.

11. The method of claim 1 , wherein the OCT imaging scans are formed from a plurality of B-scans.

12. An image acquisition system for providing a three dimensional visual representation of a patient intraoperatively, the patient having a surface and having discernable surface and subsurface features, the system comprising:

an OCT imaging system;

a three dimensional imaging system;

a navigation system; and

a computer processor configured to:

acquire a three dimensional imaging scan of an in vivo portion of the surface of the patient using the three dimensional imaging system;

register the three dimensional imaging scan of the in vivo portion of the patient with the patient intraoperatively;

acquire a first OCT imaging scan covering a first sub-portion of the in vivo portion of the patient using the OCT imaging system, the OCT imaging system tracked by the navigation system;

acquire a second OCT imaging scan covering a second sub-portion of the in vivo portion of the patient using the OCT imaging system;

warp at least one of the first OCT imaging scan, the second OCT imaging scan, and the three dimensional imaging scan to refine registration thereof;

stitch, together, the first OCT imaging scan and the second OCT imaging scan using a stitching algorithm to produce an amalgamated OCT image;

correlate the first OCT imaging scan and the second OCT imaging scan with the three dimensional imaging scan by finding and applying a refining transform that matches the discernable surface and subsurface features of the first OCT imaging scan and the second OCT imaging scan with the discernable surface and subsurface features of the 3D image to refine registration thereof;

combine the three dimensional imaging scan and the amalgamated OCT image to create an enhanced three dimensional image of the in vivo portion of the patient; and

effect display of the enhanced three dimensional image by a display device in real time,

wherein the computer processor is configured to stitch, together, the first OCT imaging scan and the second OCT imaging scan by:

applying a registration transform to a plurality of tracking marker positions of a tracked OCT probe in a physical space, thereby providing an image space of the plurality of tracking marker positions;

determining an interrogation point position of the tracked OCT probe in the physical space using the plurality of tracking marker positions;

determining an interrogation point position of the tracked OCT probe in the image space using the plurality of tracking marker positions;

stripping the three dimensional imaging scan of surrounding anatomy to reduce occlusion therein;

computing the registration transform from a position of a common reference in an OCT image space to the interrogation point position of the tracked OCT probe in the image space;

applying the registration transform to the first OCT imaging scan, thereby importing the first OCT imaging scan into the image space; and

mapping the first OCT imaging scan onto the three dimensional imaging scan,

wherein at least one of applying the registration transform to the plurality of tracking marker positions and applying the registration transform to the first OCT imaging scan comprises at least one of:

minimizing a Euclidean distance between a surface feature extracted from the first OCT image and a surface of the three dimensional imaging scan;

extrapolating a plurality of voxels from a point cloud array of voxels, wherein a depth value, based on a reflection time, is associated with each voxel in the point cloud array of voxels; and

fitting the surface of the three dimensional imaging scan by using an iterative cost minimization algorithm, using the iterative cost minimization algorithm comprising using an iterative closest point (ICP) technique, and

wherein the three dimensional imaging system comprises at least one of a magnetic resonance imaging device and a stereoscopic camera using photometric imaging and geometric imaging.

13. The system of claim 12 , wherein combining the three dimensional imaging scan and the amalgamated OCT image comprises forming a spatial correspondence between the amalgamated OCT image and the registered three dimensional image of the patient.

14. The system of claim 12 , wherein the computer processor is further configured to:

acquire a subsequent OCT imaging scan covering a subsequent sub-portion of the in vivo portion of the patient using the OCT imaging system;

stitch together a previous OCT imaging scan and the subsequent OCT imaging scan using the stitching algorithm to produce a subsequent amalgamated OCT image;

combine the three dimensional imaging scan and the subsequent amalgamated OCT image to create a subsequent enhanced three dimensional image of the in vivo portion of the patient;

update the subsequent enhanced three dimensional image; and

effect display of the subsequent enhanced three dimensional image via a display device in real-time.

15. The system of claim 12 , wherein the computer processor is configured to stitch the OCT imaging scans by correlating overlapping portions of the OCT imaging scans to identify common features in the two OCT imaging scans.

16. The system of claim 15 , wherein the common features in the OCT imaging scans comprise one or more subsurface features.

17. The system of claim 12 , wherein the computer processor is configured to combine the three dimensional imaging scan and the amalgamated OCT image is done so such that pixels, in the three dimensional imaging scan that correspond to locations in the sub-portions covered by the amalgamated OCT image, are replaced by values derived from the amalgamated OCT image.

18. The system of claim 12 , wherein the three dimensional imaging system is also tracked by the navigation system.

19. The system of claim 12 ,

wherein the three dimensional imaging system comprises a structured light camera, and

wherein the three dimensional imaging system employs structured light.

20. The system of claim 12 , wherein the three dimensional imaging system outputs a 3D contour scan image.