Systems and methods for imaging a patient
Systems and methods of imaging include projecting infrared (IR) light from the endoscope toward the at least one anatomical feature (e.g., the exterior of a liver or lung), capturing the IR light, projecting optical light from the endoscope toward a similar portion of the anatomical feature, and capturing the optical light. Once the IR light and the optical light are captured, both are associated with one another to generate an intra-operative 3D image. This projection and capture of IR and optical light may occur at discrete times during the imaging process, or simultaneously.
1. A method of imaging within a body of a patient, the method comprising:
analyzing a first image including reflected grid pattern of IR light captured by an IR camera associated with an endoscope;
analyzing a second image including reflected optical light captured by an optical light camera associated with the endoscope;
associating the first image with the second image;
generating an intra-operative 3D image based on the association of the first image with the second image,
matching the intra-operative 3D image with at least a portion of a pre-operative 3D model based on matching of a natural fiducial appearing in both the intra-operative 3D image and the pre-operative 3D model; and
displaying the intra-operative 3D image and the pre-operative 3D model, wherein, if a portion of the intra-operative 3D image is obstructed or delayed, where there is a delay in processing of the intra-operative image, a corresponding portion of the pre-operative 3D model is substituted.
2. The method according to claim 1 , wherein associating the first image and the second image includes mapping the first image to the second image by translating points of the first image to corresponding points of the second image.
3. The method according to claim 1 , further comprising projecting a plurality of IR light beams toward at least one anatomical feature of the patient.
4. The method according to claim 3 , wherein the plurality of IR light beams are projected toward the at least one anatomical feature in spaced relation relative to one another.
5. The method according to claim 3 , wherein the plurality of IR light beams projected toward the at least one anatomical feature are projected in a grid pattern.
6. The method according to claim 1 , further comprising determining a plurality of 3D coordinates based on the first image.
7. The method according to claim 6 , wherein the generating the intra-operative 3D image is further based on the plurality of 3D coordinates.
8. A system for imaging within a body of a patient, the system comprising an endoscope comprising:
an infrared (IR) light source configured to project a plurality of IR light beams onto at least one anatomical feature in a grid pattern;
an IR camera configured to capture a first image, the first image including a reflection of the plurality of IR light beams;
an optical light source configured to project optical light onto the at least one anatomical feature; and
an optical camera configured to capture a second image, the second image including the at least one anatomical feature illuminated by the optical light source; and
a computing device in communication with the endoscope, the computing device having a processor and a memory storing instructions thereon which, when executed by the processor, cause the computing device to:
associate the first image with the second image;
generate an intra-operative 3D image based on the association of the first image with the second image;
match the intra-operative 3D image with at least a portion of a pre-operative 3D model based on matching of a natural fiducial appearing in both the intra-operative 3D image and the pre-operative 3D model; and
display the matched intra-operative 3D image and pre-operative 3D model, wherein if a portion of the intra-operative 3D image is obstructed or delayed, a corresponding portion of the pre-operative 3D model is displayed.
9. The system according to claim 8 , wherein the memory further stores instructions thereon which, when executed by the processor, cause the computing device to:
map the first image to the second image by translating points of the first image to corresponding points of the second image.
10. The system according to claim 8 , wherein the memory further stores instructions thereon which, when executed by the processor, cause the computing device to:
determine a plurality of 3D coordinates based on the first image.
11. The system according to claim 10 , wherein the memory further stores instructions thereon which, when executed by the processor, cause the computing device to:
generate the intra-operative 3D image based on the association of the first image with the second image and further based on the plurality of 3D coordinates.
12. The system according to claim 8 , wherein the memory further stores instructions thereon which, when executed by the processor, cause the computing device to:
associate the generated intra-operative 3D image with previously acquired pre-operative images.
13. The system according to claim 12 , wherein the memory further stores instructions thereon which, when executed by the processor, cause the computing device to:
generate a 3D model based on the association of the generated intra-operative 3D image with previously acquired pre-operative images; and display the generated 3D model.
14. A non-transitory computer-readable storage medium encoded with a program that, when executed by a processor, causes the processor to:
associate a first image of at least one anatomical feature including IR light projected in a grid pattern thereon with a second image of the at least one anatomical feature;
generate an intra-operative 3D image based on the association of the first image with the second image; and
match the intra-operative 3D image with at least a portion of a pre-operative 3D model based on matching of a natural fiducial appearing in both the intra-operative 3D image and the pre-operative 3D model; and
display the intra-operative 3D image and pre-operative 3D model, wherein if a portion of the intra-operative 3D image is obstructed or delayed, a corresponding portion of the pre-operative 3D model is displayed.
15. The non-transitory computer-readable storage medium of claim 14 , wherein the program, when executed by the processor, further causes the processor to:
generate a 3D model based on the association of the generated intra-operative 3D image with the pre-operative 3D model; and
display the generated 3D model.
16. The non-transitory computer-readable storage medium of claim 14 , wherein the program, when executed by the processor, further causes the processor to:
map the first image to the second image by translating points of the first image to corresponding points of the second image.
17. The non-transitory computer-readable storage medium of claim 15 , wherein the program, when executed by the processor, further causes the processor to:
determine a plurality of 3D coordinates based on the first image.
18. The non-transitory computer-readable storage medium of claim 17 , wherein the program, when executed by the processor, further causes the processor to:
generate the intra-operative 3D image based on the association of the first image with the second image and further based on the plurality of 3D coordinates.