Aligning pre-operative scan images to real-time operative images for a mediated-reality view of a surgical site
A mediated-reality system for surgical applications incorporates pre-operative images and real-time captured images of a surgical site into a visualization presented on a head-mounted display worn by a surgeon during a surgical procedure. The mediated-reality system tracks the surgeon's head position and generates real-time images of the surgical site from a virtual camera perspective corresponding to the surgeon's head position to mimic the natural viewpoint of the surgeon. The mediated-reality system furthermore aligns the pre-operative images with the real-time images from the virtual camera perspective and presents a mediated-reality visualization of the surgical site with the aligned pre-operative three-dimensional images or a selected portion thereof overlaid on the real-time images representing the virtual camera perspective.
1. A method for generating a mediated reality view of a surgical site comprising:
receiving pre-operative images representing three-dimensional anatomy of a patient in a first position;
identifying, based on the pre-operative images, coordinates in a three-dimensional pre-operative image space corresponding to locations of fiducial markers present on a patch applied to the patient;
receiving real-time images from a camera array after the patient is positioned for surgery in a second position;
identifying, based on the real-time images, coordinates in a three-dimensional real-time image space corresponding to the locations of the fiducial markers present on the patch applied to the patient;
applying a transformation to the pre-operative images to substantially align the locations of the fiducial markers in the pre-operative images to the locations of the fiducial markers in the real-time images, wherein applying the transformation comprises:
performing an optimization algorithm to identify the transformation that minimizes a distance between transformed coordinates of a pattern of the fiducial markers in the pre-operative images with the coordinates of the pattern in the real-time images;
overlaying the transformed pre-operative images on the real-time images to generate the mediated reality view; and
providing the mediated reality view to a display device for display.
2. The method of claim 1 , wherein the patch comprises a flexible adhesive patch positioned proximate to an anatomical structure of interest.
3. A method for generating a mediated reality view of a surgical site comprising:
receiving pre-operative images representing three-dimensional anatomy of a patient in a first position;
identifying, based on the pre-operative images, coordinates in a three-dimensional pre-operative image space corresponding to locations of fiducial markers present on a patch applied to the patient, wherein the fiducial markers comprise three-dimensional structures including one or more raised surfaces, and wherein each of the fiducial markers has a unique geometry relative to other fiducial markers on the patch;
receiving real-time images from a camera array after the patient is positioned for surgery in a second position;
identifying, based on the real-time images, coordinates in a three-dimensional real-time image space corresponding to the locations of the fiducial markers present on the patch applied to the patient;
applying a transformation to the pre-operative images to substantially align the locations of the fiducial markers in the pre-operative images to the locations of the fiducial markers in the real-time images;
overlaying the transformed pre-operative images on the real-time images to generate the mediated reality view; and
providing the mediated reality view to a display device for display.
4. The method of claim 1 , wherein the fiducial markers are arranged in a grid on the patch.
5. A method for generating a mediated reality view of a surgical site comprising:
receiving pre-operative images representing three-dimensional anatomy of a patient in a first position;
identifying, based on the pre-operative images, coordinates in a three-dimensional pre-operative image space corresponding to locations of fiducial markers present on a patch applied to the patient, wherein the fiducial markers comprise materials of different densities that are visually distinguishable;
receiving real-time images from a camera array after the patient is positioned for surgery in a second position;
identifying, based on the real-time images, coordinates in a three-dimensional real-time image space corresponding to the locations of the fiducial markers present on the patch applied to the patient;
applying a transformation to the pre-operative images to substantially align the locations of the fiducial markers in the pre-operative images to the locations of the fiducial markers in the real-time images;
overlaying the transformed pre-operative images on the real-time images to generate the mediated reality view; and
providing the mediated reality view to a display device for display.
6. The method of claim 1 , wherein the patch comprises perforated boundaries for tearing the patch into sections.
7. A non-transitory computer-readable storage medium storing instructions for generating a mediated reality view of a surgical site, the instructions when executed by a processor causing the processor to perform steps including:
receiving pre-operative images representing three-dimensional anatomy of a patient in a first position;
identifying, based on the pre-operative images, coordinates in a three-dimensional pre-operative image space corresponding to locations of fiducial markers present on a patch applied to the patient;
receiving real-time images from a camera array after the patient is positioned for surgery in a second position;
identifying, based on the real-time images, coordinates in a three-dimensional real-time image space corresponding to the locations of the fiducial markers present on the patch applied to the patient;
applying a transformation to the pre-operative images to substantially align the locations of the fiducial markers in the pre-operative images to the locations of the fiducial markers in the real-time images, wherein applying the transformation comprises:
performing an optimization algorithm to identify the transformation that minimizes a distance between transformed coordinates of a pattern of the fiducial markers in the pre-operative images with the coordinates of the pattern in the real-time images;
overlaying the transformed pre-operative images on the real-time images to generate the mediated reality view; and
providing the mediated reality view to a display device for display.
8. The method of claim 3 , wherein the patch comprises a flexible adhesive patch positioned proximate to an anatomical structure of interest.
9. The method of claim 3 , wherein the fiducial markers are arranged in a grid on the patch.
10. The method of claim 3 , wherein the patch comprises perforated boundaries for tearing the patch into sections.
11. The method of claim 5 , wherein the patch comprises a flexible adhesive patch positioned proximate to an anatomical structure of interest.
12. The method of claim 5 , wherein the fiducial markers are arranged in a grid on the patch.
13. The method of claim 5 , wherein the patch comprises perforated boundaries for tearing the patch into sections.
14. The non-transitory computer-readable storage medium of claim 7 , wherein the patch comprises a flexible adhesive patch positioned proximate to an anatomical structure of interest.
15. The non-transitory computer-readable storage medium of claim 7 , wherein the fiducial markers are arranged in a grid on the patch.
16. The non-transitory computer-readable storage medium of claim 7 , wherein the patch comprises perforated boundaries for tearing the patch into sections.
17. A non-transitory computer-readable storage medium storing instructions for generating a mediated reality view of a surgical site, the instructions when executed by a processor causing the processor to perform steps including:
receiving pre-operative images representing three-dimensional anatomy of a patient in a first position;
identifying, based on the pre-operative images, coordinates in a three-dimensional pre-operative image space corresponding to locations of fiducial markers present on a patch applied to the patient, wherein the fiducial markers comprise three-dimensional structures including one or more raised surfaces, and wherein each of the fiducial markers has a unique geometry relative to other fiducial markers on the patch;
receiving real-time images from a camera array after the patient is positioned for surgery in a second position;
identifying, based on the real-time images, coordinates in a three-dimensional real-time image space corresponding to the locations of the fiducial markers present on the patch applied to the patient;
applying a transformation to the pre-operative images to substantially align the locations of the fiducial markers in the pre-operative images to the locations of the fiducial markers in the real-time images;
overlaying the transformed pre-operative images on the real-time images to generate the mediated reality view; and
providing the mediated reality view to a display device for display.
18. The non-transitory computer-readable storage medium of claim 17 , wherein the patch comprises a flexible adhesive patch positioned proximate to an anatomical structure of interest.
19. The non-transitory computer-readable storage medium of claim 17 , wherein the fiducial markers are arranged in a grid on the patch.
20. The non-transitory computer-readable storage medium of claim 17 , wherein the patch comprises perforated boundaries for tearing the patch into sections.
21. A non-transitory computer-readable storage medium storing instructions for generating a mediated reality view of a surgical site, the instructions when executed by a processor causing the processor to perform steps including:
receiving pre-operative images representing three-dimensional anatomy of a patient in a first position;
identifying, based on the pre-operative images, coordinates in a three-dimensional pre-operative image space corresponding to locations of fiducial markers present on a patch applied to the patient, wherein the fiducial markers comprise materials of different densities that are visually distinguishable;
receiving real-time images from a camera array after the patient is positioned for surgery in a second position;
identifying, based on the real-time images, coordinates in a three-dimensional real-time image space corresponding to the locations of the fiducial markers present on the patch applied to the patient;
applying a transformation to the pre-operative images to substantially align the locations of the fiducial markers in the pre-operative images to the locations of the fiducial markers in the real-time images;
overlaying the transformed pre-operative images on the real-time images to generate the mediated reality view; and
providing the mediated reality view to a display device for display.
22. The non-transitory computer-readable storage medium of claim 21 , wherein the patch comprises a flexible adhesive patch positioned proximate to an anatomical structure of interest.
23. The non-transitory computer-readable storage medium of claim 21 , wherein the fiducial markers are arranged in a grid on the patch.
24. The non-transitory computer-readable storage medium of claim 21 , wherein the patch comprises perforated boundaries for tearing the patch into sections.