Hypersurface reconstruction of microscope view
Disclosed is a computer-implemented method of determining a hypersurface image from a tomographic image data set describing a tomographic image of an anatomical body part. The method encompasses a locally depth-of-view-corrected reconstruction of a volumetric data set (pre-operative image data, like CT or MRI image data), in order to e.g. augment volumetric image data onto e.g. a microscope view, or in the head-up display of the microscope. For the depth correction, a surface model of the actual anatomical surface of the anatomical body part is used which encompasses a hypersurface reconstruction pf the volumetric data set. Thus, the correct information related to the tissue at the current visible surface is overlaid.
1. A computer-implemented medical method of determining a hypersurface image from a tomographic image data set describing a tomographic image of an anatomical body part of a patient, the method comprising the following steps:
acquiring patient image data which describes a tomographic medical image of the anatomical body part;
acquiring surface detecting device position data which describes a relative position between a surface detecting device and the anatomical body part;
determining depth map data based on at least one electronic signal generated by the surface detecting device, wherein the depth map data describes a surface profile of the surface of the anatomical body part;
determining hypersurface image data based on the patient image data and the surface detecting device position data and the depth map data, wherein the hypersurface image data describes a hypersurface image generated from the patient image data.
2. The method according to claim 1 , wherein the surface detecting device is a surface scanning device or a medical imaging device is a microscope or a range camera.
3. The method according to claim 1 , further comprising
determining image display data for displaying the hypersurface image on a display device, wherein the image display data is determined based on the hypersurface image data.
4. The method according to claim 3 , further comprising:
determining surface projection data based on the patient image data and the surface detecting device position data and the surface projection data, wherein the surface projection data describes a positional transformation between the position of the surface profile of the surface of the anatomical body part and a corresponding position, called a transformed position, in the tomographic medical image,
wherein the hypersurface image data is determined further based on the surface projection data.
5. The method according to claim 4 , wherein
the positional transformation is applied to the position of the surface profile of the surface of the anatomical body part, thereby determining the transformed position of the surface profile;
the hypersurface image data is determined by interpolating, at the transformed position, at least one image intensity value of the tomographic medical image.
6. The method according to claim 5 , wherein positional information defining the tomographic medical image is defined on a positional grid and wherein the at least one image intensity value is interpolated at a position defined in the positional grid by considering at least one intensity value described by a neighborhood of positions on the positional grid around the transformed position.
7. The method according to claim 1 , wherein
surface image data is acquired, from the at least one electronic signal, which describes a surface image of the anatomical body part, and wherein
the depth map data is determined based on the surface image data.
8. The method according to claim 1 , further comprising:
acquiring surface detecting device calibration data which describes a calibration of the surface detecting device,
wherein the surface is generated from two stereoscopic datasets acquired with the surface detecting device, and
wherein the depth map data is determined based on the surface detecting device calibration data and by determining, in the two stereoscopic datasets, corresponding surface regions.
9. The method according to claim 8 , wherein the corresponding surface regions are determined by conducting a pixel-wise comparison of the contents of the two stereoscopic datasets and the surface profile is determined based on the result of the comparison and by applying a triangulation algorithm.
10. The method according to claim 8 , wherein the corresponding surface regions and the surface profile are determined by applying an image fusion algorithm to the two stereoscopic datasets.
11. The method according to claim 1 , wherein the surface detecting device position data is acquired by determining surface detecting device marker data describing the position of a marker device attached to the surface detecting device in a predetermined position.
12. The method according to claim 11 , wherein the surface detecting device position data is acquired by determining patient marker data describing the position of a marker device attached to the patient in a predetermined position.
13. The method according to claim 1 , wherein the surface detecting device position data is acquired based on a detection characteristic of the surface detecting device.
14. The method according to claim 13 , wherein the surface detecting device is attached to a mechanical articulable arm having at least one sensor for outputting signals describing the geometric configuration of the mechanical articulable arm, and wherein the surface detecting device position data is acquired based on the signals output by the at least one sensor.
15. A medical system, comprising:
at least one computer executing instructions for determining a hypersurface image from a tomographic image data set describing a tomographic image of an anatomical body part of a patient, the instructions operable to:
acquire patient image data is acquired which describes a tomographic medical image of the anatomical body part;
acquire surface detecting device position data is acquired which describes a relative position between a surface detecting device and the anatomical body part;
determine depth map data is determined based on at least one electronic signal generated by the surface detecting device, wherein the depth map data describes a surface profile of the surface of the anatomical body part;
determine hypersurface image data is determined based on the patient image data and the surface detecting device position data and the depth map data, wherein the hypersurface image data describes a hypersurface image generated from the patient image data;
at least one electronic data storage device storing at least the patient image data;
the surface detecting device for generating the at least one electronic signal for determining the depth map data; and
a display device for displaying the hypersurface image data, wherein the at least one computer is operably coupled to
the at least one electronic data storage device for acquiring, at least the patient image data,
the surface detecting device for acquiring, from the surface detecting device, at least the surface data, and
the display device for sending, to the display device, at least one signal to cause the display device to display the hypersurface image data.