System and method for improved electronic assisted medical procedures
Methods and systems for displaying an image of a medical procedure (e.g., an intraoperative image) with additional information (e.g., data) that can augment the image of the medical procedure are provided. Augmenting the image can include overlaying data from a first image to a second image. Overlaying the data can involve determining, for a point or multiple points in the first image, a matching location or multiple matching locations in a second image. The first image and the second image can be of a patient. Determining the matching location can involve using a rotation and scale invariant geometrical relationship. The matching locations can be used as the basis for the overlay.
1. A method for determining, for a point in a first image, a matching location in a second image, the first image and the second image are of a patient, the method comprising:
(a) receiving, via a computing device, the point having a location in the first image;
(b) receiving, via the computing device, two feature pairs wherein each feature pair comprises one feature location from the first image and a matching feature location from the second image;
(c) determining, via the computing device, a first triangle with respect to the first image, such that the vertexes of the first triangle are the locations of the two features of the two feature pairs that are from the first image and the location of the point in the first image;
(d) determining, via the computing device, a second triangle with respect to the second image, such that two of the vertexes of the second triangle are the locations of each of the respective matching features of the two feature pairs that are from the second image, and such that the second triangle has triangle similarity with the first triangle, yielding a location of a third vertex; and
(e) determining, via the computing device, the matching location in the second image of the point in the first image based on the location of the third vertex,
wherein the first image and the second image are selected from at least one of: a preoperative image and an intraoperative image of the patient.
2. The method of claim 1 wherein the two feature pairs are selected from a set of feature pairs.
3. The method of claim 2 wherein the two feature pairs are selected based on distance of the two features of the two feature pairs that are from the first image to the point.
4. The method of claim 1 wherein an order of the vertices in the second triangle proceeding clockwise is the same as the order of the respective matching vertices in the first triangle proceeding clockwise.
5. The method of claim 1 wherein each vertex angle in the second triangle is equal to the vertex angle of its respective matching vertex in the first triangle.
6. The method of claim 1 wherein the images of the patient are images of an eye of the patient.
7. The method of claim 6 wherein the images are of an exterior eye and the feature locations are in the limbus area of the eye in the images.
8. The method of claim 6 wherein the images are of the retina of the eye.
9. The method of claim 1 further comprises repeating the method of claim 1 for each of multiple points, wherein the multiple points are generated from guidance information that is to be overlaid on the second image and wherein the two feature pairs are updated for each of the multiple points.
10. The method of claim 1 further comprising:
repeating steps (b) through (d) for each of a plurality of feature pairs to determine a plurality of corresponding third vertex locations;
calculating an averaged third vertex location; and
determining the matching location in the second image of the point in the first image based on the averaged third vertex location.
11. The method of claim 1 , further comprising in step (e), setting the location of the third vertex as the matching location in the second image of the point in the first image.
12. The method of claim 10 , further comprising setting the averaged third vertex location as the matching location in the second image of the point in the first image.