Imagery system
An imagery system includes: a camera having a field of view; a light source including a source of structured light, the light source movable relative to the camera; and at least one processor. The at least one processor is programmed to determine, at least, estimated locations of points on a surface exposed to the structured light according to image data received from the field of view of the camera. The light source may include at least one fiducial marker, and the at least one processor may be programmed to determine the estimated position of the source of structured light according to the at least one fiducial marker in the image data. Also, the camera may be a stereoscopic camera.
1. An imagery system comprising:
a camera having a field of view;
a light source comprising a source of structured light and at least one fiducial marker on a surface of the light source and visible externally from the light source, the light source movable relative to the field of view of the camera; and
at least one processor programmed to determine, at least:
an estimated position of the source of structured light according to representations of the at least one fiducial marker on the surface of the light source in image data received from the field of view of the camera when the at least one fiducial marker on the surface of the light source is in the field of view of the camera; and
estimated locations, in a three-dimensional co-ordinate system, of points on a surface exposed to the structured light according to representations in the image data of the structured light on the surface exposed to the structured light, and according to the estimated position of the source of structured light.
2. The system of claim 1 wherein the at least one fiducial marker comprises at least one two-dimensional label on the light source.
3. The system of claim 1 wherein the at least one processor is further programmed to cause the light source to project surgical guidance information on human or animal tissue according to the estimated position of the source of structured light.
4. The system of claim 1 wherein the at least one processor is further programmed to:
identify at least one location, on the surface exposed to the structured light, having surface movements; and
cause the light source to project light indicating the surface movements on the at least one location, on the surface exposed to the structured light, having the surface movements.
5. The system of claim 1 wherein the light source comprises a tool interface configured to be held by a laparoscopic tool in a unique stable position relative to the laparoscopic tool.
6. The system of claim 1 wherein the at least one processor is further programmed to:
generate a representation of the points, on the surface exposed to the structured light, from a point of view different from a point of view of the camera.
7. The system of claim 1 wherein the light source is independently movable relative to the field of view of the camera.
8. The system in claim 1 wherein the light source is sized to fit through a cannula of a laparoscopic trocar.
9. The system of claim 1 wherein the light source is sized to fit through an orifice having a diameter less than 15 millimeters.
10. The system of claim 1 wherein the estimated position of the source of structured light comprises an estimated linear position and an estimated angular position of the source of structured light.
11. The system of claim 1 wherein the camera is a laparoscopic camera.
12. The system of claim 1 wherein the camera is a smartphone camera.
13. The system of claim 1 wherein the at least one processor is programmed to determine the estimated locations of the points, on the surface exposed to the structured light, at a rate of at least ten times per second.
14. The system of claim 1 wherein the light source is a source of multi-color light.
15. The system of claim 1 wherein the light source is sterilizable.
16. The system of claim 1 wherein the light source comprises one or more laser diodes and a mirror movable relative to the one or more laser diodes and positioned to direct light from the one or more laser diodes.
17. The system of claim 1 wherein:
the light source comprises a housing comprising the surface of the light source; and
the at least one fiducial marker is on the housing.
18. The system of claim 1 wherein the at least one fiducial marker comprises a fiducial marker selected from the group consisting of a checkerboard pattern on a two-dimensional label on the light source, a matrix barcode on the light source, an asymmetric dot pattern on the light source, a plurality of light-emitting diodes on the light source, a plurality of reflective markers on the light source, and one or more markers on the light source for an electromagnetic tracker.
19. The system of claim 7 wherein the light source is independently movable in six degrees of freedom relative to the field of view of the camera.
20. The system of claim 1 wherein the at least one processor is programmed to determine the estimated locations of the points on the surface exposed to the structured light according to a transformation from a coordinate system of the structured light to a coordinate system of the at least one fiducial marker and according to a transformation from the coordinate system of the at least one fiducial marker to a coordinate system of the camera.
21. The system of claim 1 wherein the light source is movable within the field of view of the camera.
22. A method of guiding surgery on human or animal tissue, the method comprising:
causing a light source of an imagery system to project surgical guidance information on the human or animal tissue, wherein the imagery system comprises:
a camera having a field of view;
the light source comprising a source of structured light and at least one fiducial marker on a surface of the light source and visible externally from the light source, the light source movable relative to the field of view of the camera; and
at least one processor programmed to, at least:
determine an estimated position of the source of structured light according to representations of the at least one fiducial marker on the surface of the light source in image data received from the field of view of the camera when the at least one fiducial marker on the surface of the light source is in the field of view of the camera;
determine estimated locations, in a three-dimensional co-ordinate system, of points on a surface exposed to the structured light according to representations in the image data of the structured light on the surface exposed to the structured light, and according to the estimated position of the source of structured light; and
cause the light source to project the surgical guidance information according to the estimated position of the source of structured light.