Method and instrument for surgical navigation
An operating microscope including an optical unit for forming an image of an object plane in oculars of the microscope, an optoelectronic image receiver coupled to the microscope and optics to form images, of objects placed in a region between a front objective of the microscope and an object plane of the microscope, on the optoelectronic image receiver. The microscope has a magnification factor of the optics to form images, and a system to detect optical markings forming a markings pattern placed on a surgical instrument or an object placed in the region between the front objective of the microscope and the object plane of the microscope. The system calculates a geometrical position and orientation of the markings pattern in relation to the optoelectronic image receiver, relative to the microscope.
1. An operating microscope having an observation beam path and an object plane, said microscope comprising:
a main objective and optics forming an image of the object plane;
an optoelectronic image receiver arranged to continuously or periodically detect a topography of a surgical situs in front of the main objective, and generate topographical data representative of said topography;
a computer connected to receive said topographical data, said computer including memory and a processor;
preoperative diagnostic data of the surgical situs stored in said memory for use with said topographical data;
wherein the computer location-correlates said topographical data with said preoperative diagnostic data to produce location-correlated topographical data, and presents said location-correlated topographical data in the form of a perspective grating or contour line on an image generated from said preoperative diagnostic data on a display, said perspective grating or contour line changing to reflect changes in said topographical data resulting from removal of tissue or a change of position of tissue during an operation.
2. The microscope according to claim 1 , wherein:
said optoelectronic image receiver comprises a photonic mixer device (PMD), to detect the topography of the situs relative to the microscope; and
a source of modulated illumination associated with the PMD.
3. The microscope according to claim 2 , wherein the PMD is arranged such that a sensor axis of the PMD is coaxial to the observation beam path.
4. The microscope according to claim 2 , further comprising:
optical filters positioned to protect the PMD from intensive illumination by unmodulated light.
5. The microscope according to claim 2 , wherein the PMD detects optical markings forming a markings pattern on a surgical instrument or an object placed in front of the main objective of the microscope.
6. The microscope according to claim 1 , wherein light from the situs passes through the main objective of the microscope before reaching the optoelectronic image receiver.
7. The microscope according to claim 1 , wherein the optoelectronic image receiver includes a stereo camera pair with a computing system to perform stereoscopic analysis.
8. The microscope according to claim 7 , further comprising:
a device configured to project a light pattern onto the situs, the light pattern captured by the stereo camera pair for improved correspondence analysis of the stereoscopic images.
9. The microscope according to claim 1 , wherein the optoelectronic image receiver is a single camera with a computing system to perform stereoscopic analysis by operating the single camera as an inverse camera, the operating microscope further comprising:
a device configured to project a light pattern onto the situs.
10. The microscope according to claim 1 , wherein the topography is transmitted to a navigational system, and the navigational system correlates the topography as a starting point for correction of a brain shift.
11. The microscope according to claim 1 , wherein a focus of the operating microscope is adjusted based on the topography.
12. The microscope according to claim 1 , wherein the optoelectronic image receiver detects a position of a surgical instrument, or a pointer directed toward the situs, said position is extracted from the topography relative the at least one optoelectronic image receiver, respective to the microscope, and
the position of the surgical instrument, or the pointer, is transmitted to the navigational system for referencing or displaying the position of the surgical instrument, or the pointer, in the topography within the location-correlated preoperative diagnostic datasets of the situs.
13. The microscope according to claim 1 , wherein the topography is detected continuously or periodically during an operation.
14. The microscope of claim 1 , wherein said computer includes an algorithm to process said topographical data to generate said location-correlated topographical data.
15. A method of providing information to an operator of a surgical microscope having an observation beam path and an object plane comprising:
providing a main objective and optics forming an image of the object plane;
arranging an optoelectronic image receiver to continuously or periodically detect a topography of a surgical situs in front of the main objective, and generate topographical data representative of said topography;
connecting a computer to receive said topographical data, said computer including memory and a processor;
storing preoperative diagnostic data of the surgical situs in said memory;
location-correlating said topographical data with said preoperative diagnostic data to produce location-correlated topographical data;
presenting said location-correlated topographical data in the form of a perspective grating or contour line on an image generated from said preoperative diagnostic data on a display;
wherein said perspective grating or contour lines change to reflect changes in said topographical data resulting from removal of tissue or a change of position of tissue during an operation.
16. The method of claim 15 , wherein said step of arranging an optoelectronic image receiver includes said optoelectronic image receiver comprising a photonic mixer device (PMD) to detect the topography of the situs relative to the microscope and a source of modulated illumination associated with the PMD.
17. The method of claim 16 , wherein said step of arranging an optoelectronic image receiver includes positioning the PMD such that a sensor axis of the PMD is coaxial to the observation beam path.
18. The method of claim 15 , wherein said step of arranging an optoelectronic image receiver includes positioning a front objective of the microscope and the PMD at a common distance from the situs.
19. The method of claim 15 , wherein said step of location-correlating said topographical data with said preoperative diagnostic data includes the computer processing said topographical data with an algorithm to generate said location-correlated topographical data.