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WO2008004222A3 - Computer image-aided method and system for guiding instruments through hollow cavities - Google Patents

Computer image-aided method and system for guiding instruments through hollow cavities Download PDF

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Publication number
WO2008004222A3
WO2008004222A3 PCT/IL2007/000824 IL2007000824W WO2008004222A3 WO 2008004222 A3 WO2008004222 A3 WO 2008004222A3 IL 2007000824 W IL2007000824 W IL 2007000824W WO 2008004222 A3 WO2008004222 A3 WO 2008004222A3
Authority
WO
WIPO (PCT)
Prior art keywords
video images
computer image
hollow cavities
aided method
input video
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IL2007/000824
Other languages
French (fr)
Other versions
WO2008004222A2 (en
Inventor
Tatsuo Igarashi
Shmuel Peleg
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yissum Research Development Co of Hebrew University of Jerusalem
Chiba University NUC
Original Assignee
Yissum Research Development Co of Hebrew University of Jerusalem
Chiba University NUC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yissum Research Development Co of Hebrew University of Jerusalem, Chiba University NUC filed Critical Yissum Research Development Co of Hebrew University of Jerusalem
Publication of WO2008004222A2 publication Critical patent/WO2008004222A2/en
Publication of WO2008004222A3 publication Critical patent/WO2008004222A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A61B1/042—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by a proximal camera, e.g. a CCD camera
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T3/00—Geometric image transformations in the plane of the image
    • G06T3/40—Scaling of whole images or parts thereof, e.g. expanding or contracting
    • G06T3/4038—Image mosaicing, e.g. composing plane images from plane sub-images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/256—User interfaces for surgical systems having a database of accessory information, e.g. including context sensitive help or scientific articles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Biophysics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Image Generation (AREA)
  • Endoscopes (AREA)

Abstract

Method and system for presenting a stabilized mosaic view of a cavity (2) wherein an imaging device (6) is maneuvered through a first access point (7) for producing successive input video images that include features in an area of interest (3) within the cavity and the input video images are aligned to compensate for relative lateral camera motion between successive input video images so as to produce successive aligned video images that are mosaiced to produce a mosaic video image that is displayed on a display device (16).
PCT/IL2007/000824 2006-07-03 2007-07-03 Computer image-aided method and system for guiding instruments through hollow cavities Ceased WO2008004222A2 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US80648106P 2006-07-03 2006-07-03
US60/806,481 2006-07-03
US89048907P 2007-02-18 2007-02-18
US60/890,489 2007-02-18

Publications (2)

Publication Number Publication Date
WO2008004222A2 WO2008004222A2 (en) 2008-01-10
WO2008004222A3 true WO2008004222A3 (en) 2008-06-19

Family

ID=38894984

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IL2007/000824 Ceased WO2008004222A2 (en) 2006-07-03 2007-07-03 Computer image-aided method and system for guiding instruments through hollow cavities

Country Status (1)

Country Link
WO (1) WO2008004222A2 (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010040948A1 (en) * 2010-09-17 2012-04-26 Roke Manor Research Ltd. Endoscopy method for generating a panoramic image from individual images, which are recorded in succession with a magnet-guided endoscopy capsule and endoscopy device operating according to this method
US10758209B2 (en) 2012-03-09 2020-09-01 The Johns Hopkins University Photoacoustic tracking and registration in interventional ultrasound
WO2014148184A1 (en) * 2013-03-19 2014-09-25 オリンパスメディカルシステムズ株式会社 Endoscope system and operation method of endoscope system
US9877086B2 (en) 2014-01-26 2018-01-23 BriefCam Ltd. Method and system for producing relevance sorted video summary
JP2017534322A (en) * 2014-09-17 2017-11-24 タリス バイオメディカル エルエルシー Diagnostic mapping method and system for bladder
US10806346B2 (en) 2015-02-09 2020-10-20 The Johns Hopkins University Photoacoustic tracking and registration in interventional ultrasound
WO2017114834A1 (en) * 2015-12-29 2017-07-06 Koninklijke Philips N.V. System, controller and method using virtual reality device for robotic surgery
WO2018046092A1 (en) * 2016-09-09 2018-03-15 Siemens Aktiengesellschaft Method for operating an endoscope, and endoscope
JP2018050890A (en) * 2016-09-28 2018-04-05 富士フイルム株式会社 Image display apparatus, image display method, and program
WO2019176960A1 (en) * 2018-03-13 2019-09-19 富士フイルム株式会社 Medical examination management device, medical examination management method and program
EP3561771A1 (en) 2018-04-23 2019-10-30 Koninklijke Philips N.V. Automated subject monitoring for medical imaging
EP4632663A1 (en) * 2024-04-09 2025-10-15 Rob Surgical Systems, SL Robotized laparoscopic surgical system with augmented reality

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001015081A2 (en) * 1999-08-20 2001-03-01 Hebrew University Of Jerusalem System and method for rectified mosaicing of images recorded by a moving camera
US20030018235A1 (en) * 1995-07-24 2003-01-23 Chen David T. Anatomical visualization system
US20040249247A1 (en) * 2003-05-01 2004-12-09 Iddan Gavriel J. Endoscope with panoramic view
WO2005077253A1 (en) * 2004-02-18 2005-08-25 Osaka University Endoscope system
US20060020213A1 (en) * 2004-07-09 2006-01-26 Whitman Michael P Surgical imaging device

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5649032A (en) 1994-11-14 1997-07-15 David Sarnoff Research Center, Inc. System for automatically aligning images to form a mosaic image
US6075905A (en) 1996-07-17 2000-06-13 Sarnoff Corporation Method and apparatus for mosaic image construction
US6173087B1 (en) 1996-11-13 2001-01-09 Sarnoff Corporation Multi-view image registration with application to mosaicing and lens distortion correction
US6665003B1 (en) 1998-09-17 2003-12-16 Issum Research Development Company Of The Hebrew University Of Jerusalem System and method for generating and displaying panoramic images and movies
US6798897B1 (en) 1999-09-05 2004-09-28 Protrack Ltd. Real time image registration, motion detection and background replacement using discrete local motion estimation
US20070073103A1 (en) 2003-10-06 2007-03-29 Naomichi Akizuki Diagnostic device for tubular organs
US20060215934A1 (en) 2005-03-25 2006-09-28 Yissum Research Development Co of the Hebrew University of Jerusalem Israeli Co Online registration of dynamic scenes using video extrapolation
US7894528B2 (en) 2005-05-25 2011-02-22 Yissum Research Development Company Of The Hebrew University Of Jerusalem Fast and robust motion computations using direct methods

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030018235A1 (en) * 1995-07-24 2003-01-23 Chen David T. Anatomical visualization system
WO2001015081A2 (en) * 1999-08-20 2001-03-01 Hebrew University Of Jerusalem System and method for rectified mosaicing of images recorded by a moving camera
US20040249247A1 (en) * 2003-05-01 2004-12-09 Iddan Gavriel J. Endoscope with panoramic view
WO2005077253A1 (en) * 2004-02-18 2005-08-25 Osaka University Endoscope system
US20070161853A1 (en) * 2004-02-18 2007-07-12 Yasushi Yagi Endoscope system
US20060020213A1 (en) * 2004-07-09 2006-01-26 Whitman Michael P Surgical imaging device

Also Published As

Publication number Publication date
WO2008004222A2 (en) 2008-01-10

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