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WO2011069469A1 - Système de visualisation stéréoscopique pour chirurgie - Google Patents

Système de visualisation stéréoscopique pour chirurgie Download PDF

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Publication number
WO2011069469A1
WO2011069469A1 PCT/CN2010/079658 CN2010079658W WO2011069469A1 WO 2011069469 A1 WO2011069469 A1 WO 2011069469A1 CN 2010079658 W CN2010079658 W CN 2010079658W WO 2011069469 A1 WO2011069469 A1 WO 2011069469A1
Authority
WO
WIPO (PCT)
Prior art keywords
stereoscopic
display
map
pixel
pixels
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/CN2010/079658
Other languages
English (en)
Inventor
Ka-Shun Carrison Tong
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.)
Hospital Authority
Original Assignee
Hospital Authority
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
Priority claimed from HK09111675A external-priority patent/HK1134743A2/xx
Priority claimed from GB0921894A external-priority patent/GB2476245A/en
Application filed by Hospital Authority filed Critical Hospital Authority
Publication of WO2011069469A1 publication Critical patent/WO2011069469A1/fr
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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/139—Format conversion, e.g. of frame-rate or size
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106—Processing image signals
    • H04N13/156—Mixing image signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
    • H04N13/334—Displays for viewing with the aid of special glasses or head-mounted displays [HMD] using spectral multiplexing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/30—Image reproducers
    • H04N13/332—Displays for viewing with the aid of special glasses or head-mounted displays [HMD]
    • H04N13/337—Displays for viewing with the aid of special glasses or head-mounted displays [HMD] using polarisation multiplexing
    • 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
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • 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
    • A61B34/30—Surgical robots
    • 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

Definitions

  • the present invention relates to stereoscopic visualization of surgery for staff present in an operating theatre.
  • Robotic surgery is becoming increasingly popular due to its many benefits over traditional open surgeries, including quicker recovery time, reduced pain, reduced scarring, smaller incisions and greater precision.
  • a known robotic surgery system called the da Vinci SurgicalTM System (“dVSS) is provided by Intuitive Surgical, Inc. and comprises two main components: a master console 1 and a slave robot 2. These components are shown in Figure 1 (which
  • the master console 1 is operated by the surgeon 3. Using manipulators on the console the surgeon controls the arms of the robot and the surgical implements attached to their ends to perform the surgery. These are also operated by the surgeon.
  • the end of one of the arms is provided with a pair of cameras 4 spaced apart by a few millimetres having a stereoscopic view of the surgery; these cameras provide the console with a respective video feeds.
  • the console displays the video feeds on
  • the present invention improves on the visual information provided to other members of staff in the operating theatre.
  • Preferred examples have advantages of easy set up of new 3D monitors and a depth control for the 3D image.
  • FIGURE l shows an example of the invention for robotic surgery
  • FIGURE 2 shows an example of the stereoscopic video system
  • FIGURE 3 illustrates the interlacing method of the
  • FIGRUE 4 illustrates a third method of generating the pixel polarization map
  • FIGURE 5 shows the pixel offset for depth control
  • FIGURE 6 shows an example of the invention for laparoscopic
  • Figure 1 shows an example system in accordance with the present invention for robotic surgery.
  • This example system includes components of an existing robotic surgery system and so the invention can be retrofitted to such a system.
  • the existing system includes the master console 1, the slave surgery robot 2, the pair of endoscopic cameras 4 mounted on one of the robot arms and an image processing unit 5 that provides signals to the separate respective displays in the master console for the surgeon to see a 3D display.
  • the camera may in use be located either inside the person receiving surgery or outside the body looking in, e.g. through an incision.
  • stereoscopic video system 6 is connected to receive from the image processing unit 5 respective video signals representing the views seen by the respective stereoscopic cameras 4 at the end of one of the robot arms.
  • the stereoscopic video system is shown in detail in Figure 2.
  • This comprises a computer 10 configured with two video capture cards 11 and 12. Those are respectively connected to receive from the image processing unit video signals representing the respective views from the two endoscopic cameras 4. (In other examples the cameras may be connected directly to the stereoscopic video system.)
  • the video capture cards convert those video signals into
  • FIG. 3 shows the image combining process for one particular example of an LCD 3D display.
  • the monitor can use other technologies, such as plasma, to generate the pixels.
  • This monitor has an input for a combined signal 21 comprising pixels of both the left and right images and has its pixels arranged in rows and has mounted over each row a strip of polarizing material.
  • the strips of polarizing material for alternate rows have opposite polarizations, for example left circular polarization and right circular polarization (or vertical polarization and horizontal polarization) .
  • the application program operates (i) to take pixels from the left video signal and provide them in rows of the combined video signal 21 that are displayed on rows of the display 7 that have a filter providing a first polarization and (ii) to take pixels from the right video signal and display them on rows having a filter of the second opposite polarization.
  • the viewer 23 is provided with spectacles 24 having a polarizing filter for the left eye that allows through the pixels having the first polarization and a filter for the right that allows through pixels having the second, opposite, polarization.
  • the left and right eyes see respectively only the left and right images and so the viewer perceives 25 the view in 3D.
  • the rows and pixels of each left or right frame are, of course, kept in their original order. Further, corresponding rows from the left and right frames are displayed only with a small vertical distance from each other; in this example where the polarizing filter strips are only one row of pixels high corresponding rows from the left and right images are displayed next to each other.
  • the method of the application program 18 in this example is to build up the rows of the combined frame in order by taking rows, in order, alternately from the left and right frames.
  • the combined signal is displayed on the 3D monitor in the same single combined image area.
  • a 3D monitor has vertical strips of
  • polarizing filter one pixel wide with alternate columns of pixels being given opposite polarization. Since pixels of the frames are usually organised in RAM in a raster pattern of one row after the next, the application program in this case steps through following that pattern taking pixels from the left and right images alternately.
  • pixels in certain columns are dropped; for example if the left and right frames have the same width in pixels as the display 7 then pixels in alternate columns of the left and right frames are dropped.
  • a further example of how the filters on a 3D monitor may be arranged is to arrange them in a chequerboard pattern with the polarization of the filter changing to the opposite every pixel both in the vertical and horizontal directions.
  • the application program works through the pixels of each row in order taking pixels alternately from the corresponding pixels of the left and right frames. The first pixel of each row is taken alternately from the left and right frames.
  • Video capture and display cards also have RAM and processing units, and in alternative examples of the invention the RAM of any of these or the main RAM 15 and the processors of any these or the CPU 17 may be used, alone or in combination .
  • a pixel polarization map 30 of the display being used is first derived.
  • An example of such a map is shown in Figure 4 at 30. It comprises a two-dimensional array of values each corresponding to a pixel of the display 7.
  • display 7 is used to display a frame which is completely white. The display is then viewed through a magnifying glass and one of the left and right filters of the 3D spectacles that are provided to view the display. This will reveal the pattern of pixels in the display for that eye. This information is then used to compile the map. This method is useful if there is no relevant documentation supplied with the 3D display.
  • Figure 4 illustrates a third example of a method of deriving the map.
  • Some 3D monitors are supplied with a test program that takes two static images provided by the user, a left image and right image, and interlaces them in an appropriate manner for display on the 3D monitor.
  • this test program is provided with a completely black image 31 as the left image and a completely white image 32 as the right image to produce an output image. (Other pairs of colours may be used.)
  • the resultant image is not a 3D image
  • 24 bit RGB representation are those for the left image pixels and those having the value (255,255,255) (in 24 bit RGB representation) are those for the right image pixels.
  • the resultant image can be saved as it is for later use as the map.
  • This can be in RAM or in long term storage such as a disc drive.
  • the images in computer systems are usually stored as RGB values there are in fact three sub-pixel maps 30 as shown in Figure 4, one for each or red, green and blue, but since white and black test images are used they contain the same values.
  • the preferred example of the application program 18 uses the map as follows. As before the video cards 11 and 12 provide series of frames of those images in the RAM 15 of the computer 10. The application program 18 processes each pair of frames from the left and right series as follows. For each pixel of the combined frame 16 the application program first looks up the value of that pixel in the map.
  • the left, right and combined frames are of the same height and width in pixels. No special steps are required to drop pixels since for each pixel it only selects one or other of the left and right pixels. If however the left and right frames are of a different size to the combined frame a rule for the mapping the pixels between the two is adopted, but the basic method of selecting the pixel to be from the left or right frame on the basis of the map is unaffected.
  • mapping rule could be that a 2x2 block of four pixels in the combined frame maps to a respective 1 pixel in the left and right frames, which will result (with the more likely arrangements of polarization filters on the 3D ) in each block of 2x2 pixels in the combined frame showing each corresponding pixel of the left and right frames twice, with of course the correct polarizations for each .
  • each sub-pixel of each pixel of the map is checked individually and in response to each such test the corresponding sub-pixel of the left or right image is copied to the resultant image. Although this is less efficient in terms of the number of tests, the resultant image is the same.
  • the application program (whether using a pixel polarization map or not) also provides a depth control.
  • the offset can be set to values from zero to positive values for which the pixels for the left image are offset in the display to the left of the corresponding pixels of the right image.
  • Figure 5 illustrates the final positions of the pixels for an offset of 2.
  • R right and the pixel coordinates from those images are given as (row, column) .
  • the case is for a monitor having horizontal strips of polarization filter one pixel high.
  • Figure 6 shows an example of the invention for laparoscopic surgery.
  • the surgeon 3 works beside the patient.
  • the pair of cameras 4 are provided in an endoscope.
  • the camera control unit 8 to which the cameras are connected provides a pair of video signals representing the images from the endoscopic cameras to a stereoscopic video system 6, which is that same as for the robotic surgery example and operates in the same manner to provide a 3D display on 3D LCD monitor 7.
  • This example illustrates that the surgeon 3 can use the 3D monitor (using cooperating spectacles 24) to see the view provided by the cameras 4 in 3D.
  • This provides the surgeon with depth perception which is lacking in traditional 2D displays for laparoscopy.
  • Other staff members 9 can share the monitor to see the same 3D display that the surgeon sees (in 3D by using the 3D spectacles) .
  • the system can be used to drive further 3D monitors. These can be in the operating theatre. It is also possible to show
  • FIG. 1 For both the robotic and laparoscopic surgery examples shown Figures 1 and 6 there is shown an additional 3D display 7' in a lecture theatre being viewed using cooperating spectacles 24
  • the extra monitor 7' is driven by an additional stereoscopic video system 6' connected to receive the same video signals from the camera control unit or the image processing system 5 as does the first mentioned stereoscopic video system 6.
  • the monitors 7 and 7' are the same then a single common stereoscopic video system can be provided with its output video signal passed through a splitter to drive the two displays 7 and 7'.
  • stereoscopic video unit involves a specially configured and programmed computer that could be constructed as a special purpose integrated circuit, or set of such circuits.
  • the application program may be provided as a separate item, for example on a computer readable medium, such as a DVD or magnetic disc, or via an internet download.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Pathology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Spectroscopy & Molecular Physics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)

Abstract

L'invention porte sur un système de visualisation stéréoscopique, en particulier pour la chirurgie, lequel système combine deux vues en un signal d'image combiné destiné à être affiché sur un dispositif d'affichage secondaire tridimensionnel, par exemple un téléviseur à écran à cristaux liquides. On combine les vues gauche et droite afin d'utiliser rapidement un tableau de pixels reprogrammant les pixels du dispositif d'affichage tridimensionnel qui se rapportent à l'œil droit et ceux qui se rapportent à l'œil gauche.
PCT/CN2010/079658 2009-12-11 2010-12-10 Système de visualisation stéréoscopique pour chirurgie Ceased WO2011069469A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
HK09111675A HK1134743A2 (en) 2009-12-11 2009-12-11 Stereoscopic visualization system for robotic and laparoscopic surgeries
HK09111675.0 2009-12-11
GB0921894.2 2009-12-15
GB0921894A GB2476245A (en) 2009-12-15 2009-12-15 Stereoscopic display system for surgery

Publications (1)

Publication Number Publication Date
WO2011069469A1 true WO2011069469A1 (fr) 2011-06-16

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US9216068B2 (en) 2012-06-27 2015-12-22 Camplex, Inc. Optics for video cameras on a surgical visualization system
US9642606B2 (en) 2012-06-27 2017-05-09 Camplex, Inc. Surgical visualization system
US9782159B2 (en) 2013-03-13 2017-10-10 Camplex, Inc. Surgical visualization systems
US10028651B2 (en) 2013-09-20 2018-07-24 Camplex, Inc. Surgical visualization systems and displays
WO2019036005A3 (fr) * 2017-08-16 2019-04-18 Covidien Lp Optimisation de la perception d'un contenu visuel stéréoscopique
US10568499B2 (en) 2013-09-20 2020-02-25 Camplex, Inc. Surgical visualization systems and displays
US10702353B2 (en) 2014-12-05 2020-07-07 Camplex, Inc. Surgical visualizations systems and displays
US10918455B2 (en) 2017-05-08 2021-02-16 Camplex, Inc. Variable light source
US10966798B2 (en) 2015-11-25 2021-04-06 Camplex, Inc. Surgical visualization systems and displays
US11154378B2 (en) 2015-03-25 2021-10-26 Camplex, Inc. Surgical visualization systems and displays

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Cited By (28)

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Publication number Priority date Publication date Assignee Title
US9936863B2 (en) 2012-06-27 2018-04-10 Camplex, Inc. Optical assembly providing a surgical microscope view for a surgical visualization system
US11889976B2 (en) 2012-06-27 2024-02-06 Camplex, Inc. Surgical visualization systems
US9615728B2 (en) 2012-06-27 2017-04-11 Camplex, Inc. Surgical visualization system with camera tracking
US10022041B2 (en) 2012-06-27 2018-07-17 Camplex, Inc. Hydraulic system for surgical applications
US9642606B2 (en) 2012-06-27 2017-05-09 Camplex, Inc. Surgical visualization system
US9681796B2 (en) 2012-06-27 2017-06-20 Camplex, Inc. Interface for viewing video from cameras on a surgical visualization system
US9723976B2 (en) 2012-06-27 2017-08-08 Camplex, Inc. Optics for video camera on a surgical visualization system
US10925589B2 (en) 2012-06-27 2021-02-23 Camplex, Inc. Interface for viewing video from cameras on a surgical visualization system
US9492065B2 (en) 2012-06-27 2016-11-15 Camplex, Inc. Surgical retractor with video cameras
US10925472B2 (en) 2012-06-27 2021-02-23 Camplex, Inc. Binocular viewing assembly for a surgical visualization system
US9629523B2 (en) 2012-06-27 2017-04-25 Camplex, Inc. Binocular viewing assembly for a surgical visualization system
US10231607B2 (en) 2012-06-27 2019-03-19 Camplex, Inc. Surgical visualization systems
US11389146B2 (en) 2012-06-27 2022-07-19 Camplex, Inc. Surgical visualization system
US10555728B2 (en) 2012-06-27 2020-02-11 Camplex, Inc. Surgical visualization system
US9216068B2 (en) 2012-06-27 2015-12-22 Camplex, Inc. Optics for video cameras on a surgical visualization system
US11166706B2 (en) 2012-06-27 2021-11-09 Camplex, Inc. Surgical visualization systems
US11129521B2 (en) 2012-06-27 2021-09-28 Camplex, Inc. Optics for video camera on a surgical visualization system
US9782159B2 (en) 2013-03-13 2017-10-10 Camplex, Inc. Surgical visualization systems
US10932766B2 (en) 2013-05-21 2021-03-02 Camplex, Inc. Surgical visualization systems
US10568499B2 (en) 2013-09-20 2020-02-25 Camplex, Inc. Surgical visualization systems and displays
US10881286B2 (en) 2013-09-20 2021-01-05 Camplex, Inc. Medical apparatus for use with a surgical tubular retractor
US11147443B2 (en) 2013-09-20 2021-10-19 Camplex, Inc. Surgical visualization systems and displays
US10028651B2 (en) 2013-09-20 2018-07-24 Camplex, Inc. Surgical visualization systems and displays
US10702353B2 (en) 2014-12-05 2020-07-07 Camplex, Inc. Surgical visualizations systems and displays
US11154378B2 (en) 2015-03-25 2021-10-26 Camplex, Inc. Surgical visualization systems and displays
US10966798B2 (en) 2015-11-25 2021-04-06 Camplex, Inc. Surgical visualization systems and displays
US10918455B2 (en) 2017-05-08 2021-02-16 Camplex, Inc. Variable light source
WO2019036005A3 (fr) * 2017-08-16 2019-04-18 Covidien Lp Optimisation de la perception d'un contenu visuel stéréoscopique

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