公开(公告)号：US20220057328A1

公开(公告)日：2022-02-24

申请号：US17516490

申请日：2021-11-01

Applicant: THE TRUSTEES OF DARTMOUTH COLLEGE ,  UNIVERSITY HEALTH NETWORK

Inventor： Keith D. Paulsen ,  David W. Roberts ,  Dennis Wirth ,  Brian C. Wilson ,  Mira Sibai

IPC: G01N21/64 ,  G01B11/22 ,  G01N21/47 ,  G01N33/483

Abstract: A method and device for determining the depth and fluorophore concentration of a fluorophore concentration below the surface of an optically absorbing and scattering medium suitable for use in fluorescence-based surgical guidance such as in tumor resection is described. Long-wavelength stimulus light us used to obtain deep tissue penetration. Recovery of depth is performed by fitting measured modulation amplitudes for each spatial frequency to precomputed modulation amplitudes in a table of modulation amplitudes indexed by optical parameters and depth.

公开(公告)号：US10568535B2

公开(公告)日：2020-02-25

申请号：US15367243

申请日：2016-12-02

Applicant: The Trustees of Dartmouth College

Inventor： David W. Roberts ,  Keith D. Paulsen ,  Alexander Hartov ,  Songbai Ji ,  Xiaoyao Fan

IPC: G06T3/00 ,  H04N13/257 ,  H04N13/239 ,  A61B34/10 ,  A61B5/0484 ,  A61B5/00 ,  G06T7/33 ,  A61B90/00 ,  A61B5/0476 ,  A61B5/055

Abstract: A surgical guidance system has two cameras to provide stereo image stream of a surgical field; and a stereo viewer. The system has a 3D surface extraction module that generates a first 3D model of the surgical field from the stereo image streams; a registration module for co-registering annotating data with the first 3D model; and a stereo image enhancer for graphically overlaying at least part of the annotating data onto the stereo image stream to form an enhanced stereo image stream for display, where the enhanced stereo stream enhances a surgeon's perception of the surgical field. The registration module has an alignment refiner to adjust registration of the annotating data with the 3D model based upon matching of features within the 3D model and features within the annotating data; and in an embodiment, a deformation modeler to deform the annotating data based upon a determined tissue deformation.

公开(公告)号：US09456200B2

公开(公告)日：2016-09-27

申请号：US14370713

申请日：2013-01-04

Applicant: THE TRUSTEES OF DARTMOUTH COLLEGE

Inventor： Songbai Ji ,  Xiaoyao Fan ,  Keith D. Paulsen ,  David W. Roberts ,  Alex Hartov

IPC: G06K9/00 ,  H04N13/02 ,  G01C11/02 ,  G01C25/00 ,  G06T3/00 ,  H04N13/00

CPC classification number: H04N13/246 ,  G01C11/02 ,  G01C25/00 ,  G06T3/0093 ,  G06T2200/04 ,  H04N2013/0074

Abstract: A system for, and method of, extracting a surface profile from a stereo pair of images obtained at an arbitrary setting S of an optical system, includes determining surface profile reconstruction parameters for images obtained with the optical system at a reference setting So of the optical system; determining warping parameters for a digital image processor for warping images obtained with the optical system at the arbitrary setting S into images corresponding to the reference setting So; obtaining the stereo pair of images from at least one camera of the optical system; warping the stereo pair of images into images corresponding to the reference setting So, and using the surface profile reconstruction parameters to determine the surface profile. In a particular embodiment, the surface profile is passed to a computer model of tissue deformation and used to determine an intra-surgery location of a tumor or other anatomic feature of tissue.

Abstract translation: 从在光学系统的任意设置S获得的立体图像对中提取表面轮廓的系统和方法包括：在光学系统的参考设置So处确定用光学系统获得的图像的表面轮廓重建参数 系统; 确定用于使用任意设置S处的光学系统获得的图像的数字图像处理器的翘曲参数变为与参考设置So对应的图像; 从所述光学系统的至少一个相机获得立体声图像对; 将立体声对的图像变形成与参考设置So对应的图像，并且使用表面轮廓重建参数来确定表面轮廓。 在特定实施例中，将表面轮廓传递到组织变形的计算机模型，并用于确定肿瘤的手术内部位置或组织的其他解剖特征。

公开(公告)号：US20140378843A1

公开(公告)日：2014-12-25

申请号：US14373443

申请日：2013-01-18

Applicant: The Trustees of Dartmouth College

Inventor： Pablo A. Valdes ,  David W. Roberts ,  Keith D. Paulsent ,  Frederic Leblond

IPC: G02B21/06 ,  G02B21/36 ,  A61B1/06

CPC classification number: G02B21/06 ,  A61B1/063 ,  G02B21/36

Abstract: An imaging system includes an illumination device for illuminating a target. A surgical microscope receives light from the target, the surgical microscope comprising at least one optical output port at which at least a portion of the received light is provided as an output from the surgical microscope. A tunable filter receives the portion of the received light provided as the output from the surgical microscope, the tunable filter being tunable to pass a filtered portion of the received light, the filtered portion of the received light having a plurality of wavelengths selected by the tunable filter and provided as output from the tunable filter. A high-resolution, broad-bandwidth electronic camera receives the light of a plurality of wavelengths selected by the tunable filter, the electronic camera converting the light of a plurality of wavelengths selected by the tunable filter to a plurality of electrical signals. A processor processes the plurality of electrical signals to form an image of the target.

Abstract translation: 成像系统包括用于照射目标的照明装置。 手术显微镜从目标物接收光，所述手术显微镜包括至少一个光学输出端口，在所述光学输出端口处，至少一部分所接收的光被提供为来自所述外科显微镜的输出。 可调滤波器接收作为来自外科手术显微镜的输出提供的接收光的一部分，可调谐滤波器可调谐以通过接收光的滤波部分，所接收的光的经滤波部分具有由可调谐器选择的多个波长 过滤器并作为可调滤波器的输出提供。 高分辨率，宽带宽电子照相机接收由可调谐滤波器选择的多个波长的光，电子照相机将由可调谐滤波器选择的多个波长的光转换为多个电信号。 处理器处理多个电信号以形成目标的图像。

公开(公告)号：US20140362186A1

公开(公告)日：2014-12-11

申请号：US14370713

申请日：2013-01-04

Applicant: THE TRUSTEES OF DARTMOUTH COLLEGE

Inventor： Songbai Ji ,  Xiaoyao Fan ,  Keith D. Paulsen ,  David W. Roberts ,  Alex Hartov

IPC: H04N13/02 ,  G06T3/00

CPC classification number: H04N13/246 ,  G01C11/02 ,  G01C25/00 ,  G06T3/0093 ,  G06T2200/04 ,  H04N2013/0074

Abstract: A system for, and method of, extracting a surface profile from a stereo pair of images obtained at an arbitrary setting S of an optical system, includes determining surface profile reconstruction parameters for images obtained with the optical system at a reference setting So of the optical system; determining warping parameters for a digital image processor for warping images obtained with the optical system at the arbitrary setting S into images corresponding to the reference setting So; obtaining the stereo pair of images from at least one camera of the optical system; warping the stereo pair of images into images corresponding to the reference setting So, and using the surface profile reconstruction parameters to determine the surface profile. In a particular embodiment, the surface profile is passed to a computer model of tissue deformation and used to determine an intra-surgery location of a tumor or other anatomic feature of tissue.

Abstract translation: 从在光学系统的任意设置S获得的立体图像对中提取表面轮廓的系统和方法包括：在光学系统的参考设置So处确定用光学系统获得的图像的表面轮廓重建参数 系统; 确定用于使用任意设置S处的光学系统获得的图像的数字图像处理器的翘曲参数变为与参考设置So对应的图像; 从所述光学系统的至少一个相机获得立体声图像对; 将立体声对的图像变形成与参考设置So对应的图像，并且使用表面轮廓重建参数来确定表面轮廓。 在特定实施例中，将表面轮廓传递到组织变形的计算机模型，并用于确定肿瘤的手术内部位置或组织的其他解剖特征。