CPC A61B 1/00042 (2022.02) [A61B 1/00006 (2013.01); A61B 1/000096 (2022.02); A61B 1/00045 (2013.01); A61B 1/00194 (2022.02); A61B 1/008 (2013.01); A61B 1/009 (2022.02); A61B 1/042 (2013.01); A61B 1/05 (2013.01); A61B 1/0605 (2022.02); A61B 1/0676 (2013.01); A61B 1/313 (2013.01); A61B 1/3132 (2013.01); A61B 18/22 (2013.01); A61B 34/20 (2016.02); G06T 7/337 (2017.01); G06T 15/205 (2013.01); H04N 23/56 (2023.01); A61B 1/00 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/301 (2016.02); A61B 2034/742 (2016.02); A61B 2090/367 (2016.02); A61B 2090/373 (2016.02); G06T 2207/10021 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10104 (2013.01); G06T 2207/10136 (2013.01); H04N 23/555 (2023.01)] | 12 Claims |
1. A method of using a structured-light based endoscope, comprising:
capturing at least one real-time 2D image of at least a portion of said field of view using a camera of an endoscope;
illuminating in real time at least a portion of said at least one object within at least a portion of said field of view with a structured light pattern;
detecting light reflected from said field of view;
from said light reflected from said field of view, generating said 3D image of said field of view and calculating 3D locations of points on a surface of said object, wherein said 3D image is constructable from said detected light reflected from said field of view and said structured light pattern; and
real-time locating the 3D spatial position at any given time t of at least one of the endoscope and a surgical tool;
causing the system to generate a user alert if a distance between the surface and said at least one of the endoscope and surgical tool, as determined using the 3D spatial position, falls below a predetermined distance;
wherein the method further comprises constructing said 3D image by calculating world coordinates of at least one point on said at least one object using the following equation:
where nT is the transpose of the normal to the plane defined by the stripe ID xp, p=xp+[δxp, 0, fp]T is the perturbed stripe ID xp, Rp is the rotation matrix defining the transformation between the world coordinate system and the projector coordinate system and vc is the direction of the ray between the stripe ID and the object point.
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