US 12,226,074 B2
Endoscopic imaging with augmented parallax
John W. Komp, Dillon, CO (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Oct. 18, 2023, as Appl. No. 18/381,481.
Application 18/381,481 is a continuation of application No. 17/839,064, filed on Jun. 13, 2022, granted, now 11,793,390.
Application 17/839,064 is a continuation of application No. 16/707,280, filed on Dec. 9, 2019, granted, now 11,357,593, issued on Jun. 14, 2022.
Claims priority of provisional application 62/790,839, filed on Jan. 10, 2019.
Prior Publication US 2024/0041298 A1, Feb. 8, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/70 (2017.01); A61B 1/00 (2006.01); A61B 1/04 (2006.01); A61B 90/00 (2016.01); G06T 7/00 (2017.01)
CPC A61B 1/0005 (2013.01) [A61B 1/000094 (2022.02); A61B 1/00194 (2022.02); A61B 1/046 (2022.02); A61B 90/37 (2016.02); G06T 7/0012 (2013.01); A61B 2090/365 (2016.02); A61B 2090/367 (2016.02); A61B 2090/371 (2016.02); G06T 2207/10028 (2013.01); G06T 2207/10048 (2013.01); G06T 2207/10068 (2013.01); G06T 2211/428 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system for imaging within a body of a patient, comprising:
a first surgical instrument;
a second surgical instrument;
a scanner configured to project IR light;
a first IR camera coupled to the first surgical instrument;
a second IR camera coupled to the second surgical instrument, wherein the first and second surgical instruments are separate from the scanner such that the first and second IR cameras are positioned in 3D spaced relationship with each other and the scanner projecting the IR light;
an optical light camera; and
a workstation operably coupled to the catheter and the biopsy tool, the workstation including a memory and a processor, the memory storing instructions, which when executed by the processor cause the processor to:
generate IR light images of IR light projected by the scanner and reflected off of an anatomical object;
capture a first IR light image with the first IR camera at a default zoom mode;
capture a second IR light image with the second IR camera at the default zoom mode;
determine parallax between the first and second IR cameras and the scanner, wherein the parallax is a distance and angle between the first and second IR cameras, a distance and angle between the first IR camera and the scanner, and a distance and angle between the second IR camera and the scanner;
associate the IR light images to create an integrated IR light image based upon the determined parallax;
align an optical light image of the anatomical object captured with the optical light camera with the integrated IR light image by adjusting pixels to account for the parallax between the optical light camera and the first and second IR cameras; and
associate the integrated IR light image with the optical light image of the anatomical object to generate a real-time, intra-operative 3D image of the anatomical object.