US 12,239,494 B1
Hand-held stereovision system for image updating in surgery
Keith D. Paulsen, Lebanon, NH (US); Xiaoyao Fan, Hanover, NH (US); Songbai Ji, Hanover, NH (US); and Sohail K. Mirza, Fairfax, VA (US)
Assigned to The Trustees of Dartmouth College, Hanover, NH (US)
Filed by The Trustees of Dartmouth College, Hanover, NH (US)
Filed on Aug. 5, 2022, as Appl. No. 17/882,508.
Application 17/882,508 is a continuation of application No. 16/595,377, filed on Oct. 7, 2019, granted, now 11,406,471.
Claims priority of provisional application 62/742,313, filed on Oct. 6, 2018.
This patent is subject to a terminal disclaimer.
Int. Cl. H04N 13/239 (2018.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); H04N 13/246 (2018.01); A61B 90/50 (2016.01)
CPC A61B 90/361 (2016.02) [A61B 34/20 (2016.02); H04N 13/239 (2018.05); H04N 13/246 (2018.05); A61B 2090/371 (2016.02); A61B 2090/502 (2016.02)] 14 Claims
OG exemplary drawing
 
1. A stereoscopic vision system for use in surgery procedures comprising:
a handheld stereovision (HHS) device comprising:
a body;
at least two cameras mounted to the body, the at least two cameras angled towards a center of a field of view, and having an overlapping region of view;
a surgical tracker; and
a data connection to a processor that registers intraoperative stereovision surfaces (iSV) of vertebrae in the overlapping region of view with preoperative CT data by referencing a model of intervertebral motion that (i) maintains anatomically realistic vertebral orientations by modeling the intervertebral motion of segmented vertebrae parameterized for Lie group rotational transformation, and (ii) achieves smooth transitions between individual vertebra by constraining pose changes of the segmented vertebrae for adjacent parameterized vertebra through constrained optimization of the pose changes for the Lie group rotational transformation.