US 12,253,681 B2
Surgical navigation system, and imaging method of the same
Min-Liang Wang, Taichung (TW)
Assigned to TAIWAN MAIN ORTHOPAEDIC BIOTECHNOLOGY CO., LTD., Taichung (TW)
Filed by TAIWAN MAIN ORTHOPAEDIC BIOTECHNOLOGY CO., LTD., Taichung (TW)
Filed on Dec. 22, 2022, as Appl. No. 18/145,482.
Application 18/145,482 is a continuation in part of application No. 17/212,007, filed on Mar. 25, 2021, abandoned.
Claims priority of application No. 109110389 (TW), filed on Mar. 27, 2020.
Prior Publication US 2023/0126207 A1, Apr. 27, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 90/00 (2016.01); G02B 27/01 (2006.01); G06T 7/70 (2017.01); G06T 11/00 (2006.01); G06V 10/143 (2022.01); G06V 10/147 (2022.01); G06V 20/20 (2022.01); H04N 23/50 (2023.01); H04N 23/90 (2023.01); A61B 17/00 (2006.01); A61B 90/50 (2016.01); A61B 90/57 (2016.01)
CPC G02B 27/0176 (2013.01) [A61B 34/20 (2016.02); A61B 90/37 (2016.02); G02B 27/0172 (2013.01); G06T 7/70 (2017.01); G06T 11/00 (2013.01); G06V 10/143 (2022.01); G06V 10/147 (2022.01); G06V 20/20 (2022.01); H04N 23/50 (2023.01); H04N 23/90 (2023.01); A61B 2017/00486 (2013.01); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2072 (2016.02); A61B 2090/365 (2016.02); A61B 2090/373 (2016.02); A61B 2090/502 (2016.02); A61B 2090/5025 (2016.02); A61B 2090/571 (2016.02); G02B 2027/0138 (2013.01); G02B 2027/014 (2013.01); G02B 2027/0141 (2013.01); G02B 2027/0178 (2013.01); G06T 2210/41 (2013.01); G06V 2201/034 (2022.01)] 12 Claims
OG exemplary drawing
 
1. A surgical navigation system adapted for use with a pathological image and a position identification unit to assist a medical staff in operating a surgical instrument to perform surgery on a subcutaneous diseased portion of a patient, the position identification unit including a reference target detachably fixed on the patient, and an instrument target disposed on the surgical instrument, said surgical navigation system comprising:
a first tracking unit including a first support, a display device, and a first infrared camera device disposed on said first support, wherein said first infrared camera device is configured to capture a first image of the position identification unit;
a second tracking unit including a second support, and a second infrared camera device disposed on said second support, wherein said second infrared camera device is configured to capture a second image of the position identification unit; and
a processing unit in signal connection with said display device, said first infrared camera device and said second infrared camera device, receiving the first image and the second image respectively from said first infrared camera device and said second infrared camera device, and configured to perform image recognition on the first image and the second image with respect to the reference target and the instrument target, to use, based on a result of the image recognition, one of the first image and the second image to generate an augmented reality image by adding a first target-related pattern that corresponds to the position identification unit into the pathological image, and to output the augmented reality image to said display device for display thereby,
wherein said processing unit is configured to, when the result of the image recognition indicates that both of the first image and the second image have both of the reference target and the instrument target, use one of the first image and the second image that has a higher accuracy to generate the augmented reality image;
wherein said first infrared camera device includes two first-camera lenses that are spaced apart from each other, and said second infrared camera device includes two second-camera lenses that are spaced apart from each other;
wherein said processing unit is configured to, when the result of the image recognition indicates that both of the first image and the second image have both of the reference target and the instrument target, calculate a first first-camera vector and a second first-camera vector based on images captured by said first-camera lenses, and calculate a first second-camera vector and a second second-camera vector based on images captured by said second-camera lenses, wherein the first and second first-camera vectors are vectors from the reference target to said first-camera lenses, respectively, and the first and second second-camera vectors are vectors from the reference target to said second-camera lenses, respectively;
wherein said processing unit is configured to calculate a first estimated distance between said first-camera lenses based on the first and second first-camera vectors, and a second estimated distance between said second-camera lenses based on the first and second second-camera vectors; and
wherein said processing unit is configured to determine an accuracy of the first image based on an accuracy of the first estimated distance, and an accuracy of the second image based on an accuracy of the second estimated distance.