US 12,262,863 B2
Systems and methods for image mapping and fusion during surgical procedures
Dwight Meglan, Westwood, MA (US); and Meir Rosenberg, Newton, MA (US)
Assigned to Covidien LP, Mansfield, MA (US)
Appl. No. 17/911,239
Filed by Covidien LP, Mansfield, MA (US)
PCT Filed May 12, 2021, PCT No. PCT/US2021/031886
§ 371(c)(1), (2) Date Sep. 13, 2022,
PCT Pub. No. WO2021/231508, PCT Pub. Date Nov. 18, 2021.
Claims priority of provisional application 63/023,435, filed on May 12, 2020.
Prior Publication US 2023/0099835 A1, Mar. 30, 2023
Int. Cl. A61B 1/00 (2006.01); A61B 1/04 (2006.01); A61B 1/045 (2006.01); A61B 1/06 (2006.01); A61B 34/20 (2016.01); A61B 90/90 (2016.01); G06T 7/521 (2017.01); G06T 7/70 (2017.01)
CPC A61B 1/00006 (2013.01) [A61B 1/00009 (2013.01); A61B 1/0005 (2013.01); A61B 1/045 (2013.01); A61B 1/046 (2022.02); A61B 1/0638 (2013.01); A61B 34/20 (2016.02); A61B 90/90 (2016.02); G06T 7/521 (2017.01); G06T 7/70 (2017.01); A61B 2034/2065 (2016.02); G06T 2207/10028 (2013.01); G06T 2207/10068 (2013.01); G06T 2207/20221 (2013.01); G06T 2207/30004 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A system for mapping and fusing endoscopy images, comprising:
a display;
a light source configured to provide light within a surgical operative site, the light source configured to produce a first light including an infrared (IR) band and a second light configured to produce a visible band;
a first imaging device configured to acquire images from the surgical operative site;
a second imaging device configured to acquire images from the surgical operative site; and
an imaging device control unit configured to control the first imaging device and the second imaging device, the control unit including:
a processor; and
a memory storing instructions thereon, which, when executed by the processor, cause the system to:
capture a first image of an object within a surgical operative site, by the first imaging device, the first image including the first light radiating from the object, and a first reference point;
capture a second image of the object, by the second imaging device, the second image including the second light radiating from the object, and a second reference point;
compare a first location of the first reference point in the first image to a second location of the second reference point in the second image;
determine a relative pose of the first imaging device to the second imaging device based on the comparing;
generate an augmented image fusing the first image and the second image based on the determined relative pose; and
display the augmented image on the display.