IMAGE INTEGRATION BASED SUPERPOSITION AND NAVIGATION FOR ENDOSCOPIC SURGERY Russian patent published in 2015 - IPC A61B19/00 

FIELD: medicine.

SUBSTANCE: group of inventions relates to medical equipment, namely to surgical navigation systems for the integration of plurality of images of an anatomical body area. The system contains a unit of image integration, made with a possibility to form an integrated matrix (T_X-E) of an image, containing the integration of a fluoroscopic image matrix (T_X-CT) and an endoscopic image matrix (T_CT-E). The fluoroscopic image matrix (T_X-CT) includes transformation between an intra-operative fluoroscopic image and a pre-operative scan image. The endoscopic image matrix (T_CT-E) includes transformation between the pre-operative scan image and the intra-operative endoscopic image. The system also contains a tool tracker unit, operable to generate an integrated tracking matrix (T_T-X) and a scan tracking matrix (T_T-CT). The integrated tracking matrix (T_T-X) includes the integration of the integrated image matrix (T_X-E) and the endoscopic tracking matrix (T_T-E). The scan tracking matrix (T_T-CT) includes the integration of the endoscopic image matrix (T_CT-E) and the endoscopic tracking matrix (T_T-E). The endoscopic tracking matrix (T_T-E) represents the tracking of a surgical tool (21) within the intra-operative endoscopic image (23).

EFFECT: application of the invention facilitates the tracking of positions and orientations of the surgical tool.

15 cl, 7 dwg