1. The Technical Field
The present disclosure relates generally to apparatus for electronic stereo viewing of medical and pathological images. Binocular electronic stereo images can be captured using stereo endoscopes in variety of endoscopic surgical applications using 3-dimensional (3D) medical imaging equipment, as well as in pathology examination of specimens in 3D under stereo microscope equipment with dual electronic image capture devices. The present disclosure describes an apparatus for viewing of such stereo images.
2. Related Technology
Endoscopes of a variety of forms are used both in both diagnostic and surgical procedures. Currently, minimally invasive surgery (MIS) procedures, as opposed to open surgical procedures, are routinely done in almost all hospitals. Minimally invasive techniques minimize trauma to the patient by eliminating the need to make large incisions. This both reduces the risk of infection and reduces the patient's hospital stay. Laparoscopic and endoscopic procedures in MIS use different types of endoscopes as imaging means, giving the surgeon an inside-the-body view of the surgical site. Specialized endoscopes are named depending on where they are intended to look. Examples include cystoscopes (bladder), nephroscopes (kidney), bronchoscopes (bronchi), laryngoscopes (larynx/the voice box), otoscopes (ear), arthroscopes (joint), laparoscopes (abdomen), gastrointestinal endoscopes, and specialized stereo endoscopes used as laparoscopes or for endoscopic cardiac surgery.
The endoscope may be inserted through a tiny surgical incision to view joints or organs in the chest or abdominal cavity. More often, the endoscope is inserted into a natural body orifice such as the nose, mouth, anus, bladder, or vagina. There are three basic types of endoscopes: rigid, semi-rigid, and flexible. The rigid endoscope comes in a variety of diameters and lengths depending on the requirements of the procedure.
A stereo vision system is an invaluable solution when implemented in endoscopy. It improves surgeon's dexterity, accuracy, and reduces time of operation by providing a complete magnified view of the area similar to a stereo microscope visualization. A variety of endoscopes, such as cystoscopes, nephroscopes, bronchoscopes, laryngoscopes, otoscopes, arthroscopes, laparoscopes, and flexible gastrointestinal endoscopes, may be made to incorporate means for stereo vision capture.
Stereo microscopes used in pathology labs also allow 3D views of pathology samples. Stereo microscopes are also an invaluable tool in micro surgical applications such as in brain surgery. 3D and binocular models of the body may be computer generated in 3D by processing medical imaging system data such as in MRI, CAT scan, X-ray, and Ultrasound.
Viewing of 3D stereo information in real time by a surgeon helps achieve better procedure outcome. However, current stereo viewing in surgical environment is limited to large stereo consoles using dual display systems, or head mounted displays that must be worn in a fixed fashion on the head.
Large 3D stereo viewers limit the use of the stereo viewer to a position near or at a remote surgical site, where the surgery is performed by tele-robotic arms. In this type of system the surgeon relies on the medical staff next to the patient to perform other surgical operation tasks and have the support staff inform the surgeon as to various other task outcomes.
The head-mounted solution, such as in eye-glass or goggle type 3D stereo displays fixed on the surgeon's head, are disorienting to the surgeon. These displays move as the surgeon moves his or her head while the view of the operating site is fixed with respect to the user's point of view. The head mounted display solutions also limit the visual field of the surgical staff. These type displays rely on very compact projection type optics that have limited projection field for the positioning of the user's eye pupil to achieve very large projected images. This limits how far away the goggle or head mount displays can be with respect to a user's eye. Partial views of the actual surgical site, either by making the displays partially transparent, or by limiting the area of the eye the display covers, are not acceptable. Head mount displays are also cumbersome to remove and/or re-position for optimal viewing.
These and other limitations may be overcome by embodiments of the disclosure which relate to small, high resolution 2-dimensional (2D) or 3D stereo viewers that are fully maneuverable in the surgical environment and can be positioned above the patient without any physical attachment to the user's head. The present 3D stereo viewer may be conveniently adjusted to a fixed location in space for optional viewing of the 3D information, where the surgeon may move their head and direct their line of sight easily to the patient and the 3D viewer at any time.
The 3D viewer of the present disclosure may have a cut out portion or a free space opening, at the front bottom portion of the 3D viewer. The 3D stereo viewer may be set at a comfortable distance from the user's head, where the user can easily gain a lower line of site to the area of observation simply by looking down. Also, by having a relatively larger distance from the user's eyes and the physical space that the user can comfortably gain 3D viewing, the surgeon may be free to lower or tilt his or her head for optimum viewing of the actual surgical site. The user may also be free to move their head farther away from the 3D viewer and to the sides to perform other surgical tasks.
The current embodiment of 3D stereo visualization gives adequate field of view for stereo viewing of the surgical site. To achieve the feeling of immersion, the surgeon can optionally position their head closer to the 3D monitor by resting their head on the forehead rest mechanism for example.
Mixed media stereo images may be viewed independently or as overlaid 3D images on the stereo viewer. These stereo images could be from real time stereo viewing devices such as a stereo endoscope, or a stereo microscope equipped with dual image capture devices, or a computer generated binocular 3D image from a CT scan, MRI, ultrasound, or other similar medical imaging devices.
To further clarify the features of the present disclosure, a more particular description of the disclosure will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. It is appreciated that these drawings depict only typical embodiments of the disclosure and are therefore not to be considered limiting of its scope. Embodiments of the disclosure will be described and explained with additional specificity and detail through the use of the accompanying drawings in which:
Embodiments of the current disclosure are directed to general individual display units that can enable 3D stereo viewing of medical stereoscopic or binocular images. 3D stereo images can be captured using stereo endoscopes in a variety of forms, such as rigid, semi-rigid, and flexible, endoscopes with any fields of view (FOV), as well as angled endoscopes with various directions of view.
Stereo images captured during stereo digital microscopy or stereo micro surgery, representing 3D tissue structure or organ inside the body or on the skin, can be viewed in real time using the 3D stereo viewer. Past 3D imaging information obtained in similar manner or reconstructed from various other medical imaging mechanisms such as MRI, Ultrasound, CT scan, etc., may also be played on the stereo viewer at the same time as the real time video images.
The stereo images whether taken in the visual spectrum of light or in Infrared or UV imaging, or as a result of bio fluorescence spectral imaging, convey a lot of information when superimposed with the real time visual stereo image data. Different modality imaging data can be processed and matched in position and magnification using image capture markers to the real time stereo image data, and viewed in stereo by or fed as a 2D image to only one eye of the stereo viewer.
Human stereo vision inherently renders higher level of resolution due to a human brain's processing capability of stereo images, referred to as Stereo Visual Summation. Thus, human perception of image resolution, definition, and contrast are all improved in stereo viewing. Also, any extra information presented to a single eye can be viewed comfortably and without confusion, in the stereo viewer without lack of perspective or affecting the stereo 3D vision.
Mixing of multi-modal stereo image data allows different type of information from a variety of imaging and tissue analysis sources that reveal the soft tissue, bones, and muscular structure, as well as tissue structure, to be readily observed, recognized, and manipulated with observation in the stereo viewer. The stereo viewer can simultaneously display matched 3D stereo images, or mix 2D images matched to one of the stereo images (left or right eye).
It is desirable to have a versatile viewing apparatus that can be easily implemented in surgical settings, medical settings, and lab environment. With today's high tech medical environment using a variety of imaging and display systems, the surgical area is crowded with various medical equipment and multimedia displays used around the patient. This not only limits the medical staff from easily accessing all the equipment, it also requires multiple people around the patient to perform only few tasks at a time.
The electronic rack mounted or wall and ceiling mounted video displays in the operating room are large and cumbersome to adjust for optimal viewing, and seldom offer a complete view for all the staff at different locations in the room. Glare from surgical lights in the room is also not controlled in all positions, thus sometimes a user positioned at a specific position is unable to see the display well. The surgical staff also does not have access to the same exact view as the main surgeon. This raises the learning curve and limits the coordination of the various surgeons concurrently participating in the operation.
Human hand-eye coordination is improved with use of instruments in the usual postures that one is inherently trained on. For example the surgeon is used to operate on a patient standing next to the bed. Long surgical procedures also dictate an ergonomic access and use of medical equipment and instruments, without strain to the body, neck or the human visual system. Thus, a fully adjustable personal display for each member of the surgical staff is highly desirable.
Having a magnified 2D or 3D view of the surgical site directly above the patient, at the eye level of the doctor, is a convenient and ergonomic way for the surgeon to view the information. Since access to the space is limited directly above the patient, and one cannot obscure the general surgical lighting system directly above the patient, a drop down small viewer with added illumination in the bottom to illuminate the surgical area is highly desirable in providing the desired task lighting.
Front panel of the 3D stereo viewer is also equipped with features to ease head positioning and possibly facilitate contact with the user's head. A rounded feature and surface relief structure 108 in the middle of the display just below and/or between the left and right eye visual access ports 104 and 106 can make accommodations for the user's nose. An arc-shaped forehead support 110 protruding out from the visual access ports 104 and 106 can be used to accommodate a contact point to the user's forehead. In a further embodiment, the forehead support 110 can additionally provide a comfortable forehead resting surface with soft disposable padding on the forehead support 110 that can wick the sweat off of the user's forehead.
To avoid light leakage from either side of the stereo viewer 100, and to prevent glare as well as avoid direct view of the displays without traversing the designed optical fold or projection path, optical baffle mechanisms 314 can be implemented inside the viewer. The inside surface of the viewer body 102 and all the surfaces of the optical baffle mechanisms, as well as any unused surfaces of the mirrors 310 and 312 and all other mechanisms inside the housing 102, such as mounting mechanisms, can be coated or painted with anti-reflective, light-absorbing black material.
As represented in
Various interactive user interfaces can also be implemented into the compact 3D stereo viewer 100, such as into the viewer body 102, to control the compact 3D stereo viewer 100 and send commands to various other equipment that are communicatively connected to the compact 3D stereo viewer 100. For instance, the compact 3D stereo viewer 100 may include a computer input type touch pad 508, finger mouse 510, and/or electronic control buttons 512 mounted on the side of the viewer body 102 and configured to execute and/or transmit a user's commands to the 3D stereo viewer 100 and/or outside the 3D stereo viewer 100. In a further embodiment, the 3D stereo viewer 100 may be configured to operate in accordance with voice activation by incorporating a voice recognition mechanism inside the 3D stereo viewer 100, where the user's voice commands are recognized and executed by the voice recognition mechanism.
The 3D stereo viewer 100 can also include a microprocessor configured to perform certain computational functions and process information such as image decompression and processing. In addition, the 3D stereo viewer 100 may include a power source, such as a battery that can be removed, exchanged, and/or otherwise recharged after each use.
The 3D stereo viewer 100 may also include a multi functional computer game type joystick 514, which can be mounted on the viewer body 102. The joystick 514 may be configured to adjust the spacial position of the 3D stereo viewer in the operating room. In a further embodiment, the joystick 514 may be configured to adjust the rotational direction of 3D stereo viewer 100, such as by rotating the joystick 514.
Icons of various image media available to the viewer such as X-ray, Ultrasound, MRI, and the like can be displayed on one or both eye images in the 3D display. The touch pad 508 or the finger mouse 510 can be used to move the mouse icon to the various image media icons, where an imaging choice can be set and the 3D stereo viewer 100 can visualize the information on one side or as stereo overlays to the 3D live stereo video signal from a stereo endoscope or microscope.
The vertical support member 502 of the 3D stereo viewer 100, represented in
A third support member 602 may be oriented along a substantially horizontal axis and may be coupled at or proximate one end to the second support member 604 and coupled at or proximate the opposite end to the vertical support member 502. The third support member 602 may be configured to be angularly rotatable with respect to the longitudinal axis of the first support member 606, the second support member 604, and/or the vertical support member 502, thereby allowing a user several degrees of freedom to adjust the position of the 3D stereo viewer 100. As a result, a user can maneuver the 3D stereo viewer 100 to a desired position over the operating table 601 and work area 201. Rotational and axial positioning of the 3D stereo viewer 100 may be facilitated by rotational and sliding hinges 610, which may couple one or more support members together. The sliding hinges 610 may also be equipped with locking mechanisms and may be manipulated manually or automatically.
Various other electromechanical mounting mechanisms can be implemented as multi-jointed holding system for the 3D stereo viewer 100, where the user can manually or robotically position the 3D stereo viewer 100 to the desired location. In a further embodiment, the positioning of the 3D stereo viewer 100 can be accomplished by using a separate remote control mechanism. Support member 602, 604, and 606 and/or vertical support member 502 can house such robotic manipulation actuators for automatically positioning the 3D stereo viewer 100 at the desired position. Positional information can be stored in a remote control mechanism along with the user's information, so the same position can be set and retrieved and implemented automatically in subsequent procedures.
Using various 3D stereo endoscopes and stereo microscopes in endoscopic procedures or endoscopic and open surgical procedures, allows enlarged view of the surgical site to be readily available to the surgeon and other medical staff in stereo, and in an ergonomic fashion. Multiple viewers can be configured for the staff in the same surgical room to have similar or various 3D stereo view for coordinated functions or as a learning tool.
The 3D stereo viewer 100 can be also equipped with various mechanisms of one or two way communication for receiving imaging data and executing user commands. Other than direct electronic connection, the 3D stereo viewer 100 can take advantage of high bandwidth fiberoptic multimedia connections or wireless communication with high bandwidth, send-and-receive capability. Any physical connection to the 3D stereo viewer 100 including a power connection can be made via the support structure as described in
An electronic storage mechanism can also be incorporated in the 3D stereo viewer 100, such as in the viewer body 102, for local storage of information or transfer of information to and from the display unit. Certain user or patient data and information, can be locally stored or communicated to the 3D stereo viewer 100. Such information could be used as record keeping or training, as well as user data such as positional information for the display unit, and adjustment levels of the stereo display for specific user.
The 3D stereo viewer 100 can be part of a larger connectivity member in the operating room, the hospital, or a larger networked environment, where imaging, video, and voice data can be communicated to and from different equipment via full multi-media connectivity solution.
As the flat panel display resolution and size improves, it is possible to use a single display to display left and right stereo images at the same time. This can equate to cost and space savings in the 3D stereo viewer 100.
In another embodiment, especially where the display is preferred to be tilted up in front of the user, it may be desirable to have a 3D stereo display with shorter depth along the line of sight into the display. One implementation of this embodiment is represented in
In a further embodiment of the current disclosure, 3D stereo viewer 100 may include dual micro displays using projection optics that can project left and right eye images to screen positions used instead of or in addition to the flat panel's displays.
This application claims the benefit of and priority to U.S. Provisional Patent Application No. 61/082,432 filed Jul. 21, 2008, and entitled “Individual Stereo Viewer,” the disclosure of which is incorporated herein by reference in its entirety.
Number | Date | Country | |
---|---|---|---|
61082432 | Jul 2008 | US |