Intraoperative stereo imaging system

US007209538B2

(12;

United States Patent

Sukovic et al.

(io) Patent No.: (45) Date of Patent:

US 7,209,538 B2 Apr. 24, 2007

(54) INTRAOPERATIVE STEREO IMAGING SYSTEM

(75) Inventors: Predrag Sukovic, Birmingham, MI

(US); Neal Clinthorne, Ann Arbor, MI
(US); Nathaniel Bair, Ann Arbor, MI
(US)

(73) Assignee: Xoran Technologies, Inc., Ann Arbor, MI (US)

( * ) Notice: Subject to any disclaimer, the term of this patent is extended or adjusted under 35 U.S.C. 154(b) by 6 days.

(21) Appl. No.: 10/914,494

(22) Filed: Aug. 9, 2004

(65) Prior Publication Data

US 2005/0053192 Al Mar. 10, 2005

Related U.S. Application Data

(60) Provisional application No. 60/493,265, filed on Aug. 7, 2003.

(51) Int. CI.

A61B 6/02 (2006.01)
H0SG1/02 (2006.01)

(52) U.S. CI 378/42; 378/41; 378/189;

378/190; 378/197; 600/429

(58) Field of Classification Search 378/5,

378/9, 41, 42, 92, 98.9, 190, 196-198, 205, 378/11, 25, 26, 181, 206, 19; 600/407, 424,

600/425, 429 See application file for complete search history.

(56) References Cited

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(Continued)

FOREIGN PATENT DOCUMENTS

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WO WO 02/065931 Al 8/2002

WO WO 03/009768 Al 2/2003

Primary Examiner—Allen C. Ho

(74) Attorney, Agent, or Firm—Carlson, Gaskey & Olds (57) ABSTRACT

A surgical imaging system includes spaced-apart first and second x-ray sources mounted above a patient support surface. An x-ray detector mounted below the patient support surface generates first x-ray images based upon x-rays from the first x-ray source and second x-ray images based upon x-rays from the second x-ray source. These first and second x-ray images are used to generate a stereofluoroscopic image via a stereo display for a surgeon performing image-guided surgery. The stereofluoroscopic imaging system may be used in conjunction with robotic surgery. A surgical robot operatively controls a surgical tool in an area between the first x-ray source and the x-ray detector, and between the second x-ray source and the x-ray detector. The system may optionally include a first video camera mounted proximate the first x-ray source and a second video camera mounted proximate the second x-ray source. The stereo display selectively displays the first and second video images or the first and second x-ray image, and dissolves between the sources to correlate an outer view with the fluoroscopic view.

13 Claims, 2 Drawing Sheets

Page 2

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cited by examiner