Patent ID: 6591130
Filing Date: 2003-07-08
Classification: A61B

Abstract:
A method of image-enhanced endoscopy at a patient site, comprising:(a) acquiring volumetric scan data of the patient site; (b) manipulating in a region of the patient site, an endoscope having a lens with a known conical field of view; (c) displaying in real time, a perspective image of patient surface features generated by the endoscope; (d) registering the scan data with the position of the patient; (e) determining the position and orientation of the endoscope with respect to the position of the patient, thereby determining the position of the endoscope with respect to the scan data; (f) constructing from the volumetric scan data, a perspective image of the patient site, as seen from the position, orientation, and conical field of view of the endoscope, where image surface structures can be represented by surface renderings or volume renderings and where image subsurface structures can be represented by surface renderings or volume renderings, different structures being represented by different opacities; and (g) displaying at a selected opacity setting, the constructed perspective image of the patient site, allowing the user to view the constructed perspective endoscopic-view image of surface or subsurface structures of the patient overlaid on obstructing surfaces and objects from the position, orientation, and conical field of view of the endoscope.