Patent RU-2707369-C1 (RU)
Inventor: KOLSANOV ALEKSANDR VLADIMIROVICH
IPC: G06T15/00
Filed: 2019-02-27
Granted: 2019-11-26
Abstract: FIELD: medicine. 
     SUBSTANCE: group of inventions relates to medical equipment, specifically to means of preparing and performing a surgical operation using augmented reality. Method includes stages of planning a surgical operation, surgical navigation and surgical intervention using augmented reality, wherein at the stage of planning the surgical operation, a computer or magnetic resonance imaging is performed to the patient and forming a three-dimensional raster image of the patient's individual anatomy, which is transmitted to the complex of equipment for the surgical operation using the augmented reality, wherein at the stage of surgical navigation constructing a contour and three-dimensional reconstruction of all anatomical structures of interest to the surgeon in the forthcoming operation by placing three key points on the anatomical landmarks visible on the computer screen in the form of a three-dimensional model and also visible or tangible on the patient's body, wherein the points are selected to form a triangle thereof, followed by selecting a trajectory and safe limits of surgical approach, determining a transformation matrix of coordinates between the system of coordinates of the stereocamera of the complex and the coordinate system of the tomograph, in which the patient underwent diagnostics, by means of the point of the navigation pointer installation on the patient's body of the same three points and in the same sequence as the anatomical model, and fixing the points position by the computer, after installation of three key points, if necessary, additional points are placed on the same anatomical surface, followed by triggering the process of recording points with points on the surface of three-dimensional models of patient's anatomy, wherein on computer screen additionally displaying three-dimensional model of navigation pointer, wherein the position and orientation of the three-dimensional model of the navigation pointer relative to the patient's anatomy models corresponds to the physical position of the pointer relative the anatomical surface of the patient, at the surgical stage, a navigation pointer is used to search for anatomical structures of interest, access points to them, direction of their location relative to the access point, distance to them, as well as to limit the surgical approach area, at that, focusing on the image on the computer screen or in glasses of augmented reality, in the surgical approach area, the navigation pointer is installed so that the anatomical structure of interest is on the continuation line of the pointer, wherein the screen displays the distance to the anatomical structure in millimeters, and to limit the surgical approach area, focusing on the image on the computer screen or in the augmented reality glasses, moving the navigation pointer so that the pointer extension line moves along the contour of the anatomical structure of interest, pointer is moved along the projection line of the anatomical structure of interest on the body surface and the area of the forthcoming surgical approach is outlined, after which a surgical operation is performed, during which, if necessary, a new access point is established and the access area is corrected. A complex of equipment for performing a surgical operation using the augmented reality comprises a block of chambers installed above an operation field and including a chamber of augmented reality and a ToF chamber, stereo camera operating in the infrared wavelength range, augmented reality glasses comprising a control panel connected to the computer, and markers, wherein stereo camera is installed so that its visibility area includes markers made spherical and reflecting, located on camera unit, navigation pointer, enlarged reality glasses and basic marker of coordinate system, wherein the markers configuration on each of them is different from the others, the base marker of the coordinate system is rigidly fixed on the cranial clamp or the operating table, and the computer is equipped with a foot controller in the form of a unit with pedals. 
     EFFECT: use of inventions widens range of means for surgical interventions using augmented reality. 
     2 cl, 6 dwg