阅读说明：本技术 使外科手术干预自动化的方法和系统 (Method and system for automating surgical intervention ) 是由 A.马哈迪克 J.文卡塔拉曼 R.帕拉马斯文 B.亨特 A.吉拉 K.克里什纳 H.劳 于 2018-03-21 设计创作，主要内容包括：一种用于提供外科手术部位的改进视频图像的外科手术系统，其包括：系统控制器，该系统控制器接收并处理视频图像以确定与干扰视频图像的质量的状况对应的视频签名，其中系统控制器与视频增强器交互以增强来自视频捕获设备的视频图像，以自动控制视频增强器来增强视频图像。外科手术系统还可以回顾用于触发事件的视频图像，并在触发事件发生时自动开始或停止视频图像的记录。(A surgical system for providing an improved video image of a surgical site, comprising: a system controller that receives and processes the video image to determine a video signature corresponding to a condition that interferes with the quality of the video image, wherein the system controller interacts with the video enhancer to enhance the video image from the video capture device to automatically control the video enhancer to enhance the video image. The surgical system may also review the video images for the triggering event and automatically start or stop recording of the video images upon the occurrence of the triggering event.)

1. A system for providing an improved video image of a surgical site, comprising:

a tool for manipulating tissue at the surgical site;

a light source for providing light to the surgical site;

a video capture device for obtaining a video image at the surgical site;

an image display for displaying the video image; and

a system controller configured to maintain a quality of the video image obtained by the video capture device and provided to the image display, wherein the system controller receives and processes the video image to determine a video signature corresponding to a condition that interferes with the quality of the video image;

the system controller interacts with a video enhancer to enhance the video image from the video capture device to automatically control the video enhancer to enhance the video image transferred from the video capture device to the image display upon detection of the condition interfering with the quality of the video image, such that a user is free from having to control the video enhancer to obtain the improved video image for the surgical site viewed on the image display.

2. A system for providing an improved video image of a surgical site, comprising:

a tool for manipulating tissue at the surgical site;

a suction system for providing suction at the surgical site;

a light source for providing light to the surgical site;

a video capture device for obtaining a video image at the surgical site;

an image display for displaying the video image; and

a system controller configured to maintain a quality of the video image obtained by the video capture device and provided to the image display, wherein the system controller receives and processes the video image to determine a video signature corresponding to a condition that interferes with the quality of the video image; and

the system controller interacts with the video enhancer, the tool, and the aspiration system and controls at least one of the video capture device, the video enhancer, the tool, and the aspiration system to address the condition at the surgical site to restore the video image to an improved quality for viewing, such that a user is free from having to manually control any of the video capture device, the video enhancer, the tool, and the aspiration system to obtain the improved video image of the surgical site for viewing on the image display.

3. A system for providing an improved video image of a surgical site, comprising:

a tool for manipulating tissue at the surgical site;

a suction system for providing suction at the surgical site;

a light source for providing light to the surgical site;

a video capture device for obtaining a video image at the surgical site;

an image display for displaying the video image; and

a system controller configured to maintain or improve the quality of the video image obtained by the video capture device and provided to the image display, wherein the system controller receives and processes the video image to determine a video signature corresponding to a condition that interferes with the quality of the video image;

the system controller interacts with the video enhancer, the tool, and the aspiration system and controls at least one of the video capture device, the video enhancer, the tool, and the aspiration system to address the condition at the surgical site to achieve an improved quality of the video image for viewing, such that a user is free from having to manually control any of the video capture device, the video enhancer, the tool, and the aspiration system to obtain the improved video image of the surgical site for viewing on the image display;

wherein the video signature to be identified corresponds to a condition of smoke in the video image, and the system controller operates at least one of the video capture device, the video enhancer, the tool, and the suction system in response to (1) a smoke characteristic determined by the system controller and (2) at least one other surgical input provided to the system controller.

4. The system of any of claims 1-3, further comprising:

an insufflator for providing gas to the surgical site; and

an aspiration system for providing aspiration at the surgical site to control removal of gas from the surgical site; wherein the tool is a cauterization tool.

5. The system of any one of the preceding claims, wherein:

the system controller interacting with the tool, the insufflator, and the aspiration system; and

the system controller also automatically controls at least one of the tool, the insufflator, and the aspiration system to address the condition at the surgical site to restore the video image to an improved quality.

6. The system of any one of the preceding claims, wherein:

wherein the video signature to be identified corresponds to the condition of smoke in the video image, and the system controller operates at least one of the tool, the insufflator and the suction system in response to the sensed amount of smoke.

7. The system of any one of the preceding claims, wherein:

wherein the video signature to be identified corresponds to the condition of smoke in the video image.

8. The system of any one of the preceding claims, wherein:

wherein the video signature to be identified corresponds to the condition of blood in the video image.

9. The system of any preceding claim, further comprising:

a liquid pump system for providing fluid to the surgical site; and

an aspiration system providing aspiration for controlling removal of fluid from the surgical site;

wherein the tool is a cutting tool.

10. The system of any preceding claim, further comprising:

an insufflator for providing gas to the surgical site; and is

Wherein the tool is a cauterization tool.

11. The system of any one of the preceding claims, wherein:

the system controller also automatically controls the insufflator to address the condition at the surgical site to restore the video image to an improved quality.

12. The system of any preceding claim, further comprising:

a liquid pump system for providing fluid to the surgical site;

wherein the tool is a cutting tool.

13. The system of claim 3, wherein:

the at least one other surgical input includes a characteristic of at least one of the tool, the aspiration system, the light source, and the video capture device.

14. The system of claim 3, wherein:

the at least one other surgical input includes a surgical procedure type.

15. The system of claim 3, wherein:

the at least one other surgical input includes a surgeon preference.

16. An imaging system for viewing a video image of a surgical site, comprising:

a light source for providing light to the surgical site;

a video capture device for obtaining a video image at the surgical site;

a video recorder that receives the video image; and

a system controller that receives and processes the video image to determine a triggering event;

the system controller interacts with the video recorder to at least one of automatically record the video image and automatically stop recording of the video image upon determining the triggering event.

17. The system of claim 16, further comprising:

a tool for manipulating tissue at the surgical site.

18. A method for controlling a surgical system to provide an improved image of a surgical site, comprising:

manipulating tissue at the surgical site;

illuminating the surgical site;

obtaining a video image at the surgical site;

analyzing the video image to determine the presence of a condition that interferes with the quality of the video image;

configuring a system controller to interact with a video enhancer;

controlling the video enhancer with the system controller to generate a video image with improved image quality in response to the presence of the condition and without control from an operator; and

displaying the video image with the improved image quality.

19. The method of claim 18, further comprising:

providing gas to the surgical site with an insufflator; and

providing suction at the surgical site with a suction system;

wherein the tool is a cauterization tool.

20. The method of claim 19, further comprising:

automatically controlling at least one of the tool, the insufflator, and the aspiration system to address the condition at the surgical site to achieve an improved quality of the video image.

21. The method according to any one of claims 18-20, further comprising:

providing a fluid to the surgical site; and

providing suction for controlling removal of fluid from the surgical site;

wherein the tool is a cutting tool.

22. A method for controlling a surgical system that provides an image of a surgical site, comprising:

illuminating the surgical site;

obtaining a video image at the surgical site;

analyzing the video image to determine the presence of a triggering event;

configuring a system controller to interact with a recorder; and

automatically controlling the video recorder with the system controller in response to sensing the triggering event such that the video image is recorded.

23. The method of claim 22, further comprising:

manipulating tissue at the surgical site with a tool.

24. A kit for imaging tissue in a surgical site, the kit comprising a fluorescence imaging agent and the system of any one of claims 1-17.

25. A fluorescence imaging agent for use with the surgical system of any one of claims 1-17 for imaging tissue in a surgical site.

26. The fluorescence imaging agent of claim 25, wherein imaging tissue in the surgical site comprises imaging blood flow, tissue perfusion, lymphatic tissue, tissue anatomy, or a combination thereof.

27. A fluorescence imaging agent for use with the method of any one of claims 18-23 for imaging tissue in a surgical site.

28. The fluorescence imaging agent of claim 27, wherein imaging tissue in the surgical site comprises imaging blood flow, tissue perfusion, lymphatic tissue, tissue anatomy, or a combination thereof.

29. Use of the system of any one of claims 1-17 for lymph imaging, blood flow imaging, tissue perfusion imaging, tissue anatomy imaging, or a combination thereof.

30. Use of the method of any one of claims 18-23 for lymph imaging, blood flow imaging, tissue perfusion imaging, tissue anatomy imaging, or a combination thereof.

31. The kit of claim 24 for use in lymph imaging, blood flow imaging, tissue perfusion imaging, tissue anatomy imaging, or combinations thereof.

32. Use of the system of any one of claims 1-17 for robotic surgery.

33. Use of the method of any one of claims 18-23 for robotic surgery.

34. The kit of claim 24 for use in robotic surgery.

35. The fluorescence imaging agent of any one of claims 25-28, further directed to use in robotic surgery.

36. Use of any one of claims 29-31 in robotic surgery.

Technical Field

The present disclosure relates generally to the field of medical imaging, and more particularly to providing improved images of a surgical site for use in a surgical procedure.

Background

During typical endoscopic procedures, including laparoscopic surgical procedures, smoke is generated which can interfere with the image of the surgical site being viewed. Better images during smoke generation are desired. A fast, simple and reliable method of arranging medical or surgical equipment in a medical care area is also desired.

Disclosure of Invention

According to various aspects, the present invention is directed to systems and methods for providing improved video images of a surgical site. The system comprises: a tool for manipulating tissue at a surgical site; a light source for providing light to a surgical site; a video capture device for obtaining a video image at a surgical site; an image display for displaying a video image; and a system controller configured to maintain the quality of the video image obtained by the video capture device and provided to the image display. The system controller receives and processes the video images to determine a video signature corresponding to a condition that interferes with the quality of the video images. The system controller interacts with the video enhancer to enhance the video image from the video capture device to automatically control the video enhancer to enhance the video image transferred from the video capture device to the image display upon detection of a condition that interferes with the quality of the video image, such that a user is free from having to control the video enhancer to obtain an improved video image of the surgical site for viewing on the image display.

It is another aspect of the present invention to provide for a system for providing improved video images of a surgical site. The system comprises: a tool for manipulating tissue at a surgical site; an aspiration system for providing aspiration at a surgical site; a light source for providing light to a surgical site; a video capture device for obtaining a video image at a surgical site; an image display for displaying a video image; and a system controller configured to maintain the quality of the video image obtained by the video capture device and provided to the image display. The system controller receives and processes the video images to determine a video signature corresponding to a condition that interferes with the quality of the video images. The system controller interacts with the video enhancer, the tool, and the adjustable suction system and controls at least one of the video capture device, the video enhancer, the tool, and the suction system to address a condition at the surgical site to restore the video image to an improved quality for viewing, such that a user is free from having to manually control any of the video capture device, the video enhancer, the tool, and the suction system to obtain an improved video image of the surgical site for viewing on the image display.

It is a further aspect of the present invention to provide a method for controlling a surgical system to provide an improved image of a surgical site, the method comprising: manipulating tissue at a surgical site; illuminating the surgical site; obtaining a video image at a surgical site; analyzing the video image to determine the presence of a condition that interferes with the quality of the video image; configuring a system controller to interact with a video enhancer; controlling a video enhancer with a system controller to generate a video image with improved image quality in response to the presence of the condition and without control from an operator; and displaying the video image with improved image quality.

Another aspect of the present invention is to provide an imaging system for viewing a video image of a surgical site. The system comprises: a light source for providing light to a surgical site; a video capture device for obtaining a video image at a surgical site; a video recorder that receives a video image; and a system controller that receives and processes the video images to determine a triggering event. The system controller interacts with the video recorder to at least one of automatically record the video image and automatically stop recording of the video image upon determining the triggering event.

Yet another aspect of the present invention is to provide a method for controlling a surgical system providing an image of a surgical site, the method comprising: illuminating the surgical site; obtaining a video image at a surgical site; analyzing the video image to determine the presence of a triggering event; configuring a system controller to interact with a video recorder; and automatically controlling the video recorder with the system controller in response to sensing the triggering event such that the video image is recorded.

It is another aspect of the present invention to provide for a system for providing improved video images of a surgical site. The system comprises: a tool for manipulating tissue at a surgical site; an aspiration system for providing aspiration at a surgical site; a light source for providing light to a surgical site; a video capture device for obtaining a video image at a surgical site; an image display for displaying a video image; and a system controller configured to maintain or improve the quality of the video image obtained by the video capture device and provided to the image display. The system controller receives and processes the video images to determine a video signature corresponding to a condition that interferes with the quality of the video images. The system controller interacts with the video enhancer, the tool, and the aspiration system and controls at least one of the video capture device, the video enhancer, the tool, and the aspiration system to address a condition at the surgical site to achieve an improved quality of the video image for viewing, such that a user is relieved of having to manually control any of the video capture device, the video enhancer, the tool, and the adjustable aspiration system to obtain an improved video image of the surgical site for viewing on the image display. The video signature to be identified corresponds to a condition of smoke in the video image, and the system controller operates at least one of the video capture device, the video enhancer, the cautery tool, the insufflator, and the adjustable suction system in response to (1) the smoke characteristic determined by the system controller, and (2) at least one other surgical input provided to the system controller.

Drawings

One or more embodiments of the present disclosure are illustrated by way of example and should not be construed as limited to the particular embodiments depicted in the figures, in which like reference numerals indicate like elements.

Fig. 1 illustrates a schematic view of a surgical system according to an embodiment.

Fig. 2 illustrates a method of using the surgical system 10, according to an embodiment.

Fig. 3 illustrates a method of processing an image according to an embodiment.

Fig. 4 is an image of an exemplary surgical site.

Fig. 5 illustrates a workflow process according to an embodiment.

Fig. 6 is a first image of a feature tracker according to an embodiment.

Fig. 7 is a second image of a feature tracker according to an embodiment.

Fig. 8 is a list of possible exemplary features used in accordance with an embodiment.

Fig. 9 illustrates samples of a 3D space determined using the processes described herein in various embodiments.

FIG. 10 illustrates steps for a classification training embodiment.

FIG. 11 illustrates steps for a classification test embodiment.

FIG. 12 illustrates a domain logic flow diagram for enhancing a video image depending on factors other than purging the video image alone, in accordance with an embodiment.

Fig. 13 illustrates a method for automatically recording video images according to an embodiment.

For convenience, certain terminology will be used in the following description for reference only and not for limitation. The terminology will include the words specifically mentioned, derivatives thereof, and words of similar import.

Detailed Description

Reference will now be made in detail to embodiments and examples of the various aspects and modifications of the invention, examples of which are illustrated in the accompanying drawings. While at least two variations of the systems, methods, uses, and kits are described, other variations of the systems, methods, uses, and kits may include aspects of the systems, methods, uses, and kits described herein having combinations of all or some of the described aspects, in any suitable combination.

Fig. 1 illustrates an embodiment of a surgical system 10 for performing a surgical procedure. The surgical system 10 may include a tool 12 for manipulating tissue at a surgical site 16 under control of a tool controller 14, a fluid input system 18 for providing fluid to the surgical site 16, a suction system 20 (e.g., adjustable) for providing suction at the surgical site 16 for controlling removal of fluid from the surgical site 16, a light source 22 for providing light to the surgical site 16 under control of a light source controller 24, a video capture device 26 for obtaining video signals of video images at the surgical site 16, a camera control unit 28 for controlling the video capture device 26, and an image display 32 for displaying the video images. In the illustrated example, tool controller 14 may be operated individually to control tool 12, fluid input system 18 may be operated individually to provide fluid to surgical site 16, aspiration system 20 may be operated individually to aspirate fluid from surgical site 16, light source controller 24 may be operated individually to adjust light source 22 and/or camera control unit 28 may be operated individually to control video capture device 26. Also, as shown in fig. 1, system controller 30 communicates with tool controller 14 to control tool 12, with fluid input system 18 to provide fluid to surgical site 16, with aspiration system 20 to aspirate fluid from surgical site 16, with light source controller 24 to adjust light source 22, and with camera control unit 28 to control video capture device 26. The fluid input system 18 may provide fluid to the surgical site 16 through its own device or through another device 31 (e.g., an endoscope), which other device 31 also has a video capture device 26 connected thereto and receives light from the light source 22.

In the illustrated example, the surgical system 10 may be employed in a number of different surgical procedures. For example, the surgical system 10 may be used during endoscopic procedures (including laparoscopic procedures), wherein the tool 12 may be a cauterization tool, the fluid input system 18 may be an insufflator for providing gas to the surgical site 16, and the aspiration system 20 may aspirate gas and potentially smoke from the surgical site 16. Alternatively, the surgical system 10 may be used, for example, during an arthroscopic procedure, wherein the tool 12 may be a cutting tool, the fluid input system 18 may be a liquid pump for providing fluid (e.g., saline solution) to the surgical site 16, and the aspiration system 20 may aspirate fluid (e.g., saline solution and, potentially, blood) from the surgical site 16. It is contemplated that the procedure (e.g., endoscopic procedure) may assume the use of one or more robotic devices for robotic surgery.

The illustrated surgical system 10 may also provide video images captured by the video capture device 26 to an image display 32 to be viewed by a person in the operating room. The image display 32 may be a single display or multiple displays. Further, the image display 32 may be incorporated into the same housing as the system controller 30, or the housing of the system controller 30 may include another display for video images in addition to the image display 32. The surgical system 10 may also include a video recorder 36 as a stand-alone device that is incorporated into the housing of the system controller 30 or that communicates with the surgical system 10 from a remote location. An example of an integrated system controller 30 and video recorder 36 is a SDC3 HD information management system (with device control) as sold by Stryker, inc. The video image may also be processed in a video enhancer 38 to sanitize the video image before it is transmitted to any of the image display 32, the system controller 30, and the video recorder 36. The video enhancer 38 and the system controller 30 may be configured to maintain the quality of the video images obtained by the video capture device 26 and provided to any of the image display 32, the system controller 30, and the video recorder 36. An example of a video enhancer 38 is a sharpness video enhancer such as that sold by Stryker, inc. Video enhancer 38 may be used to adjust the video sent to it by altering the brightness, color, contrast, or other characteristics of the video to enable a better view of the relevant portion of the video image. For example, the video enhancer 38 may be used to alter brightness, contrast, or color to enable certain regions of the surgical site 16 to be identified relative to other regions of the surgical site 16 (e.g., to make the contrast between smoke and adjacent regions more apparent).

Fig. 2 illustrates a general method 40 of using the surgical system 10 as disclosed herein, in accordance with an embodiment. As an initial step, a video image is captured at step 42 using video capture device 26. Thereafter, at step 44, the video image is analyzed to determine if a triggering condition has occurred. If it is determined at step 44 that a triggering condition has occurred, the surgical system 10 takes further action at step 46.

Fig. 3 illustrates an embodiment of a general method 40, wherein the method of fig. 3 includes a method 50 for controlling the surgical system 10 to provide an improved image of the surgical site 16. In the method of fig. 3, a first step includes capturing a video image using the video capture device 26 at step 52. In step 54, the video image is processed to determine whether a video signature corresponding to a condition that interferes with the quality of the video image is present. If there is a video signature corresponding to a condition that interferes with the quality of the video image, the system controller 30 may interact with the video enhancer 38 at step 56 to automatically control the video enhancer 38 to enhance the video image delivered from the video capture device 26. Because the system controller 30 may automatically control the video enhancer 38 to enhance the video image communicated from the video capture device 26 at step 56, a user of the surgical system 10 using the method 50 may be relieved of having to manually control the video enhancer 38 to obtain an improved video image of the surgical site 16. The modified video image may be displayed on the image display 32, any display of the system controller 30, and/or may be saved in the video recorder 36.

In the illustrated example, in addition to or instead of controlling video enhancer 38, system controller 30 may control tool 12, fluid input system 18, and/or aspiration system 20 to clean the image at step 56. For example, if the surgical system 10 is used during a laparoscopic procedure, the cautery tool 12 may be adjusted to a lower power to produce less smoke, the insufflator 18 may be increased to add more gas to the surgical site 16 and/or the suction rate from the suction system 20 may be increased to draw gas and, potentially, smoke from the surgical site 16. Alternatively, if the surgical system 10 is used during an arthroscopic procedure, the cutting tool 12 may be adjusted to a lower power to produce less blood and/or debris, the liquid pump 18 may be increased to add more surgical fluid to the surgical site 16 and/or the suction rate from the suction system 20 may be increased to draw surgical fluid and blood from the surgical site 16.