WO2025212319A1 - Annotation assistée par ordinateur de structures de sous-surface sur une surface - Google Patents

Annotation assistée par ordinateur de structures de sous-surface sur une surface

Info

Publication number
WO2025212319A1
WO2025212319A1 PCT/US2025/021337 US2025021337W WO2025212319A1 WO 2025212319 A1 WO2025212319 A1 WO 2025212319A1 US 2025021337 W US2025021337 W US 2025021337W WO 2025212319 A1 WO2025212319 A1 WO 2025212319A1
Authority
WO
WIPO (PCT)
Prior art keywords
projection
point
subsurface
subsurface structure
imaging data
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2025/021337
Other languages
English (en)
Inventor
A. Jonathan MCLEOD
Maximilian H. ALLAN
Daniel Proksch
Pourya SHIRAZIAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of WO2025212319A1 publication Critical patent/WO2025212319A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
    • A61B2090/3735—Optical coherence tomography [OCT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/374—NMR or MRI
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound

Definitions

  • a stereoscopic endoscope uses stereo cameras. Stereo cameras include two cameras (e.g., a left camera and a right camera).
  • a triangulation technique may be performed using the images from the two cameras to determine the depths of different points in the field-of-view to assist a medical system in projecting a rendering or annotation of the subsurface structure onto a surface of an anatomical structure.
  • the rendering or annotation of the subsurface structure is usually projected on a non-optimal location on the surface of the anatomical structure.
  • the system receives first imaging data captured using a first imaging device of a first imaging modality, the first imaging data showing the surface of the surface structure, receives second imaging data captured using a second imaging device of a second imaging modality, the second imaging data showing a first subsurface structure, determines a first point on the surface based at least on where on the surface is closest to the first subsurface structure, generates a first projection of the first subsurface structure onto the surface at the first point, and displays, on a display device, the first projection at the first point on the surface of the surface structure.
  • a method for annotating subsurface structures onto a surface of a surface structure includes receiving first imaging data captured using a first imaging device of a first imaging modality, the first imaging data showing the surface of the surface structure, receiving second imaging data captured using a second imaging device of a second imaging modality, the second imaging data showing a first subsurface structure, determining a first point on the surface based at least on where on the surface is closest to the first subsurface structure, generating a first projection of the first subsurface structure onto the surface at the first point, and displaying, on a display device, the first projection at the first point on the surface of the surface structure.
  • Figure 1A illustrates an example medical system.
  • Figures 1B and 1C illustrate example components in the system of Figure 1A.
  • Figure 2A illustrates an example medical system.
  • Attorney Docket No. P06633-WO (153360) [0010]
  • Figures 2B and 2C illustrate an example medical instrument system in the system of Figure 2A.
  • Figure 10 illustrates an example operation performed by the system of Figures 1A or 2A.
  • Figures 11A through 11C illustrate an example operation performed by the system of Figures 1A or 2A.
  • Figure 12 illustrates an example operation performed by the system of Figures 1A or 2A.
  • Figure 13 illustrates an example operation performed by the system of Figures 1A or 2A.
  • Figure 14 illustrates an example operation performed by the system of Figures 1A or 2A.
  • Figure 15 illustrates an example operation performed by the system of Figures 1A or 2A.
  • Figure 16 is a flowchart of an example method performed by the system of Figures 1A or 2A.
  • Figure 17 illustrates an example operation performed by the system of Figures 1A or 2A.
  • DETAILED DESCRIPTION [0026] Endoscopy is a medical procedure to visualize the human body’s internal organs or natural cavities.
  • the endoscope is a rigid or flexible tubular device allowing a direct view into the body.
  • An endoscopic system can be built up as a purely optical device containing lenses, transparent rods or fibers, or in combination with integrated or add-on cameras.
  • the endoscope tip can be inserted through a small access created by incision or through the natural lumina of the body.
  • a light source on the endoscope provides sufficient illumination to the examined cavity.
  • one or more components of a medical system may be implemented as a computer-assisted surgical system.
  • the user control apparatus 104 provides the user 110-1 with imagery of an operational area associated with the patient 108 as captured by an imaging device.
  • the manipulator arms 112 or any instruments coupled to the manipulator arms 112 mimic the dexterity of the hand, wrist, and fingers of the user 110-1 across multiple degrees of freedom of motion.
  • the user 110-1 intuitively performs a procedure (e.g., an incision procedure, a suturing procedure, etc.) using one or more of the manipulator arms 112 or any instruments coupled to the manipulator arms 112.
  • the auxiliary apparatus 106 includes one or more computing devices that perform auxiliary functions in support of the procedure, such as providing insufflation, electrocautery energy, illumination or other energy for imaging devices, image processing, or coordinating components of the surgical system 100.
  • the auxiliary apparatus 106 includes a display monitor 114 that displays one or more user interfaces, or graphical or textual information in support of the procedure.
  • the display monitor 114 is a touchscreen display that provides user input functionality.
  • Augmented content provided by a region-based augmentation system may be similar to, or differ from, content associated with the display monitor 114 or one or more display devices in the operation area (not shown).
  • the manipulator assembly 102 includes a base 118, a manipulator arm 112- 1, a manipulator arm 112-2, a manipulator arm 112-3, and a manipulator arm 112-4.
  • Each manipulator arm 112-1, 112-2, 112-3, and 112-4 is pivotably coupled to the base 118.
  • the base 118 may include casters to allow ease of mobility, in some embodiments, the manipulator assembly 102 is fixedly mounted to a floor, ceiling, operating table, structural framework, or the like.
  • two of the manipulator arms 112-1, 112-2, 112-3, or 112-4 hold surgical instruments and a third holds a stereo endoscope. The remaining manipulator arms are available so that other instruments may be introduced at the work site.
  • each of the manipulator arms 112-1, 112-2, 112-3, and 112-4 are formed of links that are coupled together and manipulated through actuatable joints.
  • Each of the manipulator arms 112-1, 112-2, 112-3, and 112-4 may include a setup arm and a device manipulator.
  • the setup arm positions its held device so that a pivot point occurs at its entry aperture into the patient.
  • the device manipulator may then manipulate its held device so that the held device may be pivoted about the pivot point, inserted into and retracted out of the entry aperture, and rotated about its shaft axis.
  • Each of the manipulator arms 112-1, 112-2, 112-3, and 112-4 may include sensors (e.g., joint sensors, position sensors, accelerometers, etc.) that detect or track movement of the manipulator arms 112-1, 112-2, 112-3, and 112-4. For example, these sensors may detect how far or how quickly a manipulator arm 112-1, 112-2, 112-3, or 112-4 moves in a certain direction.
  • Sensors e.g., joint sensors, position sensors, accelerometers, etc.
  • these sensors may detect how far or how quickly a manipulator arm 112-1, 112-2, 112-3, or 112-4 moves in a certain direction.
  • Attorney Docket No. P06633-WO (153360)
  • Figure 1C illustrates an example user control apparatus 104.
  • the user control apparatus 104 includes a stereo vision display 120 so that the user may view the surgical work site in stereo vision from images captured by the stereoscopic camera of the manipulator assembly 102.
  • Left and right eyepieces 122 and 124 are provided in the stereo vision display 120 so that the user may view left and right display screens inside the display 120 respectively with the user's left and right eyes. While viewing typically an image of the surgical site on a suitable viewer or display, the surgeon performs the surgical procedures on the patient by manipulating master control input devices, which in turn control the motion of robotic instruments.
  • the user control apparatus 104 also includes left and right input devices 126 and 128 that the user grasps respectively with his/her left and right hands to manipulate devices (e.g., surgical instruments) being held by the manipulator arms 112-1, 112-2, 112-3, and 112-3 of the manipulator assembly 102 in preferably six or more degrees of freedom (“DOF”).
  • DOF degrees of freedom
  • the imaging system 209 can be implemented as hardware, firmware, software, or a combination thereof, which interact with or are otherwise executed by one or more computer processors, which can include the controller 214 of the control system 212.
  • the surgical system 200 also includes a sensor system 208.
  • the sensor system 208 may include a position/location sensor system (e.g., an actuator encoder or an electromagnetic (EM) sensor system) and/or a shape sensor system (e.g., an Attorney Docket No. P06633-WO (153360) optical fiber shape sensor) for determining the position, orientation, speed, velocity, pose, and/or shape of the medical instrument system 204. These sensors may also detect a position, orientation, or pose of the patient P on the table T.
  • EM electromagnetic
  • the virtual visualization system processes images of the surgical site imaged using imaging technology, such as computerized tomography (CT), magnetic resonance imaging (MRI), fluoroscopy, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, and/or the like.
  • imaging technology such as computerized tomography (CT), magnetic resonance imaging (MRI), fluoroscopy, thermography, ultrasound, optical coherence tomography (OCT), thermal imaging, impedance imaging, laser imaging, nanotube X-ray imaging, and/or the like.
  • CT computerized tomography
  • MRI magnetic resonance imaging
  • fluoroscopy fluoroscopy
  • thermography thermography
  • ultrasound optical coherence tomography
  • OCT optical coherence tomography
  • thermal imaging impedance imaging
  • laser imaging laser imaging
  • nanotube X-ray imaging and/or the like.
  • the control system 212 uses a pre-operative image to locate the target tissue (using vision imaging techniques and/or by receiving
  • the controller 214 is any electronic circuitry, including, but not limited to one or a combination of microprocessors, microcontrollers, application specific integrated Attorney Docket No. P06633-WO (153360) circuits (ASIC), application specific instruction set processor (ASIP), and/or state machines, that communicatively couples to the memory 216 and controls the operation of the control system 212.
  • the controller 214 may be 8-bit, 16-bit, 32-bit, 64-bit or of any other suitable architecture.
  • the controller 214 is not limited to a single processing device and may encompass multiple processing devices contained in the same device or computer or distributed across multiple devices or computers. The controller 214 is considered to perform a set of functions or actions if the multiple processing devices collectively perform the set of functions or actions, even if different processing devices perform different functions or actions in the set.
  • the memory 216 may store, either permanently or temporarily, data, operational software, or other information for the controller 214.
  • the memory 216 may include any one or a combination of volatile or non-volatile local or remote devices suitable for storing information.
  • the memory 216 may include random access memory (RAM), read only memory (ROM), magnetic storage devices, optical storage devices, or any other suitable information storage device or a combination of these devices.
  • the software represents any suitable set of instructions, logic, or code embodied in a computer-readable storage medium.
  • the software may be embodied in the memory 216, a disk, a CD, or a flash drive.
  • the software may include an application executable by the controller 214 to perform one or more of the functions described herein.
  • the memory 216 is not limited to a single memory and may encompass multiple memories contained in the same device or computer or distributed across multiple devices or computers.
  • the memory 216 is considered to store a set of data, operational software, or information Attorney Docket No. P06633-WO (153360) if the multiple memories collectively store the set of data, operational software, or information, even if different memories store different portions of the data, operational software, or information in the set.
  • P06633-WO (153360) 236 measures six degrees of freedom (e.g., three position coordinates x, y, and z and three orientation angles indicating pitch, yaw, and roll of a base point) or five degrees of freedom (e.g., three position coordinates x, y, and z and two orientation angles indicating pitch and yaw of a base point).
  • the flexible body 224 includes one or more channels 238 sized and shaped to receive one or more medical instruments 240. In some embodiments, the flexible body 224 includes two channels 238 for separate instruments 240, however, a different number of channels 238 can be provided.
  • Figure 2C illustrates an example portion of the medical instrument system 204 of Figure 2B.
  • a projection 340 of the subsurface structure 328 is generated at the point 330 of the surface 318.
  • the computer system may determine the point 330 on the surface 318.
  • the computer system may use a three-dimensional (3D) model of the subsurface structure 328 to determine the location or position of the subsurface structure 328 beneath the surface 318.
  • the computer system may then determine the point 330 on the surface 318 that is physically closest to the subsurface structure 328.
  • the computer system then generates the projection 340 of the subsurface structure 328 at the point 330.
  • the boundary or size of the projection 340 may indicate the boundaries of the subsurface structure 328 when viewed along a line that intersects the subsurface structure 328 and the point 330.
  • Figure 5 illustrates an example operation 500 performed by the computer system.
  • Figure 5 shows the computer system generating and using a 3D model 510 to determine a location of the subsurface structure 328.
  • the computer system receives the second imaging data 326 that may include ultrasound imaging data 404 (e.g., ultrasound images) and may show the subsurface structure 328.
  • the computer system may generate a 3D model 510 of the subsurface structure 328 from the ultrasound imaging data 404.
  • the ultrasound imaging data 404 may show the size, location, and/or orientation of the subsurface structure 328 beneath the surface 318 of the anatomical structure.
  • the computer system may determine the point 825 as the point on Attorney Docket No. P06633-WO (153360) the surface 318 that is on a line (e.g., a viewing axis) between the imaging device 310 and the subsurface structure 328.
  • the computer system may use the 3D model 510 of the subsurface structure 328 to determine the location or position of the subsurface structure 328 beneath the surface 318.
  • the computer system may then determine the point 825 on the surface 318 that is on the line between the imaging device 310 and the subsurface structure 328.
  • the computer system then generates the projection 826 of the subsurface structure 328 at the point 825.
  • the computer system may depict the boundary of the projection 911 as a solid line or a dashed line of varying colors and intensities.
  • the computer system may also depict the projection 911 as a single point (zero-dimensional annotation) or a single line (one-dimensional annotation).
  • the projection 911 is depicted as a two-dimensional annotation with a solid line.
  • the computer system may adjust or vary the color, transparency, blur, hatching, line style, size, etc.
  • the color intensity may decrease as the distance from the subsurface structure 328 increases.
  • the color intensity provides the user with an indication of a distance of the subsurface structure 328 from the surface 318 of the anatomical structure.
  • the user may infer how far or how close the tip of the surgical instrument is from the subsurface structure 328.
  • Figures 11A, 11B, and 11C illustrate example operations 1100A, 1100B, and 1100C performed by the computer system.
  • the computer system annotates a subsurface structure 328 onto the surface 318 of an anatomical structure.
  • the computer system may depict the boundary line 1130 as a solid line or a dashed line of varying thicknesses to indicate a proximity of the subsurface structure 328 to the surface 318 of the anatomical structure.
  • a dashed line may indicate a first distance between the subsurface structure 328 and the surface 318.
  • a thin solid line may indicate a second distance between the subsurface structure 328 and the surface 318 greater than the first distance.
  • a thick solid line may indicate a third distance between the subsurface structure 328 and the surface 318 greater than both the first and second distances.
  • the user may preselect how to project the annotation of the subsurface structure 328.
  • a center point 1505 of the projection is also provided.
  • the user may apply different types of markings, markers, or indicators on or adjacent to the projection 1525.
  • the user may apply markers 1510 along the boundary line of the projection 1525.
  • the user may apply markers 1520 adjacent the center point 1505.
  • the user may apply any type of markings, with any color, transparency, blur, or size in any location in the vicinity of the projection 1525.
  • the markers may represent potential access points or entry paths to guide surgical instruments to the subsurface structure 328.
  • the user may also save such markings for future reference.
  • the markings provide the user with different entry options based on the surgical procedure. In one example surgical procedure, the user may need to access the entire subsurface structure 328 for removal purposes.
  • the computer system receives first imaging data captured using a first imaging device of a first imaging modality.
  • the first imaging data may include a video captured by a camera of an endoscope.
  • the first imaging Attorney Docket No. P06633-WO (153360) data may show the surface of the surface structure.
  • the computer system uses the first imaging data to generate a depth map with coordinates indicating positions and depths for points on the surface of the surface structure.
  • the computer system receives second imaging data captured using a second imaging device of a second imaging modality.
  • the second imaging data may include ultrasound images captured by an ultrasound probe sweeping the surface of the surface structure.
  • the computer system may select the point on the surface of the surface structure with the shortest distance to the subsurface structure as the first point.
  • the computer system generates a first projection of the subsurface structure onto the surface at the first point.
  • the first projection may be a zero-dimensional, one-dimensional, or two-dimensional annotation on the surface of the surface structure.
  • the computer system may set the color, transparency level, or blur level of the first projection to indicate a depth of the subsurface structure from the surface of the surface structure.
  • the color, the transparency level, or the blur level may vary across the first projection to indicate that the subsurface structure occupies multiple depths from the surface of the surface structure.
  • the computer system determines that the path from first point to the subsurface structure is obstructed.
  • the computer system may Attorney Docket No. P06633-WO (153360) determine that an object (e.g., a tumor, vein, artery, or anatomical feature) obstructs the path. To avoid damaging the object, the user may prompt the computer system to calculate a second shortest path or distance to avoid the object. [0106] In block 1660, the computer system determines a second point on the surface of the surface structure using the depth map and the 3D model. The second point may have the shortest, unobstructed path to the subsurface structure. [0107] In block 1670, the computer system generates and displays a second projection of the subsurface structure onto the surface of the surface structure at the second point. The second projection indicates the unobstructed path to the subsurface structure.
  • an object e.g., a tumor, vein, artery, or anatomical feature
  • Figure 17 illustrates an example operation 1700 performed by the computer system.
  • the computer system determines multiple subsurface structures of interest.
  • the computer system may provide various indicators for the subsurface structures.
  • the second imaging device 320 captures second imaging data 326 (e.g., ultrasound images).
  • the second imaging data 326 may show a first subsurface structure 328.
  • the computer system determines the first point 330 on the surface of the anatomical structure that is nearest the first subsurface structure 328.
  • the computer system generates and displays the first projection 340 of the first subsurface structure 328 onto the surface at the first point 330.
  • the first projection 340 may be marked or identified by a first indicator 1726.
  • the first indicator 1726 may be a color, a transparency level, a blur level, or a projection size. The user may select whether to use the color, transparency level, blur level, or projection size as the indicator of the distance between the second imaging device 320 and the first subsurface structure 328.
  • the second imaging data 326 may also show a second subsurface structure 1730 in the vicinity of the first subsurface structure 328.
  • the computer system determines a second point 1732 on the surface of the anatomical structure that is nearest the second subsurface structure 1730.
  • the computer system generates a second projection 1734 of the second subsurface structure 1730 onto the surface at the second point 1732.
  • the second projection 1734 may be marked or identified by a Attorney Docket No.
  • the first projection 340 may be represented as a first color and the second projection 1734 may be represented as a second color on the surface of the surface structure.
  • the user may switch between the first projection 340 and the second projection 1736. The user may view the first projection 340 independently of the second projection 1736, after generation of the first projection 340 and the second projection 1736.
  • a medical system annotates subsurface structures onto a surface of an anatomical structure. The medical system creates a projection (e.g., an outline, colored shape, etc.) of the subsurface structure onto the surface of the anatomical structure.
  • aspects of this disclosure are described in reference to computer-assisted systems and devices, which may include systems and devices that are teleoperated, remote-controlled, autonomous, semiautonomous, robotic, and/or the like. Further, aspects of this disclosure are described in terms of an embodiment using a medical system, such as the DA VINCI SURGICAL SYSTEM or ION SYSTEM commercialized by Intuitive Surgical, Inc. of Sunnyvale, California. Knowledgeable persons will understand, however, that aspects disclosed herein may be embodied and implemented in various ways, including robotic and, if applicable, non-robotic embodiments. Techniques described with reference to surgical instruments and surgical methods may be used in other contexts.

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Abstract

La présente divulgation concerne un système et un procédé d'annotation de structures de sous-surface sur une surface d'une structure de surface. Le système reçoit des premières données d'imagerie capturées à l'aide d'un premier dispositif d'imagerie d'une première modalité d'imagerie, les premières données d'imagerie montrant la surface de la structure de surface, reçoit des secondes données d'imagerie capturées à l'aide d'un second dispositif d'imagerie d'une seconde modalité d'imagerie, les secondes données d'imagerie montrant une première structure de sous-surface, détermine un premier point sur la surface sur la base au moins de l'endroit où sur la surface est la plus proche de la première structure de sous-surface, génère une première projection de la première structure de sous-surface sur la surface au niveau du premier point, et affiche, sur un dispositif d'affichage, la première projection au niveau du premier point sur la surface de la structure de surface.
PCT/US2025/021337 2024-04-01 2025-03-25 Annotation assistée par ordinateur de structures de sous-surface sur une surface Pending WO2025212319A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170007350A1 (en) * 2014-02-04 2017-01-12 Koninklijke Philips N.V. Visualization of depth and position of blood vessels and robot guided visualization of blood vessel cross section
US20220215539A1 (en) * 2019-05-31 2022-07-07 Intuitive Surgical Operations, Inc. Composite medical imaging systems and methods
US20220218435A1 (en) * 2019-05-31 2022-07-14 Intuitive Surgical Operations, Inc. Systems and methods for integrating imagery captured by different imaging modalities into composite imagery of a surgical space

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170007350A1 (en) * 2014-02-04 2017-01-12 Koninklijke Philips N.V. Visualization of depth and position of blood vessels and robot guided visualization of blood vessel cross section
US20220215539A1 (en) * 2019-05-31 2022-07-07 Intuitive Surgical Operations, Inc. Composite medical imaging systems and methods
US20220218435A1 (en) * 2019-05-31 2022-07-14 Intuitive Surgical Operations, Inc. Systems and methods for integrating imagery captured by different imaging modalities into composite imagery of a surgical space

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