Surgical system with haptic feedback based upon quantitative three-dimensional imaging
First Claim
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1. A system to provide haptic feedback during a medical procedure comprising:
- a surgical instrument;
a quantitative three-dimensional (Q3D) endoscope having an imaging sensor array comprising at least three coplanar imaging sensors having coplanar overlapping fields of view, wherein each imagining sensor includes a pixel array that is separate from the pixel arrays of other imaging sensors, wherein the Q3D endoscope is operable to capture Q3D information indicative of deformation distance of different locations of a tissue structure placed in contact with the surgical instrument within the fields of view;
wherein the surgical instrument is operable to move across a tissue surface structure to contact and impart a force to deform different tissue surface locations of the tissue structure placed within the overlapping fields of view;
at least one processor configured to produce a Q31) model that provides a map of measures of tissue structure deformation for the contact between the instrument and the tissue surface at the different locations of the tissue structure surface, based upon the captured Q3D information; and
a haptic user interface device configured to produce haptic feedback indicative of the map of the measures of tissue structure deformation at the contact locations of the tissue structure surface.
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Abstract
A system is provided to provide haptic feedback during a medical procedure comprising: a quantitative three-dimensional (Q3D) endoscope; a surgical instrument disposed to deform a tissue structure; a haptic user interface device configured to provide an indication of tissue structure deformation in response to information indicative of the measure of tissue structure deformation; and a processor configured to produce a Q3D model that includes information indicative of a measure of tissue structure deformation and to provide the information indicative of the measure of tissue structure deformation to the haptic user interface device.
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Citations
17 Claims
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1. A system to provide haptic feedback during a medical procedure comprising:
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a surgical instrument; a quantitative three-dimensional (Q3D) endoscope having an imaging sensor array comprising at least three coplanar imaging sensors having coplanar overlapping fields of view, wherein each imagining sensor includes a pixel array that is separate from the pixel arrays of other imaging sensors, wherein the Q3D endoscope is operable to capture Q3D information indicative of deformation distance of different locations of a tissue structure placed in contact with the surgical instrument within the fields of view; wherein the surgical instrument is operable to move across a tissue surface structure to contact and impart a force to deform different tissue surface locations of the tissue structure placed within the overlapping fields of view; at least one processor configured to produce a Q31) model that provides a map of measures of tissue structure deformation for the contact between the instrument and the tissue surface at the different locations of the tissue structure surface, based upon the captured Q3D information; and a haptic user interface device configured to produce haptic feedback indicative of the map of the measures of tissue structure deformation at the contact locations of the tissue structure surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for determining force exerted onto tissue during medical procedures comprising:
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a quantitative three-dimensional (Q3D) endoscope having an imaging sensor array comprising at least three coplanar imaging sensors having coplanar overlapping fields of view, wherein each imagining sensor including a pixel array that is separate from the pixel arrays of other imaging sensors, wherein the Q3D endoscope is operable to capture Q3D information indicative of deformation distance of different locations of a tissue structure placed in contact with a surgical instrument within the fields of view; wherein the surgical instrument is operable to move across a tissue surface structure to contact and impart a force to deform different tissue surface locations of a tissue structure placed within the overlapping fields of view; and at least one processor configured to produce a Q3D model that includes information indicative of deformation distance of the different locations of the tissue structure deformation, based upon the captured Q3D information and to determine a force exerted by the instrument onto said tissue structure at at least one measured location of tissue structure deformation based upon, at least in part, a measure of tissue deformation at the at least one measured location of tissue structure deformation. - View Dependent Claims (12, 13)
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14. A system for providing virtual tissue palpation during medical procedures comprising:
- a surgical instrument;
a quantitative three-dimensional (Q3D) endoscope having an imaging sensor array comprising at least three coplanar imaging sensors having coplanar overlapping fields of view, wherein each imagining sensor including a pixel array that is separate from the pixel arrays of other imaging sensors, wherein the Q3D endoscope is operable to capture Q3D information indicative of deformation distance of different locations of a tissue structure placed in contact with the surgical instrument within the fields of view; wherein the surgical instrument is operable to move across a tissue surface structure to contact and impart a force to deform different tissue surface locations of a tissue structure placed within the overlapping fields of view; and at least one processor configured to produce a Q31) model that includes information indicative of a measure of tissue structure deformation, based upon the captured Q3D information, to determine the tissue stiffness at said locations, and to provide a virtual palpation output based at least in part upon said determined tissue stiffness. - View Dependent Claims (15, 16, 17)
- a surgical instrument;
Specification