Image stabilization techniques and methods

• US 8,694,071 B2
• Filed: 02/11/2011
• Issued: 04/08/2014
• Est. Priority Date: 02/12/2010
• Status: Active Grant

• Current Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Original Assignee: Intuitive Surgical Operations, Inc. (Intuitive Surgical Holdings, LLC)
• Inventors: Saadat, Vahid, Drews, Michael J.
• Primary Examiner(s): Le, Long V.
• Assistant Examiner(s): EVOY, NICHOLAS LANE
• Application Number:
  US13/025,981
• Publication Number:
  US 20120016221A1
• Time in Patent Office: 1,152 Days
• Field of Search: None
• US Class Current: 600/407
• CPC Class Codes: A61B 1/000094 extracting biological structures
• CPC Class Codes: A61B 1/00089 Hoods
• CPC Class Codes: A61B 1/0607 for annular illumination
• CPC Class Codes: A61B 1/0623 for off-axis illumination
• CPC Class Codes: A61B 1/126 provided with means for cleaning in-use
• CPC Class Codes: A61B 2505/05 Surgical care
• CPC Class Codes: A61B 2560/0204 of power management
• CPC Class Codes: A61B 2562/0219 Inertial sensors, e.g. accelerometers, gyroscopes, tilt switches
• CPC Class Codes: A61B 2562/0233 Special features of optical sensors or probes classified in A61B5/00
• CPC Class Codes: A61B 2562/245 Means for cleaning the sensor in-situ or during use, e.g. hygienic wipes
• CPC Class Codes: A61B 5/1114 Tracking parts of the body
• CPC Class Codes: A61B 5/1128 using image analysis A61B5/1127 takes precedence

Abstract

Direct optical imaging of anatomical features and structures from within a biological organ in a dynamic environment (where the tissue being imaged is in motion due to cardiac rhythms, respiration, etc) presents certain image stability issues due (and/or related) to the motion of the target structure and may limit the ability of the user to visually interpret the image for the purposes of diagnostics and therapeutics. Systems and mechanisms for the purpose of actively stabilizing the image or for compiling and re-displaying the image information in a manner that is more suitable to interpretation by the user are disclosed.

Claims

1. A method for imaging a tissue region in motion, comprising:

intravascularly advancing a deployment catheter towards the tissue region;

expanding a non-inflatable barrier or membrane defining an open area and projecting distally from the deployment catheter against the tissue region;

purging the tissue region of blood contained within the open area via a transparent fluid while the tissue region is moving, wherein the open area is in fluid communication through an opening with a blood-filled environment external to the barrier or membrane;

visualizing the tissue region via a visualization element through the transparent fluid;

sensing a displacement of the barrier or membrane relative to the tissue region with a plurality of sensors during tissue movement;

capturing via the visualization element a plurality of images of a tissue region over a plurality of corresponding time intervals while the tissue region is moving; and

,

displaying a composite image of the plurality of images.

2. The method of claim 1 wherein purging comprises introducing saline through the deployment catheter.

3. The method of claim 1 wherein sensing a displacement comprises detecting lateral and/or rotational tissue movement relative to the barrier or membrane.

4. The method of claim 1 wherein capturing via the visualization element comprises imaging the tissue region via an electronic imager positioned within or adjacent to the open area.

5. The method of claim 1 wherein capturing via the visualization element comprises receiving positional data of the barrier or membrane from one or more sensors.

6. The method of claim 1 further comprising receiving physiological data of a subject while capturing the plurality of images.

7. The method of claim 1 wherein displaying a composite image comprises displaying an image stitched from the plurality of images captured during movement of the barrier or membrane relative to the tissue region.

8. The method of claim 7 further comprising displaying a stabilized image of the tissue region averaged from the plurality of images.

9. The method of claim 1 further comprising superimposing a graphical feature upon the composite image where the graphical feature is indicative of a position of the barrier or membrane relative to the tissue region.

10. The method of claim 1 wherein capturing a plurality of images comprises illuminating the tissue region via at least one light source angled with respect to the tissue region.