Context aware surgical systems for intraoperatively configuring imaging devices

• US 9,788,906 B2
• Filed: 03/14/2014
• Issued: 10/17/2017
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Synaptive Medical (Barbados) Inc.
• Original Assignee: Synaptive Medical (Barbados) Inc.
• Inventors: Piron, Cameron, Wood, Michael, Sela, Gal, Richmond, Joshua, Yuwaraj, Murugathas, McFadyen, Stephen, Panther, Alex, Shanmugaratnam, Nishanthan, Lau, William, Thomas, Monroe M., Hodges, Wes, Alexander, Simon, Gallop, David
• Primary Examiner(s): Akar, Serkan
• Application Number:
  US14/771,643
• Publication Number:
  US 20160015471A1
• Time in Patent Office: 1,313 Days
• CPC Class Codes: A61B 1/00059 provided with identification means for the endoscope
• CPC Class Codes: A61B 1/00149 using articulated arms
• CPC Class Codes: A61B 1/045 Control thereof
• CPC Class Codes: A61B 1/0655 Control therefor
• CPC Class Codes: A61B 18/14 Probes or electrodes therefor
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2065 Tracking using image or pattern recognition
• CPC Class Codes: A61B 2034/252 indicating steps of a surgical procedure
• CPC Class Codes: A61B 2034/256 having a database of accessory information, e.g. including context sensitive help or scientific articles
• CPC Class Codes: A61B 2090/306 using optical fibres
• CPC Class Codes: A61B 2090/3618 with a mirror
• CPC Class Codes: A61B 2090/373 using light, e.g. by using optical scanners
• CPC Class Codes: A61B 2090/3735 Optical coherence tomography [OCT]
• CPC Class Codes: A61B 2090/374 NMR or MRI
• CPC Class Codes: A61B 2090/3762 using computed tomography systems [CT]
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 2090/3983 Reference marker arrangements for use with image guided surgery
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 6/03 : Computed tomography [CT] echo-tomography A61B8/14
• CPC Class Codes: A61B 6/5247 : combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 8/0808 : for diagnosis of the brain
• CPC Class Codes: A61B 8/0841 : for locating instruments
• CPC Class Codes: A61B 8/13 : Tomography A61B8/10, A61B8/12 take precedence; tomography for radiation diagnosis A61B6/02
• CPC Class Codes: A61B 90/30 : Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
• CPC Class Codes: A61B 90/50 : Supports for surgical instruments, e.g. articulated arms
• CPC Class Codes: A61B 90/90 : Identification means for patients or instruments, e.g. tags
• CPC Class Codes: A61B 90/94 : coded with symbols, e.g. text
• CPC Class Codes: A61B 90/96 : using barcodes
• CPC Class Codes: A61B 90/98 : using electromagnetic means, e.g. transponders
• CPC Class Codes: G06T 11/003 : Reconstruction from projections, e.g. tomography
• CPC Class Codes: G06T 2207/10081 : Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/10088 : Magnetic resonance imaging [MRI]
• CPC Class Codes: G06T 2207/10104 : Positron emission tomography [PET]
• CPC Class Codes: G06T 2207/10132 : Ultrasound image
• CPC Class Codes: G06T 2207/30016 : Brain
• CPC Class Codes: G06T 7/0012 : Biomedical image inspection
• CPC Class Codes: G06T 7/70 : Determining position or orientation of objects or cameras camera calibration G06T7/80

Abstract

Systems and methods are provided in which devices that are employed during a medical procedure are adaptively configured during the medical procedure, based on input or feedback that is associated with the current state, phase or context of the medical procedure. In some example embodiments, the input is obtained via the identification of one or more medical instruments present within a region of interest, and this input may be employed to determine configuration parameters for configuring the device. In other example embodiments, the input may be based on the image-based detection of a measure associated with the phase or context of the medical procedure, and this input may be employed to adaptively control the device based on the inferred context or phase of the medical procedure. In other embodiments, images from one imaging modality may be employed to adaptively switch to another imaging modality.

Claims

1. A computer implemented method of adaptively and intraoperatively configuring an imaging device used during a medical procedure, the method comprising:

during the medical procedure, detecting, with a detection device, one or more signals or images associated with a plurality of medical instruments employed concurrently during the medical procedure;

processing the one or more signals or images to intraoperatively identify the medical instruments during the medical procedure;

performing one or more intraoperative diagnostic measurements, thereby obtaining intraoperative diagnostic data;

processing the intraoperative diagnostic data to determine the current phase of the medical procedure;

accessing configuration data from a data storage device, the configuration data associating customized configuration parameters for the imaging device with the identities of different medical instruments and with phases of a medical procedure, wherein the customized configuration parameters are selected and ranked based on the identities of different medical instruments;

processing the configuration data to determine, based on the medical instrument having the highest ranking and the current phase of the medical procedure, one or more customized configuration parameters for adaptively configuring the imaging device during the medical procedure; and

intraoperatively configuring the imaging device according to the customized configuration parameters;

wherein the imaging device is a separate device that is not connected to the medical instrument during the medical procedure.

2. The method according to claim 1 wherein the medical instrument is identified by:

detecting a signal from one or more fiducial markers associated with the medical instrument; and

processing the signal to identify the medical instrument.

3. The method according to claim 2 wherein the one or more fiducial markers are selected from the group consisting of passive markers, active markers, glyphs and RFID tags.

4. The method according to claim 2 wherein the medical instrument is identified based on image analysis employing a known shape of the medical instrument.

5. The method according to claim 1 wherein identifying one or more medical devices comprises receiving input from an operator, wherein the input from the operator identifies the medical instrument.

6. The method according to claim 1 wherein identifying the medical instrument comprises identifying the type of the medical instrument.

7. The method according to claim 1 wherein identifying the medical instrument comprises uniquely identifying the medical instrument.

8. The method according to claim 7 wherein uniquely identified medical instrument is associated with one or more operators.

9. The method according to claim 7 wherein uniquely identified medical instrument is associated with one or more regions of use.

10. The method according to claim 1 further comprising:

receiving input identifying one or more operators present during the medical procedure;

wherein the customized configuration parameters are further associated with the identity of the one or more operators.

11. The method according to claim 1 wherein the customized configuration parameters comprise one or more of colour balance, brightness, depth of field, magnification, field of view, working distance, and illumination conditions.

12. The method according to claim 1 wherein the imaging device is a multimodal imaging device, and wherein the customized configuration parameters comprise a selection of an imaging modality.

13. The method according to claim 1 wherein the medical procedure is a surgical procedure.