Granted Patent B2

US 10,334,227 · App. 15/300,265 · Granted Jun 25, 2019

Inventors: Dorin Panescu (San Jose, CA); Daniel H. Jones (Alexandria, VA)

Assignee: Intuitive Surgical Operations, Inc.

H04N13/243A61B1/0005A61B1/00009A61B17/00A61B34/37A61B90/37H04N5/2256H04N13/344A61B2017/00119A61B2090/364H04N2005/2255

Abstract

Claims (80)

1. A system for 3D imaging of a surgical scene comprising:

a quantitative three-dimensional (Q3D) endoscope operable to image an anatomical structure within a body cavity;

at least one manipulator configured to insert the Q3D endoscope through a first port and later through at least a second port, the first port and the second port each providing access to the body cavity; and

at least one processor configured to:

produce a first Q3D model based upon a first image captured with the endoscope in the first port;

produce a second Q3D model based upon a second image captured with the endoscope in the second port; and

combine together the first Q3D model and the second Q3D model;

wherein the combining together includes:

determining a first position of the endoscope relative to a first coordinate system when the endoscope is in the first port;

determining a second position of the endoscope relative to a second coordinate system when the endoscope is in the second port;

using a kinematic relationship between the first position of the endoscope and the second position of the endoscope to align the first Q3D model and the second Q3D model.

2. A system for 3D imaging of a surgical scene comprising:

a quantitative three-dimensional (Q3D) endoscope operable to image an anatomical structure within a body cavity;

at least one manipulator configured to insert the Q3D endoscope through a first port and later through at least a second port, the first port and the second port each providing access to the body cavity; and at least one processor configured to:

produce a first Q3D model based upon a first image captured with the endoscope in the first port, produce a second Q3D model based upon a second image captured with the endoscope in the second port, and

combine together the first Q3D model and the second Q3D model; wherein the combining together includes:

identifying common fiducial points within the first and second Q3D models; and geometrically transforming relative positions of the first Q3D model and the second Q3D model to each other so as to align the identified common fiducial points.

3. The system of claim 1 further including:

a 3D display configured to display an expanded Q3D model.

4. The system of claim 1 further including: means to manipulate an expanded Q3D model.

5. The system of claim 4 wherein the means to manipulate the expanded Q3D model are configured to execute quantitative measurements of distances between first and second surgical instruments or between a surgical instrument and an anatomic structure.

6. The system of claim 1 further including;

means to control the at least one manipulator to jitter a position of the endoscope to successive positions.

7. A method for three-dimensional (3D) imaging of a surgical scene comprising:

illuminating an anatomical structure within a human body cavity with a light source; inserting a quantitative three-dimensional (Q3D) endoscope that is coupled to a manipulator, through a first port providing access to a body cavity to image a first portion of the anatomical structure;

capturing a first image;

producing a first Q3D model based upon the first image,

inserting said endoscope that is coupled to a manipulator, through a second port providing access to same body cavity to image a second portion of the anatomical structure; capturing a second image;

producing a second Q3D model based upon the second image; and combining together the first Q3D model and the second Q3D model; wherein combining includes:

determining a first position of the endoscope relative to a first coordinate system when inserted in the first port;

determining a second position of the endoscope relative to a second coordinate system when inserted in the second port; and

using a kinematic relationship between the first position of the endoscope and the second position of the endoscope to align the first Q3D model and the second Q3D model.

8. A method for three-dimensional (3D) imaging of a surgical scene comprising:

illuminating an anatomical structure within a human body cavity with a light source; inserting a quantitative three-dimensional (Q3D) endoscope that is coupled to a manipulator, through a first port providing access to a body cavity to image a first portion of the anatomical structure;

capturing a first image;

producing a first Q3D model based upon the first image;

inserting said endoscope that is coupled to a manipulator, through a second port providing access to same body cavity to image a second portion of the anatomical structure; capturing a second image;

producing a second Q3D model based upon the second image; and combining together the first Q3D model and the second 03D model; wherein combining includes:

identifying common fiducial points within the first and second Q3D models;

and geometrically transforming relative positions of the first Q3D model and the second Q3D model to each other so as to align the identified fiducial points.

9. The method of claim 7 further including:

inserting said endoscope that is coupled to a manipulator, in a third port providing access to same body cavity to image a third portion of the anatomical structure;

capturing a third image;

producing a third quantitative three-dimensional (Q3D) model based upon the third image; and

combining together the third Q3D model with the first and second Q3D models to produce an expanded Q3D model.

10. The method of claim 7 wherein:

combining the first and second Q3D models consists of stitching the first and second Q3D models in order to produce an expanded Q3D model.

11. The method of claim 7 further including;

storing an expanded Q3D model for further manipulation by a user.

12. The method of claim 11 ,

wherein the further manipulation includes quantitative measurements of distances between other instruments or between instruments and anatomic structures.

13. The method of claim 7 further including:

displaying in 3D an expanded Q3D model.

14. The method of claim 7 ,

wherein the endoscope is first coupled to one of first and second manipulators and is later coupled to another of the first and second manipulators.

15. The method of claim 7 ,

wherein the endoscope is first inserted through one of the first port and the second port coupled to one of first and second manipulators and is later inserted through the other of the first port and the second port coupled to another of the first and second manipulators.

16. The system of claim 2 further including:

a 3D display configured to display an expanded Q3D model.

17. The system of claim 2 further including: means to manipulate an expanded Q3D model.

18. The system of claim 17 wherein the means to manipulate the Q3D model are configured to execute quantitative measurements of distances between first and second surgical instruments or between a surgical instrument and an anatomic structure.

19. The system of claim 2 further including:

means to control the at least one manipulator to jitter a position of the endoscope to successive positions.

20. The method of claim 8 further including:

inserting said endoscope that is coupled to a manipulator, in a third port providing access to same body cavity to image a third portion of the anatomical structure;

capturing a third image;

producing a third quantitative three-dimensional (Q3D) model based upon the third image; and

combining together the third Q3D model with the first and second Q3D models to produce an expanded Q3D model.

21. The method of claim 8 wherein:

combining the first and second Q3D models consists of stitching the first and second Q3D models in order to produce an expanded Q3D model.

22. The method of claim 8 further including:

storing the expanded Q3D model for further manipulation by a user.

23. The method of claim 22 ,

wherein the further manipulation includes quantitative measurements of distances between other installments or between instruments and anatomic structures.

24. The method of claim 8 further including:

displaying in 3D an expanded Q3D model.

25. The method of claim 8 ,

wherein the endoscope is first coupled to one of a first and second manipulators and is later coupled to another of the first and second manipulators.

26. The method of claim 8 ,

wherein the endoscope is first inserted through one of first port and the second port coupled to one of first and second manipulators and is later inserted through the other of the first port and the second port coupled to another of the first and second manipulators.

Continuity (3)

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