Surgical visualization platform
A surgical visualization system is disclosed. The surgical visualization system is configured to identify one or more structure(s) and/or determine one or more distances with respect to obscuring tissue and/or the identified structure(s). The surgical visualization system can facilitate avoidance of the identified structure(s) by a surgical device. The surgical visualization system can comprise a first emitter configured to emit a plurality of tissue-penetrating light waves and a second emitter configured to emit structured light onto the surface of tissue. The surgical visualization system can also include an image sensor configured to detect reflected visible light, tissue-penetrating light, and/or structured light. The surgical visualization system can convey information to one or more clinicians regarding the position of one or more hidden identified structures and/or provide one or more proximity indicators.
1. A surgical visualization system, comprising:
a structured light emitter configured to emit a structured light pattern on a surface of an anatomical structure;
a hyperspectral waveform emitter configured to emit hyperspectral waveforms in a plurality of wavelengths capable of penetrating the anatomical structure and reaching an embedded structure located below the surface of the anatomical structure;
an image sensor configured to detect reflected structured light pattern, reflected hyperspectral waveforms, and reflected visible light; and
a control circuit in signal communication with the image sensor, wherein the control circuit is configured to:
construct a three-dimensional digital representation of the anatomical structure from the reflected structured light pattern detected by the image sensor;
detect the embedded structure from the reflected hyperspectral waveforms detected by the image sensor;
integrate the embedded structure with the three-dimensional digital representation of the anatomical structure; and
determine at least one distance from the structured light emitter to the anatomical structure, wherein the at least one distance from the structured light emitter to the anatomical structure comprises a distance from the structured light emitter to a portion of the anatomical structure obscuring the embedded structure.
2. The surgical visualization system of claim 1 , further comprising a display configured to selectively depict the embedded structure and a three-dimensional rendering of the anatomical structure based on the three-dimensional digital representation of the anatomical structure.
3. The surgical visualization system of claim 2 , wherein the display is configured to selectively provide an alert when the distance between the structured light emitter and the anatomical structure is reduced to a minimum distance.
4. The surgical visualization system of claim 1 , wherein the hyperspectral waveform emitter is configured to emit hyperspectral waveforms in a plurality of infrared wavelengths capable of penetrating the anatomical structure and reaching the embedded structure.
5. The surgical visualization system of claim 1 , wherein the hyperspectral waveform emitter is supported on a first robotic arm, and wherein the structured light emitter is supported on a second robotic arm.
6. The surgical visualization system of claim 1 , wherein the control circuit further comprises a time-of-flight module configured to determine a distance from the hyperspectral waveform emitter to the embedded structure.
7. A surgical visualization system, comprising:
a hyperspectral imaging system configured to emit a plurality of wavelengths, wherein the hyperspectral imaging system is configured to identify a hidden structure;
a structured light system configured to emit a structured light pattern onto a visible tissue surface, wherein the structured light system is further configured to generate a three-dimensional digital representation of the visible tissue surface;
a sensor system configured to detect visible light, the plurality of wavelengths, and the structured light pattern;
an imaging system configured to selectively depict the hidden structure on a three-dimensional rendering of the visible tissue surface; and
a control circuit configured to determine a distance to a portion of the visible tissue surface overlaying the hidden structure.
8. The surgical visualization system of claim 7 , wherein the control circuit is further configured to determine a depth of the hidden structure below the visible tissue surface.
9. A surgical visualization system, comprising:
a source configured to emit hyperspectral waveforms in a plurality of wavelengths capable of penetrating an anatomical structure and reaching an embedded structure located below a surface of the anatomical structure;
a receiver configured to detect the plurality of wavelengths reflected by the embedded structure; and
a control circuit comprising a time-of-flight module configured to:
determine a distance from the source to the embedded structure based on a delay between an emitted signal from the source and a detected signal by the receiver; and
determine a second distance from the source to a portion of the surface of the anatomical structure overlaying the embedded structure.
10. The surgical visualization system of claim 9 , wherein the control circuit is further configured to communicate the distance to an imaging system.
11. The surgical visualization system of claim 9 , wherein the control circuit is further configured to determine a proximity of a surgical device with respect to the embedded structure and provide an alert when the proximity is reduced to a minimum amount.
12. The surgical visualization system of claim 9 , wherein the source is configured to emit hyperspectral waveforms in a plurality of infrared wavelengths capable of penetrating the anatomical structure and reaching an embedded structure located below the surface of the anatomical structure.
13. The surgical visualization system of claim 9 , further comprising an imaging system comprising:
a video monitor; and
a control configured to toggle a display on the video monitor between a plurality of views.
14. The surgical visualization system of claim 9 , wherein the source is further configured to emit a structured light pattern on the surface of the anatomical structure.
15. The surgical visualization system of claim 14 , wherein the control circuit is further configured to:
recognize surface contours of the anatomical structure based on the structured light pattern;
construct a three-dimensional digital representation of the anatomical structure; and
convey the three-dimensional digital representation to an imaging system.
16. The surgical visualization system of claim 15 , further comprising the imaging system comprising a display configured to selectively depict the three-dimensional digital representation of the anatomical structure and the embedded structure.
17. The surgical visualization system of claim 9 , wherein the control circuit is further configured to determine a depth of the embedded structure within the anatomical structure.