Indicator system
An indicator system for a surgical robotic system for indicating a state of at least a portion of patient anatomy, the surgical robotic system comprising a robot having abase and an arm extending from the base, the arm holding an endoscope at an end of the arm distal from the base, the endoscope being configured for insertion into a body cavity of the patient for observing a surgical site internal to a body of the patient, the indicator system comprising: a receiver configured to receive video data of at least a portion of patient anatomy at the surgical site from the endoscope; and a processor configured to:detect a spatio-temporal change in a pixel region of the received video data; identify, in response to the detected spatio-temporal change, a parameter of the patient anatomy; generate a health indicator indicative of the identified parameter or indicative of a profile of the identified parameter; and output the generated health indicator.
1. An indicator system for a surgical robotic system for indicating a state of at least a portion of patient anatomy, the surgical robotic system comprising a robot having a base and an arm extending from the base, the arm holding an endoscope at an end of the arm distal from the base, the endoscope being configured for insertion into a body cavity of the patient for observing a surgical site internal to a body of the patient, the indicator system comprising:
a receiver configured to receive video data of at least a portion of patient anatomy at the surgical site from the endoscope; and
a processor configured to:
detect a spatio-temporal change in a pixel region of the received video data;
identify, in response to the detected spatio-temporal change, a parameter of the patient anatomy;
generate a health indicator indicative of the identified parameter or indicative of a profile of the identified parameter; and
output the generated health indicator;
the processor being further configured to:
identify a relative movement between the endoscope and a bulk of the patient anatomy and/or between the bulk of the patient anatomy and a remainder of the surgical site and to detect the spatio-temporal change in dependence on the identified relative movement.
2. An indicator system according to claim 1 , in which the processor is configured to compare the identified parameter with a reference parameter of the patient anatomy, and to generate the health indicator in dependence on a result of the comparison.
3. An indicator system according to claim 1 , in which the spatio-temporal change comprises one or more of:
a positional change of at least a portion of the patient anatomy in the pixel region;
an intensity change of at least a portion of the patient anatomy in the pixel region; and
a change in the frequency spectrum of at least a portion of the patient anatomy in the pixel region.
4. An indicator system according to claim 1 , in which the processor is configured to amplify the spatio-temporal change and to generate the health indicator using the amplified spatio-temporal change.
5. An indicator system according to claim 4 , in which, where the spatio-temporal change comprises a change between a first value and a second value, the processor is configured to amplify the spatio-temporal change by multiplying the first value with a first amplification factor and by multiplying the second value by a second amplification factor.
6. An indicator system according to claim 4 , in which one or both of the first amplification factor and the second amplification factor is selected in dependence on one or more of:
a number of detected spatio-temporal changes in the pixel region;
a surgeon preference;
a procedure being carried out using the surgical robotic system or a stage of the procedure;
the patient anatomy;
the identified parameter; and
the comparison of the identified parameter with the reference parameter.
7. An indicator system according to claim 1 , in which the processor is configured to select the pixel region in response to one or more of a received user selection signal and an anatomical structure identifying signal.
8. An indicator system according to claim 7 , in which the processor is configured to identify, in the received video data, one or more anatomical structure and to output the anatomical structure identifying signal in response to identifying the one or more anatomical structure.
9. An indicator system according to claim 1 , in which the spatio-temporal change comprises a peristaltic movement of at least a portion of an anatomical structure.
10. An indicator system according to claim 1 , in which the pixel region comprises one or more of:
a representation of at least a portion of a ureter, and the spatio-temporal change comprises a peristaltic movement of the ureter; and
a representation of at least a portion of a bowel, and the spatio-temporal change comprises a peristaltic movement of the bowel.
11. An indicator system according to claim 1 , in which the processor is configured to calibrate the identified parameter using a further parameter.
12. An indicator system according to claim 11 , in which the parameter and further parameter relate to one or both of a patient heart rate and a patient respiratory rate.
13. An indicator system according to claim 11 , in which the receiver is configured to receive further video data of an external portion of the patient and the processor is configured to:
detect a further spatio-temporal change in a pixel region of the received further video data; and
identify the further parameter in response to the detected further spatio-temporal change.
14. An indicator system according to claim 1 , in which the generated health indicator comprises one or more of:
a visual indicator and the processor is configured to output the generated health indicator for display on a display;
an audio indicator and the processor is configured to output the generated health indicator for driving a speaker; and
a haptic indicator and the processor is configured to output the generated health indicator for driving a motor for providing haptic feedback.
15. A non-transitory computer readable storage medium having stored thereon computer readable instructions that, when executed at a computer system, cause the computer system to perform a method comprising:
receiving, from an endoscope at a surgical site internal to a body cavity of a patient, video data of an anatomical structure at the surgical site;
detecting a spatio-temporal change in a pixel region of the received video data;
identifying, in response to the detected spatio-temporal change, a parameter of the anatomical structure;
generating a health indicator indicative of the identified parameter or indicative of a profile of the identified parameter;
displaying part or all of a representation of at least a portion of the surgical site;
controlling an indicator on the display;
receiving user input relating to the representation and outputting an augmentation signal in response to the received user input; and
augmenting the representation of the surgical site in response to the augmentation signal and the generated health indicator.
16. A method for augmenting a representation of a surgical site at which a surgical procedure can be carried out, comprising:
receiving, from an endoscope at a surgical site internal to a body cavity of a patient, video data of an anatomical structure at the surgical site;
detecting a spatio-temporal change in a pixel region of the received video data;
identifying, in response to the detected spatio-temporal change, a parameter of the anatomical structure;
generating a health indicator indicative of the identified parameter or indicative of a profile of the identified parameter;
displaying part or all of a representation of at least a portion of the surgical site;
controlling an indicator on the display;
receiving user input relating to the representation and outputting an augmentation signal in response to the received user input; and
augmenting the representation of the surgical site in response to the augmentation signal and the generated health indicator.
17. A method according to claim 16 , comprising at least one of:
generating the representation of the surgical site in dependence on a stored representation of the surgical site; and
generating the representation of the surgical site in dependence on the received video data.
18. A method according to claim 16 , in which the indicator comprises a portion of an imaged end effector of the surgical robotic system, and the method comprises controlling the indicator on the display by controlling the end effector.
19. A method according to claim 16 , comprising, where the representation of the surgical site comprises a plurality of augmentations, determining at least one of:
a number of augmentations;
a distance between the plurality of augmentations;
an area enclosed by the plurality of augmentations; and
a volume enclosed by the plurality of augmentations.
20. A method according to claim 16 , comprising displaying, on at least one of the display and an auxiliary display, one or more of:
a number of augmentations;
a line connecting a plurality of augmentations;
an area enclosed by a plurality of augmentations; and
a volume enclosed by a plurality of augmentations.