IP Library › Granted Patent US 12,400,340
Granted Patent B2
US 12,400,340 · App. 17/356,353 · Granted Aug 26, 2025

User interface elements for orientation of remote camera during surgery

Inventor: Vasiliy Evgenyevich Buharin (Boston, MA)
Assignee: ACTIV Surgical, Inc.
G06T7/248A61B34/20A61B34/25A61B34/30A61B34/70A61B90/37G06T7/277G06T7/292G16H30/20G16H40/63G16H40/67A61B2034/2057A61B2034/2059A61B2034/302A61B2090/371A61B2090/374A61B2090/3762A61B2090/378A61B2562/0219G06T2207/30004G06T2207/30244
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Quick Facts
Patent No.
US 12,400,340
App. No.
17/356,353
Granted
Aug 26, 2025
Kind
B2
Abstract

User interface elements for orientation of remote camera during surgery are provided. In various embodiments, an image of an interior of a body cavity of a patient is received from one or more camera located at a distal end of an endoscopic tool. Position information and/or orientation information of the camera is received. A reference view indicating a field of view of the camera(s) on an anatomical model is generated based on the position information and/or orientation information. The reference view is displayed in combination with the image to a user.

Claims (42)

1. A method for imaging a surgical scene of a patient, comprising:

(a) using one or more cameras to capture one or more images of the surgical scene;

(b) using one or more sensors to obtain position information of the one or more cameras;

(c) generating a reference view of the surgical scene based on the position information of the one or more cameras, wherein the reference view includes a field of view of the one or more cameras relative to an anatomical model of the surgical scene;

(d) displaying the reference view and the one or more images of the surgical scene to a user;

(e) using the one or more sensors to obtain orientation information of the one or more cameras;

(f) generating a direction indicator based on the orientation information, wherein the direction indicator corresponds to a direction in which the one or more cameras are oriented relative to the anatomical model of the surgical scene; and

(g) displaying the direction indicator and the reference view to the user.

2. The method of claim 1 , wherein the reference view indicates a reference direction to aid in (i) positioning or orienting the one or more cameras or (ii) adjusting the field of view of the one or more cameras relative to one or more regions or features of the surgical scene.

3. The method of claim 1 , wherein the direction indicator comprises an arrow.

4. The method of claim 1 , wherein the one or more sensors are integrated with the cameras.

5. The method of claim 1 , wherein the one or more sensors comprise an absolute position sensor or an absolute orientation sensor.

6. The method of claim 5 , wherein the absolute position sensor or the absolute orientation sensor comprises a magnetometer, a gyroscope, a range finder, an encoder, or an optical tracking sensor.

7. The method of claim 1 , wherein the anatomical model comprises a universal atlas or a simplified pictorial representation of the surgical scene.

8. The method of claim 1 , wherein the anatomical model is generated based on one or more reference images received from a picture archiving and communication system (PACS), which one or more reference images comprise at least one of a computed tomography (CT) image, a magnetic resonance (MRI) image, an X-ray image, an ultrasound image, or a digital image of the patient.

9. The method of claim 8 , wherein the one or more reference images are obtained or updated in real time as a medical procedure is being performed in or near the surgical scene.

10. The method of claim 9 , wherein the reference view is updated in real time during the medical procedure.

11. The method of claim 1 , wherein the position information of the cameras is determined via visual odometry, wherein the visual odometry comprises extracting one or more image feature points from the one or more images and tracking the image feature points in a sequence of images comprising the one or more images.

12. The method of claim 1 , wherein displaying the reference view and the one or more images comprises superimposing the reference view on the one or more images, or superimposing the one or more images on the reference view.

13. The method of claim 1 , wherein displaying the reference view and the one or more images comprises displaying the reference view on a first display while displaying the one or more images on a second display.

14. A method for imaging a surgical scene of a patient comprising:

(a) using one or more cameras to (ire one or more images of the surgical scenes;

(b) using one or more sensors to obtain position in formation of the one or more cameras;

(c) generating a reference view of the surgical scene based on the position information of the one or more cameras, wherein the reference view includes a field of view of the one or more cameras relative to an anatomical model of the surgical scene;

(d) registering a coordinate space of the one or more cameras to (i) a coordinate space of the patient and (ii) a coordinate space of the anatomical model;

(e) obtaining depth information for the surgical scene based at least in part on the registration of the coordinate space of the one or more cameras to the coordinate space of the patient or the coordinate space of the anatomical model;

(f) displaying the reference view and the one or more images of the surgical scene to a user;

(g) using the one or more sensors to obtain orientation information of the one or more cameras;

(h) generating a direction indicator based on the orientation information, wherein the direction indicator corresponds to a direction in which the one or more cameras are oriented relative to the anatomical model of the surgical scene; and

(i) displaying the direction indicator and the reference view to the user.

15. The method of claim 14 , wherein the coordinate space of the cameras is registered to the coordinate space of the patient or the coordinate space of the anatomical model using a calibration matrix, wherein the calibration matrix is determined using a least means square algorithm or a Kalman filter.

16. The method of claim 14 , wherein the coordinate space of the cameras is registered to the coordinate space of the patient or the coordinate space of the anatomical model using one or more anatomical landmarks located in or near the surgical scene.

17. The method of claim 14 , further comprising using the depth information to generate or update the reference view.

18. A method for imaging a surgical scene of a patient, comprising:

(a) using one or more cameras to capture one or more images of the surgical scene;

(b) using one or more sensors to obtain position information of the one or more cameras;

(c) generating a reference view of the surgical scene based on the position information of the one or more cameras, wherein the reference view includes a field of view of the one or more cameras relative to an anatomical model of the surgical scene;

(d) displaying the reference view and the one or more images of the surgical scene to a user;

(e) using the one or more sensors to obtain orientation information of the one or more cameras;

(f) generating a direction indicator based on the orientation information, wherein the direction indicator corresponds to a direction in which the one or more cameras are oriented relative to the anatomical model of the surgical scene; and

(g) displaying the direction indicator and the reference view to the user, wherein the reference view includes a visual frame indicating a subregion of the reference view relative to the anatomical model of the surgical scene, wherein the subregion corresponds to the field of view of the one or more cameras.

19. The method of claim 18 , wherein the frame is resizable to reflect a current field of view of the one or more cameras when (i) a position or an orientation of the one or more cameras changes or (ii) the one or more cameras zoom in or out to adjust the field of view of the one or more cameras.

Assignments (1)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Jul 2, 2021
From: BUHARIN, VASILIY EVGENYEVICH
To: ACTIV SURGICAL, INC.
Reel/Frame 056748/0714 →
Continuity (3)
Continuation PCTUS2019068756 · Dec 27, 2019
Provisional Application 62786003 · Dec 28, 2018
Related Publication 20220020160A1 · Jan 20, 2022
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