Systems and methods for surgical smoke management
Systems and methods for detecting, characterizing, and addressing surgical smoke are disclosed. In some embodiments, a surgical system receives image data representing an image of a surgical environment and generates sets of values based on the received image. The sets of values may include representations of atmospheric light in the image and representations of contrast values in the image. The system may determine from the sets of values whether predetermined smoke severity criteria are met, and may responsively automatically engage and/or disengage one or more surgical devices, such as a surgical smoke evacuation system and/or an image processing system (e.g., a video enhancement feature) configured to improve quality of smoky surgical images.
1. A surgical system, the system comprising:
a surgical device configured to automatically change between activation states; and
one or more processors configured to:
receive image data representing an image of a surgical environment;
generate, based on the received image data, a set of one or more values representing atmospheric light of the image data;
generate, based on the received image data, a set of one or more representative contrast values;
determine, based on the one or more values representing atmospheric light and based on the one or more representative contrast values, whether the received image data satisfies one or more surgical smoke conditions;
detect, based on the received image data, one or more saturated regions in the image;
detect, based on the received image data, one or more high-intensity regions in the image data;
generate, based on the one or more saturated regions and on the one or more high-intensity regions, data representing cauterization light sparks in the image; and
based on the determination of whether the received image data satisfies the one or more surgical smoke conditions and based on the data representing cauterization light sparks in the image, automatically change an activation state of the surgical device.
2. The system of claim 1 , wherein:
the set of one or more values representing atmospheric light of the image data is generated by the system based on a set of one or more values representing a bright channel of the image data; and
the set of one or more values representing the bright channel is generated by the system based on the image data.
3. The system of claim 2 , wherein generating the set of one or more values representing the bright channel of the image data comprises:
for each pixel of the image data, selecting, as a respective bright channel pixel value, a maximum color-channel value from among a group of pixels of the image data within a respective patch including the respective pixel.
4. The system of claim 1 , wherein detecting the one or more saturated regions in the image data is based on red channel data of the image data.
5. The system of claim 1 , wherein detecting the one or more saturated regions in the image data comprises applying an adaptive threshold to the image data.
6. The system of claim 1 , wherein detecting the one or more high-intensity regions in the image data is based on green channel data of the image data.
7. The system of claim 1 , wherein detecting the one or more high-intensity regions in the image data comprises applying open top-hat with reconstruction filters to the image data.
8. A surgical system, the system comprising:
one or more processors configured to:
receive image data representing an image of a surgical environment;
generate, based on the received image data, a set of one or more values representing atmospheric light of the image data;
generate, based on the received image data, a set of one or more representative contrast values;
determine, based on the one or more values representing atmospheric light and based on the one or more representative contrast values, whether the received image data satisfies one or more surgical smoke conditions;
wherein:
the set of one or more values representing atmospheric light of the image data is generated by the system based on a set of one or more values representing a bright channel of the image data; and
the set of one or more values representing the bright channel is generated by the system based on the image data; and
wherein generating the set of one or more values representing atmospheric light comprises:
calculating a first term comprising a set of one or more maximum values of the one or more values representing the bright channel;
calculating a second term comprising a set of one or more representative bright-channel values based on the one or more values representing the bright channel; and
calculating a sum of the first term and the second term to generate the set of one or more values representing atmospheric light.
9. The system of claim 8 , wherein generating the set of one or more values representing the bright channel of the image data comprises:
for each pixel of the image data, selecting, as a respective bright channel pixel value, a maximum color-channel value from among a group of pixels of the image data within a respective patch including the respective pixel.
10. The system of claim 8 , wherein calculating the first term comprises generating a one-dimensional matrix based on the one or more values representing the bright channel.
11. The system of claim 8 , wherein calculating the second term comprises generating a one-dimensional matrix based on the one or more values representing the bright channel.
12. The system of claim 8 , wherein the first term is weighted by a constant ci.
13. The system of claim 12 , wherein the second term is weighted by a second constant equal to (1−c 1 ).
14. The system of claim 8 , wherein:
the set of one or more representative contrast values is generated by the system based on the one or more values representing the bright channel of the image data and based on one or more values representing a dark channel of the image data; and
the set of one or more values representing the dark channel is generated by the system based on the image data.
15. The system of claim 14 , wherein generating the set of one or more values representing the dark channel of the image data comprises:
for each pixel of the image data, selecting, as a respective dark channel pixel value, a
minimum color-channel value from among a group of pixels of the image data within a respective patch including the respective pixel.
16. The system of claim 14 , wherein generating the set of one or more representative contrast values comprises:
calculating a third term comprising a set of one or more representative bright-channel values based on the one or more values representing the bright channel;
calculating a fourth term comprising a set of one or more representative dark-channel values based on the one or more values representing the dark channel;
calculating a set of one or more difference values based on a difference between the fourth term and the third term to generate the set of one or more representative contrast values.
17. The system of claim 8 , wherein determining whether the received image data satisfies one or more surgical smoke conditions comprises calculating a smoke degree score based on the set of one or more values representing atmospheric light of the image data and based on the set of one or more representative contrast values.
18. The system of claim 17 , wherein determining whether the received image data satisfies one or more surgical smoke conditions comprises comparing the smoke degree score to a first threshold value.
19. The system of claim 8 , wherein determining whether the received image data satisfies one or more surgical smoke conditions comprises calculating an adjusted set of one or more atmospheric light values.
20. The system of claim 19 , wherein determining whether the received image data satisfies one or more surgical smoke conditions comprises:
comparing the adjusted set of one or more values representing atmospheric light of the image data to a second threshold value; and
comparing the set of one or more representative contrast values to a third threshold value.
21. The system of claim 8 , further comprising a surgical device configured to automatically change between activation states, wherein the processor is further configured to:
based on the determination of whether the received image data satisfies the one or more surgical smoke conditions, automatically change an activation state of the surgical device.
22. The system of claim 21 , wherein changing the activation state of the surgical device comprises performing an operation selected from turning the device on and turning the device off.
23. The system of claim 21 , wherein the surgical device comprises a smoke evacuation system.
24. The system of claim 21 , wherein the surgical device comprises an image processing system.
25. The system of claim 8 , wherein the image data representing the image of a surgical environment is a region extracted from an image larger than the region.
26. The system of claim 8 , wherein the one or more processors are configured to perform a scaling operation on the image data.
27. A method, performed at a surgical system, the method comprising:
receiving image data representing an image of a surgical environment;
generating, based on the received image data, a set of one or more values representing atmospheric light of the image data;
determining, based on the received image data, a set of one or more representative contrast values;
determining, based on the one or more values representing atmospheric light and based on the one or more representative contrast values, whether the received image data satisfies one or more surgical smoke conditions;
wherein:
the set of one or more values representing atmospheric light of the image data is generated by the system based on a set of one or more values representing a bright channel of the image data; and
the set of one or more values representing the bright channel is generated by the system based on the image data; and
wherein generating the set of one or more values representing atmospheric light comprises:
calculating a first term comprising a set of one or more maximum values of the one or more values representing the bright channel;
calculating a second term comprising a set of one or more representative bright-channel values based on the one or more values representing the bright channel; and
calculating a sum of the first term and the second term to generate the set of one or more values representing atmospheric light.
28. A non-transitory computer-readable storage medium storing instructions configured to be executed by a surgical system and to cause the surgical system to:
receive image data representing an image of a surgical environment;
generate, based on the received image data, a set of one or more values representing atmospheric light of the image data;
generate, based on the received image data, a set of one or more representative contrast values;
determine, based on the one or more values representing atmospheric light and based on the one or more representative contrast values, whether the received image data satisfies one or more surgical smoke conditions;
wherein:
the set of one or more values representing atmospheric light of the image data is generated by the system based on a set of one or more values representing a bright channel of the image data; and
the set of one or more values representing the bright channel is generated by the system based on the image data; and
wherein generating the set of one or more values representing atmospheric light comprises:
calculating a first term comprising a set of one or more maximum values of the one or more values representing the bright channel;
calculating a second term comprising a set of one or more representative bright-channel values based on the one or more values representing the bright channel; and
calculating a sum of the first term and the second term to generate the set of one or more values representing atmospheric light.