Granted Patent B2

US 12,416,798 · App. 18/614,393 · Granted Sep 16, 2025

Inventors: Hossein Dehghani (Boston, MA); Vasiliy E. Buharin (Boston, MA); Roman Stolyarov (Boston, MA); Thomas Calef (Boston, MA); Liam O'Shea (Boston, MA); Alexander J. Dye (Boston, MA); Chris J. Situ (Boston, MA)

Assignee: ACTIV Surgical, Inc.

G02B23/2423A61B1/06H04N23/45H04N23/55H04N23/58

Abstract

Claims (35)

1. A scope assembly, comprising:

an elongated scope;

an imaging unit operably coupled to a distal tip of the elongated scope, wherein the imaging unit is configured to move relative to the elongated scope and obtain a plurality of imaging data of a target site from a plurality of perspectives using at least two imaging sensors having different optical axes;

one or more motion sensors within the imaging unit, wherein the one or more motion sensors are configured to provide spatial information of the imaging unit as the imaging unit moves relative to the elongated scope; and

a processor operatively coupled to the imaging unit and the sensors, wherein the processor is configured to generate a three-dimensional (3D) reconstruction of the target site based on the plurality of imaging data and the spatial information.

2. The scope assembly of claim 1 , wherein the one or more motion sensors are configured to sense one of position, orientation, or acceleration of at least a portion of the scope assembly.

3. The scope assembly of claim 1 wherein the one or more motion sensors comprise:

a first motion sensor configured to detect and record one of position, orientation, or acceleration of an imaging unit arm coupled to the imaging unit; and

a second motion sensor configured to detect and record one of position, orientation, or acceleration of the imaging unit.

4. The scope assembly of claim 1 , wherein the one or more motion sensors comprise an inertial measurement unit.

5. The scope assembly of claim 1 , wherein the one or more motion sensors are further configured to provide spatiotemporal information of the imaging unit.

6. The scope assembly of claim 1 , wherein the one or more motion sensors are further configured to measure movement of the imaging unit relative to at least a portion of the elongated scope.

7. The scope assembly of claim 6 , wherein the measured movement comprises spatiotemporal movement of the imaging unit.

8. The scope assembly of claim 6 , wherein the measured movement is combined with the imaging data to produce the 3D reconstruction of the target site.

9. The scope assembly of claim 1 , wherein the imaging unit is configured to move relative to the elongated scope via one or more joint mechanisms, and wherein the one or more motion sensors are operatively coupled to the one or more joint mechanisms.

10. The scope assembly of claim 9 , wherein the imaging unit comprises a plurality of joint mechanisms, and wherein an individual joint mechanism of the plurality of joint mechanisms comprises at least one motion sensor.

11. A method comprising:

providing a scope assembly including (i) an elongated scope, (ii) an imaging unit operatively coupled to a distal tip of the elongated scope, and (iii) one or more motion sensors operatively coupled to the imaging unit;

moving the imaging unit relative to the elongated scope to obtain a plurality of imaging data of a target site from a plurality of perspectives using at least two imaging sensors having different optical axes;

providing spatial information of the imaging unit using the motion sensors within the imaging unit as the imaging unit moves relative to the elongated scope; and

generating a three-dimensional (3D) reconstruction of the target site using a processor based on the plurality of imaging data and the spatial information.

12. The method of claim 11 , wherein providing the spatial information further comprises:

sensing one of position, orientation, or acceleration of the imaging unit.

13. The method of claim 11 , wherein the one or more motion sensors comprise an inertial measurement unit.

14. The method of claim 11 , wherein providing the spatial information further comprises providing the spatial information using spatiotemporal information of the imaging unit.

15. The method of claim 11 wherein providing the spatial information further comprises measuring movement of the imaging unit relative to at least a portion of the elongated scope.

16. The method of claim 15 wherein the measured movement comprises spatiotemporal movement of the imaging unit.

17. The method of claim 15 wherein generating the 3D reconstruction of the target site further comprises combining the measured movement with the imaging data to produce the 3D reconstruction of the target site.

18. The method of claim 11 , wherein moving the imaging unit relative to the elongated scope further comprises moving the imaging unit via one or more joint mechanisms.

19. The method of claim 18 , wherein the one or more joint mechanisms includes a plurality of joint mechanisms at least one of which has a motion sensor.

20. A scope assembly, comprising:

an elongated scope;

an imaging unit operably coupled to a distal tip of the elongated scope, wherein the imaging unit is configured to (i) move relative to the elongated scope via one or more joint mechanisms and (ii) obtain a plurality of imaging data of a target site from a plurality of perspectives using at least two imaging sensors having different optical axes;

one or more motion sensors within the imaging unit and the joint mechanisms, wherein the one or more motion sensors are configured to provide spatiotemporal information of the imaging unit as the imaging unit moves relative to the elongated scope; and

a processor operatively coupled to the imaging unit and the sensors, wherein the processor is configured to generate a three-dimensional (3D) reconstruction of the target site based on the plurality of imaging data and the spatiotemporal information.

Continuity (6)

References Cited (400)

Cited By (1)

US 12,727,755