# US 11,076,747 B2 · Driving light emissions according to a jitter specification in a laser mapping imaging system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,076,747 B2 - Document ID: US11076747B2 - Status: Granted - Kind: B2 - Application number: 16/821,750 - Filed: 2020-03-17 - Published: 2020-12-24 - Granted: 2021-08-03 - Earliest claimed: 2019-06-20 - Assignees: Cilag GmbH International - Applicants: Cilag GmbH International - Inventors: Joshua D. Talbert; Donald M. Wichern - Web page: https://patentgrep.com/patent/US11076747B2 ## CPC - G02B 23/2461: {Illumination} - A61B 1/00006: {of control signals} - A61B 1/000095: {for image enhancement} - A61B 1/00186: {with imaging filters} - A61B 1/043: {for fluorescence imaging} - A61B 1/045: Control thereof - A61B 1/0638: {providing two or more wavelengths} - A61B 1/0653: {with wavelength conversion} - A61B 1/0661: {Endoscope light sources} - A61B 5/0071: {by measuring fluorescence emission} - G01J 3/0218: {using optical fibers} - G01J 3/10: Arrangements of light sources specially adapted for spectrometry or colorimetry - G01J 3/2803: {using photoelectric array detector} - G01J 3/2823: {Imaging spectrometer} - G02B 23/2484: {Arrangements in relation to a camera or imaging device (processing or control of video signals generated by an endoscope H04N23/60, H04N23/70)} - G06T 1/0007: {Image acquisition} - G06T 7/0012: {Biomedical image inspection} - H04N 23/11: for generating image signals from visible and infrared light wavelengths - H04N 23/56: provided with illuminating means - H04N 23/72: Combination of two or more compensation controls - H04N 23/74: by influencing the scene brightness using illuminating means - H04N 25/11: Arrangement of colour filter arrays [CFA]; Filter mosaics - H04N 25/79: Arrangements of circuitry being divided between different or multiple substrates, chips or circuit boards, e.g. stacked image sensors - A61B 1/063: {for monochromatic or narrow-band illumination} - A61B 5/0075: {by spectroscopy, i.e. measuring spectra, e.g. Raman spectroscopy, infrared absorption spectroscopy (A61B5/0071 takes precedence)} - A61B 5/0261: {using optical means, e.g. infrared light} - A61B 5/20: for measuring urological functions {restricted to the evaluation of the urinary system (A61B5/4375 takes precedence)} - A61B 5/4887: {Locating particular structures in or on the body} - A61B 5/489: {Blood vessels} - A61B 5/4893: {Nerves} - G06T 2207/10064: Fluorescence image - G06T 2207/10068: Endoscopic image - H04N 23/555: {for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes} - H04N 2209/047: using multispectral pick-up elements - G02B: OPTICAL ELEMENTS, SYSTEMS OR APPARATUS - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G01J: MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY (light sources F21, H01J, H01K, H05B; investigating properties of materials by optical means G01N) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract Driving an emitter to emit pulses of electromagnetic radiation according to a jitter specification in a laser mapping imaging system is described. A system includes an emitter for emitting pulses of electromagnetic radiation and an image sensor comprising a pixel array for sensing reflected electromagnetic radiation. The system includes a driver for driving emissions by the emitter according to a jitter specification. The system is such that at least a portion of the pulses of electromagnetic radiation emitted by the emitter comprises a laser mapping pattern. ## Claims ### Claim 1 A system comprising: an emitter for emitting pulses of electromagnetic radiation; an image sensor comprising a pixel array for sensing reflected electromagnetic radiation, wherein pixel data is read out during a readout period of the image sensor; a controller in electronic communication with the emitter and the image sensor; and a driver for driving emissions by the emitter based at least in part on a jitter specification, wherein the jitter specification comprises unpredictable time variation experienced by a component of the system; wherein at least a portion of the pulses of electromagnetic radiation emitted by the emitter comprises a laser mapping pattern; wherein the jitter specification is less than or equal to one or more of: one microsecond; fifty nanoseconds; a duration of time required for the image sensor to read out one line of the pixel array; a duration of time required for the image sensor to read out one pixel of the pixel array; 10% to 25% a duration of time required for the image sensor to read out all active pixels in the pixel array; or 10% to 25% a duration of the readout period of the image sensor. ### Claim 2 (depends on 1) The system of claim 1, wherein the jitter specification represents one or more of: variation in a predictable delay for initiating and/or discontinuing an emission of the pulses of electromagnetic radiation; or jitter experienced by one or more of the emitter, the controller, or the driver. ### Claim 3 (depends on 1) The system of claim 1, wherein: the driver is a component of the controller; the controller is configured to control sequencing of the image sensor and the emitter such that the pulses of electromagnetic radiation emitted by the emitter are emitted during a blanking period of the image sensor; and the controller is configured to cause the driver to drive the emitter to emit a pulse of electromagnetic radiation between readout periods of the image sensor. ### Claim 4 (depends on 1) The system of claim 1, wherein the jitter specification comprises one or both of: a time delay between a control signal causing the emitter to emit a pulse of electromagnetic radiation; and a time delay between a control signal turning off the emitter and ending a pulse of electromagnetic radiation; wherein one or both of the time delays is less than or equal to about 10% to about 25% the duration of the readout period of the image sensor. ### Claim 5 (depends on 4) The system of claim 4, wherein a time duration for reading out pixel data for a single pixel of the pixel array is a pixel readout length, and wherein the one or both time delays is less than or equal to the pixel readout length. ### Claim 6 (depends on 1) The system of claim 1, wherein the controller comprises one or more processors for executing instructions stored in non-transitory computer readable storage medium, the instructions comprising: determining whether the jitter specification has a duration exceeding a threshold; and in response to the jitter specification having a duration exceeding the threshold, causing the driver to limit a time duration of each of the pulses of electromagnetic radiation emitted by the emitter such that a pulse of electromagnetic radiation does not overlap the readout period of the image sensor. ### Claim 7 (depends on 6) The system of claim 6, wherein the jitter specification does not have a duration exceeding the threshold if the jitter specification has a duration less than or equal to one or more of: one microsecond; fifty nanoseconds; a duration of time required for the image sensor to read out one line of the pixel array; a duration of time required for the image sensor to read out one pixel of the pixel array; 10% to 25% a duration of time required for the image sensor to read out all active pixels in the pixel array; or 10% to 25% a duration of the readout period of the image sensor. ### Claim 8 (depends on 1) The system of claim 1, wherein the readout period of the image sensor: begins after reading out an initial row or an initial column of optical black pixels of the pixel array; and ends after reading out a final row or a final column of optical black pixels of the pixel array. ### Claim 9 (depends on 1) The system of claim 1, wherein: the image sensor is configured to generate and read out pixel data for an exposure frame based on the reflected electromagnetic radiation; the pixel array comprises a plurality of lines for reading out active pixel data; and the readout period is the time duration for reading out all the plurality of lines for readout reading out the active pixel data. ### Claim 10 (depends on 1) The system of claim 1, further comprising a camera control unit (CCU) in communication with the controller, wherein the CCU provides signals to the controller to avoid overlapping a pulse of electromagnetic radiation with the readout period of the image sensor. ### Claim 11 (depends on 1) The system of claim 1, wherein the jitter specification represents the unpredictable time variation experienced by the emitter. ### Claim 12 (depends on 1) The system of claim 1, wherein the image sensor is configured to generate a plurality of exposure frames, wherein each of the plurality of exposure frames corresponds to one or more pulses of electromagnetic radiation emitted by the emitter. ### Claim 13 (depends on 1) The system of claim 1, wherein the pixel array of the image sensor senses reflected electromagnetic radiation to generate the plurality of exposure frames during the readout period of the pixel array, wherein the readout period comprises a duration of time when active pixels in the pixel array are read. ### Claim 14 (depends on 1) The system of claim 1, wherein the emitter is configured to emit, during a pulse duration, a plurality of sub-pulses of electromagnetic radiation having a sub-duration shorter than the pulse duration. ### Claim 15 (depends on 1) The system of claim 1, wherein one or more of the pulses of electromagnetic radiation emitted by the emitter comprises electromagnetic radiation emitted at two or more wavelengths simultaneously as a single pulse or a single sub-pulse. ### Claim 16 (depends on 1) The system of claim 1, wherein at least a portion of the pulses of electromagnetic radiation emitted by the emitter is a fluorescence excitation emission that results in a fluorescence exposure frame created by the image sensor, and wherein the controller is configured to provide the fluorescence exposure frame to a corresponding fluorescence system that determines a location of a critical tissue structure within a scene based on the fluorescence exposure frame. ### Claim 17 (depends on 16) The system of claim 16, wherein the fluorescence excitation emission comprises one or more of: electromagnetic radiation having a wavelength from about 770 nm to about 790 nm; or electromagnetic radiation having the wavelength from about 795 nm to about 815 nm. ### Claim 18 (depends on 17) The system of claim 17, wherein the controller is further configured to: receive the location of the critical tissue structure from the corresponding fluorescence system; generate an overlay frame comprising the location of the critical tissue structure; and combine the overlay frame with a color image frame depicting the scene to indicate the location of the critical tissue structure within the scene. ### Claim 19 (depends on 18) The system of claim 18, wherein sensing the reflected electromagnetic radiation by the pixel array comprises generating a laser mapping exposure frame by sensing reflected electromagnetic radiation resulting from the emitter pulsing the laser mapping pattern, and wherein the controller is configured to: provide the laser mapping exposure frame to a corresponding laser mapping system that determines a topology of the scene and/or dimensions of one or more objects within the scene; provide the location of the critical tissue structure to the corresponding laser mapping system; and receive a topology and/or dimension of the critical tissue structure from the corresponding laser mapping system. ### Claim 20 (depends on 19) The system of claim 19, wherein the critical structure comprises one or more of a nerve, a ureter, a blood vessel, an artery, a blood flow, or a tumor. ### Claim 21 (depends on 1) The system of claim 1, wherein the controller is configured to synchronize timing of the pulses of electromagnetic radiation during a blanking period of the image sensor, wherein the blanking period corresponds to a time between a readout of a last row of active pixels in the pixel array and a beginning of a next subsequent readout of active pixels in the pixel array. ### Claim 22 (depends on 1) The system of claim 1, wherein two or more pulses of electromagnetic radiation emitted by the emitter result in two or more instances of reflected electromagnetic radiation that are sensed by the pixel array to generate two or more exposure frames that are combined to form an image frame. ### Claim 23 (depends on 1) The system of claim 1, wherein the emitter is configured to emit a sequence of pulses of electromagnetic radiation repeatedly sufficient for generating a video stream comprising a plurality of image frames, wherein each image frame in the video stream comprises data from a plurality of exposure frames, and wherein each of the exposure frames corresponds to one or more pulses of electromagnetic radiation. ### Claim 24 (depends on 1) The system of claim 1, wherein the pulses of electromagnetic radiation are emitted in a pattern of varying wavelengths of electromagnetic radiation, and wherein the emitter repeats the pattern of varying wavelengths of electromagnetic radiation. ### Claim 25 (depends on 1) The system of claim 1, wherein at least a portion of the pulses of electromagnetic radiation comprise a red emission, a green emission, a blue emission, and a laser mapping emission such that reflected electromagnetic radiation sensed by the pixel array corresponding to each of the red emission, the green emission, the blue emission, and the laser mapping emission can be processed to generate a color RGB image frame comprising an overlay of laser mapping data. ### Claim 26 (depends on 1) The system of claim 1, wherein at least a portion of the pulses of electromagnetic radiation comprise a luminance emission, a red chrominance emission, a blue chrominance emission, and a laser mapping emission such that reflected electromagnetic radiation sensed by the pixel array corresponding to each of the luminance emission, the red chrominance emission, the blue chrominance emission, and the laser mapping emission can be processed to generate a YCbCr image frame comprising an overlay of laser mapping data. ### Claim 27 (depends on 1) The system of claim 1, wherein sensing reflected electromagnetic radiation by the pixel array comprises generating a laser mapping exposure frame by sensing reflected electromagnetic radiation resulting from the emitter pulsing the laser mapping pattern, wherein the laser mapping exposure frame comprises information for determining real time measurements comprising one or more of: a distance from an endoscope to an object; an angle between an endoscope and the object; or surface topology information about the object. ### Claim 28 (depends on 27) The system of claim 27, wherein the laser mapping exposure frame comprises information for determining the real time measurements to an accuracy of less than 10 centimeters. ### Claim 29 (depends on 27) The system of claim 27, wherein the laser mapping exposure frame comprises information for determining the real time measurements to an accuracy of less than one millimeter. ### Claim 30 (depends on 1) The system of claim 1, wherein at least a portion of the pulses of electromagnetic radiation emitted by the emitter comprises a plurality of tool-specific laser mapping patterns for each of a plurality of tools within a scene. ### Claim 31 (depends on 1) The system of claim 1, wherein the laser mapping pattern emitted by the emitter comprises a first output and a second output that are independent from one another, wherein the first output is for light illumination and the second output is for tool tracking. ### Claim 32 (depends on 1) The system of claim 1, wherein at least a portion of the pulses of electromagnetic radiation emitted by the emitter is a hyperspectral emission that results in a hyperspectral exposure frame created by the image sensor, and wherein the controller is configured to provide the hyperspectral exposure frame to a corresponding hyperspectral system that determines a location of a critical tissue structure within a scene based on the hyperspectral exposure frame. ### Claim 33 (depends on 32) The system of claim 32, wherein the hyperspectral emission comprises: electromagnetic radiation having the wavelength from about 513 nm to about 545 nm and electromagnetic radiation having the wavelength from about 900 nm to about 1000 nm; or electromagnetic radiation having the wavelength from about 565 nm to about 585 nm and electromagnetic radiation having the wavelength from about 900 nm to about 1000 nm. ### Claim 34 (depends on 33) The system of claim 33, wherein the controller is further configured to: receive the location of the critical tissue structure from the corresponding hyperspectral system; generate an overlay frame comprising the location of the critical tissue structure; and combine the overlay frame with a color image frame depicting the scene to indicate the location of the critical tissue structure within the scene. ### Claim 35 (depends on 34) The system of claim 34, wherein sensing the reflected electromagnetic radiation by the pixel array comprises generating a laser mapping exposure frame by sensing reflected electromagnetic radiation resulting from the emitter pulsing the laser mapping pattern, and wherein the controller is further configured to: provide the laser mapping exposure frame to a corresponding laser mapping system that determines a topology of the scene and/or dimensions of one or more objects within the scene; provide the location of the critical tissue structure to the corresponding laser mapping system; and receive a topology and/or dimension of the critical tissue structure from the corresponding laser mapping system. ### Claim 36 (depends on 35) The system of claim 35, wherein the critical structure comprises one or more of a nerve, a ureter, a blood vessel, an artery, a blood flow, or a tumor.