# US 12,108,944 B2 · Optical surgical system having light emitters and light sensors coupled to a controller configured to remove angular distortion via comparison of illumination pattern

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- Number: US 12,108,944 B2
- Document ID: US12108944B2
- Status: Granted
- Kind: B2
- Application number: 18/175,485
- Filed: 2023-02-27
- Published: 2023-06-29
- Granted: 2024-10-08
- Earliest claimed: 2016-08-30
- Assignees: Briteseed, LLC
- Applicants: Briteseed, LLC
- Inventors: Amal Chaturvedi; Hariharan Subramanian
- Web page: https://patentgrep.com/patent/US12108944B2

## CPC

- A61B 17/00: Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20)
- A61B 5/0082: {adapted for particular medical purposes}
- A61B 5/489: {Blood vessels}
- A61B 5/0261: {using optical means, e.g. infrared light}
- A61B 5/1076: {for measuring dimensions inside body cavities, e.g. using catheters (A61B3/1005 takes precedence)}
- A61B 5/6847: {mounted on an invasive device}
- A61B 2017/00061: {spectrum}
- A61B 2017/00066: {intensity}
- A61B 2017/2926: {Details of heads or jaws}
- A61B 2090/061: {for measuring dimensions, e.g. length}
- A61B 2090/08021: {of the patient or his organs}
- A61B 2090/306: {using optical fibres}
- A61B 2090/3614: {using optical fibre}
- A61B 2505/05: Surgical care
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

A system and method for compensation of angular distortions in a system utilizing light emitters and light sensors disposed on non-parallel jaws may include determining a first point at a first side of a region of interest and a second point at a second side of the region of interest, determining a linear curve including the first and second points, and utilizing the linear curve to remove the angular distortion from the region of interest between the first and second points. A system and method for compensation of angular distortions may alternatively include modeling a non-pulsatile illumination pattern according to the intensities of individual emitters, comparing the pattern according to the model against a non-pulsatile illumination pattern detected using the light sensors, and varying the intensities of the individual emitters based on the comparison until angular distortion has been removed.

## Claims

### Claim 1

An optical surgical system with compensation for angular distortions, the system comprising:
a plurality of light emitters disposed at a working end of a surgical instrument on a first surface;
a plurality of light sensors disposed at the working end of the surgical instrument on a second surface opposing the first surface, the first and second surfaces disposed on a pair of non-parallel jaws with an angle (θ) between the first and second opposing surfaces; and
a controller coupled to the plurality of light emitters and the plurality of light sensors, the controller configured to:
model a non-pulsatile illumination pattern according to the intensities of individual emitters of the plurality of light emitters,
compare the non-pulsatile illumination pattern according to the model against a non-pulsatile illumination pattern detected using the plurality of light sensors, and
vary the intensities of the individual emitters of the plurality of light emitters based on the comparison of the non-pulsatile illumination pattern according to the model and the non-pulsatile illumination pattern detected using the plurality of light sensors until angular distortion has been removed.

### Claim 2 (depends on 1)

The system according to claim 1, wherein the non-pulsatile illumination pattern may be modeled as:
DCk=DCko⊙δk=DCko⊙ηx(θ,I)∀k∈[1,N]
where ⊙ represents an operator, DCko ∀k∈[1,N] represents the artifact free DC magnitude at the kth sensor, N represents the number of sensors in the sensory array, δk is the magnitude of the angular distortion induced at the kth sensor, θ is the angle between the first and second opposing surfaces, and I is the intensity at an individual emitter.

### Claim 3 (depends on 2)

The system according to claim 2, wherein the intensities of the light emitters are varied according to:
Inewk′=Ioldk′+Δk,k′=Ioldk′+βk,k′δk=Ioldk′+βk,k′F(θ,Iold)
where Ioldk′ and Ioldk′ ∀k′∈[1,NL] (with NL being the number of emitters) represent the updated and the previous emitter intensity, respectively, and
βk,k′ is the proportionality constant between the change in the intensity required at the k′ emitter based on the magnitude of the angular distortion at the kth sensor.