US 8,803,955 B2Granted

Augmented stereoscopic visualization for a surgical robot using a camera unit with a modified prism

AssigneeIntuitive Surgical Operations, Inc.

InventorsDavid Scott, Wenyi Zhao, Brian D. Hoffman, Ian McDowell, Catherine J. Mohr, John D. Stern

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Abstract

An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A first capture unit captures: a visible first color component of a visible left image combined with a fluorescence left image from first light from one channel in the endoscope; a visible second color component of the visible left image from the first light; and a visible third color component of the visible left image from the first light. A second capture unit captures: a visible first color component of a visible right image combined with a fluorescence right image from second light from the other channel in the endoscope; a visible second color component of the visible right image from the second light; and a visible third color component of the visible right image from the second light. An augmented stereoscopic outputs a real-time stereoscopic image including a three-dimensional presentation including the visible left and right images and the fluorescence left and right images.

Claims18

Dependent claims

A method comprising:

capturing a left stereoscopic tissue image and a right stereoscopic tissue image,
wherein the left and right stereoscopic tissue images each comprise light in a first visible color component wavelength range, light in a second visible color component wavelength range, light in a third visible color component wavelength range, and light in a fluorescence component wavelength range, and
wherein the fluorescence component wavelength range is substantially different from the first, second, and third visible color component wavelength ranges;
sensing the captured left image by a first prismatic element directing substantially only light in the first visible color component wavelength range and light in the fluorescence component wavelength range to a first sensor, directing substantially only light in the second visible color component wavelength range to a second sensor, and directing substantially only light in the third visible color component wavelength range to a third sensor, wherein the sensed first visible color component wavelength range is separated and removed from the sensed fluorescence component wavelength range;
and
sensing the captured right image by a second prismatic element directing substantially only light in the first visible color component wavelength range and light in the fluorescence component wavelength range to a fourth sensor, directing substantially only light in the second visible color component wavelength range to a fifth sensor, and directing substantially only light in the third visible color component wavelength range to a sixth sensor, wherein the sensed first visible color component wavelength range is separated and removed from the sensed fluorescence component wavelength range.

3 more elements

A robotic surgical system comprising:

an endoscope, held and positioned by the robotic surgical system, wherein the endoscope comprises a stereoscopic optical channel including a first channel configured to transport first light from tissue and a second channel configured to transport second light from the tissue;
an image capture system comprising:
a first camera unit, coupled to the first channel, comprising a first prismatic element and a first image sensor,
wherein the first prismatic element is configured to receive the first light;
wherein the first prismatic element comprises:
a first portion configured to separate left fluorescence and a left visible first color component in the received first light from left visible second and third color components in the received first light, wherein a wavelength range of the left fluorescence is separated from a wavelength range of the left visible first color component;
a second portion configured to separate the left visible second color component in the received first light from the left visible first and third color components in the received first light and from the fluorescence;
and
a third portion configured to separate the left visible third color component in the received first light from the left visible first and second color components in the received first light and from the fluorescence;
and
wherein the first image sensor comprises:
a first portion configured to receive and to capture the left fluorescence and the left visible first color component, wherein the captured left fluorescence comprises a fluorescence left image and the captured left visible first color component comprises a left visible first color component image;
a second portion configured to receive and to capture the left visible second color component, wherein the left captured visible second color component comprises a left visible second color component image;
and
a third portion configured to receive and to capture the left visible third color component, wherein the captured left visible third color component comprises a left visible third color component image, wherein a combination of the left visible first, second, and third color component images comprises a visible left image;
and
a second camera unit, coupled to the second channel, comprising a second prismatic element and a second image sensor,
wherein the second prismatic element is configured to receive the second light;
wherein the second prismatic element comprises:
a first portion configured to separate right fluorescence and a right visible first color component in the received second light from right visible second and third color components in the received second light, wherein a wavelength range of the right fluorescence is separated from a wavelength range of the right visible first color component;
a second portion configured to separate the right visible second color component in the received second light from the right visible first and third color components in the received second light and from the fluorescence;
and
a third portion configured to separate the right visible third color component in the received second light from the right visible first and second color components in the received second light and from the fluorescence;
and
wherein the second image sensor comprises:
a first portion configured to receive and to capture the right fluorescence and the right visible first color component, wherein the captured right fluorescence comprises a fluorescence right image and the captured right visible first color component comprises a right visible first color component image;
a second portion configured to receive and to capture the right visible second color component, wherein the captured right visible second color component comprises a right visible second color component image;
and
a third portion configured to receive and to capture the right visible third color component, wherein the captured right visible third color component comprises a right visible third color component image, wherein a combination of the right visible first, second, and third color component images comprises a visible right image;
an augmented stereoscopic display system coupled to the image capture system, wherein the augmented stereoscopic display system outputs a-stereoscopic image of at least a portion of the tissue comprising a three-dimensional presentation including the visible left and right images and the fluorescence left and right images.

27 more elements

Dependencies are inferred from the claim text.

Facts

Application: 12/165,121Filed 30 Jun 2008 · us provisional application
Priority: 26 Apr 2008
Published: US 2009/0268011 A129 Oct 2009
Granted: 12 Aug 2014
Term ends: Not estimatedThe source records don’t support an estimate.

Classification26 codes

A61B 1/043
Combined with photographic or television appliances: for fluorescence imaging
A61B 1/000096
Of image signals during a use of endoscope: using artificial intelligence
A61B 1/0005
Display arrangement: combining images e.g. side-by-side, superimposed or tiled
A61B 1/00149
Holding or positioning arrangements: using articulated arms