US 9,513,113 B2Granted

Integrated illumination and optical surface topology detection system and methods of use thereof

Assignee7D Surgical Inc.

InventorsVictor Yang, Adrian Linus Dinesh Mariampillai, Beau Anthony Standish, Michael Ka Kit Leung

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Abstract

Systems and methods are provided for optical topology detection and illumination. Embodiments provide an integrated system, and methods of operation thereof, where the integrated system includes an illumination system and an optical topology detection system, and where at least a portion of the spectral content of illumination light from the illumination system is within an optical detection bandwidth of the optical topology detection system, and where the operation of the optical topology detection system and the illumination system are interleaved to avoid crosstalk, such that the optical topology detection system detects the optical topology detection light when the illumination system is not emitting illumination light. The system may include, and control the operation of, an optical navigation system. The components of the system may be mounted to a rigid frame to maintain calibration.

Claims58

Dependent claims

An integrated system for optical topology detection and illumination, comprising:

a surgical illumination system comprising one or more of light sources configured to illuminate a region of interest with illumination light within an illumination field, wherein the illumination light is provided over a plurality of angles for reducing or eliminating shadows within the illumination field;
an optical topology detection system comprising a structured light projector for projecting optical topology detection light comprising structured light patterns onto the region of interest within an optical topology detection field that overlaps with said illumination field, and one or more cameras for imaging optical topology detection light scattered or reflected from the region of interest for detecting the topology at the region of interest;
wherein at least a portion of the spectral content of the illumination light is within an optical detection bandwidth of said optical topology detection system and wherein said optical topology detection system and said surgical illumination system emit light in the visible spectrum;
and
one or more processors configured to:
provide one or more control signals for repeatedly triggering interleaved operation of said optical topology detection system and said surgical illumination system;
and
control the operation of said optical topology detection system and said surgical illumination system according to the one or more control signals, such that the optical topology detection system detects the optical topology detection light when said surgical illumination system is not emitting illumination light, and such that one or both of the duration and the intensity of the optical topology detection light is controlled relative to that of the illumination light in order to reduce visual disruptions perceived by the observer.

5 more elements

A computer implemented method of synchronizing and interleaving the operation of an optical topology detection system and a surgical illumination system comprising one or more of light sources configured for reducing optical crosstalk, wherein the illumination system provides illumination light for illuminating a region of interest within an illumination field, wherein the illumination light is provided over a plurality of angles for reducing or eliminating shadows within the illumination field, and wherein the optical topology detection system comprising a structured light proiector for projecting optical topology detection light comprising structured light patterns onto the region of interest within an optical topology detection field that overlaps with said illumination field and one or more cameras for imaging optical topology detection light scattered or reflected from the region of interest for detecting the topology at the region of interest, the method comprising:

providing one or more control signals for repeatedly triggering interleaved operation of the optical topology detection system and the surgical illumination system;
and
controlling the operation of the optical topology detection system and the surgical illumination system according to the one or more control signals, such that the optical topology detection system detects the optical topology detection light when the surgical illumination system is not emitting illumination light, and such that one or both of the duration and the intensity of the optical topology detection light is controlled relative to that of the illumination light in order to reduce visual disruptions perceived by the observer;
wherein at least a portion of the spectral content of the illumination light is within an optical detection bandwidth of the optical topology detection system;
and
wherein the optical topology detection system and the surgical illumination system emit light in the visible spectrum.

3 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/439,009Filed 29 Oct 2013 · us provisional application
Priority: 29 Oct 2012
Published: US 2015/0300816 A122 Oct 2015
Granted: 6 Dec 2016
Term ends: Not estimatedThe source records don’t support an estimate.

Classification23 codes

A61B 34/20
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical navigation systems; Devices for tracking or guiding…
A61B 5/0064
Arrangements for scanning: body surface scanning
A61B 5/0077
Using light, e.g. diagnosis by transillumination, diascopy, fluorescence: devices for viewing the surface of the body, e.g. camera, magnifying lens
A61B 6/06
Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment: diaphragms