Methods, systems and controllers for facilitating cleaning of an imaging element of an imaging device
Inventors
Alambeigi, Farshid • Cohen, Alexander • Idelson, Christopher R. • Rylander, Christopher
Assignees
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Publication Number
US-11871902-B2
Publication Date
2024-01-16
Expiration Date
Abstract
Disclosed herein are technological solutions that are configured to limit sub-optimal visualization of the surgical field during robotic and manual laparoscopic surgery. Such technological solutions are configured to systematically assess cleanliness of an imaging element of a laparoscope (or other type of similar imaging apparatus) and take action for enabling or causing the imaging element to be cleaned. In preferred embodiments, assessment of the cleanliness of the imaging element provides information that can be used for enabling or causing cleaning of the imaging element to be performed in-vivo in either a manual, semi-autonomous or autonomous manner. In this manner such technological solutions advantageously enable the surgical field during surgery to be more efficiently and consistently maintained in an optimal condition.
Core Innovation
The invention relates to a computer-assisted system for acquiring image information of an anatomical structure within a body cavity during a surgical procedure using an imaging device having an imaging element. A cleaning device is attached to the imaging device and is adapted to clean a surface of the imaging element in response to activation. One or more processors process a portion of the image information to determine cleanliness of the imaging element and, after determining unacceptable cleanliness, cause the cleaning device to perform one or more instances of an imaging element cleaning operation.
The system correlates an image to one or more visual clarity scored reference images each having a respective visual clarity determined to be visually equivalent to the image. The selected visual clarity reference images exhibiting acceptable visual clarity are enabled for user selection, and the selected reference images are used to determine when the imaging element exhibits unacceptable cleanliness for the user. Each scored reference image has a score for rating cleanliness of an imaging element used for acquiring a respective reference image and/or ranking cleanliness of an imaging element used for acquiring a respective reference image.
In robotic and machine-readable-medium embodiments, responsive actions are performed in response to unacceptable cleanliness determinations, including requesting user approval to initiate cleaning, receiving the approval from the user, actuating the cleaning device, outputting a signal enabling an indicator of cleanliness to be displayed on a visual display device, and enabling operation of the cleaning device to be selectively actuated. Visual display device outputs include image information display and cleanliness-related indicators, and additional user-interaction supports include enabling user selection of visual clarity reference images and selectively initiating cleaning through user-selectable control elements.
Claims Coverage
The provided partial content includes four independent claims (computer-assisted system, computer-assisted robotic system, and a non-transitory machine-readable medium). Across these independent claims, the core inventive structure includes image-based cleanliness determination with user-selectable visual clarity reference images, correlation to visual-clarity scored reference images for cleanliness determination, and responsive cleaning actions triggered by an unacceptable cleanliness determination, optionally gated by user approval and accompanied by cleanliness indicator output.
Image-based cleanliness determination with attached cleaning device and unacceptable-cleanliness triggering
An imaging device acquires image information of an anatomical structure within a body cavity during a surgical procedure; a cleaning device is attached and cleans a surface of the imaging element in response to activation; one or more processors process a portion of the image information to determine cleanliness of the imaging element and, after determining the imaging element exhibits unacceptable cleanliness, cause the cleaning device to perform one or more instances of an imaging element cleaning operation.
User-selectable visual clarity reference images for user-specific unacceptable-cleanliness determination
The processors enable a user to select one or more visual clarity reference images exhibiting acceptable visual clarity, and the processors use the selected visual clarity reference images to determine when the imaging element exhibits unacceptable cleanliness for the user.
Correlation of image portions to visual-clarity scored reference images with cleanliness scoring
The processors correlate the image to one or more visual clarity scored reference images each having a respective visual clarity determined to be visually equivalent to the image, where each scored reference image has a score one of rating cleanliness and ranking cleanliness of an imaging element used for acquiring a respective reference image.
User-approval-gated and display-enabled responsive cleaning actions
A visual display device is included, and in response to the determination that the imaging element exhibits unacceptable cleanliness, the processors issue a request for approval from a user to initiate cleaning, receive approval in response to the request, actuate the cleaning device, output a signal enabling an indicator of cleanliness to be displayed on the visual display device, and enable operation of the cleaning device to be selectively actuated.
Across the independent claims, cleanliness is determined from a portion of image information by correlating images to visual-clarity scored reference images, with unacceptable cleanliness determined using user-selected acceptable visual clarity reference images. When unacceptable cleanliness is detected, attached cleaning is triggered, optionally requiring user approval and producing cleanliness indicators on a visual display device.
Stated Advantages
Enables determination of imaging element cleanliness from image information and triggers cleaning operations when unacceptable cleanliness is detected.
Supports user-specific cleanliness determination by enabling user selection of visual clarity reference images exhibiting acceptable visual clarity.
Provides visual cleanliness indications by outputting a signal enabling an indicator of cleanliness to be displayed on a visual display device.
Supports user control over cleaning initiation by issuing a request for approval and actuating the cleaning device only after receiving approval.
Documented Applications
Computer-assisted and robotic surgical imaging, including laparoscopic surgery, where image-based assessment of an imaging element and in-vivo cleaning operations are performed during a surgical procedure.
Cleaning operations for an imaging element attached to an imaging device during a surgical patient procedure, based on image information depicting an anatomical structure within a body cavity.
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