Method and apparatus to provide updated patient images during robotic surgery
Inventors
AZIZIAN, Mahdi • Blohm, Lutz • Kunze, Holger • Niebler, Christine • Sorger, Jonathan
Assignees
Siemens Healthineers AG • Intuitive Surgical Inc • Intuitive Surgical Operations Inc
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Publication Number
US-9622831-B2
Publication Date
2017-04-18
Expiration Date
Abstract
In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data are obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.
Core Innovation
A method provides current images of a surgical site during a robotically-implemented surgical procedure by operating a medical imaging device to acquire 3D data representing a volume of a patient situated on a patient table. The volume includes anatomy that is manipulated during the surgical procedure by a manually-operated surgical robot, and the 3D data are provided to a processor to reconstruct a 3D image of the volume and to segment a 3D volumetric image of the anatomy from the reconstructed 3D image.
The processor automatically determines at least one material property of the anatomy and brings a coordinate system of the surgical robot into registration with a coordinate system of the medical imaging device. During the surgical procedure, the surgeon manually operates the surgical robot to apply at least one force to the anatomy that produces a geometrical change of the anatomy, and an electronic signal representing the force is provided to the processor.
Based on the force and the at least one material property of the anatomy, the processor automatically updates the segmented volumetric image of the anatomy to produce an updated segmented volumetric image that visually shows the change in the geometry of the anatomy. The method displays the updated segmented volumetric image of the anatomy in real-time during the surgical procedure at a display screen in communication with the processor.
Claims Coverage
The independent claims cover a method, an apparatus, and a computer-readable medium for providing real-time updated segmented volumetric images of a surgical site. The claims recite reconstructing and segmenting anatomy from 3D data, automatically determining at least one material property, registering robot and imaging coordinate systems, and updating and displaying the segmented volumetric image based on an electronic signal representing force applied by the robot.
Real-time updated segmented volumetric images based on robot-applied force
Operating a medical imaging device to acquire 3D data representing a volume of a patient; reconstructing a 3D image; segmenting a 3D volumetric image of anatomy; determining at least one material property of the anatomy; bringing a coordinate system of the surgical robot into registration with a coordinate system of the medical imaging device; manually operating the surgical robot to apply at least one force producing a geometrical change; generating an electronic signal representing the force; automatically updating the segmented volumetric image based on the force and the material property to produce an updated segmented volumetric image visually showing the change; and displaying the updated segmented volumetric image in real-time.
Surgery facility apparatus for 3D reconstruction, material properties, registration, and force-based updating
An apparatus including a surgery facility with a patient table, a medical imaging device, and a manually-operated surgical robot comprising at least one instrument and a force sensor; a control computer to acquire 3D data representing a volume; a processor to reconstruct a 3D image, segment a 3D volumetric image of anatomy, automatically determine at least one material property, bring robot and imaging coordinate systems into registration, receive an electronic signal representing force applied to anatomy, automatically update the segmented volumetric image based on the force and material property to produce an updated segmented volumetric image visually showing the geometrical change; and a display screen to display the updated segmented volumetric image in real-time.
Non-transitory computer-readable storage medium to perform force-based real-time segmentation updating
A non-transitory, computer-readable data storage medium encoded with programming instructions that cause a computer to operate a medical imaging device to acquire 3D data, reconstruct a 3D image, segment a 3D volumetric image of anatomy, automatically determine at least one material property, bring a coordinate system of the surgical robot into registration with a coordinate system of the medical imaging device, manually operate the surgical robot to apply at least one force producing a geometrical change, generate an electronic signal representing the force, automatically update the segmented volumetric image based on the force and material property to produce an updated segmented volumetric image visually showing the change, and display the updated segmented volumetric image in real-time.
The claims collectively center on reconstructing and segmenting a 3D volumetric image of anatomy, determining material properties, registering robot and imaging coordinate systems, and updating and displaying the segmented volumetric image in real-time based on force applied by the surgical robot.
Stated Advantages
Provides updated segmented volumetric images of the anatomy visually showing geometrical change during the surgical procedure in real-time.
Enables display of a real-time updated segmented volumetric image of the anatomy during the robotically-implemented surgical procedure.
Documented Applications
Real-time visualization of a robotically-implemented surgical procedure by displaying updated segmented volumetric images of a surgical site during manipulation of anatomy by a manually-operated surgical robot.
Providing additional views beyond conventional endoscopic field-of-view by manipulating and displaying updated 3D segmentation during the procedure.
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