US20230102358A1 - Surgical devices, systems, and methods using fiducial identification and tracking - Google Patents

Abstract

In general, devices, systems, and methods for fiducial identification and tracking are provided.

Description

CROSS REFERENCE TO RELATED APPLICATIONS
• The present application claims priority to U.S. Prov. Pat. App. No. 63/249,652 entitled “Surgical Devices, Systems, And Methods Using Fiducial Identification And Tracking” filed Sep. 29, 2021, which is hereby incorporated by reference in its entirety.
FIELD
• The present disclosure relates generally to surgical devices, systems, and methods using fiducial identification and tracking.
BACKGROUND
• Surgical systems often incorporate an imaging system, which can allow medical practitioners to view a surgical site and/or one or more portions thereof on one or more displays, e.g., a monitor, a computer tablet screen, etc. The display(s) can be local and/or remote to a surgical theater. The imaging system can include a scope with a camera that views the surgical site and transmits the view to the one or more displays viewable by medical practitioner(s).
• Imaging systems can be limited by the information that they are able to recognize and/or convey to the medical practitioner(s). For example, certain concealed structures, physical contours, and/or dimensions within a three-dimensional space may be unrecognizable intraoperatively by certain imaging systems. For another example, certain imaging systems may be incapable of communicating and/or conveying certain information to the medical practitioner(s) intraoperatively.
• Accordingly, there remains a need for improved surgical imaging.
SUMMARY
• In general, devices, systems, and methods for fiducial identification and tracking are provided.
• In another embodiment, a surgical system includes a surgical device having a distal portion configured to be advanced into a body of a patient during performance of a surgical procedure, and a fiducial marker on an exterior of the distal portion of the surgical device. The fiducial marker stores information associated with the surgical device. The system also includes a first imaging device configured to detect the fiducial marker in the body of the patient using a first energy modality, and a second imaging device configured to detect the fiducial marker in the body of the patient using a second, different energy modality.
• The system can have any number of variations. For example, the first modality can be visible light, and the second modality can be non-visible light. The second modality can be one or more of multi-spectral light, computerized tomography (CT), ultrasound, Hall effect magnetism, and magnetic resonance imaging (MRI).
• For another example, the system can also include a display device, and a controller operatively coupled to the first and second imaging devices and configured to cause the display device to show data indicative of the fiducial marker detected by each of the first and second imaging devices. A robotic surgical system can includes the controller, and the surgical device and the first and second imaging devices can each be configured to be releasably coupled to and controlled by the robotic surgical system; or a surgical hub can include the controller.
• For yet another example, the fiducial marker can include a plurality of fiducial markers each being configured to be detected by one of the first and second imaging devices, each of the plurality of fiducial markers can have a predefined size, aspect ratio, and distance from one another, and the system can further include a controller configured to determine a three-dimensional (3D) aspect of the plurality of fiducial markers. For still another example, the fiducial marker can include a plurality of fiducial markers arranged in a pattern on the exterior of the distal portion of the surgical device such that the pattern perspective changes for the first imaging device based on a relative position of the pattern and the first imaging device and changes for the second imaging device based on a relative position of the pattern and the second imaging device, and the system can further include a controller is configured to analyze the pattern to determine at least one of a scale, angle, distance, and position of the surgical device.
• For another example, the fiducial marker can be multi-modal such that the fiducial marker stores first information that is detectable by the first energy modality but not the second energy modality and stores second information that is detectable by the second energy modality but not the first energy modality, and the first and second information can communicate the same information associated with the surgical device. The first modality can be visible light, and the second modality can be non-visible light.
• For yet another example, the surgical device can include one of a surgical dissector, a surgical stapler, a surgical grasper, a clip applier, a smoke evacuator, and a surgical energy device. For still another example, the surgical device and the first and second imaging devices can each be configured to be releasably coupled to and controlled by a robotic surgical system.
• For another example, a surgical method can include advancing the surgical device into the body of the patient during the performance of the surgical procedure, detecting, using the first imaging device releasably coupled to a robotic surgical system, the fiducial marker in the body of the patient using visible light, and detecting, using the second imaging device releasably coupled to the robotic surgical system, the fiducial marker in the body of the patient using non-visible light. The non-visible light can be one or more of multi-spectral light, computerized tomography (CT), ultrasound, Hall effect magnetism, and magnetic resonance imaging (MRI). The method can further include causing, using a controller, a display device to show data indicative of the fiducial marker detected by each of the first and second imaging devices. The fiducial marker can include a plurality of fiducial markers each being configured to be detected by one of the first and second imaging devices, and each of the plurality of fiducial markers has a predefined size, aspect ratio, and distance from one another, and the method can further include determining, using a controller, a three-dimensional (3D) aspect of the plurality of fiducial markers. The fiducial marker can include a plurality of fiducial markers arranged in a pattern on the exterior of the distal portion of the surgical device such that the pattern perspective changes for the first imaging device based on a relative position of the pattern and the first imaging device and changes for the second imaging device based on a relative position of the pattern and the second imaging device, and the method can further include analyzing, using a controller, the pattern to determine at least one of a scale, angle, distance, and position of the surgical device. The fiducial marker can be multi-modal such that the fiducial marker stores first information that is detectable using the visible light but not the non-visible light and stores second information that is detectable using the non-visible light but not the visible light, and the first and second information can communicate the same information associated with the surgical device. The robotic surgical system can include the controller, or a surgical hub can include the controller.
BRIEF DESCRIPTION OF DRAWINGS
• The present invention is described by way of reference to the accompanying figures which are as follows:
• FIG.1 is a schematic view of one embodiment of a surgical visualization system;
• FIG.2 is a schematic view of triangularization between a surgical device, an imaging device, and a critical structure ofFIG.1;
• FIG.3 is a schematic view of another embodiment of a surgical visualization system;
• FIG.4 is a schematic view of one embodiment of a control system for a surgical visualization system;
• FIG.5 is a schematic view of one embodiment of a control circuit of a control system for a surgical visualization system;
• FIG.6 is a schematic view of one embodiment of a combinational logic circuit of a surgical visualization system;
• FIG.7 is a schematic view of one embodiment of a sequential logic circuit of a surgical visualization system;
• FIG.8 is a schematic view of yet another embodiment of a surgical visualization system;
• FIG.9 is a schematic view of another embodiment of a control system for a surgical visualization system;
• FIG.10 is a graph showing wavelength versus absorption coefficient for various biological materials;
• FIG.11 is a schematic view of one embodiment of a spectral emitter visualizing a surgical site;
• FIG.12 is a graph depicting illustrative hyperspectral identifying signatures to differentiate a ureter from obscurants;
• FIG.13 is a graph depicting illustrative hyperspectral identifying signatures to differentiate an artery from obscurants;
• FIG.14 is a graph depicting illustrative hyperspectral identifying signatures to differentiate a nerve from obscurants;
• FIG.15 is a schematic view of one embodiment of a near infrared (NIR) time-of-flight measurement system being utilized intraoperatively;
• FIG.16 shows a time-of-flight timing diagram for the system ofFIG.15;
• FIG.17 is a schematic view of another embodiment of a near infrared (NIR) time-of-flight measurement system being utilized intraoperatively;
• FIG.18 is a schematic view of one embodiment of a computer-implemented interactive surgical system;
• FIG.19 is a schematic view of one embodiment a surgical system being used to perform a surgical procedure in an operating room;
• FIG.20 is a schematic view of one embodiment of a surgical system including a smart surgical instrument and a surgical hub;
• FIG.21 is a flowchart showing a method of controlling the smart surgical instrument ofFIG.20;
• FIG.22 is a schematic view of a colon illustrating major resections of the colon;
• FIG.22A is a perspective partial cross-sectional view of one embodiment of a duodenal mucosal resurfacing procedure;
• FIG.23 is a perspective view of a distal portion of one embodiment of a surgical instrument including fiducial markers;
• FIG.24 is a perspective view of one embodiment of a fiducial marker showing a visible light portion thereof;
• FIG.25 is a perspective view of the fiducial markers ofFIG.24 showing an ultrasonic light portion thereof;
• FIG.26 is a perspective view of the fiducial markers ofFIG.24 showing an infrared light portion thereof; and
• FIG.27 is a perspective view of one embodiment of an imaging device gathering information from fiducial markers of the surgical instrument ofFIG.23 and from fiducial markers of another surgical instrument.
DETAILED DESCRIPTION
• Certain exemplary embodiments will now be described to provide an overall understanding of the principles of the structure, function, manufacture, and use of the devices, systems, and methods disclosed herein. One or more examples of these embodiments are illustrated in the accompanying drawings. A person skilled in the art will understand that the devices, systems, and methods specifically described herein and illustrated in the accompanying drawings are non-limiting exemplary embodiments and that the scope of the present invention is defined solely by the claims. The features illustrated or described in connection with one exemplary embodiment may be combined with the features of other embodiments. Such modifications and variations are intended to be included within the scope of the present invention.
• Further, in the present disclosure, like-named components of the embodiments generally have similar features, and thus within a particular embodiment each feature of each like-named component is not necessarily fully elaborated upon. Additionally, to the extent that linear or circular dimensions are used in the description of the disclosed systems, devices, and methods, such dimensions are not intended to limit the types of shapes that can be used in conjunction with such systems, devices, and methods. A person skilled in the art will recognize that an equivalent to such linear and circular dimensions can easily be determined for any geometric shape. A person skilled in the art will appreciate that a dimension may not be a precise value but nevertheless be considered to be at about that value due to any number of factors such as manufacturing tolerances and sensitivity of measurement equipment. Sizes and shapes of the systems and devices, and the components thereof, can depend at least on the size and shape of components with which the systems and devices will be used.
• Surgical Visualization
• In general, a surgical visualization system is configured to leverage “digital surgery” to obtain additional information about a patient's anatomy and/or a surgical procedure. The surgical visualization system is further configured to convey data to one or more medical practitioners in a helpful manner. Various aspects of the present disclosure provide improved visualization of the patient's anatomy and/or the surgical procedure, and/or use visualization to provide improved control of a surgical tool (also referred to herein as a “surgical device” or a “surgical instrument”).
• “Digital surgery” can embrace robotic systems, advanced imaging, advanced instrumentation, artificial intelligence, machine learning, data analytics for performance tracking and benchmarking, connectivity both inside and outside of the operating room (OR), and more. Although various surgical visualization systems described herein can be used in combination with a robotic surgical system, surgical visualization systems are not limited to use with a robotic surgical system. In certain instances, surgical visualization using a surgical visualization system can occur without robotics and/or with limited and/or optional robotic assistance. Similarly, digital surgery can occur without robotics and/or with limited and/or optional robotic assistance.
• In certain instances, a surgical system that incorporates a surgical visualization system may enable smart dissection in order to identify and avoid critical structures. Critical structures include anatomical structures such as a ureter, an artery such as a superior mesenteric artery, a vein such as a portal vein, a nerve such as a phrenic nerve, and/or a tumor, among other anatomical structures. In other instances, a critical structure can be a foreign structure in the anatomical field, such as a surgical device, a surgical fastener, a clip, a tack, a bougie, a band, a plate, and other foreign structures. Critical structures can be determined on a patient-by-patient and/or a procedure-by-procedure basis. Smart dissection technology may provide, for example, improved intraoperative guidance for dissection and/or may enable smarter decisions with critical anatomy detection and avoidance technology.
• A surgical system incorporating a surgical visualization system may enable smart anastomosis technologies that provide more consistent anastomoses at optimal location(s) with improved workflow. Cancer localization technologies may be improved with a surgical visualization platform. For example, cancer localization technologies can identify and track a cancer location, orientation, and its margins. In certain instances, the cancer localization technologies may compensate for movement of a surgical instrument, a patient, and/or the patient's anatomy during a surgical procedure in order to provide guidance back to the point of interest for medical practitioner(s).
• A surgical visualization system may provide improved tissue characterization and/or lymph node diagnostics and mapping. For example, tissue characterization technologies may characterize tissue type and health without the need for physical haptics, especially when dissecting and/or placing stapling devices within the tissue. Certain tissue characterization technologies may be utilized without ionizing radiation and/or contrast agents. With respect to lymph node diagnostics and mapping, a surgical visualization platform may, for example, preoperatively locate, map, and ideally diagnose the lymph system and/or lymph nodes involved in cancerous diagnosis and staging.
• During a surgical procedure, information available to a medical practitioner via the “naked eye” and/or an imaging system may provide an incomplete view of the surgical site. For example, certain structures, such as structures embedded or buried within an organ, can be at least partially concealed or hidden from view. Additionally, certain dimensions and/or relative distances can be difficult to ascertain with existing sensor systems and/or difficult for the “naked eye” to perceive. Moreover, certain structures can move pre-operatively (e.g., before a surgical procedure but after a preoperative scan) and/or intraoperatively. In such instances, the medical practitioner can be unable to accurately determine the location of a critical structure intraoperatively.
• When the position of a critical structure is uncertain and/or when the proximity between the critical structure and a surgical tool is unknown, a medical practitioner's decision-making process can be inhibited. For example, a medical practitioner may avoid certain areas in order to avoid inadvertent dissection of a critical structure; however, the avoided area may be unnecessarily large and/or at least partially misplaced. Due to uncertainty and/or overly/excessive exercises in caution, the medical practitioner may not access certain desired regions. For example, excess caution may cause a medical practitioner to leave a portion of a tumor and/or other undesirable tissue in an effort to avoid a critical structure even if the critical structure is not in the particular area and/or would not be negatively impacted by the medical practitioner working in that particular area. In certain instances, surgical results can be improved with increased knowledge and/or certainty, which can allow a surgeon to be more accurate and, in certain instances, less conservative/more aggressive with respect to particular anatomical areas.
• A surgical visualization system can allow for intraoperative identification and avoidance of critical structures. The surgical visualization system may thus enable enhanced intraoperative decision making and improved surgical outcomes. The surgical visualization system can provide advanced visualization capabilities beyond what a medical practitioner sees with the “naked eye” and/or beyond what an imaging system can recognize and/or convey to the medical practitioner. The surgical visualization system can augment and enhance what a medical practitioner is able to know prior to tissue treatment (e.g., dissection, etc.) and, thus, may improve outcomes in various instances. As a result, the medical practitioner can confidently maintain momentum throughout the surgical procedure knowing that the surgical visualization system is tracking a critical structure, which may be approached during dissection, for example. The surgical visualization system can provide an indication to the medical practitioner in sufficient time for the medical practitioner to pause and/or slow down the surgical procedure and evaluate the proximity to the critical structure to prevent inadvertent damage thereto. The surgical visualization system can provide an ideal, optimized, and/or customizable amount of information to the medical practitioner to allow the medical practitioner to move confidently and/or quickly through tissue while avoiding inadvertent damage to healthy tissue and/or critical structure(s) and, thus, to minimize the risk of harm resulting from the surgical procedure.
• Surgical visualization systems are described in detail below. In general, a surgical visualization system can include a first light emitter configured to emit a plurality of spectral waves, a second light emitter configured to emit a light pattern, and a receiver, or sensor, configured to detect visible light, molecular responses to the spectral waves (spectral imaging), and/or the light pattern. The surgical visualization system can also include an imaging system and a control circuit in signal communication with the receiver and the imaging system. Based on output from the receiver, the control circuit can determine a geometric surface map, e.g., three-dimensional surface topography, of the visible surfaces at the surgical site and a distance with respect to the surgical site, such as a distance to an at least partially concealed structure. The imaging system can convey the geometric surface map and the distance to a medical practitioner. In such instances, an augmented view of the surgical site provided to the medical practitioner can provide a representation of the concealed structure within the relevant context of the surgical site. For example, the imaging system can virtually augment the concealed structure on the geometric surface map of the concealing and/or obstructing tissue similar to a line drawn on the ground to indicate a utility line below the surface. Additionally or alternatively, the imaging system can convey the proximity of a surgical tool to the visible and obstructing tissue and/or to the at least partially concealed structure and/or a depth of the concealed structure below the visible surface of the obstructing tissue. For example, the visualization system can determine a distance with respect to the augmented line on the surface of the visible tissue and convey the distance to the imaging system.
• Throughout the present disclosure, any reference to “light,” unless specifically in reference to visible light, can include electromagnetic radiation (EMR) or photons in the visible and/or non-visible portions of the EMR wavelength spectrum. The visible spectrum, sometimes referred to as the optical spectrum or luminous spectrum, is that portion of the electromagnetic spectrum that is visible to (e.g., can be detected by) the human eye and may be referred to as “visible light” or simply “light.” A typical human eye will respond to wavelengths in air that are from about 380 nm to about 750 nm. The invisible spectrum (e.g., the non-luminous spectrum) is that portion of the electromagnetic spectrum that lies below and above the visible spectrum. The invisible spectrum is not detectable by the human eye. Wavelengths greater than about 750 nm are longer than the red visible spectrum, and they become invisible infrared (IR), microwave, and radio electromagnetic radiation. Wavelengths less than about 380 nm are shorter than the violet spectrum, and they become invisible ultraviolet, x-ray, and gamma ray electromagnetic radiation.
• FIG.1 illustrates one embodiment of asurgical visualization system100. Thesurgical visualization system100 is configured to create a visual representation of acritical structure101 within an anatomical field. Thecritical structure101 can include a single critical structure or a plurality of critical structures. As discussed herein, thecritical structure101 can be any of a variety of structures, such as an anatomical structure, e.g., a ureter, an artery such as a superior mesenteric artery, a vein such as a portal vein, a nerve such as a phrenic nerve, a vessel, a tumor, or other anatomical structure, or a foreign structure, e.g., a surgical device, a surgical fastener, a surgical clip, a surgical tack, a bougie, a surgical band, a surgical plate, or other foreign structure. As discussed herein, thecritical structure101 can be identified on a patient-by-patient and/or a procedure-by-procedure basis. Embodiments of critical structures and of identifying critical structures using a visualization system are further described in U.S. Pat. No. 10,792,034 entitled “Visualization Of Surgical Devices” issued Oct. 6, 2020, which is hereby incorporated by reference in its entirety.
• In some instances, thecritical structure101 can be embedded intissue103. Thetissue103 can be any of a variety of tissues, such as fat, connective tissue, adhesions, and/or organs. Stated differently, thecritical structure101 may be positioned below asurface105 of thetissue103. In such instances, thetissue103 conceals thecritical structure101 from the medical practitioner's “naked eye” view. Thetissue103 also obscures thecritical structure101 from the view of animaging device120 of thesurgical visualization system100. Instead of being fully obscured, thecritical structure101 can be partially obscured from the view of the medical practitioner and/or theimaging device120.
• Thesurgical visualization system100 can be used for clinical analysis and/or medical intervention. In certain instances, thesurgical visualization system100 can be used intraoperatively to provide real-time information to the medical practitioner during a surgical procedure, such as real-time information regarding proximity data, dimensions, and/or distances. A person skilled in the art will appreciate that information may not be precisely real time but nevertheless be considered to be real time for any of a variety of reasons, such as time delay induced by data transmission, time delay induced by data processing, and/or sensitivity of measurement equipment. Thesurgical visualization system100 is configured for intraoperative identification of critical structure(s) and/or to facilitate the avoidance of the critical structure(s)101 by a surgical device. For example, by identifying thecritical structure101, a medical practitioner can avoid maneuvering a surgical device around thecritical structure101 and/or a region in a predefined proximity of thecritical structure101 during a surgical procedure. For another example, by identifying thecritical structure101, a medical practitioner can avoid dissection of and/or near thecritical structure101, thereby helping to prevent damage to thecritical structure101 and/or helping to prevent a surgical device being used by the medical practitioner from being damaged by thecritical structure101.
• Thesurgical visualization system100 is configured to incorporate tissue identification and geometric surface mapping in combination with the surgical visualization system'sdistance sensor system104. In combination, these features of thesurgical visualization system100 can determine a position of acritical structure101 within the anatomical field and/or the proximity of asurgical device102 to thesurface105 ofvisible tissue103 and/or to thecritical structure101. Moreover, thesurgical visualization system100 includes an imaging system that includes theimaging device120 configured to provide real-time views of the surgical site. Theimaging device120 can include, for example, a spectral camera (e.g., a hyperspectral camera, multispectral camera, or selective spectral camera), which is configured to detect reflected spectral waveforms and generate a spectral cube of images based on the molecular response to the different wavelengths. Views from theimaging device120 can be provided in real time to a medical practitioner, such as on a display (e.g., a monitor, a computer tablet screen, etc.). The displayed views can be augmented with additional information based on the tissue identification, landscape mapping, and thedistance sensor system104. In such instances, thesurgical visualization system100 includes a plurality of subsystems—an imaging subsystem, a surface mapping subsystem, a tissue identification subsystem, and/or a distance determining subsystem. These subsystems can cooperate to intra-operatively provide advanced data synthesis and integrated information to the medical practitioner.
• Theimaging device120 can be configured to detect visible light, spectral light waves (visible or invisible), and a structured light pattern (visible or invisible). Examples of theimaging device120 includes scopes, e.g., an endoscope, an arthroscope, an angioscope, a bronchoscope, a choledochoscope, a colonoscope, a cytoscope, a duodenoscope, an enteroscope, an esophagogastro-duodenoscope (gastroscope), a laryngoscope, a nasopharyngo-neproscope, a sigmoidoscope, a thoracoscope, an ureteroscope, or an exoscope. Scopes can be particularly useful in minimally invasive surgical procedures. In open surgery applications, theimaging device120 may not include a scope.
• The tissue identification subsystem can be achieved with a spectral imaging system. The spectral imaging system can rely on imaging such as hyperspectral imaging, multispectral imaging, or selective spectral imaging. Embodiments of hyperspectral imaging of tissue are further described in U.S. Pat. No. 9,274,047 entitled “System And Method For Gross Anatomic Pathology Using Hyperspectral Imaging” issued Mar. 1, 2016, which is hereby incorporated by reference in its entirety.
• The surface mapping subsystem can be achieved with a light pattern system. Various surface mapping techniques using a light pattern (or structured light) for surface mapping can be utilized in the surgical visualization systems described herein. Structured light is the process of projecting a known pattern (often a grid or horizontal bars) on to a surface. In certain instances, invisible (or imperceptible) structured light can be utilized, in which the structured light is used without interfering with other computer vision tasks for which the projected pattern may be confusing. For example, infrared light or extremely fast frame rates of visible light that alternate between two exact opposite patterns can be utilized to prevent interference. Embodiments of surface mapping and a surgical system including a light source and a projector for projecting a light pattern are further described in U.S. Pat. Pub. No. 2017/0055819 entitled “Set Comprising A Surgical Instrument” published Mar. 2, 2017, U.S. Pat. Pub. No. 2017/0251900 entitled “Depiction System” published Sep. 7, 2017, and U.S. Pat. Pub. No. 2021/0196385 entitled “Surgical Systems For Generating Three Dimensional Constructs Of Anatomical Organs And Coupling Identified Anatomical Structures Thereto” published Jul. 1, 2021, which are hereby incorporated by reference in their entireties.
• The distance determining system can be incorporated into the surface mapping system. For example, structured light can be utilized to generate a three-dimensional (3D) virtual model of thevisible surface105 and determine various distances with respect to thevisible surface105. Additionally or alternatively, the distance determining system can rely on time-of-flight measurements to determine one or more distances to the identified tissue (or other structures) at the surgical site.
• Thesurgical visualization system100 also includes asurgical device102. Thesurgical device102 can be any suitable surgical device. Examples of thesurgical device102 includes a surgical dissector, a surgical stapler, a surgical grasper, a clip applier, a smoke evacuator, a surgical energy device (e.g., mono-polar probes, bi-polar probes, ablation probes, an ultrasound device, an ultrasonic end effector, etc.), etc. In some embodiments, thesurgical device102 includes an end effector having opposing jaws that extend from a distal end of a shaft of thesurgical device102 and that are configured to engage tissue therebetween.
• Thesurgical visualization system100 can be configured to identify thecritical structure101 and a proximity of thesurgical device102 to thecritical structure101. Theimaging device120 of thesurgical visualization system100 is configured to detect light at various wavelengths, such as visible light, spectral light waves (visible or invisible), and a structured light pattern (visible or invisible). Theimaging device120 can include a plurality of lenses, sensors, and/or receivers for detecting the different signals. For example, theimaging device120 can be a hyperspectral, multispectral, or selective spectral camera, as described herein. Theimaging device120 can include a waveform sensor122 (such as a spectral image sensor, detector, and/or three-dimensional camera lens). For example, theimaging device120 can include a right-side lens and a left-side lens used together to record two two-dimensional images at the same time and, thus, generate a 3D image of the surgical site, render a three-dimensional image of the surgical site, and/or determine one or more distances at the surgical site. Additionally or alternatively, theimaging device120 can be configured to receive images indicative of the topography of the visible tissue and the identification and position of hidden critical structures, as further described herein. For example, a field of view of theimaging device120 can overlap with a pattern of light (structured light) on thesurface105 of thetissue103, as shown inFIG.1.
• As in this illustrated embodiment, thesurgical visualization system100 can be incorporated into a roboticsurgical system110. The roboticsurgical system110 can have a variety of configurations, as discussed herein. In this illustrated embodiment, the roboticsurgical system110 includes a firstrobotic arm112 and a secondrobotic arm114. Therobotic arms112,114 each include rigidstructural members116 andjoints118, which can include servomotor controls. The firstrobotic arm112 is configured to maneuver thesurgical device102, and the secondrobotic arm114 is configured to maneuver theimaging device120. A robotic control unit of the roboticsurgical system110 is configured to issue control motions to the first and secondrobotic arms112,114, which can affect thesurgical device102 and theimaging device120, respectively.
• In some embodiments, one or more of therobotic arms112,114 can be separate from the mainrobotic system110 used in the surgical procedure. For example, at least one of therobotic arms112,114 can be positioned and registered to a particular coordinate system without a servomotor control. For example, a closed-loop control system and/or a plurality of sensors for therobotic arms112,114 can control and/or register the position of the robotic arm(s)112,114 relative to the particular coordinate system. Similarly, the position of thesurgical device102 and theimaging device120 can be registered relative to a particular coordinate system.
• Examples of robotic surgical systems include the Ottava™ robotic-assisted surgery system (Johnson & Johnson of New Brunswick, N.J.), da Vinci® surgical systems (Intuitive Surgical, Inc. of Sunnyvale, Calif.), the Hugo™ robotic-assisted surgery system (Medtronic PLC of Minneapolis, Minn.), the Versius® surgical robotic system (CMR Surgical Ltd of Cambridge, UK), and the Monarch® platform (Auris Health, Inc. of Redwood City, Calif.). Embodiments of various robotic surgical systems and using robotic surgical systems are further described in U.S. Pat. Pub. No. 2018/0177556 entitled “Flexible Instrument Insertion Using An Adaptive Force Threshold” filed Dec. 28, 2016, U.S. Pat. Pub. No. 2020/0000530 entitled “Systems And Techniques For Providing Multiple Perspectives During Medical Procedures” filed Apr. 16, 2019, U.S. Pat. Pub. No. 2020/0170720 entitled “Image-Based Branch Detection And Mapping For Navigation” filed Feb. 7, 2020, U.S. Pat. Pub. No. 2020/0188043 entitled “Surgical Robotics System” filed Dec. 9, 2019, U.S. Pat. Pub. No. 2020/0085516 entitled “Systems And Methods For Concomitant Medical Procedures” filed Sep. 3, 2019, U.S. Pat. No. 8,831,782 entitled “Patient-Side Surgeon Interface For A Teleoperated Surgical Instrument” filed Jul. 15, 2013, and Intl. Pat. Pub. No. WO 2014151621 entitled “Hyperdexterous Surgical System” filed Mar. 13, 2014, which are hereby incorporated by reference in their entireties.
• Thesurgical visualization system100 also includes anemitter106. Theemitter106 is configured to emit a pattern of light, such as stripes, grid lines, and/or dots, to enable the determination of the topography or landscape of thesurface105. For example, projectedlight arrays130 can be used for three-dimensional scanning and registration on thesurface105. The projectedlight arrays130 can be emitted from theemitter106 located on thesurgical device102 and/or one of therobotic arms112,114 and/or theimaging device120. In one aspect, the projectedlight array130 is employed by thesurgical visualization system100 to determine the shape defined by thesurface105 of thetissue103 and/or motion of thesurface105 intraoperatively. Theimaging device120 is configured to detect the projectedlight arrays130 reflected from thesurface105 to determine the topography of thesurface105 and various distances with respect to thesurface105.
• As in this illustrated embodiment, theimaging device120 can include anoptical waveform emitter123, such as by being mounted on or otherwise attached on theimaging device120. Theoptical waveform emitter123 is configured to emit electromagnetic radiation124 (near-infrared (NIR) photons) that can penetrate thesurface105 of thetissue103 and reach thecritical structure101. Theimaging device120 and theoptical waveform emitter123 can be positionable by therobotic arm114. Theoptical waveform emitter123 is mounted on or otherwise on theimaging device120 but in other embodiments can be positioned on a separate surgical device from theimaging device120. A corresponding waveform sensor122 (e.g., an image sensor, spectrometer, or vibrational sensor) of theimaging device120 is configured to detect the effect of the electromagnetic radiation received by thewaveform sensor122. The wavelengths of theelectromagnetic radiation124 emitted by theoptical waveform emitter123 are configured to enable the identification of the type of anatomical and/or physical structure, such as thecritical structure101. The identification of thecritical structure101 can be accomplished through spectral analysis, photo-acoustics, and/or ultrasound, for example. In one aspect, the wavelengths of theelectromagnetic radiation124 can be variable. Thewaveform sensor122 andoptical waveform emitter123 can be inclusive of a multispectral imaging system and/or a selective spectral imaging system, for example. In other instances, thewaveform sensor122 andoptical waveform emitter123 can be inclusive of a photoacoustic imaging system, for example.
• Thedistance sensor system104 of thesurgical visualization system100 is configured to determine one or more distances at the surgical site. Thedistance sensor system104 can be a time-of-flight distance sensor system that includes an emitter, such as theemitter106 as in this illustrated embodiment, and that includes areceiver108. In other instances, the time-of-flight emitter can be separate from the structured light emitter. Theemitter106 can include a very tiny laser source, and thereceiver108 can include a matching sensor. Thedistance sensor system104 is configured to detect the “time of flight,” or how long the laser light emitted by theemitter106 has taken to bounce back to the sensor portion of thereceiver108. Use of a very narrow light source in theemitter106 enables thedistance sensor system104 to determining the distance to thesurface105 of thetissue103 directly in front of thedistance sensor system104.
• Thereceiver108 of thedistance sensor system104 is positioned on thesurgical device102 in this illustrated embodiment, but in other embodiments thereceiver108 can be mounted on a separate surgical device instead of thesurgical device102. For example, thereceiver108 can be mounted on a cannula or trocar through which thesurgical device102 extends to reach the surgical site. In still other embodiments, thereceiver108 for thedistance sensor system104 can be mounted on a separate robotically-controlled arm of the robotic system110 (e.g., on the second robotic arm114) than the firstrobotic arm112 to which thesurgical device102 is coupled, can be mounted on a movable arm that is operated by another robot, or be mounted to an operating room (OR) table or fixture. In some embodiments, theimaging device120 includes thereceiver108 to allow for determining the distance from theemitter106 to thesurface105 of thetissue103 using a line between theemitter106 on thesurgical device102 and theimaging device120. For example, a distance d_ecan be triangulated based on known positions of the emitter106 (on the surgical device102) and the receiver108 (on the imaging device120) of thedistance sensor system104. The 3D position of thereceiver108 can be known and/or registered to the robot coordinate plane intraoperatively.
• As in this illustrated embodiment, the position of theemitter106 of thedistance sensor system104 can be controlled by the firstrobotic arm112, and the position of thereceiver108 of thedistance sensor system104 can be controlled by the secondrobotic arm114. In other embodiments, thesurgical visualization system100 can be utilized apart from a robotic system. In such instances, thedistance sensor system104 can be independent of the robotic system.
• InFIG.1, distance d_eis emitter-to-tissue distance from theemitter106 to thesurface105 of thetissue103, and distance d_tis device-to-tissue distance from a distal end of thesurgical device102 to thesurface105 of thetissue103. Thedistance sensor system104 is configured to determine the emitter-to-tissue distance d_e. The device-to-tissue distance d_tis obtainable from the known position of theemitter106 on thesurgical device102, e.g., on a shaft thereof proximal to the surgical device's distal end, relative to the distal end of thesurgical device102. In other words, when the distance between theemitter106 and the distal end of thesurgical device102 is known, the device-to-tissue distance d_tcan be determined from the emitter-to-tissue distance d_e. In some embodiments, the shaft of thesurgical device102 can include one or more articulation joints and can be articulatable with respect to theemitter106 and jaws at the distal end of thesurgical device102. The articulation configuration can include a multi joint vertebrae-like structure, for example. In some embodiments, a 3D camera can be utilized to triangulate one or more distances to thesurface105.
• InFIG.1, distance d_wis camera-to-critical structure distance from theoptical waveform emitter123 located on theimaging device120 to the surface of thecritical structure101, and distance d_Ais a depth of thecritical structure101 below thesurface105 of the tissue103 (e.g., the distance between the portion of thesurface105 closest to thesurgical device102 and the critical structure101). The time-of-flight of the optical waveforms emitted from theoptical waveform emitter123 located on theimaging device120 are configured to determine the camera-to-critical structure distance d_w.
• As shown inFIG.2, the depth d_Aof thecritical structure101 relative to thesurface105 of thetissue103 can be determined by triangulating from the camera-to-critical structure distance d_wand known positions of theemitter106 on thesurgical device102 and theoptical waveform emitter123 on the imaging device120 (and, thus, the known distance d_xtherebetween) to determine distance d_y, which is the sum of the distances d_eand d_A. Additionally or alternatively, time-of-flight from theoptical waveform emitter123 can be configured to determine the distance from theoptical waveform emitter123 to thesurface105 of thetissue103. For example, a first waveform (or range of waveforms) can be utilized to determine the camera-to-critical structure distance d_wand a second waveform (or range of waveforms) can be utilized to determine the distance to thesurface105 of thetissue103. In such instances, the different waveforms can be utilized to determine the depth of thecritical structure101 below thesurface105 of thetissue103.
• Additionally or alternatively, the distance d_Acan be determined from an ultrasound, a registered magnetic resonance imaging (MRI), or computerized tomography (CT) scan. In still other instances, the distance d_Acan be determined with spectral imaging because the detection signal received by theimaging device120 can vary based on the type of material, e.g., type of thetissue103. For example, fat can decrease the detection signal in a first way, or a first amount, and collagen can decrease the detection signal in a different, second way, or a second amount.
• In another embodiment of asurgical visualization system160 illustrated inFIG.3, asurgical device162, and not theimaging device120, includes theoptical waveform emitter123 and thewaveform sensor122 that is configured to detect the reflected waveforms. Theoptical waveform emitter123 is configured to emit waveforms for determining the distances d_tand d_wfrom a common device, such as thesurgical device162, as described herein. In such instances, the distance d_Afrom thesurface105 of thetissue103 to the surface of thecritical structure101 can be determined as follows:
• 
  d_A=d_w−d_t
• Thesurgical visualization system100 includes a control system configured to control various aspects of thesurgical visualization system100.FIG.4 illustrates one embodiment of acontrol system133 that can be utilized as the control system of the surgical visualization system100 (or other surgical visualization system described herein). Thecontrol system133 includes acontrol circuit132 configured to be in signal communication with amemory134. Thememory134 is configured to store instructions executable by thecontrol circuit132, such as instructions to determine and/or recognize critical structures (e.g., thecritical structure101 ofFIG.1), instructions to determine and/or compute one or more distances and/or three-dimensional digital representations, and instructions to communicate information to a medical practitioner. As in this illustrated embodiment, thememory134 can storesurface mapping logic136,imaging logic138,tissue identification logic140, and distance determininglogic141, although thememory134 can store any combinations of thelogics136,138,140,141 and/or can combine various logics together. Thecontrol system133 also includes an imaging system142 including a camera144 (e.g., the imaging system including theimaging device120 ofFIG.1), a display146 (e.g., a monitor, a computer tablet screen, etc.), and controls148 of thecamera144 and thedisplay146. Thecamera144 includes an image sensor135 (e.g., the waveform sensor122) configured to receive signals from various light sources emitting light at various visible and invisible spectra (e.g., visible light, spectral imagers, three-dimensional lens, etc.). Thedisplay146 is configured to depict real, virtual, and/or virtually-augmented images and/or information to a medical practitioner.
• In an exemplary embodiment, theimage sensor135 is a solid-state electronic device containing up to millions of discrete photodetector sites called pixels. Theimage sensor135 technology falls into one of two categories: Charge-Coupled Device (CCD) and Complementary Metal Oxide Semiconductor (CMOS) imagers and more recently, short-wave infrared (SWIR) is an emerging technology in imaging. Another type of theimage sensor135 employs a hybrid CCD/CMOS architecture (sold under the name “sCMOS”) and consists of CMOS readout integrated circuits (ROICs) that are bump bonded to a CCD imaging substrate. CCD and CMOS image sensors are sensitive to wavelengths in a range of about 350 nm to about 1050 nm, such as in a range of about 400 nm to about 1000 nm. A person skilled in the art will appreciate that a value may not be precisely at a value but nevertheless considered to be about that value for any of a variety of reasons, such as sensitivity of measurement equipment and manufacturing tolerances. CMOS sensors are, in general, more sensitive to IR wavelengths than CCD sensors. Solid state image sensors are based on the photoelectric effect and, as a result, cannot distinguish between colors. Accordingly, there are two types of color CCD cameras: single chip and three-chip. Single chip color CCD cameras offer a common, low-cost imaging solution and use a mosaic (e.g., Bayer) optical filter to separate incoming light into a series of colors and employ an interpolation algorithm to resolve full color images. Each color is, then, directed to a different set of pixels. Three-chip color CCD cameras provide higher resolution by employing a prism to direct each section of the incident spectrum to a different chip. More accurate color reproduction is possible, as each point in space of the object has separate RGB intensity values, rather than using an algorithm to determine the color. Three-chip cameras offer extremely high resolutions.
• Thecontrol system133 also includes an emitter (e.g., the emitter106) including a spectrallight source150 and a structuredlight source152 each operably coupled to thecontrol circuit133. A single source can be pulsed to emit wavelengths of light in the spectrallight source150 range and wavelengths of light in the structuredlight source152 range. Alternatively, a single light source can be pulsed to provide light in the invisible spectrum (e.g., infrared spectral light) and wavelengths of light on the visible spectrum. The spectrallight source150 can be, for example, a hyperspectral light source, a multispectral light source, and/or a selective spectral light source. Thetissue identification logic140 is configured to identify critical structure(s) (e.g., thecritical structure101 ofFIG.1) via data from the spectrallight source150 received by theimage sensor135 of thecamera144. Thesurface mapping logic136 is configured to determine the surface contours of the visible tissue (e.g., the tissue103) based on reflected structured light. With time-of-flight measurements, thedistance determining logic141 is configured to determine one or more distance(s) to the visible tissue and/or the critical structure. Output from each of thesurface mapping logic136, thetissue identification logic140, and thedistance determining logic141 is configured to be provided to theimaging logic138, and combined, blended, and/or overlaid by theimaging logic138 to be conveyed to a medical practitioner via thedisplay146 of the imaging system142.
• Thecontrol circuit132 can have a variety of configurations.FIG.5 illustrates one embodiment of acontrol circuit170 that can be used as thecontrol circuit132 configured to control aspects of thesurgical visualization system100. Thecontrol circuit170 is configured to implement various processes described herein. Thecontrol circuit170 includes a microcontroller that includes a processor172 (e.g., a microprocessor or microcontroller) operably coupled to amemory174. Thememory174 is configured to store machine-executable instructions that, when executed by theprocessor172, cause theprocessor172 to execute machine instructions to implement various processes described herein. Theprocessor172 can be any one of a number of single-core or multicore processors known in the art. Thememory174 can include volatile and non-volatile storage media. Theprocessor172 includes aninstruction processing unit176 and anarithmetic unit178. Theinstruction processing unit176 is configured to receive instructions from thememory174.
• Thesurface mapping logic136, theimaging logic138, thetissue identification logic140, and thedistance determining logic141 can have a variety of configurations.FIG.6 illustrates one embodiment of acombinational logic circuit180 configured to control aspects of thesurgical visualization system100 using logic such as one or more of thesurface mapping logic136, theimaging logic138, thetissue identification logic140, and thedistance determining logic141. Thecombinational logic circuit180 includes a finite state machine that includes acombinational logic182 configured to receive data associated with a surgical device (e.g. thesurgical device102 and/or the imaging device120) at aninput184, process the data by thecombinational logic182, and provide anoutput184 to a control circuit (e.g., the control circuit132).
• FIG.7 illustrates one embodiment of asequential logic circuit190 configured to control aspects of thesurgical visualization system100 using logic such as one or more of thesurface mapping logic136, theimaging logic138, thetissue identification logic140, and thedistance determining logic141. Thesequential logic circuit190 includes a finite state machine that includes acombinational logic192, amemory194, and aclock196. Thememory194 is configured to store a current state of the finite state machine. Thesequential logic circuit190 can be synchronous or asynchronous. Thecombinational logic192 is configured to receive data associated with a surgical device (e.g. thesurgical device102 and/or the imaging device120) at an input426, process the data by thecombinational logic192, and provide an output499 to a control circuit (e.g., the control circuit132). In some embodiments, thesequential logic circuit190 can include a combination of a processor (e.g.,processor172 ofFIG.5) and a finite state machine to implement various processes herein. In some embodiments, the finite state machine can include a combination of a combinational logic circuit (e.g., thecombinational logic circuit192 ofFIG.7) and thesequential logic circuit190.
• FIG.8 illustrates another embodiment of asurgical visualization system200. Thesurgical visualization system200 is generally configured and used similar to thesurgical visualization system100 ofFIG.1, e.g., includes asurgical device202 and animaging device220. Theimaging device220 includes aspectral light emitter223 configured to emit spectral light in a plurality of wavelengths to obtain a spectral image of hidden structures, for example. Theimaging device220 can also include a three-dimensional camera and associated electronic processing circuits. Thesurgical visualization system200 is shown being utilized intraoperatively to identify and facilitate avoidance of certain critical structures, such as aureter201aandvessels201b, in an organ203 (a uterus in this embodiment) that are not visible on asurface205 of theorgan203.
• Thesurgical visualization system200 is configured to determine an emitter-to-tissue distance d_efrom anemitter206 on thesurgical device202 to thesurface205 of theuterus203 via structured light. Thesurgical visualization system200 is configured to extrapolate a device-to-tissue distance d_tfrom thesurgical device202 to thesurface205 of theuterus203 based on the emitter-to-tissue distance d_e. Thesurgical visualization system200 is also configured to determine a tissue-to-ureter distance d_Afrom theureter201ato thesurface205 and a camera-to ureter distance d_wfrom theimaging device220 to theureter201a. As described herein, e.g., with respect to thesurgical visualization system100 ofFIG.1, thesurgical visualization system200 is configured to determine the distance d_wwith spectral imaging and time-of-flight sensors, for example. In various embodiments, thesurgical visualization system200 can determine (e.g., triangulate) the tissue-to-ureter distance d_A(or depth) based on other distances and/or the surface mapping logic described herein.
• As mentioned above, a surgical visualization system includes a control system configured to control various aspects of the surgical visualization system. The control system can have a variety of configurations.FIG.9 illustrates one embodiment of acontrol system600 for a surgical visualization system, such as thesurgical visualization system100 ofFIG.1, thesurgical visualization system200 ofFIG.8, or other surgical visualization system described herein. Thecontrol system600 is a conversion system that integrates spectral signature tissue identification and structured light tissue positioning to identify a critical structure, especially when those structure(s) are obscured by tissue, e.g., by fat, connective tissue, blood tissue, and/or organ(s), and/or by blood, and/or to detect tissue variability, such as differentiating tumors and/or non-healthy tissue from healthy tissue within an organ.
• Thecontrol system600 is configured for implementing a hyperspectral imaging and visualization system in which a molecular response is utilized to detect and identify anatomy in a surgical field of view. Thecontrol system600 includes aconversion logic circuit648 configured to convert tissue data to usable information for surgeons and/or other medical practitioners. For example, variable reflectance based on wavelengths with respect to obscuring material can be utilized to identify the critical structure in the anatomy. Moreover, thecontrol system600 is configured to combine the identified spectral signature and the structural light data in an image. For example, thecontrol system600 can be employed to create of three-dimensional data set for surgical use in a system with augmentation image overlays. Techniques can be employed both intraoperatively and preoperatively using additional visual information. In various embodiments, thecontrol system600 is configured to provide warnings to a medical practitioner when in the proximity of one or more critical structures. Various algorithms can be employed to guide robotic automation and semi-automated approaches based on the surgical procedure and proximity to the critical structure(s).
• A projected array of lights is employed by thecontrol system600 to determine tissue shape and motion intraoperatively. Alternatively, flash Lidar may be utilized for surface mapping of the tissue.
• Thecontrol system600 is configured to detect the critical structure, which as mentioned above can include one or more critical structures, and provide an image overlay of the critical structure and measure the distance to the surface of the visible tissue and the distance to the embedded/buried critical structure(s). Thecontrol system600 can measure the distance to the surface of the visible tissue or detect the critical structure and provide an image overlay of the critical structure.
• Thecontrol system600 includes aspectral control circuit602. Thespectral control circuit602 can be a field programmable gate array (FPGA) or another suitable circuit configuration, such as the configurations described with respect toFIG.6,FIG.7, andFIG.8. Thespectral control circuit602 includes aprocessor604 configured to receive video input signals from avideo input processor606. Theprocessor604 can be configured for hyperspectral processing and can utilize C/C++ code, for example. Thevideo input processor606 is configured to receive video-in of control (metadata) data such as shutter time, wave length, and sensor analytics, for example. Theprocessor604 is configured to process the video input signal from thevideo input processor606 and provide a video output signal to avideo output processor608, which includes a hyperspectral video-out of interface control (metadata) data, for example. Thevideo output processor608 is configured to provides the video output signal to animage overlay controller610.
• Thevideo input processor606 is operatively coupled to acamera612 at the patient side via apatient isolation circuit614. Thecamera612 includes a solidstate image sensor634. Thepatient isolation circuit614 can include a plurality of transformers so that the patient is isolated from other circuits in the system. Thecamera612 is configured to receive intraoperative images throughoptics632 and theimage sensor634. Theimage sensor634 can include a CMOS image sensor, for example, or can include another image sensor technology, such as those discussed herein in connection withFIG.4. Thecamera612 is configured tooutput613 images in 14 bit/pixel signals. A person skilled in the art will appreciate that higher or lower pixel resolutions can be employed. The isolatedcamera output signal613 is provided to a colorRGB fusion circuit616, which in this illustrated embodiment employs ahardware register618 and aNios2 co-processor620 configured to process thecamera output signal613. A color RGB fusion output signal is provided to thevideo input processor606 and a laserpulsing control circuit622.
• The laserpulsing control circuit622 is configured to control alaser light engine624. Thelaser light engine624 is configured to output light in a plurality of wavelengths (λ1, λ2, λ3, . . . λn) including near infrared (NIR). Thelaser light engine624 can operate in a plurality of modes. For example, thelaser light engine624 can operate in two modes. In a first mode, e.g., a normal operating mode, thelaser light engine624 is configured to output an illuminating signal. In a second mode, e.g., an identification mode, thelaser light engine624 is configured to output RGBG and NIR light. In various embodiments, thelaser light engine624 can operate in a polarizing mode.
• Light output626 from thelaser light engine624 is configured to illuminate targeted anatomy in an intraoperativesurgical site627. The laserpulsing control circuit622 is also configured to control alaser pulse controller628 for alaser pattern projector630 configured to project alaser light pattern631, such as a grid or pattern of lines and/or dots, at a predetermined wavelength (λ2) on an operative tissue or organ at thesurgical site627. Thecamera612 is configured to receive the patterned light as well as the reflected light output through thecamera optics632. Theimage sensor634 is configured to convert the received light into a digital signal.
• The colorRGB fusion circuit616 is also configured to output signals to theimage overlay controller610 and avideo input module636 for reading thelaser light pattern631 projected onto the targeted anatomy at thesurgical site627 by thelaser pattern projector630. Aprocessing module638 is configured to process thelaser light pattern631 and output a firstvideo output signal640 representative of the distance to the visible tissue at thesurgical site627. The data is provided to theimage overlay controller610. Theprocessing module638 is also configured to output asecond video signal642 representative of a three-dimensional rendered shape of the tissue or organ of the targeted anatomy at the surgical site.
• The first and second video output signals640,642 include data representative of the position of the critical structure on a three-dimensional surface model, which is provided to anintegration module643. In combination with data from the video outprocessor608 of thespectral control circuit602, theintegration module643 is configured to determine the distance (e.g., distance d_AofFIG.1) to a buried critical structure (e.g., via triangularization algorithms644), and the distance to the buried critical structure can be provided to theimage overlay controller610 via a video outprocessor646. The foregoing conversion logic can encompass theconversion logic circuit648 intermediate video monitors652 and thecamera624/laser pattern projector630 positioned at thesurgical site627.
• Preoperative data650, such as from a CT or MRI scan, can be employed to register or align certain three-dimensional deformable tissue in various instances. Suchpreoperative data650 can be provided to theintegration module643 and ultimately to theimage overlay controller610 so that such information can be overlaid with the views from thecamera612 and provided to the video monitors652. Embodiments of registration of preoperative data are further described in U.S. Pat. Pub. No. 2020/0015907 entitled “Integration Of Imaging Data” filed Sep. 11, 2018, which is hereby incorporated by reference herein in its entirety.
• The video monitors652 are configured to output the integrated/augmented views from theimage overlay controller610. A medical practitioner can select and/or toggle between different views on one or more displays. On afirst display652a, which is a monitor in this illustrated embodiment, the medical practitioner can toggle between (A) a view in which a three-dimensional rendering of the visible tissue is depicted and (B) an augmented view in which one or more hidden critical structures are depicted over the three-dimensional rendering of the visible tissue. On asecond display652b, which is a monitor in this illustrated embodiment, the medical practitioner can toggle on distance measurements to one or more hidden critical structures and/or the surface of visible tissue, for example.
• The various surgical visualization systems described herein can be utilized to visualize various different types of tissues and/or anatomical structures, including tissues and/or anatomical structures that may be obscured from being visualized by EMR in the visible portion of the spectrum. The surgical visualization system can utilize a spectral imaging system, as mentioned above, which can be configured to visualize different types of tissues based upon their varying combinations of constituent materials. In particular, a spectral imaging system can be configured to detect the presence of various constituent materials within a tissue being visualized based on the absorption coefficient of the tissue across various EMR wavelengths. The spectral imaging system can be configured to characterize the tissue type of the tissue being visualized based upon the particular combination of constituent materials.
• FIG.10 shows agraph300 depicting how the absorption coefficient of various biological materials varies across the EMR wavelength spectrum. In thegraph300, thevertical axis302 represents absorption coefficient of the biological material in cm⁻¹, and thehorizontal axis304 represents EMR wavelength in μm. Afirst line306 in thegraph300 represents the absorption coefficient of water at various EMR wavelengths, asecond line308 represents the absorption coefficient of protein at various EMR wavelengths, athird line310 represents the absorption coefficient of melanin at various EMR wavelengths, afourth line312 represents the absorption coefficient of deoxygenated hemoglobin at various EMR wavelengths, afifth line314 represents the absorption coefficient of oxygenated hemoglobin at various EMR wavelengths, and asixth line316 represents the absorption coefficient of collagen at various EMR wavelengths. Different tissue types have different combinations of constituent materials and, therefore, the tissue type(s) being visualized by a surgical visualization system can be identified and differentiated between according to the particular combination of detected constituent materials. Accordingly, a spectral imaging system of a surgical visualization system can be configured to emit EMR at a number of different wavelengths, determine the constituent materials of the tissue based on the detected absorption EMR absorption response at the different wavelengths, and then characterize the tissue type based on the particular detected combination of constituent materials.
• FIG.11 shows an embodiment of the utilization of spectral imaging techniques to visualize different tissue types and/or anatomical structures. InFIG.11, a spectral emitter320 (e.g., the spectrallight source150 ofFIG.4) is being utilized by an imaging system to visualize asurgical site322. The EMR emitted by thespectral emitter320 and reflected from the tissues and/or structures at thesurgical site322 is received by an image sensor (e.g., theimage sensor135 ofFIG.4) to visualize the tissues and/or structures, which can be either visible (e.g., be located at a surface of the surgical site322) or obscured (e.g., underlay other tissue and/or structures at the surgical site322). In this embodiment, an imaging system (e.g., the imaging system142 ofFIG.4) visualizes atumor324, anartery326, and various abnormalities328 (e.g., tissues not confirming to known or expected spectral signatures) based upon the spectral signatures characterized by the differing absorptive characteristics (e.g., absorption coefficient) of the constituent materials for each of the different tissue/structure types. The visualized tissues and structures can be displayed on a display screen associated with or coupled to the imaging system (e.g., thedisplay146 of the imaging system142 ofFIG.4), on a primary display (e.g., theprimary display819 ofFIG.19), on a non-sterile display (e.g., thenon-sterile displays807,809 ofFIG.19), on a display of a surgical hub (e.g., the display of thesurgical hub806 ofFIG.19), on a surgical instrument or imaging device display, and/or on another display.
• The imaging system can be configured to tailor or update the displayed surgical site visualization according to the identified tissue and/or structure types. For example, as shown inFIG.11, the imaging system can display amargin330 associated with thetumor324 being visualized on a display screen associated with or coupled to the imaging system, on a primary display, on a non-sterile display, on a display of a surgical hub, on a surgical instrument or imaging device display, and/or on another display. Themargin330 can indicate the area or amount of tissue that should be excised to ensure complete removal of thetumor324. The surgical visualization system's control system (e.g., thecontrol system133 ofFIG.4) can be configured to control or update the dimensions of themargin330 based on the tissues and/or structures identified by the imaging system. In this illustrated embodiment, the imaging system has identifiedmultiple abnormalities328 within the field of view (FOV). Accordingly, the control system can adjust the displayedmargin330 to a first updatedmargin332 having sufficient dimensions to encompass theabnormalities328. Further, the imaging system has also identified theartery326 partially overlapping with the initially displayed margin330 (as indicated by a highlightedregion334 of the artery326). Accordingly, the control system can adjust the displayed margin to a second updatedmargin336 having sufficient dimensions to encompass the relevant portion of theartery326.
• Tissues and/or structures can also be imaged or characterized according to their reflective characteristics, in addition to or in lieu of their absorptive characteristics described above with respect toFIG.10 andFIG.11, across the EMR wavelength spectrum. For example,FIG.12,FIG.13, andFIG.14 illustrate various graphs of reflectance of different types of tissues or structures across different EMR wavelengths.FIG.12 is agraphical representation340 of an illustrative ureter signature versus obscurants.FIG.13 is agraphical representation342 of an illustrative artery signature versus obscurants.FIG.14 is agraphical representation344 of an illustrative nerve signature versus obscurants. The plots inFIG.12,FIG.13, andFIG.14 represent reflectance as a function of wavelength (nm) for the particular structures (ureter, artery, and nerve) relative to the corresponding reflectances of fat, lung tissue, and blood at the corresponding wavelengths. These graphs are simply for illustrative purposes and it should be understood that other tissues and/or structures could have corresponding detectable reflectance signatures that would allow the tissues and/or structures to be identified and visualized.
• Select wavelengths for spectral imaging can be identified and utilized based on the anticipated critical structures and/or obscurants at a surgical site (e.g., “selective spectral” imaging). By utilizing selective spectral imaging, the amount of time required to obtain the spectral image can be minimized such that the information can be obtained in real-time and utilized intraoperatively. The wavelengths can be selected by a medical practitioner or by a control circuit based on input by a user, e.g., a medical practitioner. In certain instances, the wavelengths can be selected based on machine learning and/or big data accessible to the control circuit via, e.g., a cloud or surgical hub.
• FIG.15 illustrates one embodiment of spectral imaging to tissue being utilized intraoperatively to measure a distance between a waveform emitter and a critical structure that is obscured by tissue.FIG.15 shows an embodiment of a time-of-flight sensor system404 utilizingwaveforms424,425. The time-of-flight sensor system404 can be incorporated into a surgical visualization system, e.g., as thesensor system104 of thesurgical visualization system100 ofFIG.1. The time-of-flight sensor system404 includes awaveform emitter406 and awaveform receiver408 on the same surgical device402 (e.g., theemitter106 and thereceiver108 on the samesurgical device102 ofFIG.1). The emitted wave400 extends to a critical structure401 (e.g., thecritical structure101 ofFIG.1) from theemitter406, and the receivedwave425 is reflected back to by thereceiver408 from thecritical structure401. Thesurgical device402 in this illustrated embodiment is positioned through atrocar410 that extends into acavity407 in a patient. Although thetrocar410 is used in this in this illustrated embodiment, other trocars or other access devices can be used, or no access device may be used.
• Thewaveforms424,425 are configured to penetrate obscuringtissue403, such as by having wavelengths in the NIR or SWIR spectrum of wavelengths. A spectral signal (e.g., hyperspectral, multispectral, or selective spectral) or a photoacoustic signal is emitted from theemitter406, as shown by afirst arrow407 pointing distally, and can penetrate thetissue403 in which thecritical structure401 is concealed. The emittedwaveform424 is reflected by thecritical structure401, as shown by asecond arrow409 pointing proximally. The receivedwaveform425 can be delayed due to a distance d between a distal end of thesurgical device402 and thecritical structure401. Thewaveforms424,425 can be selected to target thecritical structure401 within thetissue403 based on the spectral signature of thecritical structure401, as described herein. Theemitter406 is configured to provide a binary signal on and off, as shown inFIG.16, for example, which can be measured by thereceiver408.
• Based on the delay between the emittedwave424 and the receivedwave425, the time-of-flight sensor system404 is configured to determine the distance d. A time-of-flight timing diagram430 for theemitter406 and thereceiver408 ofFIG.15 is shown inFIG.16. The delay is a function of the distance d and the distance d is given by:
• $d=\frac{c\mathrm{<figure-callout\; label="t"\; filenames="US20230102358A1-20230330-D00010.png"\; state="\{\{state\}\}">t</figure-callout>}}{2}·\frac{q_2}{{\mathrm{<figure-callout\; label="q"\; filenames="US20230102358A1-20230330-D00006.png,US20230102358A1-20230330-D00009.png"\; state="\{\{state\}\}">q</figure-callout>}}_1+{\mathrm{<figure-callout\; label="q"\; filenames="US20230102358A1-20230330-D00010.png"\; state="\{\{state\}\}">q</figure-callout>}}_2}$
• where c=the speed of light; t=length of pulse; q₁=accumulated charge while light is emitted; and q₂=accumulated charge while light is not being emitted.
• The time-of-flight of thewaveforms424,425 corresponds to the distance d inFIG.15. In various instances, additional emitters/receivers and/or pulsing signals from theemitter406 can be configured to emit a non-penetrating signal. The non-penetrating signal can be configured to determine the distance from theemitter406 to thesurface405 of the obscuringtissue403. In various instances, a depth of thecritical structure401 can be determined by:
• 
  d_A=d_w−d_t
• where d_A=the depth of thecritical structure401; d_w=the distance from theemitter406 to the critical structure401 (d inFIG.15); and d_t,=the distance from the emitter406 (on the distal end of the surgical device402) to thesurface405 of the obscuringtissue403.
• FIG.17 illustrates another embodiment of a time-of-flight sensor system504 utilizingwaves524a,524b,524c,525a,525b,525cis shown. The time-of-flight sensor system504 can be incorporated into a surgical visualization system, e.g., as thesensor system104 of thesurgical visualization system100 ofFIG.1. The time-of-flight sensor system504 includes awaveform emitter506 and a waveform receiver508 (e.g., theemitter106 and thereceiver108 ofFIG.1). Thewaveform emitter506 is positioned on a firstsurgical device502a(e.g., thesurgical device102 ofFIG.1), and thewaveform receiver508 is positioned on a secondsurgical device502b. Thesurgical devices502a,502bare positioned through first andsecond trocars510a,510b, respectively, which extend into acavity507 in a patient. Although thetrocars510a,510bare used in this in this illustrated embodiment, other trocars or other access devices can be used, or no access device may be used. The emitted waves524a,524b,524cextend toward a surgical site from theemitter506, and the receivedwaves525a,525b,525care reflected back to thereceiver508 from various structures and/or surfaces at the surgical site.
• The different emittedwaves524a,524b,524care configured to target different types of material at the surgical site. For example, thewave524atargets obscuring tissue503, thewave524btargets a firstcritical structure501a(e.g., thecritical structure101 ofFIG.1), which is a vessel in this illustrated embodiment, and thewave524ctargets a secondcritical structure501b(e.g., thecritical structure101 ofFIG.1), which is a cancerous tumor in this illustrated embodiment. The wavelengths of thewaves524a,524b,524ccan be in the visible light, NIR, or SWIR spectrum of wavelengths. For example, visible light can be reflected off asurface505 of thetissue503, and NIR and/or SWIR waveforms can penetrate thesurface505 of thetissue503. In various aspects, as described herein, a spectral signal (e.g., hyperspectral, multispectral, or selective spectral) or a photoacoustic signal can be emitted from theemitter506. Thewaves524b,524ccan be selected to target thecritical structures501a,501bwithin thetissue503 based on the spectral signature of thecritical structures501a,501b, as described herein. Photoacoustic imaging is further described in various U.S. patent applications, which are incorporated by reference herein in the present disclosure.
• The emitted waves524a,524b,524care reflected off the targeted material, namely thesurface505, the firstcritical structure501a, and thesecond structure501b, respectively. The receivedwaveforms525a,525b,525ccan be delayed due to distances d_1a, d_2a, d_3a, d_1b, d_2b, d_2c.
• In the time-of-flight sensor system504, in which theemitter506 and thereceiver508 are independently positionable (e.g., on separatesurgical devices502a,502band/or controlled by separate robotic arms), the various distances d_1a, d_2a, d_3a, d_1b, d_2b, d_2ccan be calculated from the known position of theemitter506 and thereceiver508. For example, the positions can be known when thesurgical devices502a,502bare robotically-controlled. Knowledge of the positions of theemitter506 and thereceiver508, as well as the time of the photon stream to target a certain tissue and the information received by thereceiver508 of that particular response can allow a determination of the distances d_1a, d_2a, d_3a, d_1b, d_2b, d_2c. In one aspect, the distance to the obscuredcritical structures501a,501bcan be triangulated using penetrating wavelengths. Because the speed of light is constant for any wavelength of visible or invisible light, the time-of-flight sensor system504 can determine the various distances.
• In a view provided to the medical practitioner, such as on a display, thereceiver508 can be rotated such that a center of mass of the target structure in the resulting images remains constant, e.g., in a plane perpendicular to an axis of aselect target structure503,501a, or501b. Such an orientation can quickly communicate one or more relevant distances and/or perspectives with respect to the target structure. For example, as shown inFIG.17, the surgical site is displayed from a viewpoint in which thecritical structure501ais perpendicular to the viewing plane (e.g., the vessel is oriented in/out of the page). Such an orientation can be default setting; however, the view can be rotated or otherwise adjusted by a medical practitioner. In certain instances, the medical practitioner can toggle between different surfaces and/or target structures that define the viewpoint of the surgical site provided by the imaging system.
• As in this illustrated embodiment, thereceiver508 can be mounted on thetrocar510b(or other access device) through which thesurgical device502bis positioned. In other embodiments, thereceiver508 can be mounted on a separate robotic arm for which the three-dimensional position is known. In various instances, thereceiver508 can be mounted on a movable arm that is separate from a robotic surgical system that controls thesurgical device502aor can be mounted to an operating room (OR) table or fixture that is intraoperatively registerable to the robot coordinate plane. In such instances, the position of theemitter506 and thereceiver508 can be registerable to the same coordinate plane such that the distances can be triangulated from outputs from the time-of-flight sensor system504.
• Combining time-of-flight sensor systems and near-infrared spectroscopy (NIRS), termed TOF-NIRS, which is capable of measuring the time-resolved profiles of NIR light with nanosecond resolution can be found in “Time-Of-Flight Near-Infrared Spectroscopy For Nondestructive Measurement Of Internal Quality In Grapefruit,” Journal of the American Society for Horticultural Science, May 2013 vol. 138 no. 3 225-228, which is hereby incorporated by reference in its entirety.
• Embodiments of visualization systems and aspects and uses thereof are described further in U.S. Pat. Pub. No. 2020/0015923 entitled “Surgical Visualization Platform” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/0015900 entitled “Controlling An Emitter Assembly Pulse Sequence” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/0015668 entitled “Singular EMR Source Emitter Assembly” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/0015925 entitled “Combination Emitter And Camera Assembly” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/00015899 entitled “Surgical Visualization With Proximity Tracking Features” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/00015903 entitled “Surgical Visualization Of Multiple Targets” filed Sep. 11, 2018, U.S. Pat. No. 10,792,034 entitled “Visualization Of Surgical Devices” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/0015897 entitled “Operative Communication Of Light” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/0015924 entitled “Robotic Light Projection Tools” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/0015898 entitled “Surgical Visualization Feedback System” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/0015906 entitled “Surgical Visualization And Monitoring” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/0015907 entitled “Integration Of Imaging Data” filed Sep. 11, 2018, U.S. Pat. No. 10,925,598 entitled “Robotically-Assisted Surgical Suturing Systems” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/0015901 entitled “Safety Logic For Surgical Suturing Systems” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/0015914 entitled “Robotic Systems With Separate Photoacoustic Receivers” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2020/0015902 entitled “Force Sensor Through Structured Light Deflection” filed Sep. 11, 2018, U.S. Pat. Pub. No. 2019/0201136 entitled “Method Of Hub Communication” filed Dec. 4, 2018, U.S. patent application Ser. No. 16/729,772 entitled “Analyzing Surgical Trends By A Surgical System” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,747 entitled “Dynamic Surgical Visualization Systems” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,744 entitled “Visualization Systems Using Structured Light” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,778 entitled “System And Method For Determining, Adjusting, And Managing Resection Margin About A Subject Tissue” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,729 entitled “Surgical Systems For Proposing And Corroborating Organ Portion Removals” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,778 entitled “Surgical System For Overlaying Surgical Instrument Data Onto A Virtual Three Dimensional Construct Of An Organ” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,751 entitled “Surgical Systems For Generating Three Dimensional Constructs Of Anatomical Organs And Coupling Identified Anatomical Structures Thereto” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,740 entitled “Surgical Systems Correlating Visualization Data And Powered Surgical Instrument Data” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,737 entitled “Adaptive Surgical System Control According To Surgical Smoke Cloud Characteristics” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,796 entitled “Adaptive Surgical System Control According To Surgical Smoke Particulate Characteristics” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,803 entitled “Adaptive Visualization By A Surgical System” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,807 entitled “Method Of Using Imaging Devices In Surgery” filed Dec. 30, 2019, U.S. patent application Ser. No. 17/493,904 entitled “Surgical Methods Using Multi-Source Imaging” filed on Oct. 5, 2021, U.S. patent application Ser. No. 17/494,364 entitled “Surgical Methods For Control Of One Visualization With Another” filed on Oct. 5, 2021, U.S. patent application Ser. No. 17/450,020 entitled “Methods And Systems For Controlling Cooperative Surgical Instruments” filed on Oct. 5, 2021, U.S. patent application Ser. No. 17/450,025 entitled “Methods And Systems For Controlling Cooperative Surgical Instruments With Variable Surgical Site Access Trajectories” filed on Oct. 5, 2021, U.S. patent application Ser. No. 17/450,027 entitled “Methods And Systems For Controlling Cooperative Surgical Instruments” filed on Oct. 5, 2021, and U.S. patent application Ser. No. 17/449,765 entitled “Cooperative Access” filed on Oct. 1, 2021, which are hereby incorporated by reference in their entireties.
• Surgical Hubs
• The various visualization or imaging systems described herein can be incorporated into a system that includes a surgical hub. In general, a surgical hub can be a component of a comprehensive digital medical system capable of spanning multiple medical facilities and configured to provide integrated and comprehensive improved medical care to a vast number of patients. The comprehensive digital medical system includes a cloud-based medical analytics system that is configured to interconnect to multiple surgical hubs located across many different medical facilities. The surgical hubs are configured to interconnect with one or more elements, such as one or more surgical instruments that are used to conduct medical procedures on patients and/or one or more visualization systems that are used during performance of medical procedures. The surgical hubs provide a wide array of functionality to improve the outcomes of medical procedures. The data generated by the various surgical devices, visualization systems, and surgical hubs about the patient and the medical procedure may be transmitted to the cloud-based medical analytics system. This data may then be aggregated with similar data gathered from many other surgical hubs, visualization systems, and surgical instruments located at other medical facilities. Various patterns and correlations may be found through the cloud-based analytics system analyzing the collected data. Improvements in the techniques used to generate the data may be generated as a result, and these improvements may then be disseminated to the various surgical hubs, visualization systems, and surgical instruments. Due to the interconnectedness of all of the aforementioned components, improvements in medical procedures and practices may be found that otherwise may not be found if the many components were not so interconnected.
• Examples of surgical hubs configured to receive, analyze, and output data, and methods of using such surgical hubs, are further described in U.S. Pat. Pub. No. 2019/0200844 entitled “Method Of Hub Communication, Processing, Storage And Display” filed Dec. 4, 2018, U.S. Pat. Pub. No. 2019/0200981 entitled “Method Of Compressing Tissue Within A Stapling Device And Simultaneously Displaying The Location Of The Tissue Within The Jaws” filed Dec. 4, 2018, U.S. Pat. Pub. No. 2019/0201046 entitled “Method For Controlling Smart Energy Devices” filed Dec. 4, 2018, U.S. Pat. Pub. No. 2019/0201114 entitled “Adaptive Control Program Updates For Surgical Hubs” filed Mar. 29, 2018, U.S. Pat. Pub. No. 2019/0201140 entitled “Surgical Hub Situational Awareness” filed Mar. 29, 2018, U.S. Pat. Pub. No. 2019/0206004 entitled “Interactive Surgical Systems With Condition Handling Of Devices And Data Capabilities” filed Mar. 29, 2018, U.S. Pat. Pub. No. 2019/0206555 entitled “Cloud-based Medical Analytics For Customization And Recommendations To A User” filed Mar. 29, 2018, and U.S. Pat. Pub. No. 2019/0207857 entitled “Surgical Network Determination Of Prioritization Of Communication, Interaction, Or Processing Based On System Or Device Needs” filed Nov. 6, 2018, which are hereby incorporated by reference in their entireties.
• FIG.18 illustrates one embodiment of a computer-implemented interactivesurgical system700 that includes one or moresurgical systems702 and a cloud-based system (e.g., acloud704 that can include aremote server713 coupled to a storage device705). Eachsurgical system702 includes at least onesurgical hub706 in communication with thecloud704. In one example, as illustrated inFIG.18, thesurgical system702 includes avisualization system708, arobotic system710, and an intelligent (or “smart”)surgical instrument712, which are configured to communicate with one another and/or thehub706. The intelligentsurgical instrument712 can include imaging device(s). Thesurgical system702 can include an M number ofhubs706, an N number ofvisualization systems708, an O number ofrobotic systems710, and a P number of intelligentsurgical instruments712, where M, N, O, and P are integers greater than or equal to one that may or may not be equal to any one or more of each other. Various exemplary intelligent surgical instruments and robotic systems are described herein.
• Data received by a surgical hub from a surgical visualization system can be used in any of a variety of ways. In an exemplary embodiment, the surgical hub can receive data from a surgical visualization system in use with a patient in a surgical setting, e.g., in use in an operating room during performance of a surgical procedure. The surgical hub can use the received data in any of one or more ways, as discussed herein.
• The surgical hub can be configured to analyze received data in real time with use of the surgical visualization system and adjust control one or more of the surgical visualization system and/or one or more intelligent surgical instruments in use with the patient based on the analysis of the received data. Such adjustment can include, for example, adjusting one or operational control parameters of intelligent surgical instrument(s), causing one or more sensors of one or more intelligent surgical instruments to take a measurement to help gain an understanding of the patient's current physiological condition, and/or current operational status of an intelligent surgical instrument, and other adjustments. Controlling and adjusting operation of intelligent surgical instruments is discussed further below. Examples of operational control parameters of an intelligent surgical instrument include motor speed, cutting element speed, time, duration, level of energy application, and light emission. Examples of surgical hubs and of controlling and adjusting intelligent surgical instrument operation are described further in previously mentioned U.S. patent application Ser. No. 16/729,772 entitled “Analyzing Surgical Trends By A Surgical System” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,747 entitled “Dynamic Surgical Visualization Systems” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,744 entitled “Visualization Systems Using Structured Light” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,778 entitled “System And Method For Determining, Adjusting, And Managing Resection Margin About A Subject Tissue” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,729 entitled “Surgical Systems For Proposing And Corroborating Organ Portion Removals” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,778 entitled “Surgical System For Overlaying Surgical Instrument Data Onto A Virtual Three Dimensional Construct Of An Organ” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,751 entitled “Surgical Systems For Generating Three Dimensional Constructs Of Anatomical Organs And Coupling Identified Anatomical Structures Thereto” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,740 entitled “Surgical Systems Correlating Visualization Data And Powered Surgical Instrument Data” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,737 entitled “Adaptive Surgical System Control According To Surgical Smoke Cloud Characteristics” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,796 entitled “Adaptive Surgical System Control According To Surgical Smoke Particulate Characteristics” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,803 entitled “Adaptive Visualization By A Surgical System” filed Dec. 30, 2019, and U.S. patent application Ser. No. 16/729,807 entitled “Method Of Using Imaging Devices In Surgery” filed Dec. 30, 2019, and in U.S. patent application Ser. No. 17/068,857 entitled “Adaptive Responses From Smart Packaging Of Drug Delivery Absorbable Adjuncts” filed Oct. 13, 2020, U.S. patent application Ser. No. 17/068,858 entitled “Drug Administration Devices That Communicate With Surgical Hubs” filed Oct. 13, 2020, U.S. patent application Ser. No. 17/068,859 entitled “Controlling Operation Of Drug Administration Devices Using Surgical Hubs” filed Oct. 13, 2020, U.S. patent application Ser. No. 17/068,863 entitled “Patient Monitoring Using Drug Administration Devices” filed Oct. 13, 2020, U.S. patent application Ser. No. 17/068,865 entitled “Monitoring And Communicating Information Using Drug Administration Devices” filed Oct. 13, 2020, and U.S. patent application Ser. No. 17/068,867 entitled “Aggregating And Analyzing Drug Administration Data” filed Oct. 13, 2020, which are hereby incorporated by reference in their entireties.
• The surgical hub can be configured to cause visualization of the received data to be provided in the surgical setting on a display so that a medical practitioner in the surgical setting can view the data and thereby receive an understanding of the operation of the imaging device(s) in use in the surgical setting. Such information provided via visualization can include text and/or images.
• FIG.19 illustrates one embodiment of asurgical system802 including a surgical hub806 (e.g., thesurgical hub706 ofFIG.18 or other surgical hub described herein), a robotic surgical system810 (e.g., the roboticsurgical system110 ofFIG.1 or other robotic surgical system herein), and a visualization system808 (e.g., thevisualization system100 ofFIG.1 or other visualization system described herein). Thesurgical hub806 can be in communication with a cloud, as discussed herein.FIG.19 shows thesurgical system802 being used to perform a surgical procedure on a patient who is lying down on an operating table814 in asurgical operating room816. Therobotic system810 includes a surgeon'sconsole818, a patient side cart820 (surgical robot), and a robotic systemsurgical hub822. The robotic systemsurgical hub822 is generally configured similar to thesurgical hub822 and can be in communication with a cloud. In some embodiments, the robotic systemsurgical hub822 and thesurgical hub806 can be combined. Thepatient side cart820 can manipulate an intelligentsurgical tool812 through a minimally invasive incision in the body of the patient while a medical practitioner, e.g., a surgeon, nurse, and/or other medical practitioner, views the surgical site through the surgeon'sconsole818. An image of the surgical site can be obtained by an imaging device824 (e.g., theimaging device120 ofFIG.1 or other imaging device described herein), which can be manipulated by thepatient side cart820 to orient theimaging device824. The robotic systemsurgical hub822 can be used to process the images of the surgical site for subsequent display to the surgeon through the surgeon'sconsole818.
• Aprimary display819 is positioned in the sterile field of theoperating room816 and is configured to be visible to an operator at the operating table814. In addition, as in this illustrated embodiment, avisualization tower811 can positioned outside the sterile field. Thevisualization tower811 includes a firstnon-sterile display807 and a secondnon-sterile display809, which face away from each other. Thevisualization system808, guided by thesurgical hub806, is configured to utilize thedisplays807,809,819 to coordinate information flow to medical practitioners inside and outside the sterile field. For example, thesurgical hub806 can cause thevisualization system808 to display a snapshot and/or a video of a surgical site, as obtained by theimaging device824, on one or both of thenon-sterile displays807,809, while maintaining a live feed of the surgical site on theprimary display819. The snapshot and/or video on thenon-sterile display807 and/or809 can permit a non-sterile medical practitioner to perform a diagnostic step relevant to the surgical procedure, for example.
• Thesurgical hub806 is configured to route a diagnostic input or feedback entered by a non-sterile medical practitioner at thevisualization tower811 to theprimary display819 within the sterile field, where it can be viewed by a sterile medical practitioner at the operating table814. For example, the input can be in the form of a modification to the snapshot and/or video displayed on thenon-sterile display807 and/or809, which can be routed to theprimary display819 by thesurgical hub806.
• Thesurgical hub806 is configured to coordinate information flow to a display of the intelligentsurgical instrument812, as is described in various U.S. patent applications that are incorporated by reference herein in the present disclosure. A diagnostic input or feedback entered by a non-sterile operator at thevisualization tower818 can be routed by thesurgical hub806 to thedisplay819 within the sterile field, where it can be viewed by the operator of thesurgical instrument812 and/or by other medical practitioner(s) in the sterile field.
• The intelligentsurgical instrument812 and theimaging device824, which is also an intelligent surgical tool, is being used with the patient in the surgical procedure as part of thesurgical system802. Other intelligentsurgical instruments812athat can be used in the surgical procedure, e.g., that can be removably coupled to thepatient side cart820 and be in communication with the roboticsurgical system810 and thesurgical hub806, are also shown inFIG.19 as being available. Non-intelligent (or “dumb”)surgical instruments817, e.g., scissors, trocars, cannulas, scalpels, etc., that cannot be in communication with the roboticsurgical system810 and thesurgical hub806 are also shown inFIG.19 as being available for use.
• Operating Intelligent Surgical Instruments
• An intelligent surgical device can have an algorithm stored thereon, e.g., in a memory thereof, configured to be executable on board the intelligent surgical device, e.g., by a processor thereof, to control operation of the intelligent surgical device. In some embodiments, instead of or in addition to being stored on the intelligent surgical device, the algorithm can be stored on a surgical hub, e.g., in a memory thereof, that is configured to communicate with the intelligent surgical device.
• The algorithm is stored in the form of one or more sets of pluralities of data points defining and/or representing instructions, notifications, signals, etc. to control functions of the intelligent surgical device. In some embodiments, data gathered by the intelligent surgical device can be used by the intelligent surgical device, e.g., by a processor of the intelligent surgical device, to change at least one variable parameter of the algorithm. As discussed above, a surgical hub can be in communication with an intelligent surgical device, so data gathered by the intelligent surgical device can be communicated to the surgical hub and/or data gathered by another device in communication with the surgical hub can be communicated to the surgical hub, and data can be communicated from the surgical hub to the intelligent surgical device. Thus, instead of or in addition to the intelligent surgical device being configured to change a stored variable parameter, the surgical hub can be configured to communicate the changed at least one variable, alone or as part of the algorithm, to the intelligent surgical device and/or the surgical hub can communicate an instruction to the intelligent surgical device to change the at least one variable as determined by the surgical hub.
• The at least one variable parameter is among the algorithm's data points, e.g., are included in instructions for operating the intelligent surgical device, and are thus each able to be changed by changing one or more of the stored pluralities of data points of the algorithm. After the at least one variable parameter has been changed, subsequent execution of the algorithm is according to the changed algorithm. As such, operation of the intelligent surgical device over time can be managed for a patient to increase the beneficial results use of the intelligent surgical device by taking into consideration actual situations of the patient and actual conditions and/or results of the surgical procedure in which the intelligent surgical device is being used. Changing the at least one variable parameter is automated to improve patient outcomes. Thus, the intelligent surgical device can be configured to provide personalized medicine based on the patient and the patient's surrounding conditions to provide a smart system. In a surgical setting in which the intelligent surgical device is being used during performance of a surgical procedure, automated changing of the at least one variable parameter may allow for the intelligent surgical device to be controlled based on data gathered during the performance of the surgical procedure, which may help ensure that the intelligent surgical device is used efficiently and correctly and/or may help reduce chances of patient harm by harming a critical anatomical structure.
• The at least one variable parameter can be any of a variety of different operational parameters. Examples of variable parameters include motor speed, motor torque, energy level, energy application duration, tissue compression rate, jaw closure rate, cutting element speed, load threshold, etc.
• FIG.20 illustrates one embodiment of an intelligentsurgical instrument900 including amemory902 having analgorithm904 stored therein that includes at least one variable parameter. Thealgorithm904 can be a single algorithm or can include a plurality of algorithms, e.g., separate algorithms for different aspects of the surgical instrument's operation, where each algorithm includes at least one variable parameter. The intelligentsurgical instrument900 can be thesurgical device102 ofFIG.1, theimaging device120 ofFIG.1, thesurgical device202 ofFIG.8, theimaging device220 ofFIG.8, thesurgical device402 ofFIG.15, thesurgical device502aofFIG.17, thesurgical device502bofFIG.17, thesurgical device712 ofFIG.18, thesurgical device812 ofFIG.19, theimaging device824 ofFIG.19, or other intelligent surgical instrument. Thesurgical instrument900 also includes aprocessor906 configured to execute thealgorithm904 to control operation of at least one aspect of thesurgical instrument900. To execute thealgorithm904, theprocessor906 is configured to run a program stored in thememory902 to access a plurality of data points of thealgorithm904 in thememory902.
• Thesurgical instrument900 also includes acommunications interface908, e.g., a wireless transceiver or other wired or wireless communications interface, configured to communicate with another device, such as asurgical hub910. Thecommunications interface908 can be configured to allow one-way communication, such as providing data to a remote server (e.g., a cloud server or other server) and/or to a local, surgical hub server, and/or receiving instructions or commands from a remote server and/or a local, surgical hub server, or two-way communication, such as providing information, messages, data, etc. regarding thesurgical instrument900 and/or data stored thereon and receiving instructions, such as from a doctor; a remote server regarding updates to software; a local, surgical hub server regarding updates to software; etc.
• Thesurgical instrument900 is simplified inFIG.20 and can include additional components, e.g., a bus system, a handle, a elongate shaft having an end effector at a distal end thereof, a power source, etc. Theprocessor906 can also be configured to execute instructions stored in thememory902 to control thedevice900 generally, including other electrical components thereof such as thecommunications interface908, an audio speaker, a user interface, etc.
• Theprocessor906 is configured to change at least one variable parameter of thealgorithm904 such that a subsequent execution of thealgorithm904 will be in accordance with the changed at least one variable parameter. To change the at least one variable parameter of thealgorithm904, theprocessor906 is configured to modify or update the data point(s) of the at least one variable parameter in thememory902. Theprocessor906 can be configured to change the at least one variable parameter of thealgorithm904 in real time with use of thesurgical device900 during performance of a surgical procedure, which may accommodate real time conditions.
• Additionally or alternatively to theprocessor906 changing the at least one variable parameter, theprocessor906 can be configured to change thealgorithm904 and/or at least one variable parameter of thealgorithm904 in response to an instruction received from thesurgical hub910. In some embodiments, theprocessor906 is configured to change the at least one variable parameter only after communicating with thesurgical hub910 and receiving an instruction therefrom, which may help ensure coordinated action of thesurgical instrument900 with other aspects of the surgical procedure in which thesurgical instrument900 is being used.
• In an exemplary embodiment, theprocessor906 executes thealgorithm904 to control operation of thesurgical instrument900, changes the at least one variable parameter of thealgorithm904 based on real time data, and executes thealgorithm904 after changing the at least one variable parameter to control operation of thesurgical instrument900.
• FIG.21 illustrates one embodiment of amethod912 of using of thesurgical instrument900 including a change of at least one variable parameter of thealgorithm904. Theprocessor906controls914 operation of thesurgical instrument900 by executing thealgorithm904 stored in thememory902. Based on any of this subsequently known data and/or subsequently gathered data, theprocessor904changes916 the at least one variable parameter of thealgorithm904 as discussed above. After changing the at least one variable parameter, theprocessor906controls918 operation of thesurgical instrument900 by executing thealgorithm904, now with the changed at least one variable parameter. Theprocessor904 can change916 the at least one variable parameter any number of times during performance of a surgical procedure, e.g., zero, one, two, three, etc. During any part of themethod912, thesurgical instrument900 can communicate with one or more computer systems, e.g., thesurgical hub910, a remote server such as a cloud server, etc., using thecommunications interface908 to provide data thereto and/or receive instructions therefrom.
• Situational Awareness
• Operation of an intelligent surgical instrument can be altered based on situational awareness of the patient. The operation of the intelligent surgical instrument can be altered manually, such as by a user of the intelligent surgical instrument handling the instrument differently, providing a different input to the instrument, ceasing use of the instrument, etc. Additionally or alternatively, the operation of an intelligent surgical instrument can be changed automatically by an algorithm of the instrument being changed, e.g., by changing at least one variable parameter of the algorithm. As mentioned above, the algorithm can be adjusted automatically without user input requesting the change. Automating the adjustment during performance of a surgical procedure may help save time, may allow medical practitioners to focus on other aspects of the surgical procedure, and/or may ease the process of using the surgical instrument for a medical practitioner, which each may improve patient outcomes, such as by avoiding a critical structure, controlling the surgical instrument with consideration of a tissue type the instrument is being used on and/or near, etc.
• The visualization systems described herein can be utilized as part of a situational awareness system that can be embodied or executed by a surgical hub, e.g., thesurgical hub706, thesurgical hub806, or other surgical hub described herein. In particular, characterizing, identifying, and/or visualizing surgical instruments (including their positions, orientations, and actions), tissues, structures, users, and/or other things located within the surgical field or the operating theater can provide contextual data that can be utilized by a situational awareness system to infer various information, such as a type of surgical procedure or a step thereof being performed, a type of tissue(s) and/or structure(s) being manipulated by a surgeon or other medical practitioner, and other information. The contextual data can then be utilized by the situational awareness system to provide alerts to a user, suggest subsequent steps or actions for the user to undertake, prepare surgical devices in anticipation for their use (e.g., activate an electrosurgical generator in anticipation of an electrosurgical instrument being utilized in a subsequent step of the surgical procedure, etc.), control operation of intelligent surgical instruments (e.g., customize surgical instrument operational parameters of an algorithm as discussed further below), and so on.
• Although an intelligent surgical device including an algorithm that responds to sensed data, e.g., by having at least one variable parameter of the algorithm changed, can be an improvement over a “dumb” device that operates without accounting for sensed data, some sensed data can be incomplete or inconclusive when considered in isolation, e.g., without the context of the type of surgical procedure being performed or the type of tissue that is being operated on. Without knowing the procedural context (e.g., knowing the type of tissue being operated on or the type of procedure being performed), the algorithm may control the surgical device incorrectly or sub-optimally given the particular context-free sensed data. For example, the optimal manner for an algorithm to control a surgical instrument in response to a particular sensed parameter can vary according to the particular tissue type being operated on. This is due to the fact that different tissue types have different properties (e.g., resistance to tearing, ease of being cut, etc.) and thus respond differently to actions taken by surgical instruments. Therefore, it may be desirable for a surgical instrument to take different actions even when the same measurement for a particular parameter is sensed. As one example, the optimal manner in which to control a surgical stapler in response to the surgical stapler sensing an unexpectedly high force to close its end effector will vary depending upon whether the tissue type is susceptible or resistant to tearing. For tissues that are susceptible to tearing, such as lung tissue, the surgical instrument's control algorithm would optimally ramp down the motor in response to an unexpectedly high force to close to avoid tearing the tissue, e.g., change a variable parameter controlling motor speed or torque so the motor is slower. For tissues that are resistant to tearing, such as stomach tissue, the instrument's algorithm would optimally ramp up the motor in response to an unexpectedly high force to close to ensure that the end effector is clamped properly on the tissue, e.g., change a variable parameter controlling motor speed or torque so the motor is faster. Without knowing whether lung or stomach tissue has been clamped, the algorithm may be sub-optimally changed or not changed at all.
• A surgical hub can be configured to derive information about a surgical procedure being performed based on data received from various data sources and then control modular devices accordingly. In other words, the surgical hub can be configured to infer information about the surgical procedure from received data and then control the modular devices operably coupled to the surgical hub based upon the inferred context of the surgical procedure. Modular devices can include any surgical device that is controllable by a situational awareness system, such as visualization system devices (e.g., a camera, a display screen, etc.), smart surgical instruments (e.g., an ultrasonic surgical instrument, an electrosurgical instrument, a surgical stapler, smoke evacuators, scopes, etc.). A modular device can include sensor(s) configured to detect parameters associated with a patient with which the device is being used and/or associated with the modular device itself.
• The contextual information derived or inferred from the received data can include, for example, a type of surgical procedure being performed, a particular step of the surgical procedure that the surgeon (or other medical practitioner) is performing, a type of tissue being operated on, or a body cavity that is the subject of the surgical procedure. The situational awareness system of the surgical hub can be configured to derive the contextual information from the data received from the data sources in a variety of different ways. In an exemplary embodiment, the contextual information received by the situational awareness system of the surgical hub is associated with a particular control adjustment or set of control adjustments for one or more modular devices. The control adjustments each correspond to a variable parameter. In one example, the situational awareness system includes a pattern recognition system, or machine learning system (e.g., an artificial neural network), that has been trained on training data to correlate various inputs (e.g., data from databases, patient monitoring devices, and/or modular devices) to corresponding contextual information regarding a surgical procedure. In other words, a machine learning system can be trained to accurately derive contextual information regarding a surgical procedure from the provided inputs. In another example, the situational awareness system can include a lookup table storing pre-characterized contextual information regarding a surgical procedure in association with one or more inputs (or ranges of inputs) corresponding to the contextual information. In response to a query with one or more inputs, the lookup table can return the corresponding contextual information for the situational awareness system for controlling at least one modular device. In another example, the situational awareness system includes a further machine learning system, lookup table, or other such system, which generates or retrieves one or more control adjustments for one or more modular devices when provided the contextual information as input.
• A surgical hub including a situational awareness system may provide any number of benefits for a surgical system. One benefit includes improving the interpretation of sensed and collected data, which would in turn improve the processing accuracy and/or the usage of the data during the course of a surgical procedure. Another benefit is that the situational awareness system for the surgical hub may improve surgical procedure outcomes by allowing for adjustment of surgical instruments (and other modular devices) for the particular context of each surgical procedure (such as adjusting to different tissue types) and validating actions during a surgical procedure. Yet another benefit is that the situational awareness system may improve surgeon's and/or other medical practitioners' efficiency in performing surgical procedures by automatically suggesting next steps, providing data, and adjusting displays and other modular devices in the surgical theater according to the specific context of the procedure. Another benefit includes proactively and automatically controlling modular devices according to the particular step of the surgical procedure that is being performed to reduce the number of times that medical practitioners are required to interact with or control the surgical system during the course of a surgical procedure, such as by a situationally aware surgical hub proactively activating a generator to which an RF electrosurgical instrument is connected if it determines that a subsequent step of the procedure requires the use of the instrument. Proactively activating the energy source allows the instrument to be ready for use a soon as the preceding step of the procedure is completed.
• For example, a situationally aware surgical hub can be configured to determine what type of tissue is being operated on. Therefore, when an unexpectedly high force to close a surgical instrument's end effector is detected, the situationally aware surgical hub can be configured to correctly ramp up or ramp down a motor of the surgical instrument for the type of tissue, e.g., by changing or causing change of at least one variable parameter of an algorithm for the surgical instrument regarding motor speed or torque.
• For another example, a type of tissue being operated can affect adjustments that are made to compression rate and load thresholds of a surgical stapler for a particular tissue gap measurement. A situationally aware surgical hub can be configured to infer whether a surgical procedure being performed is a thoracic or an abdominal procedure, allowing the surgical hub to determine whether the tissue clamped by an end effector of the surgical stapler is lung tissue (for a thoracic procedure) or stomach tissue (for an abdominal procedure). The surgical hub can then be configured to cause adjustment of the compression rate and load thresholds of the surgical stapler appropriately for the type of tissue, e.g., by changing or causing change of at least one variable parameter of an algorithm for the surgical stapler regarding compression rate and load threshold.
• As yet another example, a type of body cavity being operated in during an insufflation procedure can affect the function of a smoke evacuator. A situationally aware surgical hub can be configured to determine whether the surgical site is under pressure (by determining that the surgical procedure is utilizing insufflation) and determine the procedure type. As a procedure type is generally performed in a specific body cavity, the surgical hub can be configured to control a motor rate of the smoke evacuator appropriately for the body cavity being operated in, e.g., by changing or causing change of at least one variable parameter of an algorithm for the smoke evacuator regarding motor rate. Thus, a situationally aware surgical hub may provide a consistent amount of smoke evacuation for both thoracic and abdominal procedures.
• As yet another example, a type of procedure being performed can affect the optimal energy level for an ultrasonic surgical instrument or radio frequency (RF) electrosurgical instrument to operate at. Arthroscopic procedures, for example, require higher energy levels because an end effector of the ultrasonic surgical instrument or RF electrosurgical instrument is immersed in fluid. A situationally aware surgical hub can be configured to determine whether the surgical procedure is an arthroscopic procedure. The surgical hub can be configured to adjust an RF power level or an ultrasonic amplitude of the generator (e.g., adjust energy level) to compensate for the fluid filled environment, e.g., by changing or causing change of at least one variable parameter of an algorithm for the instrument and/or a generator regarding energy level. Relatedly, a type of tissue being operated on can affect the optimal energy level for an ultrasonic surgical instrument or RF electrosurgical instrument to operate at. A situationally aware surgical hub can be configured to determine what type of surgical procedure is being performed and then customize the energy level for the ultrasonic surgical instrument or RF electrosurgical instrument, respectively, according to the expected tissue profile for the surgical procedure, e.g., by changing or causing change of at least one variable parameter of an algorithm for the instrument and/or a generator regarding energy level. Furthermore, a situationally aware surgical hub can be configured to adjust the energy level for the ultrasonic surgical instrument or RF electrosurgical instrument throughout the course of a surgical procedure, rather than just on a procedure-by-procedure basis. A situationally aware surgical hub can be configured to determine what step of the surgical procedure is being performed or will subsequently be performed and then update the control algorithm(s) for the generator and/or ultrasonic surgical instrument or RF electrosurgical instrument to set the energy level at a value appropriate for the expected tissue type according to the surgical procedure step.
• As another example, a situationally aware surgical hub can be configured to determine whether the current or subsequent step of a surgical procedure requires a different view or degree of magnification on a display according to feature(s) at the surgical site that the surgeon and/or other medical practitioner is expected to need to view. The surgical hub can be configured to proactively change the displayed view (supplied by, e.g., an imaging device for a visualization system) accordingly so that the display automatically adjusts throughout the surgical procedure.
• As yet another example, a situationally aware surgical hub can be configured to determine which step of a surgical procedure is being performed or will subsequently be performed and whether particular data or comparisons between data will be required for that step of the surgical procedure. The surgical hub can be configured to automatically call up data screens based upon the step of the surgical procedure being performed, without waiting for the surgeon or other medical practitioner to ask for the particular information.
• As another example, a situationally aware surgical hub can be configured to determine whether a surgeon and/or other medical practitioner is making an error or otherwise deviating from an expected course of action during the course of a surgical procedure, e.g., as provided in a pre-operative surgical plan. For example, the surgical hub can be configured to determine a type of surgical procedure being performed, retrieve a corresponding list of steps or order of equipment usage (e.g., from a memory), and then compare the steps being performed or the equipment being used during the course of the surgical procedure to the expected steps or equipment for the type of surgical procedure that the surgical hub determined is being performed. The surgical hub can be configured to provide an alert (visual, audible, and/or tactile) indicating that an unexpected action is being performed or an unexpected device is being utilized at the particular step in the surgical procedure.
• In certain instances, operation of a robotic surgical system, such as any of the various robotic surgical systems described herein, can be controlled by the surgical hub based on its situational awareness and/or feedback from the components thereof and/or based on information from a cloud (e.g., thecloud713 ofFIG.18).
• Embodiments of situational awareness systems and using situational awareness systems during performance of a surgical procedure are described further in previously mentioned U.S. patent application Ser. No. 16/729,772 entitled “Analyzing Surgical Trends By A Surgical System” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,747 entitled “Dynamic Surgical Visualization Systems” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,744 entitled “Visualization Systems Using Structured Light” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,778 entitled “System And Method For Determining, Adjusting, And Managing Resection Margin About A Subject Tissue” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,729 entitled “Surgical Systems For Proposing And Corroborating Organ Portion Removals” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,778 entitled “Surgical System For Overlaying Surgical Instrument Data Onto A Virtual Three Dimensional Construct Of An Organ” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,751 entitled “Surgical Systems For Generating Three Dimensional Constructs Of Anatomical Organs And Coupling Identified Anatomical Structures Thereto” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,740 entitled “Surgical Systems Correlating Visualization Data And Powered Surgical Instrument Data” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,737 entitled “Adaptive Surgical System Control According To Surgical Smoke Cloud Characteristics” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,796 entitled “Adaptive Surgical System Control According To Surgical Smoke Particulate Characteristics” filed Dec. 30, 2019, U.S. patent application Ser. No. 16/729,803 entitled “Adaptive Visualization By A Surgical System” filed Dec. 30, 2019, and U.S. patent application Ser. No. 16/729,807 entitled “Method Of Using Imaging Devices In Surgery” filed Dec. 30, 2019.
• Surgical Procedures of the Lung
• Various aspects of the devices, systems, and methods described herein may relate to a surgical procedure performed on a lung. For example, a lung resection, e.g., a lobectomy, is a surgical procedure in which all or part, e.g., one or more lobes, of a lung is removed. The purpose of performing a lung resection is to treat a damaged or diseased lung as a result of, for example, lung cancer, emphysema, or bronchiectasis.
• During a lung resection, the lung or lungs are first deflated, and thereafter one or more incisions are made on the patient's side between the patient's ribs to reach the lungs laparoscopically. Surgical instruments, such as graspers and a laparoscope, are inserted through the incision. Once the infected or damaged area of the lung is identified, the area is dissected from the lung and removed from the one or more incisions. The dissected area and the one or more incisions can be closed, for example, with a surgical stapler or stitches.
• Since the lung is deflated during surgery, the lung, or certain portions thereof, may need to be mobilized to allow the surgical instruments to reach the surgical site. This mobilization can be carried out by grasping the outer tissue layer of the lung with graspers and applying a force to the lung through the graspers. However, the pleura and parenchyma of the lung are very fragile and therefore can be easily ripped or torn under the applied force. Additionally, during mobilization, the graspers can cut off blood supply to one or more areas of the lung.
• Further, a breathing tube is placed into the patient's airway to allow each lung to be separately inflated during surgery. Inflation of the lung can cause the lung to move and match pre-operative imaging and/or allow the surgeon to check for leaks at the dissected area(s). However, by inflating the whole lung, working space is lost around the lung due to the filling of the thoracic cavity. Additionally, inflating a whole lung can take time and does not guarantee easy leak detection if multiple portions of the lung are operated on during the surgical procedure.
• Surgical Procedures of the Colon
• Various aspects of the devices, systems, and methods described herein may relate to a surgical procedure performed on a colon. For example, surgery is often the main treatment for early-stage colon cancers. The type of surgery used depends on the stage (extent) of the cancer, where it is in the colon, and the goal of the surgery. Some early colon cancers (stage 0 and some early stage I tumors) and most polyps can be removed during a colonoscopy. However, if the cancer has progressed, a local excision or colectomy may be required. A colectomy is surgery to remove all or part of the colon. In certain instances, nearby lymph nodes are also removed. If only part of the colon is removed, it's called a hemicolectomy, partial colectomy, or segmental resection in which the surgeon takes out the diseased part of the colon with a small segment of non-diseased colon on either side. Usually, about one-fourth to one-third of the colon is removed, depending on the size and location of the cancer. Major resections of the colon are illustrated inFIG.22, in which A-B is a right hemicolectomy, A-C is an extended right hemicolectomy, B-C is a transverse colectomy, C-E is a left hemicolectomy, D-E is a sigmoid colectomy, D-F is an anterior resection, D-G is a (ultra) low anterior resection, D-H is an abdomino-perineal resection, A-D is a subtotal colectomy, A-E is a total colectomy, and A-H is a total procto-colectomy. Once the resection is complete, the remaining intact sections of colon are then reattached.
• A colectomy can be performed through an open colectomy, where a single incision through the abdominal wall is used to access the colon for separation and removal of the affected colon tissue, and through a laparoscopic-assisted colectomy. With a laparoscopic-assisted colectomy, the surgery is done through many smaller incisions with surgical instruments and a laparoscope passing through the small incisions to remove the entire colon or a part thereof. At the beginning of the procedure, the abdomen is inflated with gas, e.g., carbon dioxide, to provide a working space for the surgeon. The laparoscope transmits images inside the abdominal cavity, giving the surgeon a magnified view of the patient's internal organs on a monitor or other display. Several other cannulas are inserted to allow the surgeon to work inside and remove part(s) of the colon. Once the diseased parts of the colon are removed, the remaining ends of the colon are attached to each other, e.g., via staplers or stitches. The entire procedure may be completed through the cannulas or by lengthening one of the small cannula incisions.
• During a laparoscopic-assisted colectomy procedure, it is often difficult to obtain an adequate operative field. Oftentimes, dissections are made deep in the pelvis which makes it difficult to obtain adequate visualization of the area. As a result, the lower rectum must be lifted and rotated to gain access to the veins and arteries around both sides of the rectum during mobilization. During manipulation of the lower rectum, bunching of tissue and/or overstretching of tissue can occur. Additionally, a tumor within the rectum can cause adhesions in the surrounding pelvis, and as a result, this can require freeing the rectal stump and mobilizing the mesentery and blood supply before transection and removal of the tumor.
• Further, multiple graspers are needed to position the tumor for removal from the colon. During dissection of the colon, the tumor should be placed under tension, which requires grasping and stretching the surrounding healthy tissue of the colon. However, the manipulating of the tissue surrounding the tumor can suffer from reduced blood flow and trauma due to the graspers placing a high grip force on the tissue. Additionally, during a colectomy, the transverse colon and upper descending colon may need to be mobilized to allow the healthy, good remaining colon to be brought down to connect to the rectal stump after the section of the colon containing the tumor is transected and removed.
• After a colectomy, the remaining healthy portions of the colon must be reattached to one another to create a path for waste to leave the body. However, when using laparoscopic instruments to perform the colectomy, one single entry port may not have a large enough range of motion to move the one end of the colon to a connecting portion of the colon. As such, a second entry port is therefore needed to laparoscopically insert surgical instruments to help mobilize the colon in order to properly position the colon.
• Surgical Procedures of the Stomach
• Various aspects of the devices, systems, and methods described herein may relate to a surgical procedure performed on a stomach. For example, surgery is the most common treatment for stomach cancer. When surgery is required for stomach cancer, the goal is to remove the entire tumor as well as a good margin of healthy stomach tissue around the tumor. Different procedures can be used to remove stomach cancer. The type of procedure used depends on what part of the stomach the cancer is located and how far it has grown into nearby areas. For example, endoscopic mucosal resection (EMR) and endoscopic submucosal dissection (ESD) are procedures on the stomach can be used to treat some early-stage cancers. These procedures do not require a cut in the skin, but instead the surgeon passes an endoscope down the throat and into the stomach of the patient. Surgical tools (e.g., MEGADYNE™ Tissue Dissector or Electrosurgical Pencils) are then passed through the working channel of the endoscope to remove the tumor and some layers of the normal stomach wall below and around it.
• Other surgical procedures performed on a stomach include a subtotal (partial) or a total gastrectomy that can be performed as an open procedure. e.g., surgical instruments are inserted through a large incision in the skin of the abdomen, or as a laparoscopic procedure, e.g., surgical instruments are inserted into the abdomen through several small cuts. For example, a laparoscopic gastrectomy procedure generally involves insufflation of the abdominal cavity with carbon dioxide gas to a pressure of around 15 millimeters of mercury (mm Hg). The abdominal wall is pierced and a straight tubular cannula or trocar, such as a cannula or trocar having a diameter in a range of about 5 mm to about 10 mm, is then inserted into the abdominal cavity. A laparoscope connected to an operating room monitor is used to visualize the operative field and is placed through one of the trocar(s). Laparoscopic surgical instruments are placed through two or more additional cannulas or trocars for manipulation by medical practitioner(s), e.g., surgeon and surgical assistant(s), to remove the desired portion(s) of the stomach.
• In certain instances, laparoscopic and endoscopic cooperative surgery can be used to remove gastric tumors. This cooperative surgery typically involves introduction of an endoscope, e.g., a gastroscope, and laparoscopic trocars. A laparoscope and tissue manipulation and dissection surgical instruments are introduced through the trocar. The tumor location can be identified via the endoscope and a cutting element that is inserted into the working channel of the endoscope is then used for submucosal resection around the tumor. A laparoscopic dissection surgical instrument is then used for seromuscular dissection adjacent the tumor margins to create an incision through the stomach wall. The tumor is then pivoted through this incision from the intraluminal space, e.g., inside the stomach, to the extraluminal space, e.g., outside of the stomach. A laparoscopic surgical instrument, e.g., an endocutter, can be used to then complete the transection of the tumor from the stomach wall and seal the incision.
• Surgical Procedures of the Intestine
• Various aspects of the devices, systems, and methods described herein may relate to a surgical procedure performed on an intestine. For example, a duodenal mucosal resurfacing (DMR) procedure can be performed endoscopically to treat insulin-resistant metabolic diseases such astype2 diabetes. The DMR procedure can be an effective treatment because it affects detection of food. The DMR procedure inhibits duodenum function such that food tends to be sensed deeper in the intestine than normal, e.g., sensed after passage through the duodenum (which is the first part of the small intestine). The patient's body thus senses sugar deeper in the intestine than is typical and thus reacts to the sugar later than is typical such that glycemic control can be improved. The irregular function of the duodenum changes the body's typical response to the food and, through nervous system and chemical signals, causes the body to adapt its response to the glucose level to increase insulin levels.
• In the DMR procedure, the duodenal mucosa is lifted, such as with saline, and then the mucosa is ablated, e.g., using an ablation device advanced into the duodenum through a working channel of an endoscope. Lifting the mucosa before ablation helps protect the duodenum's outer layers from being damaged by the ablation. After the mucosa is ablated, the mucosa later regenerates. Examples of ablation devices are NeuWave™ ablation probes (available from Ethicon US LLC of Cincinnati, Ohio). Another example of an ablation device is the Hyblate catheter ablation probe (available from Hyblate Medical of Misgav, Israel). Another example of an ablation device is the Barxx™ HaloFlex (available from Medtronic of Minneapolis, Minn.).
• FIG.22A illustrates one embodiment of a DMR procedure. As shown inFIG.22A, alaparoscope1400 is positioned external to aduodenum1402 for external visualization of theduodenum1402. Anendoscope1404 is advanced transorally through anesophagus1406, through astomach1408, and into theduodenum1402 for internal visualization of theduodenum1402. Anablation device1410 is advanced through a working channel of theendoscope1404 to extend distally from theendoscope1404 into theduodenum1402. Aballoon1412 of theablation device1410 is shown expanded or inflated inFIG.22A. The expanded orinflated balloon1412 can help center the ablation device's electrode so even circumferential ablating can occur before theablation device1410 is advanced and/or retracted to repeat ablation. Before the mucosa is ablated using theablation device1410, the duodenal mucosa is lifted, such as with saline. In some embodiments in addition to or instead of including theballoon1412, theablation device1410 can be expandable/collapsible using an electrode array or basket configured to expand and collapse.
• The laparoscope's external visualization of theduodenum1402 can allow for thermal monitoring of theduodenum1402, which may help ensure that the outer layers of theduodenum1402 are not damaged by the ablation of the duodenal mucosa, such as by the duodenum being perforated. Various embodiments of thermal monitoring are discussed further, for example, in U.S. patent application Ser. No. 17/493,904 entitled “Surgical Methods Using Multi-Source Imaging” filed on Oct. 5, 2021 and in U.S. patent application Ser. No. 17/494,364 entitled “Surgical Methods For Control Of One Visualization With Another” filed on Oct. 5, 2021. Theendoscope1404 and/or theablation device1410 can include a fiducial marker thereon that thelaparoscope1400 can be configured to visualize through the duodenum's tissue, e.g., by using invisible light, to help determine where thelaparoscope1400 should externally visualize theduodenum1402 at a location where ablation occurs. Various embodiments of fiducial markers are discussed further, for example, below and in U.S. patent application Ser. No. 17/494,364 entitled “Surgical Methods For Control Of One Visualization With Another” filed on Oct. 5, 2021.
• Intelligent Fiducial Markers
• Devices, systems, and methods for multi-source imaging provided herein may allow for fiducial identification and tracking. In general, an intelligent fiducial marker is configured to be attached to a surgical instrument or an imaging device and to store information regarding the surgical instrument or imaging device to which the marker is attached. The marker can thus serve as a fiducial or reference point for the surgical instrument or imaging device to which the marker is attached, thereby allowing for the surgical instrument or imaging device to be tracked. The stored information can include identification information unique to the surgical instrument or imaging device to which the marker is attached, such as a model number and/or a serial number, thereby allowing for the surgical instrument or imaging device to be uniquely identified. The stored information can include identification information unique to a visualization system including the surgical instrument or imaging device to which the marker is attached, such as a numeric code, an alphanumeric code, an alphabetic code, etc., thereby allowing for the visualization system to be uniquely identified. Data regarding the surgical instrument or imaging device, such as data collected regarding use of the surgical instrument or imaging device in a surgical procedure, may therefore be uniquely linked to the surgical instrument or imaging device. Associating the data with the particular surgical instrument or imaging device may facilitate analysis of various metrics, such as tracking of performance, need for maintenance, effectiveness of previously performed maintenance, number of surgical procedures in which the surgical instrument or imaging device has been used and/or by which surgeons, and other types of analysis. Identification information can also include information associated with the surgical instrument or imaging device to which the marker is attached but does not uniquely identify the surgical instrument or imaging device, such as manufacturing lot number, manufacturer name, manufacturing date, compatible staple cartridge size, energy modality, distance between each of the fiducial markers (in embodiments in which a surgical instrument or imaging device includes a plurality of fiducial markers), a physical size of the fiducial marker, and other non-uniquely identifying information. Instead of or in addition to identification information, the stored information can include authentication information, such as an authentication signature, indicative of authenticity of the surgical instrument or imaging device to which the marker is attached, thereby allowing the surgical instrument or imaging device to be identified as being certified authentic. Verifying the authenticity of the surgical instrument or imaging device before use thereof in a surgical procedure may help ensure that the surgical instrument or imaging device is safe to use and will perform as expected as provided by the seller, manufacturer, etc. of the surgical instrument or imaging device.
• At least some of the information stored by the marker can be static information that cannot be changed. Identification information and authentication information are examples of static information that can be stored by the marker.
• At least some of the information stored by the marker can be adjustable, e.g., not be static. The information being able to be adjusted can allow the information to be updated to reflect current condition(s) associated with the surgical instrument or imaging device to which the marker is attached. Real time information regarding the surgical instrument or imaging device may thus be gathered during use of the surgical instrument or imaging device, which may allow for informed decisions to be made regarding use of the surgical instrument or imaging device and/or regarding other aspects of the surgical procedure that could be affected by the real time status of the surgical instrument or imaging device. Examples of adjustable information include a current status of the surgical instrument or imaging device to which the marker is attached (e.g., power on/off, mode of operation, energy mode such as bipolar or monopolar, stapling or not stapling, applying energy or not applying energy, gathering images or not gathering images, and other status information) and a current status of a component of the surgical instrument or imaging device to which the marker is attached (e.g., jaws open or jaws closed, end effector articulated or not articulated, electrode array in a compressed configuration or in an expanded configuration, and other component status information). Adjustable information stored on a fiducial marker can be adjusted in any of a variety of ways, such as via at least one of a magnetic parameter change in which stored data is changed magnetically, an electromagnetic parameter change in which stored data is changed electromagnetically, or an electrical parameter change in which stored data is changed electrically.
• The fiducial marker can be passive or active. A passive fiducial marker, such as a bar code or QR code, is configured to be read by a reader. The passive fiducial marker cannot provide stored information except by being read by the reader. Some passive fiducial markers, such as a magnetic coil or a printed magnetic circuit, cannot store information thereon.
• An active fiducial marker is configured to emit energy indicative of the stored information. The energy can be detected by a reader, thereby allowing the stored information to be retrieved whenever the reader is within range of the emitted energy. For example, a fiducial marker can be configured to emit a near infrared (NIR) wavelength pattern that uniquely identifies the surgical instrument or imaging device to which the matter is attached. For another example, each of a plurality of fiducial markers can be configured to emit an ultrasonic audible beacon at a different frequency. Different types of instruments/devices can be associated with the different frequencies such that the information gathered can be associated with a particular type of surgical instrument or imaging device. For yet another example, a surgical instrument or imaging device can include a fiducial marker configured to emit different types of information at each of a plurality of different frequencies, e.g., a first frequency indicating serial number, a second frequency indicating model number, a third frequency indicating end effector jaw size, etc. For still another example, the fiducial marker can include an active or passive RLC resonant circuit. A passive RLC resonant circuit could be energized, for example, by an electromagnetic array.
• An active fiducial marker can be configured to communicate intended function(s) of the surgical instrument or imaging device to which the fiducial marker is attached. For example, the fiducial marker can be configured to communicate at a first frequency until a receiver receiving the beacon at the first frequency communicates to the surgical instrument or imaging device that the surgical instrument or imaging device has reached its target location in a patient's body to perform a function, such as energy delivery, stapling, ablation, etc. The fiducial marker can then be configured to communicate at a second, different frequency.
• The fiducial marker can be attached to a surgical instrument or an imaging device in any of a number of ways. For example, the fiducial marker can be adhered to a surface of a surgical instrument or an imaging device using adhesive. For another example, the fiducial marker can be printed onto a surface of a surgical instrument or an imaging device using ink visible with visible light or using ink visible with invisible light. For yet another example, the fiducial marker can be embedded into a surgical instrument or an imaging device. For still another example, the fiducial marker can be injection molded into a surface of a surgical instrument or an imaging device.
• A fiducial marker can be attached to a stationary portion of a surgical instrument or imaging device, or a fiducial marker can be attached to a movable portion of a surgical instrument or imaging device. A fiducial marker being attached to a stationary portion of a surgical instrument or imaging device allows the marker to be in a fixed position relative to the surgical instrument or imaging device, which may facilitate tracking of the surgical instrument or imaging device since the marker will be in a known location relative to the surgical instrument or imaging device to which the marker is attached and/or may facilitate gathering information from the marker since the marker can be predictably located at a known location on the surgical instrument or imaging device. A fiducial marker being attached to a movable portion of a surgical instrument or imaging device allows the marker to move with the movable portion of the surgical instrument or imaging device, which may facilitate determining a condition of the movable portion of the surgical instrument or imaging device because the marker will be in different positions depending on the movable portion's current position and orientation. Examples of movable portions include an end effector configured to be articulated relative to an elongate shaft and/or rotated relative to the elongate shaft, a jaw of an end effector configured to move in moving the end effector between open and closed positions, each link in a series of links configured to bend or otherwise articulate relative to one another, an inflatable or expandable member of an ablation device, and other movable portions.
• FIG.23 illustrates one embodiment of asurgical instrument1300 including first and secondfiducial markers1302,1304. Thesurgical instrument1300 includes twofiducial markers1302,1304 in this illustrated embodiment, but a surgical instrument (or an imaging device) can have one or more fiducial markers. Thesurgical instrument1300 in this illustrated embodiment is a grasper, but other types of surgical instruments can include one or more fiducial markers. Thesurgical instrument1300 in this illustrated embodiment includes anelongate shaft1306, anend effector1308 including upper andlower jaws1310,1312 configured to engage tissue therebetween, and an articulation joint1314 between theshaft1306 and theend effector1308 that is configured to facilitate articulation of theend effector1308 relative to theshaft1306.
• The firstfiducial marker1302 in this illustrated embodiment is attached to a stationary portion of thesurgical instrument1300, namely to theelongate shaft1306. The secondfiducial marker1304 in this illustrated embodiment is attached to a movable portion of thesurgical instrument1300, namely to an elongate connectingportion1316 connecting the articulation joint1314 and theend effector1308. The connectingportion1316 is configured to articulate with theend effector1308 relative to theelongate shaft1306. The secondfiducial marker1304 is thus configured to indicate an articulated condition of theend effector1308.
• The first and secondfiducial markers1302,1304 in this illustrated embodiment are the same size as one another and each have a circular shape. In other embodiments in which a surgical instrument or imaging device includes a plurality of fiducial markers, one or more of the fiducial markers can have a size and/or shape different than one or more of the other fiducial markers. Fiducial markers of certain sizes and shapes may fit better on certain portions of surgical instruments and imaging devices than other sizes and shapes.
• Fiducial markers can have shapes other than circular, such as square, triangular, rectangular, elliptical, a coil, etc. A shape of a fiducial marker can be used to provide information about the surgical instrument or imaging device to which the fiducial marker is attached. For example, certain shapes of fiducial markers can be associated with different parts of a surgical instrument or imaging device such that the shape of the fiducial marker indicates where the fiducial marker is located on the surgical instrument or imaging device, such as a first fiducial marker having a first shape being on an upper jaw of an end effector and a second fiducial marker having a second, different shape being on a lower jaw of the end effector, a first fiducial marker having a first shape being on first side of an elongate shaft of a surgical instrument or imaging device and a second fiducial marker having a second, different shape being on an opposite side of the surgical instrument or imaging device, etc. For another example, a shape can indicate an axis of the surgical instrument or imaging device to which the fiducial marker is attached. For example, a fiducial marker having a thin elongate rectangle shape can be on an elongate shaft of a surgical instrument or imaging device and extend substantially parallel to the shaft's longitudinal axis and thereby indicate a direction and/or trajectory of the shaft's longitudinal axis. A person skilled in the art will appreciate that axes may not be precisely parallel but nevertheless considered to be substantially parallel for any of a variety of reasons, such as sensitivity of measurement equipment and manufacturing tolerances.
• As discussed herein, surgical instruments and imaging devices can be visualized during performance of a surgical procedure. The visualization during the surgical procedure can gather static images, video images, or both static images and video images. Regardless of whether the gathered images are static images or video images, the gathered images can show a fiducial marker attached to a surgical instrument or an imaging device. The gathered images can thus be analyzed, e.g., by a controller of a surgical hub, a robotic surgical system, or other computer system, to identify a fiducial marker shown in at least one of the gathered images and retrieve stored information from the marker via the identified image(s). Information can thus be retrieved from a fiducial marker in the normal course of the surgical procedure's performance where images are already being gathered for display, whether the images are gathered using an imaging device inside or outside a patient's body. Machine learning can be used to improve fiducial marker identification over time.
• For example, the fiducial marker shown in an image can be a passive marker, such as a barcode or a QR code, that can be identified using an image recognition algorithm. Once identified as a fiducial marker, information can then be electronically retrieved from the passive marker, e.g., the barcode or QR code can be read.
• Information retrieved from a fiducial marker can be used in any of a variety of ways. For example, as mentioned above, the information can be used to uniquely identify the surgical instrument or imaging device to which the marker is attached. For another example, as also mentioned above, the information can be used to authenticate the surgical instrument or imaging device to which the marker is attached. For yet another example, as also mentioned above, the information can be used to facilitate analysis of various metrics.
• For still another example, the information can be used to ergonomically assess the surgical instrument or imaging device to which the marker is attached. Based on the ergonomic assessment, the current position or orientation of the surgical instrument or imaging device may not be appropriate for one or more possible actions, thereby triggering a user notification indicating action that should be taken before a particular action (or particular actions) are taken. In some embodiments the user notification may not indicate that an action should be taken but instead simply indicate the ergonomic assessment, e.g., jaws are open, jaws are closed, end effector is articulated, end effector is not articulated, electrode array is in a compressed configuration, electrode array is in an expanded configuration, etc. For example, based on a current orientation of a surgical stapler's end effector being inverted as indicated by the fiducial marker, the user notification can indicate that the end effector should be rotated 180° before a staple cartridge is removed from the end effector, e.g., to replace the cartridge after staples have been fired from the cartridge. For another example, based on a jaw open status as indicated by the fiducial marker, the user notification can indicate that jaws of a surgical instrument are currently open and should be closed before, e.g., electrode(s) on one or both of the jaws are activated to apply energy to tissue, the instrument is removed from the patient's body, staples are fired from the instrument, etc. The jaw open status can be determined by, for example, determining that a distance between two fiducial markers of the surgical instrument is different than a distance between the two fiducial markers when the jaws are closed. The distance between the two fiducial markers when the jaws are closed can be part of the stored information that can then be used as reference in the ergonomic assessment, or the distance between the two fiducial markers when the jaws are closed can be pre-stored information accessible to the controller performing the assessment. For yet another example, based on a compressed electrode array status, the user notification can indicate that the electrode array should be expanded before energy delivery begins, such as by the surgical device's expandable member to which the electrode array is attached being expanded and/or by the electrode array being positioned distal to a containment mechanism currently containing the electrode array in a compressed configuration.
• The ergonomic assessment can allow a determination as to whether or not the surgical instrument or imaging device to which the fiducial marker is attached is aimed toward or away from an imaging device that gathered information from the fiducial marker. In such an instance, the surgical instrument or imaging device can include a plurality of fiducial markers. The ergonomic assessment can determine distances between each of the fiducial markers and thereby determine a three-dimensional aspect of the fiducial markers that indicates whether the surgical instrument or imaging device is aimed toward or away from the imaging device that gathered the information. Determining where the surgical instrument or imaging device is aimed may facilitate image overlay of the surgical instrument or imaging device on another gathered image in which the surgical instrument or imaging device is not otherwise visible.
• For yet another example, a surgical instrument or imaging device can include a plurality of fiducial markers that can be used determine scale, angle, distance, and position of the surgical instrument or imaging device, or portion thereof, to which the fiducial markers are attached. The fiducial markers can be attached to the surgical instrument or imaging device in a pattern that will change in perspective based on how the surgical instrument or imaging device is positioned relative to the reader gathering image(s) of the fiducial markers. Based on the gathered pattern of the fiducial markers, scale, angle, distance, and position of the surgical instrument or imaging device, or portion thereof, to which the fiducial markers are attached.
• A fiducial marker's stored information can be readable without any decryption being necessary. Alternatively, at least some of a fiducial marker's stored information can require decryption before being readable. Requiring decryption may improve security and help ensure that only authorized users can decrypt the stored information, e.g., so only users verified as having purchased the surgical instrument or imaging device to which the fiducial marker is attached has access to the required decryption key. A memory of a surgical hub, a robotic surgical system, or other computer system can be configured to have the decryption key pre-stored therein so that when the fiducial marker is read during a surgical procedure, the decryption key can be retrieved and used to decrypt the stored information. The fiducial marker can include a non-encrypted code or other identifier that the surgical hub, a robotic surgical system, or other computer system can use to locate the correct decryption key, such as in a lookup table associating each of a plurality of decryption keys with a different non-encrypted code or other identifier.
• A fiducial marker's stored information can be configured to be gathered using only one energy mode, e.g., visible light, ultrasound, infrared (IR), magnetism such as Hall effect or MRI, CT, etc. A fiducial marker's information being retrievable using invisible light means that the fiducial marker can, but need not be, on an external surface of the surgical instrument or imaging device. Instead, a fiducial marker storing information readable using invisible light can be internal to the surgical instrument or imaging device, such as by being embedded therein or by being on a surface of an internal component of the surgical instrument or imaging device. For example, a fiducial marker of tungsten can be within an external steel element of a surgical instrument or imaging device such that the tungsten fiducial marker can be visible on a CT image but not be visible to the naked eye.
• A fiducial marker storing information readable using visible light may have reflective properties, in which case the fiducial marker may best be visible under low light conditions.
• Particular types of information, e.g., identification information, authorization information, etc., stored on a fiducial marker can be associated with a particular energy mode such that when a particular type of information is desired the energy mode associated with that type of information can be used to retrieve that information. If a surgical instrument or imaging device includes a plurality of fiducial markers, information from each of the markers can be configured to be gathered using the same energy mode as all the other markers or using a different energy mode than at least one other of the markers. More than one fiducial marker having information retrievable using a same energy mode may speed the information retrieval process since a single energy mode can be used to retrieve information from multiple fiducial markers. Different fiducial markers on a same surgical instrument or imaging device being readable with a different energy mode may facilitate targeted information retrieval since different energy modes can be used to retrieve different information as desired.
• A fiducial marker can include a plurality of layers. Each of the layers can be configured to be identifiable using a different energy mode. A single fiducial marker can thus be configured to be read using a plurality of different wavelengths in different light spectrums. Layers can be made from different materials to facilitate their reading in a particular energy mode. For example, tungsten can be visible using CT. For another example, polymer density having differing hydrogen aspects can be seen ultrasonically. For example, a polymer can be radio opaque so as to be opaque to radio waves and the x-ray portion of the electromagnetic spectrum. For another example, a polymer can not be radio opaque so as to not be opaque to radio waves and the x-ray portion of the electromagnetic spectrum. For yet another example, a material can be configured to fluoresce when exposed to certain light wavelengths.
• Each of the fiducial mark's plurality of layers can include the same stored information, which may provide redundancy and/or may facilitate gathering information from the fiducial marker regardless of the type of light that the fiducial marker is exposed to during a surgical procedure. If the fiducial marker is exposed to more than one type of light compatible with the fiducial marker and each of those light layers of the fiducial marker store the same information, the information from each of the read layers can be compared with one another to verify accuracy of the information. Alternatively, one or more of the layers can include information different from at least one of the other layers, which may facilitate targeted information gathering since different types of light can be used to gather different information.
• FIG.24,FIG.25, andFIG.26 illustrate one embodiment of afiducial marker1320 including a plurality oflayers1322,1324,1326. A fiducial marker including multiple layers can have the layers adjacent to one another horizontally so as to all be at a same axial level, as in this illustrated embodiment, or the layers can be at different axial (vertical) levels so as to be three-dimensional.FIG.24 illustrates avisible light layer1322 configured to be read using visible light.FIG.25 illustrates anultrasound light layer1324 configured to be read using ultrasonic light.FIG.26 illustrates aninfrared light layer1326 configured to be read using IR light. Thelayers1322,1324,1326 have an alignedcenter axis1328cand aligned clockingaxes1328k, which may allow each visualization technique to coordinate radial orientation. Thefiducial marker1320 has a circular shape in this illustrated embodiment but can have another shape, as discussed herein.
• FIG.27 illustrates one embodiment of animaging device1330 configured to gather information from fiducial markers using a plurality of energy modes. Theimaging device1330 is a scope in this illustrated embodiment, but other imaging devices can be used. Theimaging device1330 is shown in use with a first surgical instrument, which is thesurgical instrument1300 ofFIG.23, and a secondsurgical instrument1332. The secondsurgical instrument1332 is a grasper similar to thesurgical instrument1300. Graspers are used as examples only, as other types of surgical instruments can be used with fiducial markers.
• Theimaging device1330 is shown inFIG.27 as using three energy modes to gather information from the first and secondfiducial markers1302,1304 of the firstsurgical instrument1300 and from third and fourthfiducial markers1334,1336 of the secondsurgical instrument1332. The three energy modes in this illustrated embodiment are visible light1338 for visible light sensing,ultrasonic light1340 for ultrasound sensing, and radio opaque frequency light1342 for radio opaque sensing. At least one of the first, second, third, and fourthfiducial markers1302,1304,1334,1336 is readable using thevisible light1338, at least one of the first, second, third, and fourthfiducial markers1302,1304,1334,1336 is readable using theultrasonic light1340, and at least one of the first, second, third, and fourthfiducial markers1302,1304,1334,1336 is readable using the radio opaque frequency light1342. The first and secondfiducial markers1302,1304 of the firstsurgical instrument1300 are described with respect toFIG.27 as being readable using at least one of visible light, ultrasonic light, and radio opaque frequency energy modes, but in other embodiments may be readable using other energy mode(s).
• Asingle imaging device1330 is used in the embodiment ofFIG.27 to gather information using the three energy modes variously associated with the first, second, third, and fourthfiducial markers1302,1304,1334,1336. In another embodiment, more than one imaging device can be used with each of the imaging devices using at least one of the three energy modes.
• Devices and systems disclosed herein can be designed to be disposed of after a single use, or they can be designed to be used multiple times. In either case, however, the devices can be reconditioned for reuse after at least one use. Reconditioning can include any combination of the steps of disassembly of the devices, followed by cleaning or replacement of particular pieces, and subsequent reassembly. In particular, the devices can be disassembled, and any number of the particular pieces or parts of the device can be selectively replaced or removed in any combination. Upon cleaning and/or replacement of particular parts, the devices can be reassembled for subsequent use either at a reconditioning facility, or by a surgical team immediately prior to a surgical procedure. Those skilled in the art will appreciate that reconditioning of a device can utilize a variety of techniques for disassembly, cleaning/replacement, and reassembly. Use of such techniques, and the resulting reconditioned device, are all within the scope of the present application.
• It can be preferred that devices disclosed herein be sterilized before use. This can be done by any number of ways known to those skilled in the art including beta or gamma radiation, ethylene oxide, steam, and a liquid bath (e.g., cold soak). An exemplary embodiment of sterilizing a device including internal circuitry is described in more detail in U.S. Pat. No. 8,114,345 issued Feb. 14, 2012 and entitled “System And Method Of Sterilizing An Implantable Medical Device.” It is preferred that device, if implanted, is hermetically sealed. This can be done by any number of ways known to those skilled in the art.
• The present disclosure has been described above by way of example only within the context of the overall disclosure provided herein. It will be appreciated that modifications within the spirit and scope of the claims may be made without departing from the overall scope of the present disclosure. All publications and references cited herein are expressly incorporated herein by reference in their entirety for all purposes.

Claims (20)

What is claimed is:

1. A surgical system, comprising:

a surgical device having a distal portion configured to be advanced into a body of a patient during performance of a surgical procedure;

a fiducial marker on an exterior of the distal portion of the surgical device, the fiducial marker storing information associated with the surgical device;

a first imaging device configured to detect the fiducial marker in the body of the patient using a first energy modality; and

a second imaging device configured to detect the fiducial marker in the body of the patient using a second, different energy modality.

2. The system ofclaim 1, wherein the first modality is visible light; and

the second modality is non-visible light.

3. The system ofclaim 2, wherein the second modality is one or more of multi-spectral light, computerized tomography (CT), ultrasound, Hall effect magnetism, and magnetic resonance imaging (MRI).

4. The system ofclaim 1, further comprising a display device; and

a controller operatively coupled to the first and second imaging devices and configured to cause the display device to show data indicative of the fiducial marker detected by each of the first and second imaging devices.

5. The system ofclaim 4, wherein a robotic surgical system includes the controller, and the surgical device and the first and second imaging devices are each configured to be releasably coupled to and controlled by the robotic surgical system.

6. The system ofclaim 4, wherein a surgical hub includes the controller.

7. The system ofclaim 1, wherein the fiducial marker includes a plurality of fiducial markers each being configured to be detected by one of the first and second imaging devices, and each of the plurality of fiducial markers has a predefined size, aspect ratio, and distance from one another; and

the system further comprises a controller configured to determine a three-dimensional (3D) aspect of the plurality of fiducial markers.

8. The system ofclaim 1, wherein the fiducial marker includes a plurality of fiducial markers arranged in a pattern on the exterior of the distal portion of the surgical device such that the pattern perspective changes for the first imaging device based on a relative position of the pattern and the first imaging device and changes for the second imaging device based on a relative position of the pattern and the second imaging device; and

the system further comprises a controller is configured to analyze the pattern to determine at least one of a scale, angle, distance, and position of the surgical device.

9. The system ofclaim 1, wherein the fiducial marker is multi-modal such that the fiducial marker stores first information that is detectable by the first energy modality but not the second energy modality and stores second information that is detectable by the second energy modality but not the first energy modality; and

the first and second information communicate the same information associated with the surgical device.

10. The system ofclaim 9, wherein the first modality is visible light; and

the second modality is non-visible light.

11. The system ofclaim 1, wherein the surgical device includes one of a surgical dissector, a surgical stapler, a surgical grasper, a clip applier, a smoke evacuator, and a surgical energy device.

12. The system ofclaim 1, wherein the surgical device and the first and second imaging devices are each configured to be releasably coupled to and controlled by a robotic surgical system.

13. A surgical method, comprising:

advancing the surgical device ofclaim 1 into the body of the patient during the performance of the surgical procedure;

detecting, using the first imaging device ofclaim 1 releasably coupled to a robotic surgical system, the fiducial marker in the body of the patient using visible light; and

detecting, using the second imaging device ofclaim 1 releasably coupled to the robotic surgical system, the fiducial marker in the body of the patient using non-visible light.

14. The method ofclaim 13, wherein the non-visible light is one or more of multi-spectral light, computerized tomography (CT), ultrasound, Hall effect magnetism, and magnetic resonance imaging (MRI).

15. The method ofclaim 13, further comprising causing, using a controller, a display device to show data indicative of the fiducial marker detected by each of the first and second imaging devices.

16. The method ofclaim 13, wherein the fiducial marker includes a plurality of fiducial markers each being configured to be detected by one of the first and second imaging devices, and each of the plurality of fiducial markers has a predefined size, aspect ratio, and distance from one another; and

the method further comprises determining, using a controller, a three-dimensional (3D) aspect of the plurality of fiducial markers.

17. The method ofclaim 13, wherein the fiducial marker includes a plurality of fiducial markers arranged in a pattern on the exterior of the distal portion of the surgical device such that the pattern perspective changes for the first imaging device based on a relative position of the pattern and the first imaging device and changes for the second imaging device based on a relative position of the pattern and the second imaging device; and

the method further comprises analyzing, using a controller, the pattern to determine at least one of a scale, angle, distance, and position of the surgical device.

18. The method ofclaim 13, wherein the fiducial marker is multi-modal such that the fiducial marker stores first information that is detectable using the visible light but not the non-visible light and stores second information that is detectable using the non-visible light but not the visible light; and

the first and second information communicate the same information associated with the surgical device.

19. The method ofclaim 13, wherein the robotic surgical system includes the controller.

20. The method ofclaim 13, wherein a surgical hub includes the controller.

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