Patent Publication Number: US-2023149115-A1

Title: Force sensed surface scanning systems, devices, controllers and methods

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is a continuation application of U.S. Application No. 16/497,963, filed on Sep. 26, 2019, which is a U.S. National Phase application under 35 U.S.C. § 371 of International Application No. PCT/EP2018/058379 filed Apr. 2, 2018, which claims the benefit of U.S. Patent Application No. 62/479,815, filed on Mar. 31, 2017. These applications are hereby incorporated by reference herein. 
    
    
     FIELD OF THE INVENTION 
     The inventions of the present disclosure generally relate to systems, devices, controllers and methods for a surface scanning of an anatomical organ (e.g., a liver, a heart, a lung, a brain, a stomach, a spleen, a kidney, a pancreas, a bladder, etc.) for purposes of registering an intraoperative surface scanned volume model of the anatomical -organ with a preoperative image segmented volume model of the anatomical organ. 
     The inventions of the present disclosure more particularly relate to improving such systems, devices, controllers and methods by implementing a force sensing technology into a robotic-assisted surface scanning of an anatomical organ to thereby enhance a registration of an intraoperative surface scanned volume model of the anatomical organ with a preoperative image segmented volume model of the anatomical organ. 
     BACKGROUND OF THE INVENTION 
     Minimally invasive surgical operations may be performed through small, single incision ports in the insufflated abdominal wall. Therefore a line-of-sight via an endoscope to surgical instruments and an outer surface of anatomical organ(s) is provided by endoscopic images. Internal structures of the anatomical organ(s) (e.g., vessels, tumors, etc.) are usually visualized with two-dimensional (“2D”) laparoscopic ultrasound (LUS). However, LUS is difficult to interpret in a large anatomical context, especially when the image quality is obscured by tissue abnormalities (e.g. cirrhosis, fatty structures, etc.), by presence of previous oncological therapy (e.g. thermal ablation, transarterial embolization, etc.) and/or by improper acoustic coupling of the LUS to the anatomical organ(s). To improve intraoperative information, a high quality three-dimensional (“3D”) imaging modality (e.g., a computer-tomography modality (CT), a magnetic resonance imaging modality (MRD, cone-beam CT (CBCT), etc.) may be fused with the laparoscopic images whereby image registration may provide knowledge of tumor location depth, vicinity of critical anatomical structures, predefined resection plans and other additional information useful for the surgical operation. 
     Several surface based registration techniques are known in art of the present disclosure for fusing the 3D preoperative images with the intraoperative physical space. These techniques estimate an image-to-patient transformation matrix by matching a surface of the anatomy segmented from the 3D preoperative images with a sparse representation of the same surface acquired during the procedure. 
     Current techniques as known in the art for intraoperative surface scanning of soft tissue anatomical structure(s) during a surgical procedure utilize either a pre-calibrated tool pointer tracked by external position measurement systems (e.g., optical tracking, electromagnetic tracking, etc.), or external laser range scanners, or 3D multi-view reconstruction from endoscopic images. However, such intraoperative surface scanning is challenging due to unknown tissue properties and large tissue deformation. 
     More particularly, an accurate anatomy scanning using tracked tool pointers is time-consuming and highly user-dependent. The reproducibility of this method is also hindered by tool calibration and tracking system inaccuracies, errors introduced by the operator when maintaining both constant pressure and contact with the organ surface, and unknown deformation of the soft tissue anatomy during the acquisition. 
     On the other hand, laser scanning methods require external laser range scanners, which are difficult to integrate into minimally invasive surgical suite, and are inaccurate due to the reflective nature of the organ&#39;s surface. 
     Further a multi-view 3D reconstruction from endoscopic images requires a surface that presents either unique features or the texture and a surface that is not covered by blood. 
     SUMMARY OF THE INVENTION 
     To improve upon surface scanning systems, devices, controllers and methods for intraoperative surface scanning of soft tissue anatomical structure(s) during a surgical procedure, the present disclosure provides inventions for constructing an intraoperative scanned volume model of an anatomical organ based upon a sensing of a contact force applied by an surface scanning end-effector of a scanning robot to the anatomical organ whereby the contact force is indicative of a defined surface deformation offset of the anatomical organ. 
     One embodiment of the inventions of the present disclosure is a force sensed surface scanning system employing a scanning robot and a surface scanning controller. 
     The scanning robot includes a surface scanning end-effector for generating force sensing data informative of a contact force applied by the surface scanning end-effector to an anatomical organ. 
     The surface scanning controller is employed for controlling a surface scanning of the anatomical organ by the surface scanning end-effector including the surface scanning end-effector generating the force sensing data, and for constructing an intraoperative volume model of the anatomical organ responsive to the force sensing data generated by the surface scanning end-effector indicating a defined surface deformation offset of the anatomical organ. 
     A second embodiment of the inventions of the present disclosure is the surface scanning controller employing a scanning commander ( 133 ) and a model constructor ( 134 ). 
     The scanning commander ( 133 ) is employed for controlling the surface scanning of the anatomical organ by the surface scanning end-effector including the surface scanning end-effector generating force sensing data informative of the contact force applied by the surface scanning end-effector to the anatomical organ. 
     The model constructor ( 134 ) is employed for constructing the intraoperative volume model of the anatomical organ responsive to the force sensing data generated by the surface scanning end-effector indicating a defined surface deformation offset of the anatomical organ. 
     A third embodiment of the inventions of the present disclosure is a force sensed surface scanning method involving the surface scanning controller controlling a surface scanning of an anatomical organ by the surface scanning end-effector scanning end-effector including the surface scanning end-effector generating force sensing data informative of a contact force applied by the surface scanning end-effector to the anatomical organ. 
     The force sensed surface scanning method further involves surface scanning controller constructing an intraoperative volume model of the anatomical organ responsive to the force sensing data generated by the surface scanning end-effector indicating a defined surface deformation offset of the anatomical organ. 
     For purposes of describing and claiming the inventions of the present disclosure: 
     (1) terms of the art of the present disclosure including, but not limited to, “imaging modality”, “scanning robot” and “end-effector” are to be understood as known in the art of the present disclosure and exemplary described herein; 
     (2) the term “force sensed surface scanning system” broadly encompasses all surface scanning systems, as known in the art of the present disclosure and hereinafter conceived, incorporating the inventive principles of the present disclosure for implementing a force sensing technology into a robotic-assisted surface scanning of an anatomical organ. Examples of known surface scanning systems include, but are not limited to, Philips augmented-reality surgical navigation systems, Philips L10-4 1 ap linear transducer based systems, BrainLab Cranial navigation with navigated pointer tool for surface digitalization, and Pathfindeer surgical navigation system; 
     (3) the term “force sensed surface scanning method” broadly encompasses all surface scanning methods, as known in the art of the present disclosure and hereinafter conceived, incorporating the inventive principles of the present disclosure for implementing a force sensing technology into a robotic-assisted surface scanning of an anatomical organ. A non-limiting example of known surface scanning method is Philips Pinnacle3; 
     (4) the term “controller” broadly encompasses all structural configurations of an application specific main board or an application specific integrated circuit for controlling an application of various inventive principles of the present disclosure related to monitoring a folding and/or a twisting of an interventional device within the anatomical lumen as subsequently exemplarily described herein. The structural configuration of the controller may include, but is not limited to, processor(s), computer-usable/computer readable storage medium(s), an operating system, application module(s), peripheral device controller(s), interface(s), bus(es), slot(s) and port(s). The labels “imaging”, robot” and “surface scanning” as used herein for the term “controller” distinguishes for identification purposes a particular controller from other controllers as described and claimed herein without specifying or implying any additional limitation to the term “controller”. 
     (6) the term “application module” broadly encompasses a component of a controller consisting of an electronic circuit and/or an executable program (e.g., executable software and/or firmware stored on non-transitory computer readable medium(s)) for executing a specific application. The labels “scanning commander”, “model constructor”, “model registor” and “model fuser” as used herein for the term “module” distinguishes for identification purposes a particular module from other modules as described and claimed herein without specifying or implying any additional limitation to the term “application module”; and 
     (7) the terms “data”, and “command” broadly encompasses all forms of a detectable physical quantity or impulse (e.g., voltage, current, or magnetic field strength) as understood in the art of the present disclosure and as exemplary described herein for communicating information and/or instructions in support of applying various inventive principles of the present disclosure as subsequently described herein. Data/command communication between components of the present disclosure may involve any communication method, as known in the art of the present disclosure and hereinafter conceived, including, but not limited to, data/command transmission/reception over any type of wired or wireless medium/datalink and a reading of data/command uploaded to a computer-usable/computer readable storage medium. 
     The foregoing embodiments and other embodiments of the inventions of the present disclosure as well as various features and advantages of the inventions of the present disclosure will become further apparent from the following detailed description of various embodiments of the inventions of the present disclosure read in conjunction with the accompanying drawings. The detailed description and drawings are merely illustrative of the inventions of the present disclosure rather than limiting, the scope of the inventions of the present disclosure being defined by the appended claims and equivalents thereof. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1 A  illustrates an exemplary embodiment of a force sensed surface scanning method in accordance with the inventive principle of the present disclosure. 
         FIG.  1 B  illustrates an exemplary embodiment of a force sensed surface scanning system in accordance with the inventive principle of the present disclosure. 
         FIGS.  2 A and  2 B  illustrate exemplary scanned path planning in accordance with the inventive principles of the present disclosure. 
         FIGS.  3 A- 3 C  illustrate an exemplary surface scanning of an anatomical organ by a surface scanning end-effector in accordance with the inventive principle of the present disclosure. 
         FIG.  4    illustrates an exemplary embodiment of the force sensed surface scanning system of  FIG.  1 B  in accordance with the inventive principle of the present disclosure. 
         FIG.  5    illustrates a flowchart representative of an exemplary embodiment of the force sensed surface scanning method of  FIG.  1 A  in accordance with the inventive principle of the present disclosure. 
         FIGS.  6 A- 6 F  illustrate an exemplary surface scanning of an anatomical organ by a pointer tool in accordance with the inventive principle of the present disclosure. 
         FIGS.  7 A- 7 F  illustrate an exemplary surface scanning of an anatomical organ by an ultrasound laparoscope in accordance with the inventive principle of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS 
     As an improvement of known surface scanning systems, devices, controllers and methods for intraoperative surface scanning of soft tissue anatomical organ(s) during a surgical procedure, the present disclosure provides inventions for constructing an intraoperative scanned volume model of an anatomical organ based upon a sensing of a contact force applied by an surface scanning end-effector of a scanning robot to the anatomical organ whereby the contact force is indicative of a defined surface deformation offset of the anatomical organ. 
     To facilitate an understanding of the various inventions of the present disclosure, the following description of  FIGS.  1 A and  1 B  teaches embodiments of a force sensed surface scanning method  10  and a force sensed surface scanning system  20  in accordance with the inventive principles of the present disclosure. From this description, those having ordinary skill in the art will appreciate how to practice various and numerous embodiments of force sensed surface scanning methods and force sensed surface scanning systems in accordance with the inventive principles of the present disclosure. 
     Also from this description, those having ordinary skill in the art will appreciate an application of the force sensed surface scanning methods and force sensed surface scanning systems of the present disclosure in support of surgical procedures utilizing fusion of preoperative imaging and intraoperative imaging. Examples of such surgical procedure include, but are not limited to, a cardio-thoracic surgery, a prostatectomy, a splenectomy, a nephrectomy and a hepatectomy. 
     Referring to  FIG.  1 B , force sensed surface scanning system  20  employs a volume imaging modality  31 , a robotic system  40  and a surface scanning controller  50 . 
     Volume imaging modality  31  is an imaging modality for generating a preoperative volume image of an anatomical region as known in the art of the present disclosure (e.g., a computed tomography imaging, a magnetic resonance imaging, an ultrasound imaging modality, a positron emission tomography imaging, and a single photo emission computed tomography imaging of a thoracic region, a cranial region, an abdominal region or a pelvic region). 
     Robotic system  40  employs a scanning robot  41 , a robot controller  42 , a surface scanning end-effector  43  and an ultrasound imaging end-effector  44 . 
     A scanning robot  41  is any type of robot, known in the art of the present disclosure or hereinafter conceived, that is structurally configured or structurally configurable with one or more end-effectors utilized in the performance of a surgical procedure. Further, scanning robot  41  is equipped with pose tracking technology and force sensing technology as known in the art of the present disclosure. 
     In one exemplary embodiment, a scanning robot  41  is a snake scanning robot equipped with a rotary encoder embedded in each joint of the snake scanning robot for tracking a pose of the snake scanning robot as known in the art of the present disclosure, and further equipped with a force sensor, a pressure sensor, or an optical fiber for sensing a contact force between an end-effector of the snake scanning robot and an anatomical organ as known in the art of the present disclosure. 
     Robot controller  42  controls a pose of scanning robot  41  within a relevant coordinate system in accordance with robot position commands  55  issued by surface scanning controller  50  as known in the art of the present disclosure. 
     Surface scanning end-effector  43  is utilized to construct an intraoperative scanned volume model  17  of the anatomical region in accordance with the inventive principles of the present invention as will be further explained herein. In practice, surface scanning end-effector  43  may be any type of end-effector having a calibration scan reference thereon as known in the art of the present disclosure. In exemplary embodiments, surface scanning end-effector  43  may include mount holding a tool pointer having a spherical distal tip serving as a calibrated scanning reference, or may include a mount holding an ultrasound laparoscope having an ultrasound transducer serving as a calibrated scanning reference. 
     Surgical imaging end-effector  44  is utilized to intraoperatively image an external surface and/or internal structures within the anatomical organ in support of a surgical procedure as known in the present disclosure. In an exemplary embodiment, surgical imaging end-effector  44  may be an ultrasound laparoscope, which may also serve as surface scanning end-effector  43 . 
     In practice, surface scanning end-effector  43  is mounted onto scanning robot  41  whereby robot controller  42  controls scanning robot  41  in accordance with robot position commands  55  from surface scanning controller  50  to implement a robotic surface scanning  12  of force sensed surface scanning method  10  of  FIG.  1 A  as will be further explained herein. Subsequently, surgical imaging end-effector  44  is mounted onto scanning robot  41  whereby robot controller  42  controls scanning robot  41  in accordance with interactive or planned commands from an operator of robotic system  40  during a surgical procedure as will be further explained herein. 
     Alternatively in practice, surface scanning end-effector  43  is affixed to scanning robot  41  whereby robot controller  42  controls scanning robot  41  in accordance with robot position commands  55  from surface scanning controller  50  to implement a robotic surface scanning  12  of force sensed surface scanning method  10  of  FIG.  1 A  as will be further explained herein. Subsequently, surgical imaging end-effector  44  is affixed to or mounted onto an additional scanning robot  41  whereby robot controller  42  controls the additional scanning robot  41  in accordance with interactive or planned commands from an operator of robotic system  40  during a surgical procedure as will be further explained herein. 
     Surface scanning controller  50  controls an implementation of force sensed surface scanning method  10  ( FIG.  1 A ) of the present disclosure as will now be described herein. 
     Referring to  FIGS.  1 A and  1 B , force sensed surface scanning method  10  involves a scan path planning phase  11 , a robotic surface scanning phase  12  and a volume model registration phase  13 . 
     Prior to a path planning phase  11  of method  10 , an imaging controller  30  is operated for controlling a generation by a volume imaging modality  31  of a preoperative volume image of an anatomical region as known in the art of the present disclosure (e.g., a computed tomography imaging, a magnetic resonance imaging, an ultrasound imaging modality, a positron emission tomography imaging, and a single photo emission computed tomography imaging of a thoracic region, a cranial region, an abdominal region and a pelvic region). 
     Path planning phase  11  of method  10  encompasses a communication of volume image data  14  representative of the preoperative volume image of the anatomical organ to surface scanning controller  50  by any communication technique known in the art of the present disclosure (e.g., a data upload or a data streaming). Surface scanning controller  50  processes volume image data  14  to generate a preoperative image segmented volume model  15  of an anatomical organ within the anatomical region as known in the art of the present disclosure (e.g., a segmented volume model of a liver, a heart, a lung, a brain, a stomach, a spleen, a kidney, a pancreas, a bladder, etc.). 
     Alternatively, imaging controller  30  may process volume image data  14  to generate preoperative image segmented volume model  15  of the anatomical organ as known in the art of the present disclosure whereby path planning phase  11  of method  10  encompasses a communication of preoperative image segmented volume model  15  of the anatomical organ to surface scanning controller  50  by any communication technique known in the art of the present disclosure (e.g., a data upload or a data streaming). 
     Path planning phase  11  of method  10  further encompasses surface scanning controller  50  executing a scan path planning  51  involving a definition of a path along one or more segments or an entirety of a surface of preoperative image segmented volume model  15  of the anatomical organ as known in the art of the present disclosure. 
     In one embodiment of scan path planning  51 , surface scanning controller  50  implements an operator or systematic delineation as known in the art of the present disclosure of a line sampling scan path on preoperative image segmented volume model  15  of the anatomical organ involving a continuous contact between surface scanning end-effector  43  and the anatomical organ as surface scanning end-effector  43  is traversed along one or more lines over a surface segment or an entire surface of preoperative image segmented volume model  15  of the anatomical organ. 
     For example,  FIG.  2 A  illustrates an exemplary delineation of a line sampling scan path  15   a  including a plurality of lines traversing the surface of a preoperative image segmented volume model of a liver. In practice, the lines may be disconnected as shown or connected to any degree by an operator or system delineation of path  15   a.    
     Alternatively in practice, a line sampling scan path may be defined independent of the preoperative image segmented volume. For example, the line sampling scan path may be a defined as a geometric pattern (e.g., a spiral pattern, a zigzag pattern, etc.) or as a random pattern (e.g., a white noise sampling scheme) or a combination thereof. 
     In a second embodiment of scan path planning  51 , surface scanning controller  50  implements an operator or systematic delineation as known in the art of the present disclosure of a point sampling scan path on preoperative image segmented volume model  15  of the anatomical organ involving a periodic contact between surface scanning end-effector  43  and the anatomical organ as surface scanning end-effector  42  is traversed over a surface segment or an entire surface of preoperative image segmented volume model  15  of the anatomical organ. 
     For example,  FIG.  2 B  illustrates an exemplary a delineation of a point sampling scan path  15   b  including a plurality of points marked on a surface of a preoperative image segmented volume model of a liver. In practice, as designed by an operator or system delineation of path  15   b , the points may be arranged in a uniform pattern as shown or in a non-uniform pattern. 
     Alternatively in practice, a point sampling scan path may be defined independent of the preoperative image segmented volume. For example, the line sampling scan path may be a defined as a geometric pattern (e.g., a spiral pattern, a zigzag pattern, etc.) or as a random pattern (e.g., a white noise sampling scheme) or a combination thereof. 
     Further in practice, scan path planning  51  may also involve any combination of a line sampling scan path and a point sampling scan path delineated on preoperative image segmented volume model  15  of the anatomical organ. 
     Additionally in practice, scan path planning  51  may be omitted for surface scanning controller  50  or not used by surface scanning controller  50  for a particular procedure. In this scenario, an operator of system  20  may control a navigation of scanning robot  41  in implementing an operator defined sampling scan path. 
     Still referring to  FIGS.  1 A and  1 B , robotic surface scanning phase  12  of method  10  encompasses an image guidance of surface scanning end-effector  43  in proximity of the anatomical organ whereby surface scanning controller  50  is operated to issue robot position commands  55  to robot controller  42  for controlling a navigation of surgical scanning end-effector  43  relative to the anatomical organ in accordance with the planned sampling scan path delineated on preoperative image segmented volume model  15  of the anatomical organ. 
     More particularly, to facilitate a model registration  53  in accordance with the inventive principles of the present disclosure as will be further described herein, robotic system  40  communicates surface sensing data  16  to surface scanning controller  50  whereby surface scanning controller  50  implements a model construction  52  of an inoperative volume model  17  of the anatomical organ in accordance with the inventive principles of the present disclosure as will be further described herein. 
     More particularly, surface sensing data  16  includes robotic position data  45  communicated by robot controller  42  to surface scanning controller  50  whereby robot position data  45  is informative of a current pose of scanning robot  41  within a coordinate system registered to the anatomical organ or preoperative segmented volume model as known in the art of the present disclosure. 
     Surface sensing data  16  further includes force sensing data  46  informative of a contact force applied by the surface scanning end-effector  43  to the anatomical organ, and for imaging embodiments of surface scanning end-effector  43 , surface sensing data  16  further includes scan image data  47  representative of a current image slice of the anatomical image. 
     Surface scanning controller  50  processing robot position data  45 , force sensing data  46  and scan image data  47  (if applicable) to construct an inoperative volume model  17  of the anatomical organ based on a physical behavior of a soft tissue of an anatomical organ under a minor deformation by scanning surface end-effector  42  (e.g., a tissue deformation in nanometers). 
     Specifically, model construction  52  is premised on an assumption that the physical behaviour soft tissue of an anatomical organ under a minor deformation is both linearly elastic and one-dimensional. Under such conditions, an offset between undeformed anatomical tissue and deformed anatomical tissue may be calculated using the equation u=flk, where u is a tissue displacement (offset), f is the sensed contact force between surface scanning end effector  43  and the deformed anatomical tissue, and k is a parameter describing viscoelastic properties of the anatomical organ. 
     From the assumption, model construction  52  involves a designation of a defined scanning force parameter f DO  and of a defined visocleastic property parameter k whereby a surface deformation offset u SDO  may be calculated to support the construction of the inoperative volume model  17  of the anatomical organ as will be further explained herein. 
     In one embodiment of model construction  52 , an operator of surface scanning controller  50  via input devices and/or graphical interfaces provides or selects a visocleastic property parameter k as a constant value representative viscoelastic properties of the subject anatomical organ, and further provides or selects a scanning force parameter f DO  at which the surface of the anatomical organ will be scanned (e.g., a contact force in meganewtons). A surface deformation offset u SDO  is calculated from the provided/selected visocleastic property parameter k and scanning force parameter f DC  to support the construction of the inoperative volume model  17  of the anatomical organ. 
     Alternatively, the present disclosure recognizes a viscoelastic behavior of a soft tissue of an anatomical organ under deformation may be a very complex process. First, the viscoelastic parameters for any unevenly distributed force may be described by a multi-dimensional matrix, which takes into account the direction of the force and topology of the surface. Second, a linearity of the deformation holds true only for very small deformations (e.g.., in the order of nanometers). Third, a viscoelastic property parameters k of the soft tissue of the anatomical organ may be either unknown due to tissue abnormalities or due to patient-specific anatomical characteristics. Thus, in a second embodiment of model construction  52 , surface deformation offset u SDO  is empirically defined as will be further explained herein. 
     Still referring to  FIGS.  1 A and  1 B , as surface scanning controller  50  controls a navigation of surgical scanning end-effector  43  relative to the anatomical organ in accordance with the planned sampling scan path delineated on preoperative image segmented volume model  15  of the anatomical organ, robotic surface scanning phase  12  of method  10  further encompasses surface scanning controller  50  recording each positon of the calibrated scanned reference of scanning surface end-effector  43  that correspond to a contact force applied by surface scanning end-effector  43  to the anatomical organ equaling scanning force parameter f DC . In practice, the sensed contact form equaling the scanning force parameter f DC  may be enforced with an acceptable margin of error. 
     Each recorded positon of the calibrated scanned reference of scanning surface end-effector  43  is deemed a digitized model point suitable for a generation of a sparse point cloud representation of the anatomical organ on the assumption of a uniform deformation offset of each recorded position of a digitized model point. 
     In practice, as will be further explained herein, a line sampling scan path generates a sparse point cloud representation of the anatomical organ in view of a subset of positons of the calibrated scanned reference of scanning surface end-effector  43  corresponding to a contact force applied by surface scanning end-effector  43  to the anatomical organ equaling scanning force parameter f DC  and further in view a subset of positons of the calibrated scanned reference of scanning surface end-effector  43  failing to correspond to a contact force applied by surface scanning end-effector  43  to the anatomical organ equaling scanning force parameter f DC . 
     Also in practice, as will be further explained herein, a point sampling scan path generates a sparse point cloud representation of the anatomical organ based on the spatial delineation of the points on preoperative image segmented volume model  15  of the anatomical organ. 
     For non-imaging embodiments of scanning surface end-effector  43 , robotic surface scanning phase  12  of method  10  further encompasses surface scanning controller  50  constructing intraoperative volume model  17  as a mesh created from the sparse point cloud representation via any mesh construction technique known in the art of the present disclosure (e.g., a Delaunay triangulation). 
     Due to the defined deformation offset, the mesh will have a comparable shape to a shape of the preoperative image segmented volume model  15  of the anatomical organ for registration purposes, but the mesh will have a not necessarily have a comparable size to a size of the preoperative image segmented volume model  15  of the anatomical organ. While not necessary for most registration processes, to achieve comparable sizes, surface scanning controller  50  may further calculate normal vectors at each vertex as a function of the defined deformation offset via any mesh normalization technique known in the art of the present disclosure (e.g. ,a Mean Weight Equal), and displace each point of the mesh in a direction of the associated normal vector to increase the size yet maintain the shape of the mesh. 
     For imaging embodiments of scanning surface end-effector  43 , robotic surface scanning phase  12  of method  10  further encompasses surface scanning controller  50  stitching images associated with each point of the mesh, unsized or sized to thereby render intraoperative volume model  17  as an image of the anatomical organ. In practice, while stitching images associated with each point of the mesh, surface scanning controller  50  may interpolate images missing from the mesh due to unrecorded positions of the calibrated scanned reference of scanning surface end-effector  43 . 
     To facilitate an understanding of the various inventions of the present disclosure, the following description of  FIGS.  3 A- 3 C  illustrates exemplary recorded positions of digitize model points in accordance with the inventive principles of the present disclosure. From this description, those having ordinary skill in the art will further appreciate how to practice various and numerous embodiments of force sensed surface scanning methods and force sensed surface scanning systems in accordance with the inventive principles of the present disclosure. 
     Referring to  FIG.  3 A , surface scanning end-effector  43  is shown deforming an anatomical organ prior to a scanning of the surface of the anatomical organ. More particularly, surface scanning controller  50  controls a positioning of scanning end-effector  43  relative to the anatomical organ to initially apply a contact force unto the tissue of the anatomical organ resulting in an OFFSET 1  between undeformed anatomical tissue UAT and deformed anatomical tissue DAT 1 . The positioning of scanning end-effector  43  is adjusted until a sensed contact force SCF 1  per force sensing data FSD equals a desired contact force DCF whereby OFFSET 1  between undeformed anatomical tissue UAT and deformed anatomical tissue DAT 1  is deemed to equate the defined surface deformation offset u SDO  of the anatomical organ as previously described herein. Consequently, from a corresponding robot positon RP 1  per robot position data  45 , surface scanning controller  50  records calibrated scanned reference positon SRP of surface scanning end-effector  43  represented by the black dot as the initial digitized model point DMP 1 . 
     During a scanning of the surface of the anatomical organ,  FIG.  3 B  illustrates a repositioning of scanning end-effector  43  to a robot positon RP X  relative to the anatomical organ resulting in OFFSET X  between undeformed anatomical tissue UAT and deformed anatomical tissue DAT X  with a sensed contact force SCF X  per force sensing data FSD equals a desired contact force DCF, and  FIG.  3 B  illustrates a repositioning of scanning end-effector  43  to a robot positon RP Y  relative to the anatomical organ resulting in OFFSET Y  between undeformed anatomical tissue UAT and deformed anatomical tissue DAT Y  with a sensed contact force SCF Y  per force sensing data FSD that does not equal a desired contact force DCF. 
     For point sampling scan path embodiments, the repositioning of scanning end-effector  43  is adjusted until a sensed contact force SCF per force sensing data FSD equals a desired contact force DCF as shown in  FIG.  3 B  whereby OFFSET X  between undeformed anatomical tissue UAT and deformed anatomical tissue DAT X  is deemed to equate the defined surface deformation offset u SDO  of the anatomical organ as previously described herein. Consequently, from a corresponding robot positon RP X  per robot position data  45 , surface scanning controller  50  records calibrated scanned reference positon SRP of surface scanning end-effector  43  represented by the black dot as an additional digitized model point DMP X . This process is repeated for each point in the point sampling scan path. 
     For line sampling scan path embodiments, as surface sensing end-effector  43  is traversed along a line over the surface of the anatomical organ, surface scanning controller  50  will digitize robot positions RP X  as shown in  FIG.  3 B  and will not digitize robot positions RP Y  as shown in  FIG.  3 C  or any other robot positon failing to sense a contact force equaling the scanning force parameter SFP. 
     The result for either embodiment is a spare cloud representation of the anatomical organ facilitating of an unsized or resized mesh creation of inoperative volume model  17 . 
     Referring back to  FIGS.  1 A and  1 B , volume model registration  13  of method  10  encompasses surface scanning controller  50  implementing a model registration  53  of preoperative segmented volume model  15  and intraoperative volume model  17  via a registration technique as known in the art of the present disclosure. 
     In mesh embodiments of intraoperative volume model  17 , surface scanning controller  50  may execute a point-by-point registration technique for registering preoperative segmented volume model  15  and intraoperative volume model  17 . Examples of such a point-by-point registration technique include, but are not limited to, a rigid or non-rigid Iterative Closer Point (ICP) registration, a rigid or non-rigid Robust Point Matching (RPM) registration and a particle filter based registrations. 
     In stitched image embodiments of intraoperative volume model  17 , surface scanning controller  50  may execute an image registration technique for registering preoperative segmented volume model  15  and intraoperative volume model  17 . Examples of such a point-by-point registration technique include, but are not limited to, an internal anatomical landmark based image registration (e.g., bifurcations or calcifications), an internal implanted marker based image registration and a mutual information based image registration. 
     Still referring  FIGS.  1 A and  1 B , upon completion of the scanning process, surface scanning controller  50  may implement a model fusion  54  based on model registration  53  as known in the art of the present disclosure whereby a registered model fusion  56  may be displayed within an applicable coordinate system as symbolically shown. 
     In one embodiment, registered model fusion  56  includes an overlay of preoperative segmented volume model  15  onto intraoperative volume model  17 . 
     In another embodiment, registered model fusion  56  includes an overlay of preoperative segmented volume model  15  onto the anatomical organ as registered to the coordinate system of robotic system  40 . 
     To facilitate an understanding of the various inventions of the present disclosure, the following description of  FIGS.  4  and  5    teaches additional embodiments of a force sensed surface scanning system  100  and a force sensed surface scanning system  140  in accordance with the inventive principles of the present disclosure. From this description, those having ordinary skill in the art will further appreciate how to practice various and numerous embodiments of force sensed surface scanning methods and force sensed surface scanning systems in accordance with the inventive principles of the present disclosure. 
     Referring to  FIG.  4   , force sensed surface scanning system  100  employs a snake scanning robot  110 , a tool pointer  113 , an ultrasound laparoscope  114  and an endoscope  115 . 
     For scanning purposes, tool pointer  113  or ultrasound laparoscope  114  may be mounted onto snake scanning robot  110  as known in the art of the present disclosure. 
     Snake scanning robot  110  is equipped with either force/pressure sensor(s)  111  and/or optical fiber(s)  112  for sensing a contact force applied by a mounted tool pointer  113  or ultrasound laparoscope  114  to an anatomical organ as known in the art of the pressure disclosure. 
     Endoscope  115  is mountable on additional snake scanning robot  110  for purposes of viewing a positioning of tool pointer  113  or ultrasound laparoscope  114  in proximity of a surface of an anatomical organ. 
     Force sensed surface scanning system  100  further employs a workstation  120  and a scanning control device  130 . 
     Workstation  120  includes a known arrangement of a monitor  121 , a keyboard  122  and a computer  123  as known in the art of the present disclosure. Scanning control device  130  employs a robot controller  131 , a surface scanning controller  132  and a display controller  137 , all installed on computer  123 . 
     In practice, robot controller  131 , surface scanning controller  132  and display controller  137  may embody any arrangement of hardware, software, firmware and/or electronic circuitry for implementing a force sensed surface scanning method as shown in  FIG.  5    in accordance with the inventive principles of the present disclosure as will be further explained herein. 
     In one embodiment, robot controller  131 , surface scanning controller  132  and display controller  137  each may include a processor, a memory, a user interface, a network interface, and a storage interconnected via one or more system buses. 
     The processor may be any hardware device, as known in the art of the present disclosure or hereinafter conceived, capable of executing instructions stored in memory or storage or otherwise processing data. In a non-limiting example, the processor may include a microprocessor, field programmable gate array (FPGA), application-specific integrated circuit (ASIC), or other similar devices. 
     The memory may include various memories, as known in the art of the present disclosure or hereinafter conceived, including, but not limited to, L1, L2, or L3 cache or system memory. In a non-limiting example, the memory may include static random access memory (SRAM), dynamic RAM (DRAM), flash memory, read only memory (ROM), or other similar memory devices. 
     The user interface may include one or more devices, as known in the art of the present disclosure or hereinafter conceived, for enabling communication with a user such as an administrator. In a non-limiting example, the user interface may include a command line interface or graphical user interface that may be presented to a remote terminal via the network interface. 
     The network interface may include one or more devices, as known in the art of the present disclosure or hereinafter conceived, for enabling communication with other hardware devices. In a non-limiting example, the network interface may include a network interface card (NIC) configured to communicate according to the Ethernet protocol. Additionally, the network interface may implement a TCP/IP stack for communication according to the TCP/IP protocols. Various alternative or additional hardware or configurations for the network interface will be apparent. 
     The storage may include one or more machine-readable storage media, as known in the art of the present disclosure or hereinafter conceived, including, but not limited to, read-only memory (ROM), random-access memory (RAM), magnetic disk storage media, optical storage media, flash-memory devices, or similar storage media. In various non-limiting embodiments, the storage may store instructions for execution by the processor or data upon with the processor may operate. For example, the storage may store a base operating system for controlling various basic operations of the hardware. The storage may further store one or more application modules in the form of executable software/firmware. 
     More particularly, still referring to  FIG.  4   , robot controller  131  includes application module(s) for controlling a navigation of snake scanning robot  100  within a robotic coordinate system as known in the art of the present disclosure, and display controller  137  includes application module(s) for controlling a display of images, graphical user interfaces, etc. on monitor  120  as known in the art of the present disclosure. 
     Surface scanning controller  132  includes application modules in the form of a scanning commander ( 133 )  133 , a model constructor ( 134 )  134 , a model registor  137  and a model fuser  136  for controlling the implementation of the force sensed surface scanning method as shown in  FIG.  5    in accordance with the inventive principles of the present disclosure as will be further explained herein. 
     In practice, scanning control device  130  may be alternatively or concurrently installed on other types of processing devices including, but not limited to, a tablet or a server accessible by workstations and tablets, or may be distributed across a network supporting an execution of a surgical procedure utilizing a force sensed surface scanning method of the present disclosure as shown in  FIG.  5   . 
     Also in practice, controllers  131 ,  132  and  135  may be integrated components, segregated components or logically partitioned components of scanning control device  130 . 
       FIG.  5    illustrates a flowchart  140  representative of a force sensed surface scanning method in accordance with the inventive principles of the present disclosure that is implemented by application modules  133 - 136  of surface scanning controller  132  as will now be described herein. 
     Referring to  FIG.  5   , a stage S 142  of flowchart  140  encompasses pre-scanning activities implemented by scanning commander  133  ( FIG.  4   ). These pre-scanning activities include, but are not limited to,
         1. scanning commander  133  controlling a registration of snake scanning robot  110  and a preoperative segmented volume model registration as known in the art;   2. scanning commander  133  controlling a planning of a sampling scanning path for snake scanning robot  110  as previously described herein in connection with the description of  FIGS.  1 A and  1 B , particularly a line sampling scanning path or a point sampling scanning path;   3. scanning commander  133  controlling a graphical user interface for an operator provision or an operator selection of viscoelastic property parameter k and scanning force parameter f, and   4. scanning commander  133  controlling an initial offset positioning of a surface sensing end-effector, such as, for example, an initial positioning of tool pointer  113  as shown in  FIG.  6 A  or an initial positioning of ultrasound laparoscope  114  as shown in  FIG.  7 A .       

     More particularly, a defined surface deformation offset u is calculated from the provided/selected viscoelastic property parameter k and scanning force parameter f whereby scanning parameter  133  controls the initial offset positioning of the surface sensing end-effector to equate a sensed contact force to scanning force parameter f to thereby achieve a defined surface deformation offset u between an undeformed anatomical tissue and a deformed anatomical tissue of the anatomical organ as previously described herein. 
     For embodiments whereby viscoelastic property parameter k is known, defined surface deformation offset u may be empirically defined by:
         1. scanning commander  133  controlling a graphical user interface for operator control of an initial offset positioning of a surface sensing end-effector at a selected non-zero sensed control force, such as, for example, an initial positioning of tool pointer  113  as shown in  FIG.  6 A  or an initial positioning of ultrasound laparoscope  114  as shown in  FIG.  7 A ; and   2. scanning commander  133  retracting the surface sensing end-effector until such time the sensed control force is zero; and   3. scanning commander  133  defining scanned force parameter f as the selected non-zero sensed control force associated with the initial offset positioning of the surface sensing end-effector, and further defining surface deformation offset u as the retraction distance of the surface sensing end-effector.       

     Alternatively in practice, a sampling scan path may be defined independent of the preoperative image segmented volume during stage S 142 , thereby omitting a requirement to register snake scanning robot  110  to the preoperative segmented volume model. For example, the sampling scan path may be a defined as a geometric pattern (e.g., a spiral pattern, a zigzag pattern, etc.) or as a random pattern (e.g., a white noise sampling scheme) or a combination thereof. For such an alternative embodiment of stage S 142 , a surface of the anatomical organ is exposed via a surgical port, and the snake scanning robot  110  is inserted through the surgical port to the surface of the anatomical organ until reaching the initial offset positioning of the surface sensing end-effector or a position for an empirical definition of the surface deformation offset u. Thereafter snake scanning robot  110  is manually or controller operated to follow a predefined geometric pattern or to randomly traverse the surface of the anatomical organ or a combination thereof. 
     Still referring to  FIG.  5   , a stage S 144  of flowchart  140  encompasses scanning activities implemented by scanning commander  133  ( FIG.  4   ) and model constructor ( 134 )  134  ( FIG.  4   ). These scanning activities include, but are not limited to,
         1. scanning commander  133  controlling a navigation of snake scanning robot  110  relative to the anatomical organ in accordance with the planned sampling scan path as previously described herein in connection with the description of  FIGS.  1 A and  1 B ; and   2A. model constructor  134  constructing an intraoperative volume mesh as previously described herein in connection with the description of  FIGS.  1 A and  1 B , such as for example, an intraoperative volume mesh  170  shown in  FIG.  6 E ; or   2B. model constructor  134  stitching an intraoperative volume image as previously described herein in connection with the description of  FIGS.  1 A and  1 B , such as for example, an intraoperative volume image  180  shown in  FIG.  7 E .       

     More particular to embodiments of stage S 144  utilizing tool pointer  113 , the navigation of snake scanning robot  110  will result in a digitization of sample points indicating a sensed contact force equating scanned force parameter f as exemplary shown in  FIG.  6 B  and a non-digitization of sample point indicating a sensed contact force not equating scanned force parameterf as exemplary shown in  FIG.  6 C . 
     Referring to  FIG.  6 D , a graph  150  may be displayed to an operator of workstation  120  ( FIG.  4   ) to thereby visualize digitization time periods  152  and  154  of specific sample point(s) and non-digitization time periods  151 ,  153  and  155  of the remaining sample point(s). 
     In one embodiment, non-digitization time period  151  represents a pre-scanning positioning of tool pointer  113  relative to the anatomical region with digitization time periods  152  and  154  representing multiple digitized sample points during a line sampling scan of the anatomical organ. 
     In another embodiment, non-digitization  151  time period represents a pre-scanning positioning of tool pointer  113  relative to the anatomical region with digitization time periods  152  and  154  representing a single digitize sample point during a point sampling scan of the anatomical organ. 
     Referring back to  FIG.  4   , more particular to embodiments of stage S 144  utilizing ultrasound laparoscope  114 , the navigation of snake scanning robot  110  will result in a digitization of sample points indicating a sensed contact force equating scanned force parameter f as exemplary shown in  FIG.  7 B  and a non-digitization of sample point indicating a sensed contact force not equating scanned force parameter f as exemplary shown in  FIG.  7 C . 
     Referring to  FIG.  7 D , a graph  170  may be displayed to an operator of workstation  120  ( FIG.  4   ) to thereby visualize digitization time periods  172  and  174  of specific sample point(s) and non-digitization time periods  171 ,  173  and  175  of the remaining sample point(s). 
     In one embodiment, non-digitization time period  171  represents a pre-scanning positioning of ultrasound laparoscope  114  relative to the anatomical region with digitization time periods  172  and  174  representing multiple digitized sample points during a line sampling scan of the anatomical organ. 
     In another embodiment, non-digitization  171  time period represents a pre-scanning positioning of ultrasound laparoscope  114  relative to the anatomical region with digitization time periods  172  and  174  representing a single digitize sample point during a point sampling scan of the anatomical organ. 
     Referring back to  FIG.  4   , a stage S 146  of flowchart  140  encompasses post-scanning activities implemented by model constructor  134  ( FIG.  4   ) and/or model registor  135 . These post-scanning activities include, but are not limited to,
         1A. model constructor  134  optionally controlling resizing of the intraoperative volume mesh as a function of the defined surface deformation offset as previously described herein in connection with the description of  FIGS.  1 A and  1 B , such as, for example, a resizing of an intraoperative volume mesh  150  to an intraoperative volume mesh  151  as shown in  FIG.  6 F  (note the resizing will normally be in nanometers, thus the resizing as shown in  FIG.  6 F  is exaggerated to visualize the concept); and   2A. model registor  135  registering the unsized/resized intraoperative volume mesh to the preoperative segmented volume model as previously described herein in connection with the description of  FIGS.  1 A and  1 B ; or   1B. model constructor  134  optionally controlling resizing of the intraoperative volume image as a function of the defined surface deformation offset as previously described herein in connection with the description of  FIGS.  1 A and  1 B , such as, for example, a resizing of an intraoperative volume image  180  to an intraoperative volume mesh  181  as shown in  FIG.  7 F  (note the resizing will normally be in nanometers, thus the resizing as shown in  FIG.  7 F  is exaggerated to visualize the concept); and   2B. model registor  135  registering the unsized/resized intraoperative volume image to the preoperative segmented volume model as previously described herein in connection with the description of  FIGS.  1 A and  1 B .       

     Upon completion of stage S 146 , model fuser  136  implements a fusion technique as known in the art of the present disclosure for generating a registered model fusion  138  as previously described herein whereby display controller  137  controls a display of registered model fusion  138  as shown. 
     Referring to  FIGS.  1 - 7   , those having ordinary skill in the art will appreciate numerous benefits of the present disclosure including, but not limited to, an improvement over surface scanning systems, devices, controllers and methods by the inventions of the present disclosure providing a construction of an intraoperative scanned volume model of an anatomical organ based upon a sensing of a contact force applied by an surface scanning end-effector of a scanning robot to the anatomical organ whereby the contact force is indicative of a defined surface deformation offset of the anatomical organ, thereby enhancing a registration of the intraoperative surface scanned volume model of the anatomical organ with a preoperative image segmented volume model of the anatomical organ. 
     Furthermore, as one having ordinary skill in the art will appreciate in view of the teachings provided herein, features, elements, components, etc. described in the present disclosure/specification and/or depicted in the Figures may be implemented in various combinations of electronic components/circuitry, hardware, executable software and executable firmware and provide functions which may be combined in a single element or multiple elements. For example, the functions of the various features, elements, components, etc. shown/illustrated/depicted in the Figures can be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by a processor, the functions can be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which can be shared and/or multiplexed. Moreover, explicit use of the term “processor” should not be construed to refer exclusively to hardware capable of executing software, and can implicitly include, without limitation, digital signal processor (“DSP”) hardware, memory (e.g., read only memory (“ROM”) for storing software, random access memory (“RAM”), non-volatile storage, etc.) and virtually any means and/or machine (including hardware, software, firmware, circuitry, combinations thereof, etc.) which is capable of (and/or configurable) to perform and/or control a process. 
     Moreover, all statements herein reciting principles, aspects, and embodiments of the invention, as well as specific examples thereof, are intended to encompass both structural and functional equivalents thereof. Additionally, it is intended that such equivalents include both currently known equivalents as well as equivalents developed in the future (e.g., any elements developed that can perform the same or substantially similar function, regardless of structure). Thus, for example, it will be appreciated by one having ordinary skill in the art in view of the teachings provided herein that any block diagrams presented herein can represent conceptual views of illustrative system components and/or circuitry embodying the principles of the invention. Similarly, one having ordinary skill in the art should appreciate in view of the teachings provided herein that any flow charts, flow diagrams and the like can represent various processes which can be substantially represented in computer readable storage media and so executed by a computer, processor or other device with processing capabilities, whether or not such computer or processor is explicitly shown. 
     Furthermore, exemplary embodiments of the present disclosure can take the form of a computer program product or application module accessible from a computer-usable and/or computer-readable storage medium providing program code and/or instructions for use by or in connection with, e.g., a computer or any instruction execution system. In accordance with the present disclosure, a computer-usable or computer readable storage medium can be any apparatus that can, e.g., include, store, communicate, propagate or transport the program for use by or in connection with the instruction execution system, apparatus or device. Such exemplary medium can be, e.g., an electronic, magnetic, optical, electromagnetic, infrared or semiconductor system (or apparatus or device) or a propagation medium. Examples of a computer-readable medium include, e.g., a semiconductor or solid state memory, magnetic tape, a removable computer diskette, a random access memory (RAM), a read-only memory (ROM), flash (drive), a rigid magnetic disk and an optical disk. Current examples of optical disks include compact disk—read only memory (CD-ROM), compact disk—read/write (CD-R/W) and DVD. Further, it should be understood that any new computer-readable medium which may hereafter be developed should also be considered as computer-readable medium as may be used or referred to in accordance with exemplary embodiments of the present disclosure and disclosure. 
     Having described preferred and exemplary embodiments of novel and inventive force sensed surface scanning systems, devices, controllers and methods, (which embodiments are intended to be illustrative and not limiting), it is noted that modifications and variations can be made by persons having ordinary skill in the art in light of the teachings provided herein, including the Figures. It is therefore to be understood that changes can be made in/to the preferred and exemplary embodiments of the present disclosure which are within the scope of the embodiments disclosed herein. 
     Moreover, it is contemplated that corresponding and/or related systems incorporating and/or implementing the device or such as may be used/implemented in a device in accordance with the present disclosure are also contemplated and considered to be within the scope of the present disclosure. Further, corresponding and/or related method for manufacturing and/or using a device and/or system in accordance with the present disclosure are also contemplated and considered to be within the scope of the present disclosure.