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Document Index: 608030449

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Medical robotic system providing three-dimensional telestration - Intuitive Surgical INC.
Medical robotic system providing three-dimensional telestration
United States Patent Application 20070167702
A medical robotic system provides 3D telestration over a 3D view of an anatomical structure by receiving a 2D telestration graphic input associated with one of a pair of stereoscopic images of the anatomical structure from a mentor surgeon, determining a corresponding 2D telestration graphic input in the other of the pair of stereoscopic images using a disparity map, blending the telestration graphic inputs into respective ones of the pair of stereoscopic images, and providing the blended results to a 3D display so that a 3D view of the telestration graphic input may be displayed as an overlay to a 3D view of the anatomical structure to an operating surgeon.
Miller, Brian (Lincoln, NE, US)
Zhang, Guanghua G. (San Jose, CA, US)
Nowlin, William Charles (Los Altos, CA, US)
11/322879
Intuitive Surgical INC. (Sunnyvale, CA, US)
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1. A method for telestrating on a three-dimensional image of an anatomical structure, comprising: receiving a telestration graphic input associated with one of a pair of stereoscopic images of an anatomical structure; and determining a corresponding telestration graphic input in the other of the pair of stereoscopic images so that a three-dimensional view of the telestration graphic input may be displayed as an overlay to a three-dimensional view of the anatomical structure.
2. The method according to claim 1, wherein the anatomical structure is an outer body of a patient.
3. The method according to claim 1, wherein the anatomical structure is a bodily part within a body of a patient.
4. The method according to claim 3, further comprising: transmitting information for the one of the pair of stereoscopic images to a location prior to receiving the telestration graphic input from the location.
5. The method according to claim 4, wherein the location is a computer operated by an expert surgeon.
6. The method according to claim 4, further comprising: receiving information for the pair of stereoscopic images prior to transmitting the information for the one of the pair of stereoscopic images to the location.
7. The method according to claim 6, wherein the information for the pair of stereoscopic images is received from a stereoscopic endoscope inserted within the body of the patient.
8. The method according to claim 7, wherein the pair of stereoscopic images comprises corresponding right and left camera views.
9. The method according to claim 6, further comprising: generating a disparity map from the received information for the pair of stereoscopic images.
10. The method according to claim 9, wherein the determining of the corresponding telestration graphic input in the other one of the pair of stereoscopic images uses the disparity map.
11. The method according to claim 6, further comprising: receiving information for a subsequent in time pair of stereoscopic images after transmitting the information for the one of the pair of stereoscopic images to the location; correlating the information for the pair of stereoscopic images with the information for the subsequent in time pair of stereoscopic images so as to determine movement of the anatomical structure relative thereto; and positioning the three-dimensional view of the telestration graphic input so as to track the movement of the anatomical structure.
12. The method according to claim 11, further comprising: determining a confidence measure using the correlation of the information for the pair of stereoscopic images with the information for the subsequent in time pair of stereoscopic images; and displaying the telestration graphic input with a brightness proportional to a magnitude of the confidence measure.
13. The method according to claim 1, further comprising: displaying the three-dimensional view of the telestration graphic input as a non-destructive graphics overlay to the three-dimensional view of the anatomical structure.
14. The method according to claim 13, wherein the displaying of the three-dimensional view of the telestration graphic input is performed such that the three-dimensional view of the telestration graphic input fades over time.
15. A medical robotic system providing three-dimensional telestration comprising a surgeon console configured to receive a telestration graphic input associated with a pair of stereoscopic images of an anatomical structure, and determine a corresponding telestration graphic input in the other of the pair of stereoscopic images so that a three-dimensional view of the telestration graphic input may be displayed as an overlay to a three-dimensional view of the anatomical structure.
16. The medical robotic system according to claim 15, wherein the anatomical structure is an outer body of a patient.
17. The medical robotic system according to claim 15, wherein the anatomical structure is a bodily part within a body of a patient.
18. The medical robotic system according to claim 17, further comprising means for transmitting information for the one of the pair of stereoscopic images to a location prior to receiving the telestration graphic input from the location.
19. The medical robotic system according to claim 18, wherein the location is a console operated by an expert surgeon.
20. The medical robotic system according to claim 18, wherein the surgeon console is further configured to receive information for the pair of stereoscopic images prior to the transmitting of the information for the one of the pair of stereoscopic images to the location.
21. The medical robotic system according to claim 20, wherein the information for the pair of stereoscopic images is received by the surgeon console from a stereoscopic endoscope inserted within the body of the patient.
22. The medical robotic system according to claim 21, wherein the pair of stereoscopic images comprises corresponding right and left camera views of the stereoscopic endoscope.
23. The medical robotic system according to claim 20, wherein the surgeon console is further configured to generate a disparity map from the received information for the pair of stereoscopic images of the anatomical structure.
24. The medical robotic system according to claim 23, wherein the surgeon console is further configured to use the disparity map to determine the corresponding telestration graphic input in the other one of the pair of stereoscopic images.
25. The medical robotic system according to claim 20, wherein the surgeon console is further configured to receive information for a subsequent in time pair of stereoscopic images after transmitting the information for the one of the pair of stereoscopic images to the location, to correlate the information for the pair of stereoscopic images with the information for the subsequent in time pair of stereoscopic images so as to determine movement of the anatomical structure relative thereto, and to position the three-dimensional view of the telestration graphic input so as to track the movement of the anatomical structure.
26. The medical robotic system according to claim 25, wherein the surgeon console is further configured to determine a confidence measure using the correlation of the information for the pair of stereoscopic images with the information for the subsequent in time pair of stereoscopic images; and display the telestration graphic input with a brightness proportional to a magnitude of the confidence measure.
27. The medical robotic system according to claim 15, wherein the surgeon console includes a three-dimensional display and is further configured to display the three-dimensional view of the telestration graphic input as a graphics overlay to the three-dimensional view of the anatomical structure in the three-dimensional display.
28. The medical robotic system according to claim 27, wherein the surgeon console is further configured to display the three-dimensional view of the telestration graphic such that the three-dimensional view of the telestration graphic input fades over time.
29. A medical robotic system providing three-dimensional telestration, comprising: a stereoscopic camera assembly insertable into a body of a patient so as to capture pairs of stereoscopic images of an anatomical structure of the patient during a minimally invasive surgical procedure; an expert console having a receiver configured to receive a right or left view of the pairs of stereoscopic images captured by the stereoscopic camera assembly, a display for two-dimensionally displaying the received right or left view, a telestration device configured to facilitate generation of a telestration graphic input by an operator of the expert console over the two-dimensionally displayed right or left view, and a transmitter configured to transmit the telestration graphic input; and a surgeon console having a first receiver configured to receive the pairs of stereoscopic images captured by the stereoscopic camera assembly, and a second receiver configured to receive the telestration graphic input transmitted by the transmitter of the expert console, wherein the surgeon console is configured to generate a disparity map from the received pairs of stereoscopic images, and determine a corresponding telestration graphic input in the other of the pair of stereoscopic images using the disparity map so that a three-dimensional view of the telestration graphic input may be displayed as an overlay to a three-dimensional view of the anatomical structure.
30. The medical robotic system according to claim 29, wherein the surgeon console is further configured to receive information for a subsequent in time pair of stereoscopic images after transmitting the information for the one of the pair of stereoscopic images to the location, to correlate the information for the pair of stereoscopic images with the information for the subsequent in time pair of stereoscopic images so as to determine movement of the anatomical structure relative thereto, and to position the three-dimensional view of the telestration graphic input so as to track the movement of the anatomical structure.
This invention was made with government support under contract no. 1 R41 EB004177-01 awarded by the National Institutes of Health. The government has certain rights in the invention.
The present invention generally relates to minimally invasive robotic surgery systems and in particular, to a medical robotic system providing three-dimensional telestration.
Minimally invasive surgical methods such as laparoscopy and thoracoscopy can dramatically reduce morbidity, reduce acuity of care, speed recovery times, and lead to more satisfied patients. Surgeons performing conventional laparoscopy or thoracoscopy, however, face a steep learning curve and must cope with serious degradation of their ability to see and touch the operating field, as well as a dramatic reduction in their dexterity compared to open surgery.
Surgical telerobots can give surgeons high-fidelity three-dimensional (3D) vision and an intuitive articulated wrist at the end of the tool shaft, fundamentally improving surgeons' ability to sense and manipulate objects in the surgical field. Telerobots can also scale surgeons' hand motions down and eliminate tremor for more precise manipulation. These advances allow surgeons to accomplish the previously impossible, such as totally endoscopic coronary artery bypass surgery, and speed adoption of difficult procedures such as totally endoscopic radical prostatectomies.
The emergence of minimally invasive surgery (MIS) as the standard approach for a wide variety of surgical procedures has increased the importance of laparoscopic skill acquisition for surgeons-in-training and for practicing surgeons. The current surgical training model does not provide adequate experience in advanced MIS, and the learning curve for complex MIS procedures can lead to increased complications for inexperienced surgeons.
The challenge of training surgical residents in advanced laparoscopy has become more difficult as MIS procedures have become increasingly complex. Minimally invasive surgical education requires the development of a new set of surgical manipulation and visualization skills. To meet this need, the current gold standard is a dedicated post-residency MIS fellowship. Several strategies such as inanimate laboratories and simulation training have also been developed to increase the exposure of residents to advanced laparoscopic surgery during initial training, with varying success rates.
An even greater challenge faces already-practicing surgeons interested in performing advanced minimally invasive surgery. Strong patient demand for MIS procedures as well as ongoing shift in surgical standard of care toward less invasive approaches provides motivation; however, these surgeons often have difficulty translating their open or basic MIS skills to advanced MIS procedures, leading to unsatisfactory surgical outcomes and increased complication rates.
The current training paradigm for practicing surgeons has centered on procedure-specific short courses with very limited hands-on experience in an inanimate or animal laboratory. Such strategies fall far short of disseminating a proper knowledge and experience base and provide essentially no experience in actual surgery on humans. Students will frequently require the presence of their surgical mentors at a number of initial procedures. At least one study has demonstrated that common laparoscopic training courses are insufficient to make a surgeon proficient, and a single proctored session by a visiting mentor may not be sufficient.
Conventional mentoring demands the physical presence of an experienced surgeon. For many new procedures, very few surgeons have acquired enough experience to proctor or mentor a case. This increases the demand placed on that small group of surgeons. Traveling to mentor cases takes time away from the mentor's practice and personal life, and has an expense borne by the learning surgeon and the patient.
Telestration (shortened from “tele-illustration”), where the mentor is able to create illustrations overlayed on the student's two-dimensional surgical view, has been demonstrated to be an effective learning tool. Telestration offers a method of mentoring which can be more explicit than verbal communication and less intrusive than mechanical demonstration, as the surgeon in training may remain at the helm. Telestration allows the mentor to provide clear and useful visual cues to the learning surgeon in the same room, or over a distance. Telestration has the potential to improve the accessibility of robotic surgery training opportunities, increasing the adoption rate for robotically assisted surgery.
One example of a robotic surgical system is the da Vinci® Surgical System of Intuitive Surgical, Inc., Sunnyvale, Calif. The da Vinci® Surgical System can be used for a wide variety of surgical procedures such as mitral valve repair, Nissen Fundoplication for the treatment of GERD disease, gastic bypass surgery for obesity, radical prostatectormy (da Vinci® Prostatectomy) for the removal of the prostate, esophageal surgery, thymectomy for myasthenia gravis, and epicardial pacemaker leads for biventricular resynchronization.
A unique feature of the da Vinci® Surgical System is its three-dimensional display which provides the operating surgeon with superior telepresence. The da Vinci® Surgical System provides a right and left stereo image to the surgeon using two cathode ray tubes and a series of mirrors and objective lenses to create the illusion of a three-dimensional scene.
Telestration to the student in a truly binocular 3D laparoscopic environment represents a tremendous improvement over traditional 2D laparoscopic visualization in several critical ways. The learning curve required to translate a 2D operative image into a 3D mental anatomic model poses a significant challenge to the MIS novice and seasoned surgeon alike. While restoring native stereoscopic visualization in three dimensions greatly enhances surgical precision in general, there are numerous specific circumstances where such imaging is absolutely critical to successful patient outcomes. Technical maneuvers, such as control of vascular pedicles, nerve-sparing dissection, microvascular anastomosis, and cardiac dissection and anastomosis, require a detailed appreciation of every aspect of the respective anatomic structures.
One problem with telestrating on such a three-dimensional display, however, is that a mentor with a touch screen can only telestrate on a two-dimensional (2D) image, requiring the operating surgeon to touch a foot pedal, or other switching device, to switch from a 3D view to a 2D view to see the telestration. This gives the surgeon the benefit of telestration, but interrupts the flow of the procedure and removes the benefit of 3D vision.
To effectively understand communications from the mentor and apply them to the 3D operating field, the trainee should be able to perceive those communications in 3D, without breaking his or her flow to switch to a degraded 2D display to look at the mentor's drawings. Having the mentor's telestration occur live in the trainee's 3D display during surgery, rather than requiring the trainee to switch modes to 2D, will encourage more frequent and impromptu communications between the mentor and trainee. One option for providing 3D telestration would be to have the mentor use a 3D input device and a stereo display; however, the cost and logistics involved would severely limit the attractiveness and scalability of the solution.
Accordingly, one object of the present invention is to provide a method for telestrating on a 3D image of an anatomical structure that does not require a 3D input device and stereo display for the mentoring surgeon.
Another object of the present invention is to provide a method for telestrating on a 3D image of an anatomical structure that operates substantially in real-time, and is suitable for local and remote mentoring in minimally invasive surgical procedures.
Still another object of the present invention is to provide a method for telestrating on a 3D image of an anatomical structure that is moving relative to the camera.
Yet another object of the present invention is a medical robotic system providing 3D telestration on a 3D image of an anatomical structure.
These and additional objects are accomplished by the various aspects of the present invention, wherein briefly stated, one aspect is a method for telestrating on a 3D image of an anatomical structure, comprising: receiving a telestration graphic input associated with one of a pair of stereoscopic images of an anatomical structure; and determining a corresponding telestration graphic input in the other of the pair of stereoscopic images so that a 3D view of the telestration graphic input may be displayed as an overlay to a 3D view of the anatomical structure.
Another aspect is a medical robotic system providing 3D telestration comprising a surgeon console configured to receive a telestration graphic input associated with a pair of stereoscopic images of an anatomical structure, and determine a corresponding telestration graphic input in the other of the pair of stereoscopic images so that a 3D view of the telestration graphic input may be displayed as an overlay to a 3D view of the anatomical structure.
Another aspect is a medical robotic system providing 3D telestration, comprising: a stereoscopic camera assembly insertable into a body of a patient so as to capture pairs of stereoscopic images of an anatomical structure of the patient during a minimally invasive surgical procedure; an expert console having a receiver configured to receive a right or left view of the pairs of stereoscopic images captured by the stereoscopic camera assembly, a display for two-dimensionally displaying the received right or left view, a telestration device configured to facilitate generation of a telestration graphic input by an operator of the expert console over the two-dimensionally displayed right or left view, and a transmitter configured to transmit the telestration graphic input; and a surgeon console having a first receiver configured to receive the pairs of stereoscopic images captured by the stereoscopic camera assembly, and a second receiver configured to receive the telestration graphic input transmitted by the transmitter of the expert console, wherein the surgeon console is configured to generate a disparity map from the received pairs of stereoscopic images, and determine a corresponding telestration graphic input in the other of the pair of stereoscopic images using the disparity map so that a 3D view of the telestration graphic input may be displayed as an overlay to a 3D view of the anatomical structure.
FIG. 1 illustrates a top view of an operating room with a medical robotic system providing 3D telestration, utilizing aspects of the present invention.
FIG. 2 illustrates a front perspective view of a master control station including a processor configured to utilize aspects of the present invention.
FIG. 3 illustrates a block diagram of a medical robotic system providing 3D telestration, utilizing aspects of the present invention.
FIG. 4 illustrates a block diagram of modules in and components coupled to the surgeon computer, utilizing aspects of the present invention.
FIG. 5 illustrates a block diagram of modules in and components coupled to the expert computer, which are useful for practicing aspects of the present invention.
FIG. 6 illustrates a flow diagram of a method for telestrating on a 3D image of an anatomical structure, utilizing aspects of the present invention.
FIG. 7 illustrates a flow diagram of a method for overlaying a 3D telestration graphic input over a 3D anatomical structure, utilizing aspects of the present invention.
FIG. 8 illustrates a flow diagram of a method for anatomy tracking and 3D telestration over a tracked anatomical structure, utilizing aspects of the present invention.
FIG. 9 illustrates an example of epipolar geometry for a pair of stereoscopic images of a point in a 3D coordinate frame, which is useful for practicing aspects of the present invention.
FIG. 1 illustrates, as an example, a medical robotic system 100 providing three-dimensional telestration. In the example, an Operating Surgeon (S) is performing a minimally invasive surgical procedure on a Patient (P), and a Mentor Surgeon (M), who is an expert or at least more experienced in the minimally invasive surgical procedure, mentors or advises the Operating Surgeon (S) during the procedure. One or more Assistants (A) positioned at the Patient (P) site may also assist the Operating Surgeon (S) during the procedure.
The system 100 includes a surgeon master control station 151 (also referred to herein as the “surgeon console”) operative by the Operating Surgeon (S), a slave cart 120 having three slave robotic mechanisms 121˜123, and mentor master control station 131 (also referred to herein as the “mentor console”) operative by the Mentor Surgeon (M). The mentor master control station 131 is shown separated from the surgeon master control station 151 by a dotted curved line since it may be either local to the surgeon master control station 151 (i.e., within the operating room environment) or remote from the surgeon master control station 151 (i.e., remote from the operating room environment).
The slave cart 120 is positioned alongside the Patient (P) so that surgery-related devices (such as surgery-related device 167), which are coupled to distal ends of the slave robotic mechanisms 121˜123, may be inserted through incisions (such as incision 166) in the Patient (P), and manipulated by the Operating Surgeon (S) at the surgeon master control station 151 to perform the minimally invasive surgical procedure on the Patient (P). Each of the slave robotic mechanisms 121˜123 preferably includes linkages that are coupled together and manipulated through motor controlled joints in a conventional manner.
Although only one slave cart 120 is shown as being used in this example, additional slave carts may be used as needed. Also, although three slave robotic mechanisms 121˜123 are shown on the cart 120, more or less slave robotic mechanisms may be used per slave cart as needed. Additional details of a slave cart such as the slave cart 120 may be found in commonly owned U.S. Pat. No. 6,837,883, “Arm Cart for Telerobotic Surgical System,” which is incorporated herein by this reference.
A stereoscopic endoscope is preferably one of the surgery-related devices coupled to the distal ends of the slave robotic mechanisms. Others of the surgery-related devices may be various tools with manipulatable end effectors for performing minimally invasive surgical procedures, such as clamps, graspers, scissors, staplers, and needle holders.
The number of surgery-related devices used at one time and consequently, the number of slave robotic mechanisms in the system 100 will generally depend on the diagnostic or surgical procedure and the space constraints within the operating room among other factors. If it is necessary to change one or more of the surgery-related devices being used during a procedure, one of the Assistants (A) may remove the surgery-related device that is no longer needed from the distal end of its slave robotic mechanism, and replace it with another surgery-related device from a tray of such devices in the operating room. Alternatively, a robotic mechanism may be provided for the Operating Surgeon (S) to execute tool exchanges using one of his or her master input devices.
To facilitate collaboration and/or mentoring of surgeons in minimally invasive surgical procedures, each of the participating surgeons has an associated display to view the surgical site, and a communication means such as a microphone and earphone set to communicate with other participating surgeons. Use of the stereoscopic endoscope in this case allows the generation and display of real-time, three-dimensional images of the surgical site.
More particularly, a 3D display 152 is coupled to or integrated into the surgeon master control station 151, a 3D display 132 and a 2D touch screen 135 are coupled to or integrated into the mentor master control station 131, and a 2D display 142 is provided on a vision cart 141, so that the Operating Surgeon (S), Mentor Surgeon (M), and the one or more Assistants (A) may view the surgical site during the minimally invasive surgical procedure.
The communication means provided to each of the participants may include individual microphone and earphones (or speaker) components, or alternatively, individual headphone sets, such as headphone set 153 shown as being placed on the head of the Operating Surgeon (S), as part of a conventional audio system. Preferably a duplex audio communication system (microphone and speaker pair) is built into each surgeon's master control station. Alternatively, headsets may be used, including those using wireless communications to provide maximum comfort and freedom of movement to their users or those that may be connected through wires to their respective master control stations or slave cart, which are in turn, connected together through lines 110 and lines 112 for voice communications between the Operating Surgeon (S), Mentor Surgeon (M) and one or more Assistants (A)
FIG. 2 illustrates, as a simplified example, a front perspective view of the surgeon console or master control station 151. Included in the surgeon console 151 is a 3D display 152 having right and left eye sockets, 223 and 224, which are positioned so that a surgeon seated in front of the surgeon console 151 will look down through them to give the sensation that the surgical site viewed therein is at such a position. Also included are right and left master input devices, 203 and 204, which are positioned within a recessed area 210 of the surgeon console 151 so that the surgeon has the sensation that he or she is directly manipulating associated instruments at the surgical site as viewed through the 3D display 152. A processor 240 is coupled to or integrated into the surgeon console 151 to provide processing capability. A foot pedal 231 is also included in the surgeon console 151 to provide a switching capability, such as to turn telestration on and off, to hide a telestration and later recall it for display, or to switch between 3D and 2D views in the 3D display 151. Alternatively, such switching capability may be implemented using a button on a telestration device, input device, or control console display, or it may be implemented by voice input.
Additional details of master control stations such as the surgeon master control station 151 may be found in commonly owned U.S. Pat. No. 6,714,839, “Master Having Redundant Degrees of Freedom,” and commonly owned U.S. Pat. No. 6,659,939, “Cooperative Minimally Invasive Telesurgical System,” which are incorporated herein by this reference. The mentor master control station 131 may be similarly constructed as the surgeon console 151, or alternatively, it may simply be a conventional personal computer with attached touch screen and digital pen for 2D viewing of the surgical site (as provided, for example, from the surgeon master control station 151) and telestration on anatomical structures seen therein.
To perform a minimally invasive surgical procedure, the Operating Surgeon (S) may manipulate one or both of right and left master input devices, 203 and 204, which in turn, causes associated slave robotic mechanisms, such as slave robotic mechanism 123, to manipulate their respective surgery-related devices, such as surgical device 167, through a minimally invasive incision, such as incision 166, in the body of the Patient (P), while the Operating Surgeon (S) views the surgical site through his or her 3D display 152.
Preferably, the master input devices will be movable in the same degrees of freedom as their associated surgery-related devices to provide the Operating Surgeon (S) with telepresence, or the perception that the master input devices are integral with their associated surgery-related devices, so that Operating Surgeon (S) has a strong sense of directly controlling them. To this end, position, force, and tactile feedback sensors are preferably employed that transmit position, force, and tactile sensations from the devices (or their respective slave robotic mechanisms) back to their associated master input devices so that the Operating Surgeon (S) may feel such with his or her hands as they operate the master input devices.
As previously described, to further enhance the telepresence experience, the 3D image of the surgical site (and anatomical structures seen therein), which is displayed on the 3D display 152 of the master control station 151 is oriented so that the Operating Surgeon (S) feels that he or she is actually looking directly down onto the operating site. To that end, an image of surgery-related devices that are being manipulated by the Operating Surgeon (S) appears to be located substantially where the his or her hands are located even though the observation points (i.e., the endoscope or viewing camera) may not be from the point of view of the image.
Additional details of a telepresence system and 3D display such as the medical robotic system 100 and 3D display 152 may be found in U.S. Pat. No. 5,808,665, “Endoscopic Surgical Instrument and Method for Use,” which is exclusively licensed by the assignee of the present invention and incorporated herein by this reference; and commonly owned U.S. Pat. No. 6,424,885, “Camera Referenced Control in a Minimally Invasive Surgical Apparatus,” which is incorporated herein by this reference.
FIG. 3 illustrates, as an example, a block diagram of parts of a medical robotic system providing 3D telestration. In this example, the Mentor Surgeon (M) is assumed to be remotely located (i.e., not in the operating room) while the Operating Surgeon (S) is locally located (i.e., in the operating room) along with the Patient (P).
Information for right (R) and left (L) camera views (or pairs of stereographic images), which have been captured by a stereoscopic endoscope (such as the surgery-related device coupled to slave robotic mechanism 122) inserted in the surgical site within a patient, is received from stereoscopic endoscope 301 by a surgeon computer 302 (such as the processor 240 of the master control station 151). At the same time, one camera view of each pair of stereographic images (such as, for example, the right camera view) is transmitted through video communication interfaces 306 and 316 to an expert or mentor computer 312 (such as a processor coupled to or integrated into the mentor master control station 131). An example of a suitable video communication interface for such purpose is the Polycom VS4000 or VSX 7000e distributed by Polycom Inc. of Pleasanton, Calif. In addition to their use in transmitting the one camera view of an anatomical structure at the surgical site, the video communication interfaces 306 and 316 may also be used to communicate audio between the operating and expert surgeons respectively operating the surgeon computer 302 and the expert computer 312.
The surgeon computer 302 processes the received information for the pairs of stereographic images, and provides them to 3D display 303 (such as 3D display 152 of the master control station 151) for three-dimensional viewing by the Operating Surgeon (S). The Operating Surgeon (S) then manipulates master manipulators 304 (such as right and left master input devices 203 and 204) to drive slave robotic mechanisms 305 (such as slave robotic mechanisms 121 and 123 of the slave cart 120) and consequently, their attached surgery-related devices.
Meanwhile, the expert computer 312 processes the received camera view and provides it to touch screen 313 (such as touch screen 135 coupled to the mentor master control station 131) for two-dimensional viewing by the Mentor Surgeon (M). An example of a suitable touch screen for such purpose is the Wacom Cintiq 15X distributed by Wacom Technology Corp. of Vancouver, Wash. The Mentor Surgeon (M) may then draw a telestration graphic on the surface of the touch screen 313 using a digital pen (such as the digital pen 136 coupled to the mentor master control station 131). The telestration graphic may typically be a hand-drawn line, circle, arrow, or the like.
The expert computer 312 may then automatically transmit information of the telestration graphic input to the surgeon computer 302 real-time in parts via, for example, a TCP/IP connection, as the Mentor Surgeon (M) is drawing it, or it may transmit the entire telestration graphic input via the TCP/IP connection only after the Mentor Surgeon (M) has indicated that transmission should be made, for example, by clicking an appropriate button or switch on the touch screen 313 or its digital pen.
The surgeon computer 302 then processes the telestration graphic input received from the expert computer 312 so that a 3D view of the telestration graphic input may be displayed as an overlay to a 3D view of its corresponding anatomical structure in the 3D display 303, according to the method described in reference to FIG. 6. Additional details on the modules configured respectively in surgeon computer 302 and the expert computer 312 to perform their respective tasks as described herein, are further described below in reference to FIGS. 4 and 5.
FIG. 4 illustrates, as an example, a block diagram of modules providing the surgeon computer 302 with 3D telestration capability, and hardware components that interact with these modules of the surgeon computer 302; and FIG. 5 illustrates, as an example, a block diagram of modules providing the mentor or expert computer 312 with the capability to generate a telestration graphic input and transmit it to the surgeon computer 302 for 3D telestration of such graphic input, and hardware components that interact with these modules of the expert computer 312.
Referring first to FIG. 4, an image acquisition module 401, such as a Matrox Orion frame grabber board distributed by Matrox Electronic Systems Ltd. of Canada, captures information of pairs of stereoscopic images from the stereoscopic endoscope 301, such as in the left and right NTSC signals from the endoscope cameras, and provides that information to an image correlation module 402 which periodically generates or updates a disparity map using corresponding right and left camera views (or frames) captured by the image acquisition module 401.
The output of the image acquisition module 401 may also be provided to a local user interface 411 which provides information for a selected one of the pairs of stereoscopic images to a local touch screen 412, such as the Wacom Cintiq 15X, to be displayed in 2D on the touch screen 412. A local expert or mentor surgeon may then telestrate on the touch screen 412 using a digital pen to generate a telestration graphic input which is provided to a rendering unit 404.
The output of the image acquisition module 401 is also provided to a graphics overlay module 405, which combines the captured pairs of stereoscopic images with a 3D telestration graphic input generated by the rendering unit 404, and provides the combination to the 3D display 303 for three-dimensional viewing by an Operating Surgeon (S). The rendering unit 404 may receive a 2D telestration graphic input associated with one of the pairs of stereoscopic images from either a local mentor through the local user interface 411 or a remote mentor through a telestration graphic receive unit 403.
Referring now to FIG. 5, an image acquisition module 501, such as the Matrox Orion frame grabber, captures information of the selected one of the pairs of stereoscopic images received by the video communications interface 316, such as in the right NTSC signal from the endoscope cameras, and provides that information via a remote user interface 502 to a touch screen 313, such as the Wacom Cintiq 15X, to be displayed in 2D on the touch screen 313.
An expert or mentor surgeon may then telestrate on the touch screen 313 using a digital pen to generate a telestration graphic input which is provided via the remote user interface 502 to a telestration graphic transmit unit 503. The telestration graphic transmit unit then transmits over TCP/IP, automatically in real-time or upon user command, the telestration graphic input as metadata, which may be in a selected graphics language format, to the telestration graphic receive unit 403 in the surgeon computer 302.
FIG. 6 illustrates a flow diagram of a method for telestrating on a 3D image of an anatomical structure, which is generally performed by modules in the surgeon computer 302 operating on information of pairs of stereoscopic images received from the stereoscopic endoscope 301. Although it is assumed for the purposes of this example that telestration is being performed by a remote mentor surgeon (i.e., remote from the operating room environment), it is to be appreciated that the method is equally applicable to cases where telestration is being performed by a local mentor surgeon (i.e., in the operating room environment).
Prior to performing the method, the stereoscopic endoscope 301 is preferably fully calibrated for both its intrinsic and extrinsic parameters so that optical distortion is removed and the resultant perspective images are rectified into alignment. In particular, calibrating the stereoscopic endoscope 301 in this manner means that the disparity between correlated points in the left and right camera view images will lie along a horizontal epipolar line, as shown for example in FIG. 9, which allows a one dimensional search with fewer chances for a false match thereby improving resolution and accuracy. This non-real-time camera calibration is generally performed using conventional techniques, such as with a Camera Calibration Toolbox for Matlab® downloadable from the California Institute of Technology (Caltech) website.
In 601, the image acquisition module 401 continuously receives information of a pair of stereoscopic images from a stereoscopic endoscope 301. At the same time, the video communication unit 306 may continuously receive information for only a selected one of the pair of stereoscopic images (e.g., corresponding to one of the right and left cameras in the stereoscopic endoscope 301) from the stereoscopic endoscope 301 for transmission to the remote expert touch screen 313.
In 602, the image acquisition module 401 captures or grabs a set of right and left camera views (i.e., right and left 2D frames) from the information received in 601, and provides it to the image correlation module 402 which constructs a disparity map from the right and left camera views using an image correlation algorithm which is preferably fast enough for real-time operation and accurate enough to provide a 3D view of the surgical site which is suitable for minimally invasive surgical procedures. One example of such an image correlation algorithm is described in U.S. Pat. No. 6,108,458 “Sparse Array Image Correlation” issued to Douglas P. Hart and assigned to the Massachusetts Institute of Technology, which is incorporated herein by this reference.
In 603, the rendering unit 404 first renders a 3D view of the telestration graphic input received from the remote mentor or local mentor. The graphics overlay module 405 then overlays the rendered 3D view of the telestration graphic input over a 3D view of the surgical site as provided by the stereo image pair received in 601. Finally, the graphics overlay module 405 provides the 3D view of the surgical site with the overlayed 3D telestration graphic input so that the 3D display 303 may display them to the Operating Surgeon (S).
In 604, the image acquisition module 401, which continues to receive information of pairs of stereoscopic images from the stereoscopic endoscope 301, captures or grabs another set of right and left camera views (i.e., right and left 2D frames) from information received subsequent in time from that previously captured.
In 605, the right and left frames of the subsequently received information are correlated with their previously captured counterparts (i.e., the right frame captured at time t+1 is correlated with the right frame previously captured at time t+0, and the left frame captured at time t+1 is correlated with the left frame previously captured at time t+0) using an appropriate image correlation algorithm. By thus correlating the right and left frames with their previously captured counterparts, the movement of anatomic structures which are at the surgical site and in the camera view can be determined, and the 3D position of the telestration graphic input may be moved accordingly to track movement of the anatomic structure upon which it has been drawn. In addition, a confidence measure may be computed such as a correlation value, and the brightness of the displayed telestration graphic input may be proportional to the magnitude of the confidence measure.
In 606, a rollover counter is incremented, and in 607, the counter is checked to see if it has rolled over. If it hasn't, then the method loops back to repeat inner loop 603-607, and if it has, the method loops back to repeat outer loop 602-607. In this way, the generation of the disparity map in 602 may be performed less frequently than the anatomy tracking performed in 604-605. For example, by properly selecting the clock frequency and the rollover value for the rollover counter, the inner loop 603-607 may be performed at a frequency of 30 Hz while the outer loop 602-607 is performed less frequently, such as at a rate of 1 Hz. Although a rollover counter is described as being used for this purpose, other conventional techniques for accomplishing the same or similar function may be used in its stead and are fully contemplated to be within the scope of the present invention.
FIG. 7 illustrates, as an example, a flow diagram detailing tasks executed by the rendering unit 404 and the graphics overlay module 405 in performing function 603 of the method described in reference to FIG. 6. Although it is assumed for this example that a right camera view of the pair of stereographic images has been transmitted to a remote mentor surgeon for viewing and telestration, the following and other methods described herein are equally applicable to cases where the left camera view is transmitted instead.
In 701, the rendering unit 404 receives information for a telestration graphic input corresponding to the right camera view of the pair of stereographic images from a remote mentor surgeon through the telestration graphic receive unit 403. Since the received information preferably defines the telestration graphic input in a selected graphics language, the rendering unit 404 translates the received information as necessary to be compatible with the disparity map.
Preferably, the depth of the telestration graphic input is the same as the anatomic structure over which it is positioned in the right camera view. Thus, from the position of the received telestration graphic input corresponding to the right camera view, the depth of the telestration graphic input is readily determinable using the disparity map since the disparity map is directly associated with a depth map that can be determined non-real-time during the calibration process for the stereoscopic endoscope 301.
In 702, the rendering unit 404 then determines the telestration graphic input position in the left camera view which corresponds to the received telestration graphic input position in the right camera view. It does this by using the disparity map previously generated for the right and left camera views. In particular, for selected points of the received telestration graphic input corresponding to the right camera view, disparity values are read or otherwise determined from the disparity map at the locations of those points. The corresponding locations in the left camera view for those points are then determined by adjusting the locations in the right camera view by the disparity values.
In 703, the graphics overlay module 405 overlays or blends the telestration graphic input positioned for the right camera view over or with the right camera view, and overlays or blends the telestration graphic input positioned for the left camera view over or with the left camera view. Preferably, both overlays are performed in a nondestructive manner so that underlying camera view information is preserved. The graphics overlay module 405 then provides the stereoscopic right and left camera view information with the overlayed 3D telestration graphic input to the 3D display 303 so that the Operating Surgeon (S) may view the surgical site with the 3D telestration graphic input properly positioned on the 3D anatomic structure. Optionally, the information may be provided to the 3D display 303 in such a fashion that the 3D telestration graphic input either appears as if being drawn by hand in real-time or it may appear in its entirety all at once. Also, optionally, the information may be provided to the 3D display 303 in such a fashion that the 3D telestration graphic input either fades after a time by either disappearing gradually from one end to the other, or by fading all points together. In addition, as previously described, a confidence measure may be computed such as a correlation value, and the brightness of the displayed telestration graphic input may be proportional to the magnitude of the confidence measure.
FIG. 8 illustrates, as an example, a flow diagram detailing tasks executed by the rendering unit 404 and the graphics overlay module 405 in performing the anatomic structure tracking function 605 of the method described in reference to FIG. 6. In 801, the rendering unit 404 performs a frame-to-frame (F/F) image correlation by causing the image correlation module 402 to: (a) correlate the most recently captured right camera view with the just prior captured right camera view by the image acquisition module 401, and (b) correlate the most recently captured left camera view with the just prior captured left camera view by the image acquisition module 401. By performing this F/F image correlation, a new position in the 3D space of the stereoscopic endoscope is determined for the anatomic structure upon which the telestration graphic input is to be overlayed.
Since the anatomical structure being viewed at the surgical site is only expected to move slowly, if at all, relative to the stereoscopic endoscope 301, the F/F image correlation performed in 801 may be performed more rapidly than the image correlation performed in 602 to construct the disparity map, since the area over which the image correlation is performed may be reduced. This reduction in area is particularly useful, because unlike the disparity map determination in which the positions of identifying characteristics in the right and left camera views are expected to only differ by their disparity values along horizontal epipolar lines, for anatomy tracking purposes, it is also useful to consider vertical and depth movements.
In 802, the rendering unit 404 next updates the position of the telestration graphic input in the most recently captured right and left camera views so as to track movement of the anatomic structure upon which it is to be overlayed. In particular, for each shared (i.e., overlayed) point of the anatomic structure and the telestration graphic input, the telestration graphic input point is moved to the new position of its corresponding anatomic structure point in both the right and left camera views, as determined through the F/F image correlation.
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