Method and apparatus to provide updated patient images during robotic surgery

Patent metadata

Field	Value
Publication number	US-9622831-B2
Application number	US-201514716963-A
Country	US
Kind code	B2
Filing date	May 20, 2015
Priority date	May 20, 2015
Publication date	Apr 18, 2017
Grant date	Apr 18, 2017

Abstract

In a method and an apparatus to provide updated images during a robotically-implemented surgical procedure, 3D data are obtained of a volume of a patient, which includes anatomy involved in the procedure. The anatomy is segmented from a reconstructed image of the volume. During the procedure, the surgeon applies forces on the anatomy, causing a geometric change of the anatomy. Force sensors in the surgical robot detect these forces, which are supplied to a processor that controls display of the segmented anatomy at a display screen. From the applied forces and the physical properties of the anatomy, the processor calculates the geometric change of the anatomy that has occurred and modifies the appearance and/or position of the displayed segmented anatomy on the display screen in real time during the procedure, so as to visualize the geometric change.

First claim

We claim as our invention:

1. A method for providing current images of a surgical site during a robotically-implemented surgical procedure, comprising:
operating a medical imaging device to acquire 3D data representing a volume of a patient situated on a patient table, said volume comprising anatomy that will be manipulated, during a surgical procedure, by a manually-operated surgical robot;
providing said 3D data to a processor and, in said processor, reconstructing a 3D image of said volume from said 3D data;
via said processor, segmenting a 3D volumetric image of said anatomy from said 3D image of said volume;
in said processor, automatically determining at least one material property of said anatomy;
in said processor, bringing a coordinate system of said surgical robot into registration with a coordinate system of said medical imaging device;
beginning said surgical procedure and, in said surgical procedure, manually operating said surgical robot to apply at least one force to said anatomy that produces a geometrical change of said anatomy;
providing an electronic signal representing said force to said processor and, in said processor, automatically updating the segmented volumetric image of said anatomy, based on said force and said at least one material property of said anatomy, to produce an updated segmented volumetric image of said anatomy that visually shows said change in the geometry of said anatomy; and
at a display screen in communication with said processor, displaying said updated segmented volumetric image of said anatomy in real-time during said surgical procedure.

2. A method as claimed in claim 1 comprising storing at least one material property respectively for different anatomical objects in an electronic database, and accessing said electronic database from said processor to obtain said at least one material property from said database for said anatomy in said segmented volumetric image.

3. A method as claimed in claim 2 comprising:
obtaining a pre-operative data set from said patient prior to acquiring said 3D dataset from the patient on the table, said preoperative data set also comprising the volume of the patient that is comprised in the 3D data set;
providing said pre-operative data set to said processor and, in said processor, bringing pre-operative data set into registration with the image reconstructed from said 3D data set and combining said pre-operative data set with said image reconstructed from said 3D data; and
segmenting said anatomy from said combined image to obtain said segmented volumetric image of said anatomy.

4. A method as claimed in claim 1 comprising:
during said surgical procedure, also obtaining an endoscopic image of said anatomy and displaying said endoscopic image of said anatomy at a display screen during said surgical procedure; and
during said surgical procedure, manipulating said updated segmented volumetric image of said anatomy to show a view of said anatomy that is not visible in said endoscopic image.

5. A method as claimed in claim 1 comprising manually segmenting said anatomy from said image of said volume reconstructed from said 3D data by manual interaction, via said processor, with said image of said volume reconstructed from said 3D data.

6. A method as claimed in claim 1 comprising automatically segmenting said anatomy in said processor from said image of said volume reconstructed from said 3D data, by executing a segmentation algorithm with pattern recognition.

7. An apparatus for providing current images of a surgical site during a robotically-implemented surgical procedure, comprising:
a surgery facility comprising a patient table adapted to receive a patient thereon, a medical imaging device, and a manually-operated surgical robot comprising at least one instrument that is manually operable during a surgical procedure, and a force sensor that detects a force applied by said at least one instrument to anatomy of the patient that is involved in said surgical procedure;
a control computer to operate said medical imaging device to acquire 3D data representing a volume of a patient situated on a patient table, said volume comprising anatomy that will be manipulated, during a surgical procedure, by a manually-operated surgical robot;
said control computer being configured to reconstruct a 3D image of said volume from said 3D data;
said processor being configured to segment a 3D volumetric image of said anatomy from said 3D image of said volume;
said processor being configured to automatically determine at least one material property of said anatomy;
said processor being configured to bring a coordinate system of said surgical robot into registration with a coordinate system of said medical imaging device;
said surgical robot being configured to allow a surgeon to implement said surgical procedure and, in said surgical procedure, manually-operate said surgical robot to apply at least one force to said anatomy that produces a geometrical change of said anatomy;
said surgical robot being configured to provide an electronic signal representing said force to said processor and said processor being configured to automatically update the segmented volumetric image of said anatomy, based on said force and said at least one material property of said anatomy, to produce an updated segmented volumetric image of said anatomy that visually shows said change in the geometry of said anatomy; and
a display screen in communication with said processor, said processor being configured to display said updated segmented volumetric image of said anatomy in real-time during said surgical procedure at said display screen.

8. An apparatus as claimed in claim 7 comprising an electronic database in which at least one material property respectively for different anatomical objects is stored, and said processor being configured to access said electronic database to obtain said at least one material property from said database for said anatomy in said segmented volumetric image.

9. An apparatus as claimed in claim 8 comprising:
a source of a pre-operative data set acquired from said patient prior to acquiring said 3D dataset from the patient on the table, said preoperative data set also comprising the volume of the patient that is comprised in the 3D data set;
said processor being configured to receive said pre-operative data set and to bring pre-operative data set into registration with the image reconstructed from said 3D data set, and combine said pre-operative data set with said image reconstructed from said 3D data; and
said processor being configured to segment said anatomy from said combined image to obtain said segmented volumetric image of said anatomy.

10. An apparatus as claimed in claim 7 comprising:
an endoscopic camera at said surgical robot, said endoscopic camera, during said surgical procedure, obtaining an endoscopic image of said anatomy and displaying said endoscopic image of said anatomy at a display screen during said surgical procedure; and
said control computer being configured to allow, during said surgical procedure, manipulating of said updated segmented volumetric image of said anatomy to show a view of said anatomy that is not visible in said endoscopic image.

11. An apparatus as claimed in claim 7 comprising a user interface configured to allow manual segmenting of said anatomy from said image of said volume reconstructed from said 3D data by manual interaction with said processor, via said interface, with said image of said volume reconstructed from said 3D data.

12. An apparatus as claimed in claim 7 wherein said processor is configured to automatically segment said anatom

Assignees

• Siemens Ag
• Intuitive Surgical Inc
• Siemens Healthcare Gmbh
• Intuitive Surgical Operations

Inventors

• Azizian Mahdi
• Blohm Lutz
• Kunze Holger
• Niebler Christine
• Sorger Jonathan

Classifications

• A61B2090/3762

  using computed tomography systems [CT] · CPC title

• G16H30/20

  for handling medical images, e.g. DICOM, HL7 or PACS · CPC title

• G16H30/40

  for processing medical images, e.g. editing · CPC title

• A61B90/37 Primary

  Surgical systems with images on a monitor during operation · CPC title

• A61B34/30

  Surgical robots · CPC title