US 12,239,294 B2
Illumination corrected near-infrared (nir) imaging for image guided surgery
Jeffrey M. DiCarlo, Austin, TX (US); Ian E. McDowall, Woodside, CA (US); and Max J. Trejo, Sunnyvale, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/311,002
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Dec. 3, 2019, PCT No. PCT/US2019/064142
§ 371(c)(1), (2) Date Jun. 4, 2021,
PCT Pub. No. WO2020/117744, PCT Pub. Date Jun. 11, 2020.
Claims priority of provisional application 62/775,451, filed on Dec. 5, 2018.
Prior Publication US 2022/0015857 A1, Jan. 20, 2022
Int. Cl. A61B 1/04 (2006.01); A61B 1/00 (2006.01); A61B 5/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 1/043 (2013.01) [A61B 1/00009 (2013.01); A61B 1/046 (2022.02); A61B 5/0071 (2013.01); A61B 90/37 (2016.02); A61B 2090/371 (2016.02); A61B 2090/373 (2016.02)] 10 Claims
OG exemplary drawing
 
1. A method of displaying a visual representation of a portion of a surgical scene, the method comprising:
receiving data representing information captured using a first sensor of a camera associated with a surgical device, the information being indicative of a first quantity representing an amount of fluorescence emitted from the portion of the surgical scene;
obtaining information indicative of a second quantity representing an amount of excitation signal causing the fluorescence to be emitted from the portion of the surgical scene;
generating, by one or more processing devices, a normalized fluorescence signal as a function of the first quantity and the second quantity;
generating the visual representation of the portion of the surgical scene based on the normalized fluorescence signal; and
presenting the visual representation of the portion of the surgical scene on a display device associated with the surgical device,
wherein obtaining the information indicative of the second quantity comprises:
accessing a depth map associated with a source of the excitation signal, the depth map providing information on intensity variations of the excitation signal as a function of spatial separation from the source;
receiving data representing information about a spatial separation between a surface of the portion of the surgical scene and the source of the excitation signal; and
determining the second quantity based on (i) the spatial separation between the surface of the portion of the surgical scene and the source, and (ii) the depth map.