US 12,002,208 B2
Determining chromophore concentrations in tissues
Jeffrey M. DiCarlo, Austin, TX (US); and Ian E. McDowall, Woodside, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/311,300
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Dec. 4, 2019, PCT No. PCT/US2019/064542
§ 371(c)(1), (2) Date Jun. 4, 2021,
PCT Pub. No. WO2020/117982, PCT Pub. Date Jun. 11, 2020.
Claims priority of provisional application 62/775,463, filed on Dec. 5, 2018.
Prior Publication US 2022/0015617 A1, Jan. 20, 2022
Int. Cl. G06T 7/00 (2017.01); A61B 1/00 (2006.01); A61B 1/04 (2006.01); A61B 1/05 (2006.01); A61B 90/00 (2016.01)
CPC G06T 7/0014 (2013.01) [A61B 1/000096 (2022.02); A61B 1/0005 (2013.01); A61B 1/00055 (2013.01); A61B 1/043 (2013.01); A61B 1/05 (2013.01); A61B 90/37 (2016.02); G06T 2207/10064 (2013.01); G06T 2207/10068 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of presenting feedback on a state of a surgical scene being operated at using a surgical device, the method comprising:
obtaining, using an endoscopic camera, a plurality of images of the surgical scene, each image in the plurality of images being obtained under illumination by electromagnetic radiation in a corresponding wavelength range, wherein the corresponding wavelength ranges are selected in accordance with a set of chromophores present in the surgical scene, and wherein any two of the corresponding wavelength ranges are at least partially non-overlapping;
determining, based on the plurality of images, a concentration of each of one or more chromophores in the set at various portions of the surgical scene, wherein the determining comprises;
identifying a set of pixel values across multiple images in the plurality of images, wherein each pixel value in the set represents substantially a particular portion of the surgical scene, and
determining, based on a chromophore model, the concentration of each of the one or more chromophores corresponding to the set of pixel values across the multiple images, wherein the chromophore model represents relationships between combinations of pixel values and chromophore concentrations;
generating, by one or more processing devices, based on information about the concentration of each of the one or more chromophores, a representation of the surgical scene; and
presenting the representation of the surgical scene on an output device associated with the surgical device.