US 12,406,370 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)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Apr. 30, 2024, as Appl. No. 18/650,707.
Application 18/650,707 is a continuation of application No. 17/311,300, granted, now 12,002,208, previously published as PCT/US2019/064542, filed on Dec. 4, 2019.
Claims priority of provisional application 62/775,463, filed on Dec. 5, 2018.
Prior Publication US 2024/0281975 A1, Aug. 22, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G06T 7/00 (2017.01)
CPC G06T 7/0014 (2013.01) [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 imaging device, a plurality of images of the surgical scene, each image in the plurality of images being obtained under illumination by electromagnetic radiation in one of a plurality of wavelength ranges, wherein the plurality of wavelength ranges are at least partially non-overlapping;
identifying a set of pixel values across multiple images in the plurality of images, wherein each pixel value in the set of pixel values is substantially representative of a particular portion of the surgical scene;
determining, based on the set of pixel values and a chromophore model, a concentration of a chromophore in the particular portion of the surgical scene, wherein the chromophore model represents relationships between combinations of pixel values and chromophore concentrations; and
presenting, by a display device, a representation of the surgical scene, the representation generated based on information about the concentration of the chromophore.