WO2022219489A1 - Systèmes de rétroaction de réalité mixte qui coopèrent pour favoriser la perception efficace de flux de données complexes - Google Patents

Systèmes de rétroaction de réalité mixte qui coopèrent pour favoriser la perception efficace de flux de données complexes Download PDF

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Publication number
WO2022219489A1
WO2022219489A1 PCT/IB2022/053360 IB2022053360W WO2022219489A1 WO 2022219489 A1 WO2022219489 A1 WO 2022219489A1 IB 2022053360 W IB2022053360 W IB 2022053360W WO 2022219489 A1 WO2022219489 A1 WO 2022219489A1
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WIPO (PCT)
Prior art keywords
surgical
augmented
overlay
augmented reality
data
Prior art date
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PCT/IB2022/053360
Other languages
English (en)
Inventor
Iv Frederick E. Shelton
Shane R. Adams
Matthew D. COWPERTHWAIT
Kevin M. Fiebig
Cory G. Kimball
Monica L.Z. Rivard
Leonardo N. Rossoni
Risto KOJCEV
Felix J. BORK
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Cilag Gmbh International
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from US17/688,671 external-priority patent/US20220335696A1/en
Application filed by Cilag Gmbh International filed Critical Cilag Gmbh International
Priority to JP2023562921A priority Critical patent/JP2024514885A/ja
Priority to CN202280042095.6A priority patent/CN117546253A/zh
Priority to EP22718792.9A priority patent/EP4136655A1/fr
Priority to BR112023021233A priority patent/BR112023021233A2/pt
Publication of WO2022219489A1 publication Critical patent/WO2022219489A1/fr

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    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/20—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
    • G06F1/16—Constructional details or arrangements
    • G06F1/1613—Constructional details or arrangements for portable computers
    • G06F1/163—Wearable computers, e.g. on a belt
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/013—Eye tracking input arrangements
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/017—Gesture based interaction, e.g. based on a set of recognized hand gestures
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/03—Arrangements for converting the position or the displacement of a member into a coded form
    • G06F3/033—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor
    • G06F3/0346—Pointing devices displaced or positioned by the user, e.g. mice, trackballs, pens or joysticks; Accessories therefor with detection of the device orientation or free movement in a 3D space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/40—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management of medical equipment or devices, e.g. scheduling maintenance or upgrades
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation

Definitions

  • This disclosure relates to apparatuses, systems, and methods for providing an augmented reality interactive experience during a surgical procedure.
  • a surgical procedure it would be desirable to provide an augmented reality interactive experience of a real- world environment where objects that reside in the real world are enhanced by overlaying computer-generated perceptual information, sometimes across multiple sensory modalities, including visual, auditory, haptic, somatosensory, and olfactory.
  • images of a surgical field and surgical instruments and other objects appearing in the surgical field are enhanced by overlaying computer-generated visual, auditory, haptic, somatosensory, olfactory, or other sensory information onto the real world images of the surgical field and instruments or other objects appearing in the surgical field.
  • the images may be streamed in real time or may be still images.
  • Real world surgical instruments include a variety of surgical devices.
  • Energy based surgical devices include, without limitation, radio-frequency (RF) based monopolar and bipolar electrosurgical instruments, ultrasonic surgical instruments, combination RF electrosurgical and ultrasonic instruments, combination RF electrosurgical and mechanical staplers, among others.
  • Surgical stapler devices are surgical instruments used to cut and staple tissue in a variety of surgical procedures, including bariatric, thoracic, colorectal, gynecologic, urologic and general surgery.
  • this disclosure provides an augmented reality display system for use during a surgical procedure.
  • the augmented reality display system comprises an imaging device to capture a real image of a surgical area during the surgical procedure and to generate a first data feed.
  • a sensor device generates a second data feed.
  • An augmented reality device comprising an augmented reality display generates an augmented overlay based on the first and second data feeds.
  • the augmented overlay comprises a visual portion and a non-visual visual portion.
  • a processor receives the first data feed, receives the second data feed, and combines the first and second data feeds to generate the augmented overlay.
  • this disclosure provides a method of presenting an augmented overlay during a surgical procedure.
  • an imaging device captures a real image of a surgical area during the surgical procedure.
  • An imaging device generates a first data feed based on the captured real image.
  • a sensor device generates a second data feed.
  • An augmented reality device comprising an augmented reality display presents an augmented overlay based on the first and second data feeds.
  • the augmented overlay comprises a visual portion and a non-visual visual portion.
  • FIG. 1 is a block diagram of a computer-implemented interactive surgical system, according to one aspect of this disclosure.
  • FIG. 2 is a surgical system being used to perform a surgical procedure in an operating room, according to one aspect of this disclosure.
  • FIG. 3 is a surgical hub paired with a visualization system, a robotic system, and an intelligent instrument, according to one aspect of this disclosure.
  • FIG. 4 illustrates a surgical data network comprising a modular communication hub configured to connect modular devices located in one or more operating theaters of a healthcare facility, or any room in a healthcare facility specially equipped for surgical operations, to the cloud, according to one aspect of this disclosure.
  • FIG. 5 illustrates a computer-implemented interactive surgical system, according to one aspect of this disclosure.
  • FIG. 6 illustrates a surgical hub comprising a plurality of modules coupled to the modular control tower, according to one aspect of this disclosure.
  • FIG. 7 illustrates an augmented reality (AR) system comprising an intermediate signal combiner positioned in the communication path between an imaging module and a surgical hub display, according to one aspect of this disclosure.
  • AR augmented reality
  • FIG. 8 illustrates an augmented reality (AR) system comprising an intermediate signal combiner positioned in the communication path between an imaging module and a surgical hub display, according to one aspect of this disclosure.
  • AR augmented reality
  • FIG. 9 illustrates an augmented reality (AR) device worn by a surgeon to communicate data to the surgical hub, according to one aspect of this disclosure.
  • AR augmented reality
  • FIG. 10 illustrates a system for augmenting surgical instrument information using an augmented reality display, according to one aspect of this disclosure.
  • FIG. 11 is a system diagram of a surgical suite comprising a surgical monitor with intraoperative data display of a surgical area, according to one aspect of this disclosure.
  • FIG. 12 is an augmented image of a live feed of a surgical area as visualized through a laparoscopic camera during a minimally invasive surgical procedure indicating tissue insufficiently captured between jaws of a surgical instrument end effector as a tissue aspect, according to one aspect of this disclosure.
  • FIG. 13 is an augmented image of a live feed of a surgical area as visualized through a laparoscopic camera during a minimally invasive surgical procedure displayed on an intraoperative data display, according to one aspect of this disclosure.
  • FIG. 14 illustrates an augmented reality system comprising an intermediate signal combiner positioned in the communication path between an imaging module and a surgical hub display, according to one aspect of this disclosure.
  • FIG. 15 illustrates a method of presenting an augmented overlay during a surgical procedure, according to one aspect of this disclosure.
  • FIG. 16 illustrates a timeline of a situational awareness surgical procedure, according to one aspect of this disclosure.
  • Applicant of the present application owns the following U.S. Patent Applications filed concurrently herewith, the disclosures of each of which is herein incorporated by reference in its entirety: • U.S. Patent Application, titled METHOD FOR INTRAOPERATIVE DISPLAY FOR SURGICAL SYSTEMS; Attorney Docket No. END9352USNP1/210120-1 M;
  • Energy based medical devices include, without limitation, radio-frequency (RF) based monopolar and bipolar electrosurgical instruments, ultrasonic surgical instruments, combination RF electrosurgical and ultrasonic instruments, combination RF electrosurgical and mechanical staplers, among others.
  • Surgical stapler devices include and combined surgical staplers with electrosurgical and / or ultrasonic devices.
  • Aspects of the ultrasonic surgical devices can be configured for transecting and / or coagulating tissue during surgical procedures, for example.
  • Aspects of the electrosurgical devices can be configured for transecting, coagulating, sealing, welding and / or desiccating tissue during surgical procedures, for example.
  • the surgical stapler devices can be configured for transecting and stapling tissue during surgical procedures and in some aspects, the surgical stapler devices may be configured to delivery RF energy to the tissue during surgical procedures. Electrosurgical devices are configured to deliver therapeutic and / or nontherapeutic RF energy to the tissue. Elements of surgical staplers, electrosurgical, and ultrasonic devices may be used in combination in a single surgical instrument.
  • the present disclosure provides onscreen displays of real time information to the OR team during a surgical procedure.
  • many new and unique onscreen displays are provided to display onscreen a variety of visual information feedback to the OR team.
  • visual information may comprise one or more than one of various visual media with or without sound.
  • visual information comprises still photography, motion picture photography, video or audio recording, graphic arts, visual aids, models, display, visual presentation services, and the support processes.
  • the visual information can be communicated on any number of display options such as the primary OR screen, the energy or surgical stapler device itself, a tablet, augmented reality glasses, among others, for example.
  • the present disclosure provides a large list of potential options to communicate visual information in real time to the OR team, without overwhelming the OR team with too much visual information.
  • the present disclosure provides onscreen displays of visual information to enable the surgeon, or other members of the OR team, to selectively activate onscreen displays such as icons surrounding the screen option to manage a wealth of visual information.
  • One or a combination of factors can be used to determine the active display, these may include energy based (e.g., electrosurgical, ultrasonic) or mechanical based (e.g., staplers) surgical devices in use, the estimated risk associated with a given display, the experience level of the surgeon and the surgeons’ choice among other things.
  • the visual information may comprises rich data overlaid or superimposed into the surgical field of view to manage the visual information.
  • the visual information may comprise rich data overlaid or superimposed into the surgical field of view to manage the visual information.
  • the visual information may comprise superimposed imagery that requires video analysis and tracking to properly overlay the data.
  • Visual information data communicated in this manner may provide additional useful visual information in a more concise and easy to understand way to the OR team.
  • the present disclosure provides techniques for selectively activating onscreen displays such as icons surrounding the screen to manage visual information during a surgical procedure.
  • the present disclosure provides techniques for determining the active display using one or a combination of factors.
  • the techniques according to the resent disclosure may comprise selecting the energy based or mechanical based surgical device in use as the active display, estimating risk associated with a given display, utilizing the experience level of the surgeon or OR team making the selection, among other things.
  • the techniques according to the present disclosure may comprise overlaying or superimposing rich data onto the surgical field of view to manage the visual information.
  • a number of the display arrangements described by the present disclosure involve overlaying various visual representations of surgical data onto a livestream of a surgical field.
  • the term overlay comprises a translucent overlay, a partial overlay, and / or a moving overlay.
  • Graphical overlays may be in the form of a transparent graphic, semitransparent graphic, or opaque graphic, or a combination of transparent, semitransparent, and opaque elements or effects.
  • the overlay can be positioned on, or at least partially on, or near an object in the surgical field such as, for example, an end effector and/or a critical surgical structure.
  • Certain display arrangements may comprise a change in one or more display elements of an overlay including a change in color, size, shape, display time, display location, display frequency, highlighting, or a combination thereof, based on changes in display priority values.
  • the graphical overlays are rendered on top of the active display monitor to convey important information quickly and efficiently to the OR team.
  • the techniques according to the present disclosure may comprise superimposing imagery that requires analyzing video and tracking for properly overlaying the visual information data.
  • the techniques according to the present disclosure may comprise communicating rich visual information, as opposed to simple static icons, to provide additional visual information to the OR team in a more concise and easy to understand manner.
  • the visual overlays may be used in combination with audible and / or somatosensory overlays such as thermal, chemical, and mechanical devices, and combinations thereof.
  • AR augmented reality
  • images of a surgical field and surgical instruments and other objects appearing in the surgical field are enhanced by overlaying computer-generated visual, auditory, haptic, somatosensory, olfactory, or other sensory information onto the real world images of the surgical field, instruments, and/or other objects appearing in the surgical field.
  • the images may be streamed in real time or may be still images.
  • Augmented reality is a technology for rendering and displaying virtual or “augmented” virtual objects, data, or visual effects overlaid on a real environment.
  • the real environment may include a surgical field.
  • the virtual objects overlaid on the real environment may be represented as anchored or in a set position relative to one or more aspects of the real environment.
  • a real world object exits the real environment field of view
  • a virtual object anchored to the real world object would also exit the augmented reality field of view.
  • a number of the display arrangements described by the present disclosure involve overlaying various visual representations of surgical data onto a livestream of a surgical field.
  • overlaying comprises a translucent overlay, a partial overlay, and/or a moving overlay.
  • the overlay can be positioned on, or at least partially on, or near an object in the surgical field such as, for example, an end effector and/or a critical surgical structure.
  • Certain display arrangements may comprise a change in one or more display elements of an overlay including a change in color, size, shape, display time, display location, display frequency, highlighting, or a combination thereof, based on changes in display priority values.
  • AR is an enhanced version of the real physical world that is achieved through the use of digital visual elements, sound, or other sensory stimuli delivered via technology.
  • Virtual Reality VR is a computer-generated environment with scenes and objects that appear to be real, making the user feel they are immersed in their surroundings. This environment is perceived through a device known as a Virtual Reality headset or helmet.
  • Mixed reality (MR) and AR are both considered immersive technologies, but they aren't the same.
  • MR is an extension of Mixed reality that allows real and virtual elements to interact in an environment. While AR adds digital elements to a live view often by using a camera, an MR experience combines elements of both AR and VR, where real-world and digital objects interact.
  • one or more computer-generated virtual objects may be displayed along with one or more real (i.e. , so-called “real world”) elements.
  • a real-time image or video of a surrounding environment may be shown on a computer screen display with one or more overlaying virtual objects.
  • Such virtual objects may provide complementary information relating to the environment or generally enhance a user's perception and engagement with the environment.
  • the real-time image or video of the surrounding environment may additionally or alternatively enhance a user's engagement with the virtual objects shown on the display.
  • the apparatuses, systems, and methods in the context of this disclosure enhance images received from one or more imaging devices during a surgical procedure.
  • the imaging devices may include a variety of scopes used during non-invasive and minimally invasive surgical procedures, an AR device, and/or a camera to provide images during open surgical procedures.
  • the images may be streamed in real time or may be still images.
  • the apparatuses, systems, and methods provide an augmented reality interactive experience by enhancing images of the real world surgical environment by overlaying virtual objects or representations of data and/or real objects onto the real surgical environment.
  • the augmented reality experience may be viewed on a display and/or an AR device that allows a user to view the overlaid virtual objects onto the real world surgical environment.
  • the display may be located in the operating room or remote from the operating room.
  • AR devices are worn on the head of the surgeon or other operating room personnel and typically include two stereo-display lenses or screens, including one for each eye of the user. Natural light is permitted to pass through the two transparent or semi-transparent display lenses such that aspects of the real environment are visible while also projecting light to make virtual objects visible to the user of the AR device.
  • Two or more displays and AR devices may be used in a coordinated manner, for example with a first display or AR device controlling one or more additional displays or AR devices in a system with defined roles.
  • a user when activating display or an AR device, a user may select a role (e.g., surgeon, surgical assistant, nurse, etc., during a surgical procedure) and the display or AR device may display information relevant to that role.
  • a surgical assistant may have a virtual representation of an instrument displayed that the surgeon needs to perform for a next step of a surgical procedure. A surgeon’s focus on the current step may see different information displayed than the surgical assistant.
  • augmented reality interactive experiences include visual, auditory, haptic, somatosensory, olfactory, or other sensory feedback information to the surgical team inside or outside the operating room.
  • the virtual feedback information overlaid onto the real world surgical environment may be provided to an operating room (OR) team, including personnel inside the OR including, without limitation, the operating surgeon, assistants to the surgeon, a scrub person, an anesthesiologist and a circulating nurse, among others, for example.
  • the virtual feedback information can be communicated on any number of display options such as a primary OR screen display, an AR device, the energy or surgical stapler instrument, a tablet, augmented reality glasses, device etc.
  • FIG. 1 depicts a computer-implemented interactive surgical system 1 that includes one or more surgical systems 2 and a cloud-based system 4.
  • the cloud-based system 4 may include a remote server 13 coupled to a storage device 5.
  • Each surgical system 2 includes at least one surgical hub 6 in communication with the cloud 4.
  • the surgical system 2 may include a visualization system 8, a robotic system 10, and handheld intelligent surgical instruments 12, each configured to communicate with one another and/or the hub 6.
  • a surgical system 2 may include an M number of hubs 6, an N number of visualization systems 8, an O number of robotic systems 10, and a P number of handheld intelligent surgical instruments 12, where M, N, O, and P are integers greater than or equal to one.
  • the computer- implemented interactive surgical system 1 may be configured to provide an augmented reality interactive experience during a surgical procedure as described herein.
  • FIG. 2 depicts an example of a surgical system 2 to perform a surgical procedure on a patient lying down on an operating table 14 in a surgical operating room 16.
  • a robotic system 10 is used in the surgical procedure as a part of the surgical system 2.
  • the robotic system 10 includes a surgeon’s console 18, a patient side cart 20 (surgical robot), and a surgical robotic hub 22.
  • the patient side cart 20 can manipulate at least one removably coupled surgical tool 17 through a minimally invasive incision in the body of the patient while the surgeon views the surgical site through the surgeon’s console 18 or an augmented reality (AR) device 66 worn by the surgeon.
  • AR augmented reality
  • An image (e.g., still or live streamed in real time) of the surgical site during a minimally invasive procedure can be obtained by a medical imaging device 24.
  • the patient side cart 20 can manipulate the imaging device 24 to orient the imaging device 24.
  • An image of an open surgical procedure can be obtained by a medical imaging device 96.
  • the robotic hub 22 processes the images of the surgical site for subsequent display on the surgeon’s console 18 or the AR device 66 worn by the surgeon, or other person in the surgical operating room 16.
  • the optical components of the imaging device 24, 96 or AR device 66 may include one or more illumination sources and/or one or more lenses.
  • the one or more illumination sources may be directed to illuminate portions of the surgical field.
  • One or more image sensors may receive light reflected or refracted from tissue and instruments in the surgical field.
  • the imaging device 24 is configured for use in a minimally invasive surgical procedure.
  • imaging devices suitable for use with this disclosure include, but not limited to, an arthroscope, angioscope, bronchoscope, choledochoscope, colonoscope, cytoscope, duodenoscope, enteroscope, esophagogastro-duodenoscope (gastroscope), endoscope, laryngoscope, nasopharyngo-neproscope, sigmoidoscope, thoracoscope, and ureteroscope.
  • the imaging device 96 is configured for use in an open (invasive) surgical procedure.
  • the visualization system 8 includes one or more imaging sensors, one or more image-processing units, one or more storage arrays, and one or more displays that are strategically arranged with respect to the sterile field.
  • the visualization system 8 includes an interface for HL7, PACS, and EMR.
  • the imaging device 24 may employ multi-spectrum monitoring to discriminate topography and underlying structures.
  • a multi- spectral image captures image data within specific wavelength ranges in the electromagnetic spectrum. Wavelengths are separated by filters or instruments sensitive to particular wavelengths, including light from frequencies beyond the visible light range, e.g., IR and ultraviolet.
  • Spectral imaging can extract information not visible to the human eye.
  • Multi-spectrum monitoring can relocate a surgical field after a surgical task is completed to perform tests on the treated tissue.
  • FIG. 2 depicts a primary display 19 positioned in the sterile field to be visible to an operator at the operating table 14.
  • a visualization tower 11 is positioned outside the sterile field and includes a first non-sterile display 7 and a second non-sterile display 9, which face away from each other.
  • the visualization system 8, guided by the hub 6, is configured to utilize the displays 7, 9, 19 to coordinate information flow to operators inside and outside the sterile field.
  • the hub 6 may cause the visualization system 8 to display AR images of the surgical site, as recorded by an imaging device 24, 96 on a non-sterile display 7, 9, or through the AR device 66, while maintaining a live feed of the surgical site on the primary display 19 or the AR device 66.
  • the non-sterile display 7, 9 can permit a non-sterile operator to perform a diagnostic step relevant to the surgical procedure, for example.
  • FIG. 3 depicts a hub 6 in communication with a visualization system 8, a robotic system 10, and a handheld intelligent surgical instrument 12.
  • the hub 6 includes a hub display 35, an imaging module 38, a generator module 40, a communication module 30, a processor module 32, a storage array 34, and an operating room mapping module 33.
  • the hub 6 further includes a smoke evacuation module 26 and/or a suction/irrigation module 28.
  • the imaging module 38 comprises an AR device 66 and the processor module 32 comprises an integrated video processor and an augmented reality modeler (e.g., as shown in FIG. 10).
  • a modular light source may be adapted for use with various imaging devices.
  • multiple imaging devices may be placed at different positions in the surgical field to provide multiple views (e.g., non-invasive, minimally invasive, invasive or open surgical procedures).
  • the imaging module 38 can be configured to switch between the imaging devices to provide an optimal view.
  • the imaging module 38 can be configured to integrate the images from the different imaging devices and provide an augmented reality interactive experience during a surgical procedure as described herein.
  • FIG. 4 shows a surgical data network 51 comprising a modular communication hub 53 configured to connect modular devices located in one or more operating theaters/rooms of a healthcare facility to a cloud-based system.
  • the cloud 54 may include a remote server 63 (FIG. 5) coupled to a storage device 55.
  • the modular communication hub 53 comprises a network hub 57 and/or a network switch 59 in communication with a network router 61 .
  • the modular communication hub 53 is coupled to a local computer system 60 to process data.
  • Modular devices 1a-1 n in the operating theater may be coupled to the modular communication hub 53.
  • the network hub 57 and/or the network switch 59 may be coupled to a network router 61 to connect the devices 1a-1 n to the cloud 54 or the local computer system 60.
  • Data associated with the devices 1a-1 n may be transferred to cloud-based computers via the router for remote data processing and manipulation.
  • the operating theater devices 1a-1n may be connected to the modular communication hub 53 over a wired channel or a wireless channel.
  • the surgical data network 51 environment may be employed to provide an augmented reality interactive experience during a surgical procedure as described herein and in particular providing augmented images if the surgical field to one or more than one remote display 58.
  • FIG. 5 illustrates a computer-implemented interactive surgical system 50.
  • the computer-implemented interactive surgical system 50 is similar in many respects to the computer-implemented interactive surgical system 1 .
  • the computer-implemented interactive surgical system 50 includes one or more surgical systems 52, which are similar in many respects to the surgical systems 2.
  • Each surgical system 52 includes at least one surgical hub 56 in communication with a cloud 54 that may include a remote server 63.
  • the computer-implemented interactive surgical system 50 comprises a modular control tower 23 connected to multiple operating theater devices such as, for example, intelligent surgical instruments, robots, and other computerized devices located in the operating theater.
  • the modular control tower 23 comprises a modular communication hub 53 coupled to a computer system 60.
  • the modular control tower 23 is coupled to an imaging module 38 that is coupled to an endoscope 98, a generator module 27 that is coupled to an energy device 99, a smoke evacuator module 76, a suction/irrigation module 78, a communication module 13, a processor module 15, a storage array 16, a smart device/instrument 21 optionally coupled to a display 39, and a sensor module 29.
  • the operating theater devices are coupled to cloud computing resources such as server 63, data storage 55, and displays 58 via the modular control tower 23.
  • a robot hub 72 also may be connected to the modular control tower 23 and to the servers 63, data storage 55, and displays 58.
  • the devices/instruments 21 , visualization systems 58, among others, may be coupled to the modular control tower 23 via wired or wireless communication standards or protocols, as described herein.
  • the modular control tower 23 may be coupled to a hub display 65 (e.g., monitor, screen) to display augmented images received comprising overlaid virtual objects on the real surgical field received from the imaging module 38, device/instrument display 39, and/or other visualization systems 58.
  • the hub display 65 also may display data received from devices connected to the modular control tower 23 in conjunction with images and overlaid images.
  • FIG. 6 illustrates a surgical hub 56 comprising a plurality of modules coupled to the modular control tower 23.
  • the modular control tower 23 comprises a modular communication hub 53, e.g., a network connectivity device, and a computer system 60 to provide local processing, visualization, and imaging of augmented surgical information, for example.
  • the modular communication hub 53 may be connected in a tiered configuration to expand the number of modules (e.g., devices) that may be connected to the modular communication hub 53 and transfer data associated with the modules to the computer system 60, cloud computing resources, or both.
  • Each of the network hubs/switches 57, 59 in the modular communication hub 53 may include three downstream ports and one upstream port.
  • the upstream network hub/switch 57, 59 is connected to a processor 31 to provide a communication connection to the cloud computing resources and a local display 67. Communication to the cloud 54 may be made either through a wired or a wireless communication channel.
  • the computer system 60 comprises a processor 31 and a network interface 37.
  • the processor 31 is coupled to a communication module 41 , storage 45, memory 46, non-volatile memory 47, and input/output interface 48 via a system bus.
  • the system bus can be any of several types of bus structure(s) including the memory bus or memory controller, a peripheral bus or external bus, and/or a local bus using any variety of available bus architectures.
  • the processor 31 comprises an augmented reality modeler (e.g., as shown in FIG. 10) and may be implemented as a single-core or multicore processor such as those known under the trade name ARM Cortex by Texas Instruments.
  • the processor may be an LM4F230H5QR ARM Cortex-M4F Processor Core, available from Texas Instruments, for example, comprising an on-chip memory of 256 KB single-cycle flash memory, or other non volatile memory, up to 40 MHz, a prefetch buffer to improve performance above 40 MHz, a 32 KB single-cycle serial random access memory (SRAM), an internal read-only memory (ROM) loaded with StellarisWare® software, a 2 KB electrically erasable programmable read-only memory (EEPROM), and/or one or more pulse width modulation (PWM) modules, one or more quadrature encoder inputs (QEI) analogs, one or more 12-bit analog-to-digital converters (ADCs) with 12 analog input channels
  • QEI
  • the system memory includes volatile memory and non-volatile memory.
  • the basic input/output system (BIOS) containing the basic routines to transfer information between elements within the computer system, such as during start-up, is stored in non-volatile memory.
  • the non-volatile memory can include ROM, programmable ROM (PROM), electrically programmable ROM (EPROM), EEPROM, or flash memory.
  • Volatile memory includes random-access memory (RAM), which acts as external cache memory.
  • RAM random-access memory
  • RAM is available in many forms such as SRAM, dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and direct Rambus RAM (DRRAM).
  • DRAM dynamic RAM
  • SDRAM synchronous DRAM
  • DDR SDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM Synchlink DRAM
  • DRRAM direct Rambus RAM
  • the computer system 60 also includes removable/non-removable, volatile/non volatile computer storage media, such as for example disk storage.
  • the disk storage includes, but is not limited to, devices like a magnetic disk drive, floppy disk drive, tape drive, Jaz drive, Zip drive, LS-60 drive, flash memory card, or memory stick.
  • the disk storage can include storage media separately or in combination with other storage media including, but not limited to, an optical disc drive such as a compact disc ROM device (CD-ROM), compact disc recordable drive (CD-R Drive), compact disc rewritable drive (CD-RW Drive), or a digital versatile disc ROM drive (DVD-ROM).
  • CD-ROM compact disc ROM
  • CD-R Drive compact disc recordable drive
  • CD-RW Drive compact disc rewritable drive
  • DVD-ROM digital versatile disc ROM drive
  • a removable or non-removable interface may be employed.
  • the computer system 60 of FIG. 6, the imaging module 38 and/or visualization system 58, and/or the processor module 15 of FIGS. 4-6 may comprise an image processor, image-processing engine, graphics processing unit (GPU), media processor, or any specialized digital signal processor (DSP) used for the processing of digital images.
  • the image processor may employ parallel computing with single instruction, multiple data (SIMD) or multiple instruction, multiple data (MIMD) technologies to increase speed and efficiency.
  • SIMD single instruction, multiple data
  • MIMD multiple instruction, multiple data
  • the digital image-processing engine can perform a range of tasks.
  • the image processor may be a system on a chip with multicore processor architecture.
  • FIG. 7 illustrates an augmented reality system 263 comprising an intermediate signal combiner 64 positioned in the communication path between an imaging module 38 and a surgical hub display 67.
  • the signal combiner 64 combines audio and/or image data received from an imaging module 38 and/or an AR device 66.
  • the surgical hub 56 receives the combined data from the combiner 64 and overlays the data provided to the display 67, where the overlaid data is displayed.
  • the imaging device 68 may be a digital video camera and the audio device 69 may be a microphone.
  • the signal combiner 64 may comprise a wireless heads-up display adapter to couple to the AR device 66 placed into the communication path of the display 67 to a console allowing the surgical hub 56 to overlay data on the display 67.
  • FIG. 8 illustrates an augmented reality (AR) system comprising an intermediate signal combiner positioned in the communication path between an imaging module and a surgical hub display.
  • FIG. 8 illustrates an AR device 66 worn by a surgeon 73 to communicate data to the surgical hub 56.
  • Peripheral information of the AR device 66 does not include active video. Rather, the peripheral information includes only device settings, or signals that do not have same demands of refresh rates. Interaction may augment the surgeon's 73 information based on linkage with preoperative computerized tomography (CT) or other data linked in the surgical hub 56.
  • CT computerized tomography
  • the AR device 66 can identify structure - ask whether instrument is touching a nerve, vessel, or adhesion, for example.
  • the AR device 66 may include pre-operative scan data, an optical view, tissue interrogation properties acquired throughout procedure, and/or processing in the surgical hub 56 used to provide an answer.
  • the surgeon 73 can dictate notes to the AR device 66 to be saved with patient data in the hub storage 45 for later use in report or in follow up.
  • the AR device 66 worn by the surgeon 73 links to the surgical hub 56 with audio and visual information to avoid the need for overlays, and allows customization of displayed information around periphery of view.
  • the AR device 66 provides signals from devices (e.g., instruments), answers queries about device settings, or positional information linked with video to identify quadrant or position.
  • the AR device 66 has audio control and audio feedback from the AR device 66.
  • the AR device 66 is able to interact with other systems in the operating theater and have feedback and interaction available wherever the surgeon 73 is viewing.
  • the AR device 66 may receive voice or gesture initiated commands and queries from a surgeon, and the AR device 66 may provide feedback in the form of one or more modalities including audio, visual, or haptic touch.
  • FIG. 9 illustrates a surgeon 73 wearing an AR device 66, a patient 74, and may include a camera 96 in an operating room 75.
  • the AR device 66 worn by the surgeon 73 may be used to present to the surgeon 73 a virtual object overlaid on a real time image of the surgical field through augmented reality display 89 or through the hub connected display 67.
  • the real time image may include a portion of a surgical instrument 77.
  • the virtual object may not be visible to others within the operating room 75 (e.g., surgical assistant or nurse), though they also may wear AR devices 66. Even if another person is viewing the operating room 75 with an AR device 66, the person may not be able to see the virtual object or may be able to see the virtual object in a shared augmented reality with the surgeon 73, or may be able to see a modified version of the virtual object (e.g., according to customizations unique to the surgeon 73) or may see different virtual objects.
  • a virtual object and/or data may be configured to appear on a portion of a surgical instrument 77 or in a surgical field of view captured by an imaging module 38, an imaging device 68 during minimally invasive surgical procedures, and/or the camera 96 during open surgical procedures.
  • the imaging module 38 is a laparoscopic camera that provides a live feed of a surgical area during a minimally invasive surgical procedure.
  • An AR system may present virtual objects that are fixed to a real object without regard to a perspective of a viewer or viewers of the AR system (e.g., the surgeon 73).
  • a virtual object may be visible to a viewer of the AR system inside the operating room 75 and not visible to a viewer of the AR system outside the operating room 75.
  • the virtual object may be displayed to the viewer outside the operating room 75 when the viewer enters the operating room 75.
  • the augmented image may be displayed on the surgical hub display 67 or the augmented reality display 89.
  • the AR device 66 may include one or more screens or lens, such as a single screen or two screens (e.g., one per eye of a user).
  • the screens may allow light to pass through the screens such that aspects of the real environment are visible while displaying the virtual object.
  • the virtual object may be made visible to the surgeon 73 by projecting light.
  • a virtual object may appear to have a degree of transparency or may be opaque (i.e. , blocking aspects of the real environment).
  • An AR system may be viewable to one or more viewers, and may include differences among views available for the one or more viewers while retaining some aspects as universal among the views.
  • a heads-up display may change between two views while virtual objects and/or data may be fixed to a real object or area in both views. Aspects such as a color of an object, lighting, or other changes may be made among the views without changing a fixed position of at least one virtual object.
  • a user may see a virtual object and/or data presented in an AR system as opaque or as including some level of transparency.
  • the user may interact with the virtual object, such as by moving the virtual object from a first position to a second position.
  • the user may move an object with his or her hand. This may be done in the AR system virtually by determining that the hand has moved into a position coincident or adjacent to the object (e.g., using one or more cameras, which may be mounted on the AR device 66, such as AR device camera 79 or separate 96, and which may be static or may be controlled to move), and causing the object to move in response.
  • Virtual aspects may include virtual representations of real world objects or may include visual effects, such as lighting effects, etc.
  • the AR system may include rules to govern the behavior of virtual objects, such as subjecting a virtual object to gravity or friction, or may include other predefined rules that defy real world physical constraints (e.g., floating objects, perpetual motion, etc.).
  • the AR device 66 may include a camera 79 on the AR device 66 (not to be confused with the camera 96, separate from the AR device 66).
  • the AR device camera 79 or the camera 96 may include an infrared camera, an infrared filter, a visible light filter, a plurality of cameras, a depth camera, etc.
  • the AR device 66 may project virtual items over a representation of a real environment, which may be viewed by a user.
  • the AR device 66 may be used in the operating room 75 during a surgical procedure, for example performed by the surgeon 73 on the patient 74.
  • the AR device 66 may project or display virtual objects, such as a virtual object during the surgical procedure to augment the surgeon's vision.
  • the surgeon 73 may view a virtual object using the AR device 66, a remote controller for the AR device 66, or may interact with a virtual object, for example, using a hand to “interact” with a virtual object or a gesture recognized by the camera 79 of the AR device 66.
  • a virtual object may augment a surgical tool such as the surgical instrument 77.
  • the virtual object may appear (to the surgeon 73 viewing the virtual object through the AR device 66) to be coupled with or remain a fixed distance from the surgical instrument 77.
  • the virtual object may be used to guide the surgical instrument 77, and may appear to be fixed to the patient 74.
  • a virtual object may react to movements of other virtual or real-world objects in the surgical field.
  • the virtual object may be altered when a surgeon is manipulating a surgical instrument in proximity to the virtual object.
  • the augmented reality display system imaging device 38 capture a real image of a surgical area during a surgical procedure.
  • An augmented reality display 89, 67 presents an overlay of an operational aspect of the surgical instrument 77 onto the real image of the surgical area.
  • the surgical instrument 77 includes communications circuitry 231 to communicate operational aspects and functional data from the surgical instrument 77 to the AR device 66 via communication communications circuitry 233 on the AR device 66.
  • the surgical instrument 77 and the AR device 66 are shown in RF wireless communication between circuits 231 , 233 as indicated by arrows B, C, other communication techniques may employed (e.g., wired, ultrasonic, infrared, etc.).
  • the overlay is related to the operational aspect of the surgical instrument 77 being actively visualized.
  • the overlay combines aspects of tissue interaction in the surgical area with functional data from the surgical instrument 77.
  • a processor portion of the AR device 66 is configured to receive the operational aspects and functional data from the surgical instrument 77, determine the overlay related to the operation of the surgical instrument 77, and combine the aspect of the tissue in the surgical area with the functional data from the surgical instrument 77.
  • the augmented images indicate alerts relative to device performance considerations, alerts of incompatible usage, alerts on incomplete capture. Incompatible usage includes tissue out range conditions and tissue incorrectly balanced within the jaws of the end effector. Additional augmented images provide an indication of collateral events including indication of tissue tension and indication of foreign object detection. Other augmented images indicate device status overlays and instrument indication.
  • FIG. 10 illustrates a system 83 for augmenting images of a surgical field with information using an AR display 89, in accordance with at least one aspect of this disclosure.
  • the system 83 may be used to perform the techniques described hereinbelow, for example, by using the processor 85.
  • the system 83 includes one aspect of an AR device 66 that may be in communication with a database 93.
  • the AR device 66 includes a processor 85, memory 87, an AR display 89, and a camera 79.
  • the AR device 66 may include a sensor 90, a speaker 91 , and/or a haptic controller 92.
  • the database 93 may include image storage 94 or preoperative plan storage 95.
  • the processor 85 of the AR device 66 includes an augmented reality modeler 86.
  • the augmented reality modeler 86 may be used by the processor 85 to create the augmented reality environment.
  • the augmented reality modeler 86 may receive images of the instrument in a surgical field, such as from the camera 79 or sensor 90, and create the augmented reality environment to fit within a display image of the surgical field of view.
  • physical objects and/or date may be overlaid on the surgical field of view and/or the surgical instruments images and the augmented reality modeler 86 may use physical objects and data to present the augmented reality display of virtual object s and/or data in the augmented reality environment.
  • the augmented reality modeler 86 may use or detect an instrument at a surgical site of the patient and present a virtual object and/or data on the surgical instrument and/or an image of the surgical site in the surgical field of view captured by the camera 79.
  • the AR display 89 may display the AR environment overlaid on a real environment.
  • the display 89 may show a virtual object and/or data, using the AR device 66, such as in a fixed position in the AR environment.
  • the AR device 66 may include a sensor 90, such as an infrared sensor.
  • the camera 79 or the sensor 90 may be used to detect movement, such as a gesture by a surgeon or other user, that may be interpreted by the processor 85 as attempted or intended interaction by the user with the virtual target.
  • the processor 85 may identify an object in a real environment, such as through processing information received using the camera 79.
  • the sensor 90 may be a tactile, audible, chemical, or thermal sensor to generate corresponding signals that may combined with various data feeds to create the augmented environment.
  • the sensor 90 may include binaural audio sensors (spatial sound), inertial measurement (accelerometer, gyroscope, magnetometer) sensors, environmental sensors, depth camera sensors, hand and eye tracking sensors, and voice command recognition functions.
  • the AR display 89 may present, such as within a surgical field while permitting the surgical field to be viewed through the AR display 89, a virtual feature corresponding to a physical feature hidden by an anatomical aspect of a patient.
  • the virtual feature may have a virtual position or orientation corresponding to a first physical position or orientation of the physical feature.
  • the virtual position or orientation of the virtual feature may include an offset from the first physical position or orientation of the physical feature.
  • the offset may include a predetermined distance from the augmented reality display, a relative distance from the augmented reality display to the anatomical aspect, or the like.
  • the AR device 66 may be an individual AR device.
  • the AR device 66 may be a HoloLens 2 AR device manufactured by Microsoft of Redmond, Wash.
  • This AR device 66 includes a visor with lenses and binaural audio features (spatial sound), inertial measurement (accelerometer, gyroscope, magnetometer), environmental sensors, depth camera, and video camera, hand and eye tracking, and voice command recognition functions. It provides an improved field of view with high resolution by using mirrors to direct waveguides in front of wearer's eyes. Images can be enlarged by changing angles of mirrors. It also provides eye tracking to recognize users and adjust lens widths for specific users.
  • the AR device 66 may be a Snapchat Spectacles 3 AR device.
  • This AR device provides the ability to capture paired images and recreate 3D depth mapping, add in virtual effects, and replay 3D videos.
  • the AR device includes two HD cameras to capture 3D photos and videos at 60 fps — while four built-in microphones record immersive, high-fidelity audio. Images from both cameras combine to build out a geometric map of the real world around the user to provide a new sense of depth perception. Photos and videos may be wirelessly synchronized to external display devices.
  • the AR device 66 may be a Glass 2 AR device by Google. This AR device provides inertial measurement (accelerometer, gyroscope, magnetometer) information overlaid on lens (out of view) to supplement information.
  • the AR device 66 may be an Echo Frames AR device by Amazon. This AR device does not have cameras/displays. A microphone and speaker are linked to Alexa. This AR device provides less functionality than a heads-up display.
  • the AR device 66 may be a Focals AR device by North (Google). This AR device provides notification pusher/smartwatch analog; inertial measurement, screen overlay of information (weather, calendar, messages), voice control (Alexa) integration. This AR device provides basic heads-up display functionality.
  • the AR device 66 may be an Nreal AR device.
  • This AR device includes spatial sound, two environmental cameras, a photo camera, IMU (accelerometer, gyroscope), ambient light sensor, proximity sensor functionality.
  • IMU accelerometer, gyroscope
  • ambient light sensor proximity sensor functionality.
  • a nebula projects application information on lenses.
  • the AR device 66 may be any one of the following commercially available AR devices: Magic Leap 1 , Epson Moverio, Vuzix Blade AR, ZenFone AR, Microsoft AR glasses prototype, EyeT ap to create collinear light to that of the environment directly into the retina.
  • a beam splitter makes the same light seen by the eye available to the computer to process and overlay information, for example.
  • AR visualization systems include HUD, contact lenses , glasses, virtual reality (VR) headsets, virtual retinal display, on in operating room displays, and/or smart contact lenses (bionic lenses).
  • Multi-user interfaces for the AR device 66 include virtual retinal displays such as raster displays drawn directly on retinas instead of on a screen in front of the eye, smart televisions, smart phones, and / or spatial displays such as Sony spatial display systems.
  • AR technology may include, for example, AR capture devices and software applications, AR creation devices and software applications, and AR cloud devices and software applications.
  • AR capture devices and software applications include, for example, Apple Polycam app, Ubiquity 6 (Mirrorworld using Display. land app) - users can scan and get 3d image of real world (to create 3D model).
  • AR creation devices and software applications include, for example, Adobe Aero, Vuforia, ARToolKit, Google ARCore, Apple ARKit, MAXST, Aurasma, Zappar, Blippar.
  • AR cloud devices and software applications include, for example, Facebook, Google (world geometry, objection recognition, predictive data), Amazon AR Cloud (commerce), Microsoft Azure, Samsung Project Whare, Niantic, Magic Leap.
  • One aspect of the following disclosure describes various overlays of surgical instrument operational aspects or functions onto a live video stream of a surgical area as visualized through a laparoscopic camera surgical field of view during a minimally invasive surgical procedure.
  • the overlay is related to the operation of one of the surgical instruments or devices being actively visualized.
  • the overlays combine aspects of tissue/organ interaction with functional data received from surgical instruments used in the surgical procedure.
  • Surgical instruments may include graspers, clamps, staplers, ultrasonic, RF, or combination of each of these instruments.
  • aspects of tissue parameters may include incomplete capture of the tissue along with the status of the clamp or magnitude of the clamp.
  • aspects of tissue parameters may include tissue capture location, tissue compression, clamping, or firing sufficiency of a surgical stapler.
  • aspects of tissue parameters may include impedance, cautery status, bleeding magnitude, and aspects of instrument function may include energy level, timing, clamp pressure, among others, for examples.
  • the augmented images shown in FIGS. 11-13 hereinbelow may be viewed on a local display, a remote display, and/or an AR device as described hereinabove in connection with FIGS. 1-10.
  • the augmented images are described as being visualized through a laparoscopic camera during a minimally invasive surgical procedure, the images may be captured during non-invasive and invasive (e.g., open) surgical procedures without limiting the scope of this disclosure in this context. These aspects are described hereinbelow.
  • FIGS. 11-13 describe various augmented images visualized through a laparoscopic camera during a minimally invasive surgical procedure.
  • An augmented reality display system is used during a surgical procedure.
  • the augmented reality display system comprises an imaging device to capture a real image of a surgical area during the surgical procedure, an augmented reality display to present an overlay of an operational aspect of a surgical instrument onto the real image of the surgical area, and a processor.
  • the overlay is related to the operational aspect of the surgical instrument being actively visualized.
  • the overlay combines aspects of tissue interaction in the surgical area with functional data from the surgical instrument.
  • the processor is configured to receive the functional data for the surgical instrument, determine the overlay related to the operation of the surgical instrument, and combine the aspect of the tissue in the surgical area with the functional data from the surgical instrument.
  • the augmented images indicate alerts relative to device performance considerations, alerts of incompatible usage, alerts on incomplete capture.
  • Incompatible usage includes tissue out range conditions and tissue incorrectly balanced within the jaws of the end effector.
  • Additional augmented images provide an indication of collateral events including indication of tissue tension and indication of foreign object detection.
  • Other augmented images indicate device status overlays and instrument indication.
  • FIGS. 11-13 also describe functional overlays of instrument critical operations or parameters to clearly represent the surgical stapler, energy device, or aspects of its interaction.
  • the overlaid data is adjusted by an aspect detected by the surgical hub to modify the overlay from the information merely detected by the source instrument to add context.
  • the displays may be adjusted or modified by the user and as a result also result in modifications of the surgical instrument being monitored operation.
  • FIGS. 11-13 describe an intraoperative display system for use during a surgical procedure.
  • the system comprises a surgical monitor with an intraoperative data display of a surgical area.
  • An advanced energy generator is coupled to an advanced energy surgical instrument.
  • the advanced energy surgical instrument employs radio frequency (RF) energy and ultrasonic energy during a surgical procedure on a patient.
  • a surgical hub is coupled to the advanced energy generator and to the surgical monitor.
  • the surgical hub provides a live feed of the surgical area to the surgical monitor to display the live feed of the surgical area by the intraoperative data display.
  • the intraoperative data display displays a view of the surgical area including the advanced energy surgical instrument grasping tissue and a panel overlay that displays information specific to the advanced energy surgical instrument.
  • the intraoperative data display shows an end effector of the surgical instrument grasping tissue and a panel overlay displaying case information, systems notifications, or device panels, or any combination thereof, overlaid over the live surgical feed.
  • a location, opacity, size and placement of the panel overlay is customized.
  • the panel overlay is configured to be turned on or off individually or turned on/off as a group.
  • the panel overlay is further configured to change dynamically to show state changes such as device activation or power level adjustment.
  • the panel overlay depicts optimal device performance (ODP) guide images or other instructions for use (IFU)/informational sources.
  • the panel overlay comprises at least one of data input information from capital equipment, generators, insufflator, smoke evacuator, electronic health record, laparoscope, computer, surgical devices, wired and wirelessly connected devices, surgeon profile preferences that may be saved, recalled or edited, or any combination thereof.
  • the panel overlay may include case information including at least one of Patient Name, Surgeon Name, Case Time, or Instrument Activations, or combinations thereof.
  • the panel overlay may include system notifications including at least one of connect instrument status, minor error alert, medium error alert, or major error alert, or any combination thereof.
  • the panel overlay may include information associated with the surgical instrument connected to the system to provide advanced hemostasis.
  • the panel overlay may include a visible patient panel overlay.
  • the panel overlay may include a device panel overlay comprising at least one of device name, device settings, or device supplemental features, or any combination thereof.
  • the panel overlay may include a plurality of panel overlays in a stacked configuration.
  • the panel overlay may include a plurality of panel overlays in an expanded configuration.
  • the panel overlay may display device troubleshooting information.
  • the panel overlay may display at least one of alerts, warnings, device information, or device features, or any combination thereof.
  • the intraoperative data display comprises a secondary configurable panel.
  • the secondary configurable panel changes dynamically based on the selected customized laparoscopic overlay fields displayed in the surgical field of view of a live surgical feed area of the intraoperative data display.
  • the customized laparoscopic overlay fields comprise at least one of a bottom edge panel, a top left corner panel, a top center panel, or a side edge panel, or any combination thereof.
  • FIG. 11 is a system diagram 3000 of a surgical suite comprising a surgical monitor with intraoperative data display 3002 of a surgical area.
  • An advanced energy generator 3004 is coupled to a surgical hub 3006 and to an advanced energy surgical instrument 3008.
  • the advanced energy surgical instrument 3008 employs RF energy and ultrasonic energy during a surgical procedure on a patient 3010.
  • the surgical hub 3006 provides a live feed 3014 of the surgical area, which is displayed by the intraoperative data display 3002.
  • the intraoperative data display 3002 displays a view of the surgical area including the advanced energy surgical instrument 3008 grasping tissue and a panel overlay 3012 that displays information specific to the advanced energy surgical instrument 3008.
  • FIG. 12 is an augmented image 300 of a live feed of a surgical area 324 as visualized through a laparoscopic camera during a minimally invasive surgical procedure indicating tissue 322 insufficiently captured between the jaws 318 of a surgical instrument end effector 320 as a tissue aspect.
  • the laparoscopic field of view 302 of the surgical area 324 shows a surgical instrument end effector 320 grasping tissue 322 with the jaws 318 of the end effector 320.
  • the augmented image 300 shows a graphical alert overlay 304 superimposed on the image of the surgical area 324 to indicate insufficiently captured tissue 322 relative to the end of cut in the jaws 318 of the end effector 320.
  • the augmented image 300 also comprises a first sub image 308 showing a graphic image 306 of the general anatomy superimposed on or adjacent to the surgical field of view 302 and a reference frame 310 of the actual anatomy superimposed on or adjacent to the surgical field of view 302.
  • the augmented image 300 also comprises a second sub image 312 showing the type of surgical instrument in use, the energy level if applicable, and the current surgical procedure.
  • the second sub image 312 may be superimposed on or located adjacent to the surgical field of view 302.
  • the augmented image 300 shows an ultrasonic surgical instrument being used in a surgical procedure at an energy level set to 5 Max to achieve advanced hemostasis.
  • a graphic image 316 of the surgical instrument is shown superimposed on a graphic image 314 of the incomplete tissue capture alert overlay 304. Accordingly, the augmented image 300 provides several virtual objects that inform the OR team of insufficiently captured tissue 322 relative to the end of cut.
  • the superimposed incomplete tissue capture alert overlay 304 applies to energy based surgical instruments as well as surgical stapler instruments, and the
  • FIG. 13 is an augmented image 3120 of a live feed of a surgical area as visualized through a laparoscopic camera during a minimally invasive surgical procedure displayed on an intraoperative data display 3122. showing an end effector 3108 of a surgical instrument 3008 grasping tissue 3110 and a screen with a visible patient panel overlay 3124, in accordance with at least one aspect of the present disclosure.
  • the visible patient panel overlay 3124 may require an additional application to display content.
  • the intraoperative data display 3122 also displays the case information panel overlay 3102 and the device panels overlay 3106. In the illustrated example, the systems notifications panel overlay 3104 is hidden.
  • the present disclosure provides a mixed reality, extended reality, and/or augmented reality feedback system and method that cooperate to increase efficient perception of complex data feeds.
  • a first and a second augmented data feed is provided where at least one of the first or second data feeds generate overlays that are not part of a visual display.
  • the visual display portion of a data feed or overlay may involve multiple cooperative image display systems that work in series with each other or are independently located.
  • the non-visual communication of data may be through alone or a combination of audible, somatosensory, tactile, chemical (including smell), or thermal perception by the user.
  • FIG. 14 illustrates an augmented reality system 5400 comprising an intermediate signal combiner 64 positioned in the communication path between an imaging module 38 and a surgical hub display 67.
  • the signal combiner 64 combines sensor and/or image data received from an imaging module 38 and/or an AR device 66.
  • the surgical hub 56 receives the combined data from the combiner 64 and overlays the data provided to the display 67, where the overlaid data is displayed.
  • the AR device 66 combines data feeds from an imaging device 68 and a sensor device 5402.
  • the combined data feeds may be provided from the AR device 66 to the combiner 64 for further overlaying with data feeds from the imaging module 38.
  • a visual portion of an augmented overlay comprises multiple cooperative image displays.
  • the multiple cooperative image displays work in series with each other.
  • the multiple cooperative image displays are independently located.
  • the data feeds may be provided by the sensor 90, speaker 91 , and haptic controller 92 portions of the AR device 66.
  • the imaging device 68 may be a digital video camera.
  • the signal combiner 64 may comprise a wireless heads-up display adapter to couple to the AR device 66 placed into the communication path of the display 67 to a console allowing the surgical hub 56 to overlay data on the display 67.
  • the AR device 66 may display combinations of images, audible sounds, and/or somatosensory signals from the imaging module 38, the imaging device 68, and/or the sensor device 5402 in the form of overlays as part of the view provided to the surgeon as discussed hereinbelow.
  • the display 67 may display combinations of images, audible sounds, and/or somatosensory signals from the imaging module 38, the imaging device 68, and/or the sensor device 5402 in the form of overlays as part of the view provided to the OR in general as discussed hereinbelow.
  • the sensor device 5402 may be coupled to the AR device 66 via a filter 5404.
  • an amplifier 5406 may be placed between the filter 5404 and the AR device 66 to amplify signals from the sensor device 5402.
  • the sensor device 5402 may be an audio device, a somatosensory device and/or combinations thereof. Somatosensory devices include, without limitation, thermal, chemical, and mechanical devices as discussed hereinbelow.
  • the sensor device 5402 may be configured to sense a variety of audible input signals such as voice 5408, bio-markers 5410, beat/cadence 5412, among others.
  • the audible signals may be filtered by the filter 5404 and amplified by the amplifier 5406.
  • the surgeon 73, or other OR personnel may receive stimulus inputs from a variety of somatosensory stimuli such as thermal stimulus 5414, chemical stimulus 5416, mechanical stimulus 5418.
  • the audible inputs may be overlaid with images received from the imaging device 68 and/the imaging module 38.
  • somatosensory stimulus inputs may be overlaid with images received from the imaging device 68 and/the imaging module 38.
  • the audible and somatosensory overlays may be displayed in the AR device 66 and/or the display 67.
  • the present disclosure provides an audible overlay based on an audible signal generated by the sensor device 5402.
  • the audible signal may be filtered by the filter 5404, excluding or amplifying certain OR audio over others, and amplified by the amplifier 5405, for example. Filtering may increase or decrease the attentiveness of an overlay to control the magnitude of the user’s attention to it.
  • the sensor device 5402 receives voice commands and converts the voice commands into electrical signals.
  • the sensor device 5402 includes a speech-to-text converter.
  • the filter 5404 may be configured to filter specific commands to an OR assistant such as to position manual handles up/down or left/right for assistance to the surgeon 73 at a robot console, for example.
  • filtering or amplifying may be based off of key words the surgeon 73 may speak during the surgical procedure.
  • the audible overlay provides an alternative way to help verify where in the procedural plan the surgeon 73 is located. For example, if the augmented reality system 5400 knows that the next step in the surgical procedure will require a grasper to move an organ for access, when the surgeon speaks the word "grasper," the augmented reality system 5400 can verify that the surgeon 73 and the surgical procedure are tracking appropriately. This additional control may be required when the surgeon 73 deviates slightly from the initial surgical procedure.
  • the augmented reality system 5400 recognizes the word “surgical stapler” or simply “stapler” and adjusts the surgeon’s 73 main screen 67, or AR device 66, with the specific combination of visual and audible overlay for the digitally connected surgical instrument placement and firing.
  • the augmented reality system 5400 further performs a pre-use check of the surgical instrument and communications prior to the surgeon 73 firing the surgical instrument.
  • the volume of the audible overly portion may be increased or decreased based on the severity of the situation.
  • the augmented reality system 5400 may be configured to turn down the volume of all background noise (e.g., radio, phones, etc.) if the current surgical procedure situation is deemed critical or a high risk. Knowing that a particular user is hearing challenged, the augmented reality system 5400 could respond by increasing the volume or adjusting the pitch to help the surgeon 73 can hear clearly.
  • surgical procedure specific filtering may be employed to isolate the audio to a specific surgical procedure.
  • This type of filtering may be decided based on a risk - benefit analysis and assessment of the historical risks of the specific surgical procedure. For example, if the specific surgical procedure is a cholecystectomy, the need for the surgeon 73 to be tuned into the patient’s heart rate and blood pressure are relatively low. Given the short surgical procedure time in combination with low risk of intra-operative complications, the augmented reality system 5400 could conclude, after a risk assessment calculation, that there is no reason that the surgeon 73 would need an audible overlay. The surgeon 73, however, can override the augmented reality system 5400 to mandate the presence of the audible overlays and other cooperative overlays.
  • the audible overlay may include overlaying audibly correlated feedback to certain patient biomarker 5410 data.
  • the bio-marker 5410 data may be the patient’s heartbeat and the corresponding audible overlay of the patient’s heartbeat enables the surgeon 73 to listen to the patient’s heart as if he/she was using a stethoscope.
  • Overlaying a sensed nerve stimulation may be employed to determine proximity and overload of a nerve. This could be done by increasing or decreasing both the volume and frequency of the audible overlay to enable the surgeon 73 to correlate electrical instrument location with the critical nerve.
  • the audible overlay may include overlaying a pre-defined beat/cadence 5412 to enable the surgeon to align with physical reactions.
  • the beat/cadence 5412 can be further aligned to a key cadence off the surgical procedure or patient. Audible indication of unwanted tissue contact from a robotic surgical device that is outside of the surgical field of view.
  • the present disclosure provides a somatosensory overlay based on an somatosensory one or more than one somatosensory signal detected either by the sensor device 5402 or the surgeon 73.
  • somatosensory signals may be received by the sensor device 5402, filtered by the filter 5404, and amplified by the amplifier 5406, for example.
  • the somatosensory signal may be employed as a cooperative somatosensory overlay with any of the audible overlays and/or image overlays described herein.
  • the somatosensory signal may be a thermal signal received by the surgeon 73 directly to stimulate certain thermoreceptors, or other non-specialized sense receptor, or the receptive portion of a sensory neuron, that codes absolute and relative changes in temperature, primarily within the innocuous range.
  • the change in temperature of a surgical instrument handle or a portion of the handle enables the surgical instrument handle to be used as a proxy for the temperature of a related component of that surgical instrument.
  • the motor and gearbox are located within the handle of the surgical stapler 77. This is the same area the surgeon 73 uses to hold and actuate the surgical stapler 77.
  • This area will increase in temperature as the surgical stapler 77 is used.
  • the temperature will be directly related to the work the surgical stapler 77 is required to perform during the surgical procedure.
  • the surgeon 73 can feel this temperature increase during the surgical procedure.
  • the surgeon 73 can use this physical temperature data input as a proxy to how the surgical instrument 77 is operating and will continue to operate.
  • the handle becoming too hot to grasp is a clear indication that the surgical instrument 77 is working above its normal use. Motor heating will degrade the optimal performance of the system and this degradation may directly impact the outcome of a surgical procedural.
  • the surgical stapler may by be unable to cut/staple tissue within the clamped jaws, thus complicating the surgical procedure.
  • the somatosensory signal may stimulate certain chemoreceptors that respond primarily to chemical stimuli in the OR environment. These may be sensed by surgeon’s 73 senses of taste and smell, for example, the surgeon 73 may smell burning electronics and as a result indicate turning off the surgical instrument as needed.
  • the somatosensory signal may be detected by the sensor device 5402 and as a result may be used to generate a somatosensory overlay in cooperation with any one of the audible overlays and/or image overlays.
  • a somatosensory signal may stimulate certain mechanoreceptors that respond primarily to touch, haptic, or vibratory stimuli, among others.
  • a mechanical vibration of oscillation of a surgical instrument may be detected either by the surgeon 73 or the sensor device 5402. The sensed mechanical vibration of oscillation is employed by the augmented reality system 5400 to indicate that the present motion or direction of the surgical instrument 77 has a non-optimum outcome related to it and thus would require correction.
  • the augmented reality system 5400 may be configured to indicate, at the end of the current drive/cut stroke, that the drive was "out of the ordinary.” This may be an indication that the clamping force of the jaws of the surgical stapler 77 was out of range or the force to fire was higher than expected. These conditions may be indicated by a series of haptic buzzes to differentiate different indications.
  • vibration at the end of a stroke of a surgical stapler 77 may indicate that the surgical stapler 77 cannot move any further in the indicated direction.
  • vibration of the handle may indicate that a "hot blade" of an energy based surgical instrument is about to touch collateral tissue and thus avoid critical structures.
  • a certain type of vibration may indicate that a robotic arm is at maximum extension.
  • the augmented reality system 5400 may be configured to provide a haptic pulse sequence to alert the surgeon 73 that a maximum value has been reached.
  • the mechanoreceptors may respond to variations of the actuation force threshold of a surgical stapler.
  • the variation in actuation force provide feedback to the user that it is lees desirable to actuate the surgical stapler 77 at this particular time. For example, during an initial clamping of the jaws on tissue with a surgical stapler 77, the surgeon 73 is physically able to feel how hard it is to clamp down on the tissue within the jaws. This direct physical input along with a sensor reading displaying a "measured" value would give two different inputs to this value.
  • the mechanoreceptors may respond to extendable stimulate elements to indicate the undesirability of using that control.
  • the extendable portions could be extendible patterns that provide a differing "feel" rather than merely a column or cleat.
  • the knife of a surgical stapler 77 is partially extended and the surgeon 73 tries to release the closure system and the extendable elements activate on the release button indicating that it cannot be actuated at this time or in this sequence.
  • the extendable portions could be extendible patterns that provide a differing "feel" rather than merely a column or cleat.
  • the mechanoreceptors may respond to force feedback to disable or disallow an action from being performed.
  • the surgical hub detects a foreign object currently located within the jaws. Then, as the surgeon 73 attempts to pull the fire trigger, the device pushes back on the trigger, disallowing the surgeon to depress it.
  • a combination of multiple somatosensory outputs may be employed simultaneously to communicate interrelated data feeds.
  • one system feedback may indicate that it cannot be used based on the state of another system.
  • backlit LEDs may be located within the control to indicate lack of function. The LEDs should be configured to clearly indicate two separate failures or states.
  • the LED system is configured to resolve conflict between the multiple similar indicators activated simultaneously. Force sensing may be provided to OR assistant when inserting a circular stapler or rectal sizer.
  • the displays 67 within the OR may be employed to indicate between failure or indication.
  • the overlay is displayed without interfering with the key displayed information.
  • the overlay information is displayed around the border of the perimeter of the primary display 67 to reduce interference, and can change color with identification of tissue.
  • the somatosensory overlay may include an alternative feedback for device interactions based on the AR device 66 haptic feedback such as, for example, instrument collision, notification of imminent inadvertent tissue contact, elevated temperature instrument contact with adjacent tissue, heated glove combined with vibration to ensure the output is clearly conveyed, and/or advanced energy device completion of cycle. Yu et al.
  • the somatosensory overlay may include visual feedback.
  • the visual feedback somatosensory overlay may be used to indicate completion of cycle of an advanced energy device, incompatible assembly of systems, and unusable device in current configuration. Additional overlays include audible feedback through speakers. Safe overlays may be provided for handheld surgical instruments and robotic surgical instruments.
  • FIG. 15 illustrates a method 5500 of presenting an augmented overlay during a surgical procedure.
  • an imaging device 68 captures 5502 a real image of a surgical area during the surgical procedure.
  • a first data feed is generated 5504 based on the captured real image.
  • the first data feed is provided to the AR device 66.
  • a sensor device 5402 generates 5506 a second data feed.
  • the second data feed is also provided to the AR device 66.
  • the AR device 66 comprising an augmented reality display 89, presents 5508 an augmented overlay based on the first and second data feeds.
  • the augmented overlay comprises a visual portion and a non-visual visual portion.
  • the sensor device 5402 may receive a tactile signal, an audible signal, a chemical signal, or a thermal signal from one or more than one source such as voice 5408, bio-marker 5410, beat/cadence 5412, thermal stimulus 5414, chemical stimulus 5416, or mechanical stimulus 5418 sources.
  • the tactile, audible, chemical, or thermal signals, or any combination thereof, are combined into the non-visual portion of the augmented overlay.
  • a filter 5404 may by filter signals received by the sensor device 5402.
  • An amplifier 5406 amplifies the filtered signal.
  • a display 67 coupled to the AR device 66 displays the augmented overlay.
  • the imaging module 38 generates a third data feed, which is combined with the augmented overlay and the combined augmented overlay is displayed on the display 67.
  • the combiner 64 combines the third data feed with the augmented overlay.
  • a surgical hub 56 communicates the augmented overlay to the display 67.
  • Situational awareness is the ability of some aspects of a surgical system to determine or infer information related to a surgical procedure from data received from databases and/or instruments.
  • the information can include the type of procedure being undertaken, the type of tissue being operated on, or the body cavity that is the subject of the procedure.
  • the surgical system can, for example, improve the manner in which it controls the modular devices (e.g., a robotic arm and/or robotic surgical tool) that are connected to it and provide contextualized information or suggestions to the surgeon during the course of the surgical procedure.
  • FIG. 16 illustrates a timeline of a situational awareness surgical procedure.
  • FIG. 71 illustrates a timeline 5200 of an illustrative surgical procedure and the contextual information that a surgical hub 5104 can derive from the data received from the data sources 5126 at each step in the surgical procedure.
  • the timeline 5200 depicts the typical steps that would be taken by the nurses, surgeons, and other medical personnel during the course of a lung segmentectomy procedure, beginning with setting up the operating theater and ending with transferring the patient to a post-operative recovery room.
  • the situationally aware surgical hub 5104 receives data from the data sources 5126 throughout the course of the surgical procedure, including data generated each time medical personnel utilize a modular device 5102 that is paired with the surgical hub 5104.
  • the surgical hub 5104 can receive this data from the paired modular devices 5102 and other data sources 5126 and continually derive inferences (i.e., contextual information) about the ongoing procedure as new data is received, such as which step of the procedure is being performed at any given time.
  • the situational awareness system of the surgical hub 5104 is able to, for example, record data pertaining to the procedure for generating reports, verify the steps being taken by the medical personnel, provide data or prompts (e.g., via a display screen) that may be pertinent for the particular procedural step, adjust modular devices 5102 based on the context (e.g., activate monitors, adjust the FOV of the medical imaging device, or change the energy level of an ultrasonic surgical instrument or RF electrosurgical instrument), and take any other such action described above.
  • the context e.g., activate monitors, adjust the FOV of the medical imaging device, or change the energy level of an ultrasonic surgical instrument or RF electrosurgical instrument
  • the hospital staff members retrieve the patient’s EMR from the hospital’s EMR database. Based on select patient data in the EMR, the surgical hub 5104 determines that the procedure to be performed is a thoracic procedure.
  • Second 5204 the staff members scan the incoming medical supplies for the procedure.
  • the surgical hub 5104 cross-references the scanned supplies with a list of supplies that are utilized in various types of procedures and confirms that the mix of supplies corresponds to a thoracic procedure. Further, the surgical hub 5104 is also able to determine that the procedure is not a wedge procedure (because the incoming supplies either lack certain supplies that are necessary for a thoracic wedge procedure or do not otherwise correspond to a thoracic wedge procedure).
  • the medical personnel scan the patient band via a scanner 5128 that is communicably connected to the surgical hub 5104.
  • the surgical hub 5104 can then confirm the patient’s identity based on the scanned data.
  • the medical staff turns on the auxiliary equipment.
  • the auxiliary equipment being utilized can vary according to the type of surgical procedure and the techniques to be used by the surgeon, but in this illustrative case they include a smoke evacuator, insufflator, and medical imaging device.
  • the auxiliary equipment that are modular devices 5102 can automatically pair with the surgical hub 5104 that is located within a particular vicinity of the modular devices 5102 as part of their initialization process.
  • the surgical hub 5104 can then derive contextual information about the surgical procedure by detecting the types of modular devices 5102 that pair with it during this pre-operative or initialization phase. In this particular example, the surgical hub 5104 determines that the surgical procedure is a VATS procedure based on this particular combination of paired modular devices 5102.
  • the surgical hub 5104 can generally infer the specific procedure that the surgical team will be performing. Once the surgical hub 5104 knows what specific procedure is being performed, the surgical hub 5104 can then retrieve the steps of that procedure from a memory or from the cloud and then cross-reference the data it subsequently receives from the connected data sources 5126 (e.g., modular devices 5102 and patient monitoring devices 5124) to infer what step of the surgical procedure the surgical team is performing.
  • the connected data sources 5126 e.g., modular devices 5102 and patient monitoring devices 5124
  • the staff members attach the EKG electrodes and other patient monitoring devices 5124 to the patient.
  • the EKG electrodes and other patient monitoring devices 5124 are able to pair with the surgical hub 5104.
  • the surgical hub 5104 begins receiving data from the patient monitoring devices 5124, the surgical hub 5104 thus confirms that the patient is in the operating theater.
  • the medical personnel induce anesthesia in the patient.
  • the surgical hub 5104 can infer that the patient is under anesthesia based on data from the modular devices 5102 and/or patient monitoring devices 5124, including EKG data, blood pressure data, ventilator data, or combinations.
  • the pre-operative portion of the lung segmentectomy procedure is completed and the operative portion begins.
  • the patient’s lung that is being operated on is collapsed (while ventilation is switched to the contralateral lung).
  • the surgical hub 5104 can infer from the ventilator data that the patient’s lung has been collapsed.
  • the surgical hub 5104 can infer that the operative portion of the procedure has commenced as it can compare the detection of the patient’s lung collapsing to the expected steps of the procedure (which can be accessed or retrieved previously) and thereby determine that collapsing the lung is the first operative step in this particular procedure.
  • the medical imaging device 5108 e.g., a scope
  • receives the medical imaging device data i.e., still image data or live streamed video in real time
  • the surgical hub 5104 can determine that the laparoscopic portion of the surgical procedure has commenced. Further, the surgical hub 5104 can determine that the particular procedure being performed is a segmentectomy, as opposed to a lobectomy (note that a wedge procedure has already been discounted by the surgical hub 5104 based on data received at the second step 5204 of the procedure).
  • the data from the medical imaging device 124 (FIG.
  • one technique for performing a VATS lobectomy places the camera in the lower anterior corner of the patient’s chest cavity above the diaphragm, whereas one technique for performing a VATS segmentectomy places the camera in an anterior intercostal position relative to the segmental fissure.
  • the situational awareness system can be trained to recognize the positioning of the medical imaging device according to the visualization of the patient’s anatomy.
  • one technique for performing a VATS lobectomy utilizes a single medical imaging device, whereas another technique for performing a VATS segmentectomy utilizes multiple cameras.
  • one technique for performing a VATS segmentectomy utilizes an infrared light source (which can be communicably coupled to the surgical hub as part of the visualization system) to visualize the segmental fissure, which is not utilized in a VATS lobectomy.
  • an infrared light source which can be communicably coupled to the surgical hub as part of the visualization system
  • the surgical hub 5104 can thereby determine the specific type of surgical procedure being performed and/or the technique being used for a particular type of surgical procedure.
  • the surgical team begins the dissection step of the procedure.
  • the surgical hub 5104 can infer that the surgeon is in the process of dissecting to mobilize the patient’s lung because it receives data from the RF or ultrasonic generator indicating that an energy instrument is being fired.
  • the surgical hub 5104 can cross-reference the received data with the retrieved steps of the surgical procedure to determine that an energy instrument being fired at this point in the process (i.e. , after the completion of the previously discussed steps of the procedure) corresponds to the dissection step.
  • the surgical team proceeds to the ligation step of the procedure.
  • the surgical hub 5104 can infer that the surgeon is ligating arteries and veins because it receives data from the surgical stapling and cutting instrument indicating that the instrument is being fired. Similarly to the prior step, the surgical hub 5104 can derive this inference by cross- referencing the receipt of data from the surgical stapling and cutting instrument with the retrieved steps in the process.
  • the segmentectomy portion of the procedure is performed.
  • the surgical hub 5104 infers that the surgeon is transecting the parenchyma based on data from the surgical instrument, including data from a staple cartridge.
  • the cartridge data may correspond to size or type of staple being fired by the instrument.
  • the cartridge data can indicate the type of tissue being stapled and/or transected for different types of staples utilized in different types of tissues.
  • the type of staple being fired is utilized for parenchyma or other tissue types to allow the surgical hub 5104 to infer that the segmentectomy procedure is being performed.
  • the node dissection step is then performed.
  • the surgical hub 5104 can infer that the surgical team is dissecting the node and performing a leak test based on data received from the generator indicating that an RF or ultrasonic instrument is being fired.
  • an RF or ultrasonic instrument being utilized after parenchyma was transected corresponds to the node dissection step, which allows the surgical hub 5104 to make this inference.
  • surgeons regularly switch back and forth between surgical stapling/cutting instruments and surgical energy (i.e., RF or ultrasonic) instruments depending upon the particular step in the procedure because different instruments are better adapted for particular tasks.
  • the particular sequence in which the stapling/cutting instruments and surgical energy instruments are used can indicate what step of the procedure the surgeon is performing.
  • the incisions and closed up and the post operative portion of the procedure begins.
  • the patient’s anesthesia is reversed.
  • the surgical hub 5104 can infer that the patient is emerging from the anesthesia based on the ventilator data (i.e., the patient’s breathing rate begins increasing), for example.
  • the surgical hub 5104 can thus infer that the patient is being transferred to a recovery room when the hub loses EKG, BP, and other data from the patient monitoring devices 5124.
  • the surgical hub 5104 can determine or infer when each step of a given surgical procedure is taking place according to data received from the various data sources 5126 that are communicably coupled to the surgical hub 5104.
  • the patient data can also be utilized by a situationally aware surgical hub 5104 to generate control adjustments for the paired modular devices 5102.
  • Example 1 An augmented reality display system for use during a surgical procedure, the augmented reality display system comprising: an imaging device to capture a real image of a surgical area during the surgical procedure and to generate a first data feed; a sensor device to generate a second data feed; an augmented reality device comprising an augmented reality display to generate an augmented overlay based on the first and second data feeds, wherein the augmented overlay comprises a visual portion and a non-visual visual portion; and a processor to: receive the first data feed; receive the second data feed; and combine the first and second data feeds to generate the augmented overlay.
  • Example 2 The augmented reality display system of Example 1 , wherein the visual portion of the augmented overlay comprises multiple cooperative image displays.
  • Example 3 The augmented reality display system of Example 2, wherein the multiple cooperative image displays work in series with each other.
  • Example 4 The augmented reality display system of any one of Examples 2-3, wherein the multiple cooperative image displays are independently located.
  • Example 5 The augmented reality display system of any one of Examples 1-4, wherein the non-visual portion of the augmented overlay is tactile, audible, chemical, or thermal, or any combination thereof.
  • Example 6 The augmented reality display system of any one of Examples 1-4, comprising a filter between the sensor device and the augmented reality device.
  • Example 7 The augmented reality display system of Example 6, comprising an amplifier between the filter and the augmented reality device.
  • Example 8 The augmented reality display system of any one of Examples 1-7, wherein the augmented reality device comprises a sensor, a speaker, or a haptic controller, or combinations thereof, to generate a data feed for the non-visual portion of the augmented overlay.
  • Example 9 The augmented reality display system of any one of Examples 1-8, comprising a display coupled to the augmented reality device.
  • Example 10 The augmented reality display system of Example 9, comprising an imaging module to generate a third data feed, wherein the third data feed is combined with the augmented overlay and displayed on the display.
  • Example 11 The augmented reality display system of Example 10, comprising a combiner to combine the third data feed with the augmented overlay.
  • Example 12 The augmented reality display system of Example 11 , comprising a surgical hub between the combiner and the display, wherein the surgical hub communicates the augmented overlay to the display.
  • Example 13 A method of presenting an augmented overlay during a surgical procedure, the method comprising: capturing, by an imaging device, a real image of a surgical area during the surgical procedure; generating a first data feed, by the imaging device, based on the captured real image; generating, by a sensor device, a second data feed; presenting, by an augmented reality device comprising an augmented reality display, an augmented overlay based on the first and second data feeds, wherein the augmented overlay comprises a visual portion and a non-visual visual portion.
  • Example 14 The method of Example 13, comprising: receiving, from the sensor device: a tactile signal; an audible signal; a chemical signal; or a thermal signal; and combining the tactile, audible, chemical, or thermal signal, or any combination thereof, into the non-visual portion of the augmented overlay.
  • Example 15 The method of any one of Examples 13-14, comprising filtering, by a filter, signals received by the sensor device.
  • Example 16 The method of Example 15, comprising amplifying, by an amplifier, the filtered signal.
  • Example 17 The method of any one of Examples 13-17, comprising displaying, an a display coupled to the augmented reality device, the augmented overlay.
  • Example 18 The method of Example 17, comprising: generating, by an imaging module, a third data feed; combining the third data feed with the augmented overlay; and displaying, on the display, the combined augmented overlay.
  • Example 19 The method of Example 18, comprising combining, by a combiner, the third data feed with the augmented overlay.
  • Example 20 The method of Example 19, comprising communicating, by a surgical hub, the augmented overlay to the display.
  • a machine-readable medium may include any mechanism for storing or transmitting information in a form readable by a machine (e.g., a computer), but is not limited to, floppy diskettes, optical disks, compact disc, read-only memory (CD-ROMs), and magneto-optical disks, read-only memory (ROMs), random access memory (RAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), magnetic or optical cards, flash memory, or a tangible, machine-readable storage used in the transmission of information over the Internet via electrical, optical, acoustical or other forms of propagated signals (e.g., carrier waves, infrared signals, digital signals, etc.).
  • the non-transitory computer-readable medium includes any type of tangible machine-readable medium suitable for storing or transmitting electronic instructions or information in a form readable by a machine (e.g., a computer).
  • control circuit may refer to, for example, hardwired circuitry, programmable circuitry (e.g., a computer processor including one or more individual instruction processing cores, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic array (PLA), or field programmable gate array (FPGA)), state machine circuitry, firmware that stores instructions executed by programmable circuitry, and any combination thereof.
  • programmable circuitry e.g., a computer processor including one or more individual instruction processing cores, processing unit, processor, microcontroller, microcontroller unit, controller, digital signal processor (DSP), programmable logic device (PLD), programmable logic array (PLA), or field programmable gate array (FPGA)
  • state machine circuitry firmware that stores instructions executed by programmable circuitry, and any combination thereof.
  • the control circuit may, collectively or individually, be embodied as circuitry that forms part of a larger system, for example, an integrated circuit (IC), an application-specific integrated circuit (ASIC), a system on-chip (SoC), desktop computers, laptop computers, tablet computers, servers, smart phones, etc.
  • IC integrated circuit
  • ASIC application-specific integrated circuit
  • SoC system on-chip
  • control circuit includes, but is not limited to, electrical circuitry having at least one discrete electrical circuit, electrical circuitry having at least one integrated circuit, electrical circuitry having at least one application specific integrated circuit, electrical circuitry forming a general purpose computing device configured by a computer program (e.g., a general purpose computer configured by a computer program which at least partially carries out processes and/or devices described herein, or a microprocessor configured by a computer program which at least partially carries out processes and/or devices described herein), electrical circuitry forming a memory device (e.g., forms of random access memory), and/or electrical circuitry forming a communications device (e.g., a modem, communications switch, or optical-electrical equipment).
  • a computer program e.g., a general purpose computer configured by a computer program which at least partially carries out processes and/or devices described herein, or a microprocessor configured by a computer program which at least partially carries out processes and/or devices described herein
  • electrical circuitry forming a memory device
  • logic may refer to an app, software, firmware and/or circuitry configured to perform any of the aforementioned operations.
  • Software may be embodied as a software package, code, instructions, instruction sets and/or data recorded on non-transitory computer readable storage medium.
  • Firmware may be embodied as code, instructions or instruction sets and/or data that are hard-coded (e.g., nonvolatile) in memory devices.
  • the terms “component,” “system,” “module” and the like can refer to a control circuit, computer-related entity, either hardware, a combination of hardware and software, software, or software in execution.
  • an “algorithm” refers to a self-consistent sequence of steps leading to a desired result, where a “step” refers to a manipulation of physical quantities and/or logic states which may, though need not necessarily, take the form of electrical or magnetic signals capable of being stored, transferred, combined, compared, and otherwise manipulated. It is common usage to refer to these signals as bits, values, elements, symbols, characters, terms, numbers, or the like. These and similar terms may be associated with the appropriate physical quantities and are merely convenient labels applied to these quantities and/or states.
  • a network may include a packet switched network.
  • the communication devices may be capable of communicating with each other using a selected packet switched network communications protocol.
  • One example communications protocol may include an Ethernet communications protocol which may be capable permitting communication using a Transmission Control Protocol/Internet Protocol (TCP/IP).
  • TCP/IP Transmission Control Protocol/Internet Protocol
  • the Ethernet protocol may comply or be compatible with the Ethernet standard published by the Institute of Electrical and Electronics Engineers (IEEE) titled “IEEE 802.3 Standard”, published in December, 2008 and/or later versions of this standard.
  • the communication devices may be capable of communicating with each other using an X.25 communications protocol.
  • the X.25 communications protocol may comply or be compatible with a standard promulgated by the International Telecommunication Union-Telecommunication Standardization Sector (ITU-T).
  • the communication devices may be capable of communicating with each other using a frame relay communications protocol.
  • the frame relay communications protocol may comply or be compatible with a standard promulgated by Consultative Committee for International Circuit and Telephone (CCITT) and/or the American National Standards Institute (ANSI).
  • the transceivers may be capable of communicating with each other using an Asynchronous Transfer Mode (ATM) communications protocol.
  • ATM Asynchronous Transfer Mode
  • the ATM communications protocol may comply or be compatible with an ATM standard published by the ATM Forum titled “ATM-MPLS Network Interworking 2.0” published August 2001 , and/or later versions of this standard.
  • ATM-MPLS Network Interworking 2.0 published August 2001
  • One or more components may be referred to herein as “configured to,” “configurable to,” “operable/operative to,” “adapted/adaptable,” “able to,” “conformable/conformed to,” etc.
  • “configured to” can generally encompass active-state components and/or inactive-state components and/or standby-state components, unless context requires otherwise.
  • proximal and distal are used herein with reference to a clinician manipulating the handle portion of the surgical instrument.
  • proximal refers to the portion closest to the clinician and the term “distal” refers to the portion located away from the clinician.
  • distal refers to the portion located away from the clinician.
  • spatial terms such as “vertical”, “horizontal”, “up”, and “down” may be used herein with respect to the drawings.
  • surgical instruments are used in many orientations and positions, and these terms are not intended to be limiting and/or absolute.
  • any reference to “one aspect,” “an aspect,” “an exemplification,” “one exemplification,” and the like means that a particular feature, structure, or characteristic described in connection with the aspect is included in at least one aspect.
  • appearances of the phrases “in one aspect,” “in an aspect,” “in an exemplification,” and “in one exemplification” in various places throughout the specification are not necessarily all referring to the same aspect.
  • the particular features, structures or characteristics may be combined in any suitable manner in one or more aspects.

Abstract

L'invention concerne un système et un procédé d'affichage à réalité augmentée destinés à être utilisés pendant une intervention chirurgicale. Un dispositif d'imagerie capture une image réelle d'une zone chirurgicale pendant l'intervention chirurgicale et génère un premier flux de données. Un dispositif de capteur génère un second flux de données. Un dispositif de réalité augmentée comprenant un dispositif d'affichage à réalité augmentée génère un recouvrement augmenté basé sur les premier et second flux de données. Le recouvrement augmenté comprend une partie visuelle et une partie visuelle non visuelle. Un processeur reçoit les premier et second flux de données et combine les premier et second flux de données pour générer le recouvrement augmenté.
PCT/IB2022/053360 2021-04-14 2022-04-11 Systèmes de rétroaction de réalité mixte qui coopèrent pour favoriser la perception efficace de flux de données complexes WO2022219489A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2023562921A JP2024514885A (ja) 2021-04-14 2022-04-11 複合データフィードの効率的な認知を高めるように協働する複合現実フィードバックシステム
CN202280042095.6A CN117546253A (zh) 2021-04-14 2022-04-11 协作以增加复杂数据馈送的有效感知的混合现实反馈系统
EP22718792.9A EP4136655A1 (fr) 2021-04-14 2022-04-11 Systèmes de rétroaction de réalité mixte qui coopèrent pour favoriser la perception efficace de flux de données complexes
BR112023021233A BR112023021233A2 (pt) 2021-04-14 2022-04-11 Sistemas de retroinformação de realidade mista que cooperam para aumentar a percepção eficaz de fluxos de alimentação de dados complexos

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US17/688,671 US20220335696A1 (en) 2021-04-14 2022-03-07 Mixed reality feedback systems that cooperate to increase efficient perception of complex data feeds
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