WO2022243954A1 - Système de rectification d'objet de simulation chirurgicale - Google Patents

Système de rectification d'objet de simulation chirurgicale Download PDF

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Publication number
WO2022243954A1
WO2022243954A1 PCT/IB2022/054724 IB2022054724W WO2022243954A1 WO 2022243954 A1 WO2022243954 A1 WO 2022243954A1 IB 2022054724 W IB2022054724 W IB 2022054724W WO 2022243954 A1 WO2022243954 A1 WO 2022243954A1
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WIPO (PCT)
Prior art keywords
surgical
image data
data
model
simulation
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PCT/IB2022/054724
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English (en)
Inventor
Iv Frederick E. Shelton
Charles J. Scheib
Jason L. Harris
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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 US17/332,524 external-priority patent/US20220370137A1/en
Application filed by Cilag Gmbh International filed Critical Cilag Gmbh International
Priority to JP2023571923A priority Critical patent/JP2024521721A/ja
Priority to EP22727468.5A priority patent/EP4150603A1/fr
Publication of WO2022243954A1 publication Critical patent/WO2022243954A1/fr

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/286—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for scanning or photography techniques, e.g. X-rays, ultrasonics

Definitions

  • Surgical simulations such as computer-based, three-dimensional simulations of a surgical environment and/or surgical procedure for example, present an opportunity to advance the surgical arts. Surgical simulations have potential to benefit surgical training, planning, development, and the like. For example, surgical simulations may be used to train surgeons in new procedures and/or to improve the performance of procedures they already know.
  • Surgical simulations may be used as a virtual “dress rehearsal” to help a surgeon prepare for an upcoming procedure. And surgical simulations may be used to experiment with unproven procedures and techniques.
  • surgical simulation platforms are complex systems that face many limitations in capabilities, scope, and applicability. For example, many platforms are technology “silos,” specifically programmed and tailored to address a particular learning objective or to simulate the operation of a singular piece of equipment, such as simulating the operation of a surgical robot. Limitations, such as these, may dimmish a platform’s effectiveness as a tool to advance the surgical arts.
  • a computing device for simulating a surgical procedure may include a processor.
  • the processor may be configured to receive first two-dimensional (2D) image data of a first human organ of a first patient.
  • the first 2D image data may include first 2D visible image data captured inside the first patient and first three-dimension (3D) reconstruction reference data.
  • the first 2D image data may be captured using structured light imaging.
  • the processor may be configured to receive second 2D image data of a second human organ of a second patient.
  • the second 2D image data may include second 2D visible image data captured inside the second patient and second 3D reconstruction reference data.
  • the processor may be configured to generate 3D image data from an aggregation of the first 2D visible image data and the second 2D visible image data and based on the first 3D reconstruction reference data and the second 3D reconstruction reference data.
  • the 3D image data may include spatial information and visual information.
  • the processor may be configured to map a shape of a deformable 3D model of a simulated human organ to correspond to the spatial information of the 3D image data.
  • the processor may be configured to map a surface of the deformable 3D model of the simulated human organ to correspond to the visual information of the 3D image data.
  • the processor may be configured to output the deformable 3D model.
  • the present invention relates to a computing device, the computing device comprising: a processor configured to receive first two-dimensional (2D) image data of a first human organ, wherein the first 2D image data comprises first 2D visible image data captured inside a first patient and first three-dimension (3D) reconstruction reference data; receive second 2D image data of a second human organ, wherein the second 2D image data comprises second 2D visible image data captured inside a second patient and second 3D reconstruction reference data; generate 3D image data from an aggregation of the first 2D visible image data and the second 2D visible image data and based on the first 3D reconstruction reference data and the second 3D reconstruction reference data, wherein the 3D image data comprises spatial information and visual information; map a shape of a deformable 3D model of a human organ to correspond to the spatial
  • a “deformable 3D model” can refer to any volumetric model which comprises a plurality of spatial data points (such as a model of a human organ which is rendered in 3D). This allows the model to be easily “deformed” (or interacted with, so as to change the shape/size of the model), through the modification of the spatial data points in the model.
  • “mapping” a shape/surface of a first model refers to modifying the shape/surface of the first model based on a separate 3D model (i.e.3D image data).
  • the processor is configured to simulate a surgical procedure.
  • the 3D model of a human organ is a 3D model of a simulated human organ.
  • the first human organ and the second human organ are a same type of human organ.
  • the first patient is the same as the second patient.
  • the 2D image data is captured using structured light imaging.
  • the processor is further configured to receive tissue property data of the one or more human organs, wherein the tissue property data is determined at least by tracking a displacement of a physical fiducial marker attached on the one or more human organs; and when a simulated force is applied to the deformable 3D model, deform the deformable 3D model based on the physical property data.
  • the first 2D image data further comprises first invisible image data that is captured inside the first patient
  • the second 2D image data further comprises second invisible image data that is captured inside the second patient
  • the processor is further configured to generate the 3D image data from the aggregation of the first visible image data and the second visible image data, based on the first reference and the second reference, and based on the first invisible image data and the second invisible image data
  • the 3D image data further comprises non-visual information
  • the processor is further configured to generate sub-surface data of the deformable 3D model of the human organ based on the non-visual information of the 3D image data.
  • the processor is further configured to receive patient specific data; and map the surface of the deformable 3D model of the human organ to correspond to the visual information of the 3D image data and the patient specific data.
  • the processor is further configured to define an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical scene, or a surgical instrument; monitor an input data, from a user, to the simulated surgical procedure; and when the input data is determined to correspond to the expected aspect, present a relevant instruction to the user.
  • the processor is further configured to define an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical site, or a surgical instrument; monitor an input data, from a user, to the simulated surgical procedure; and when the input data is determined to correspond to the expected aspect, present to an instructor a choice of initiating an instructive interaction with the user.
  • the processor is further configured to: define an expected surgical step of the simulated surgical procedure; monitor an input data to the simulated surgical procedure from a user; and when the input data is determined to correspond to the expected surgical step, presents to the user a choice of viewing a corresponding segment of one or more actual surgical procedure videos, wherein the one or more actual surgical procedure videos comprise segments that are indexed on surgical steps.
  • the choice of viewing the corresponding segment of the one or more actual surgical procedure videos may be further customized by a surgical complication or a surgical outcome.
  • a computer-implemented method comprising: receiving first two-dimensional (2D) image data of a first human organ, wherein the first 2D image data comprises first 2D visible image data captured inside a first patient and first three-dimension (3D) reconstruction reference data; receiving second 2D image data of a second human organ, wherein the second 2D image data comprises second 2D visible image data captured inside a second patient and second 3D reconstruction reference data; generating 3D image data from an aggregation of the first 2D visible image data and the second 2D visible image data and based on the first 3D reconstruction reference data and the second 3D reconstruction reference data, wherein the 3D image data comprises spatial information and visual information; mapping a shape of a deformable 3D model of a human organ to correspond to the spatial information of the 3D image data; mapping a surface of the deformable 3D model of the human organ to correspond to the visual information of the 3D image data; and outputting the deformable
  • the 3D model of a human organ is a 3D model of a simulated human organ.
  • the first human organ and the second human organ are a same type of human organ.
  • the first patient is the same as the second patient.
  • the 2D image data is captured using structured light imaging.
  • the method further comprises: receiving tissue property data of the one or more human organs, wherein the tissue property data is determined at least by tracking a displacement of a physical fiducial marker attached on the one or more human organs; and when a simulated force is applied to the deformable 3D model, deforming the deformable 3D model based on the physical property data.
  • the first 2D image data further comprises first invisible image data that is captured inside the first patient
  • the second 2D image data further comprises second invisible image data that is captured inside the second patient
  • the processor is further configured to generate the 3D image data from the aggregation of the first visible image data and the second visible image data, based on the first reference and the second reference, and based on the first invisible image data and the second invisible image data
  • the 3D image data further comprises non-visual information
  • the processor is further configured to generate sub-surface data of the deformable 3D model of the human organ based on the non-visual information of the 3D image data.
  • the processor is further configured to: receiving patient specific data; and mapping the surface of the deformable 3D model of the human organ to correspond to the visual information of the 3D image data and the patient specific data.
  • the method further comprises: defining an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical scene, or a surgical instrument; monitoring an input data, from a user, to the simulated surgical procedure; and when the input data is determined to correspond to the expected aspect, presenting a relevant instruction to the user.
  • the method further comprises: defining an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical site, or a surgical instrument; monitoring an input data, from a user, to the simulated surgical procedure; and when the input data is determined to correspond to the expected aspect, presenting to an instructor a choice of initiating an instructive interaction with the user.
  • the processor is further configured to: defining an expected surgical step of the simulated surgical procedure; monitoring an input data to the simulated surgical procedure from a user; and when the input data is determined to correspond to the expected surgical step, presenting to the user a choice of viewing a corresponding segment of one or more actual surgical procedure videos, wherein the one or more actual surgical procedure videos comprise segments that are indexed on surgical steps.
  • the choice of viewing the corresponding segment of the one or more actual surgical procedure videos may be further customized by a surgical complication or a surgical outcome.
  • a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method of the invention.
  • FIG.1 is a block diagram of a computer-implemented interactive surgical system.
  • FIG.2 shows an example surgical system being used to perform a surgical procedure in an operating room.
  • FIG.3 shows an example surgical hub paired with a visualization system, a robotic system, and an intelligent instrument, in accordance with at least one aspect of the present disclosure.
  • FIG.4 illustrates a surgical data network having a 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, in accordance with at least one aspect of the present disclosure.
  • FIG.5 illustrates an example computer-implemented interactive surgical system.
  • FIG.6 illustrates an example surgical hub comprising a plurality of modules coupled to the modular control tower.
  • FIG 7. is a block diagram of an example surgical simulator system.
  • FIG.8 is a block diagram of an example surgical simulator system.
  • FIG.9 is a block diagram depicting an example surgical simulator user interface device.
  • FIG.10 is a flow chart of an example surgical simulator operation.
  • FIGs.11A-B illustrate example surgical procedural plan data structures for use with a computer-implemented interactive surgical system and/or a surgical simulator.
  • FIG.12 illustrates an example data flow of an example surgical simulator operation.
  • FIG.13 illustrates an example data flow of an example surgical simulator operation.
  • FIG.14 is a flow chart of an example operation of an example surgical simulator.
  • Surgical simulation systems, devices, and methods may include aspects of integration with other medical equipment, data sources, processes, and institutions.
  • Surgical simulation systems, devices, and methods may include aspects of integration with a computer- implemented interactive surgical system and/or with one or more elements of a computer- implemented interactive surgical system, for example.
  • a computer-implemented interactive surgical system 100 may include one or more surgical systems 102 and a cloud-based system (e.g., the cloud 104 that may include a remote server 113 coupled to a storage device 105).
  • Each surgical system 102 may include at least one surgical hub 106 in communication with the cloud 104 that may include a remote server 113.
  • One or more simulation devices 103, 111 may be in communication with and/or integrated as part of the computer-implemented interactive surgical system 100.
  • the simulation device 103 may be an element of the one or more surgical systems 102.
  • the simulation device 103 may be in communication with one or more surgical hubs 106.
  • the simulation device 111 may be in communication with the computer-implemented interactive surgical system 100 via the cloud 104.
  • the surgical system 102 includes a visualization system 108, a robotic system 110, and a handheld intelligent surgical instrument 112, which are configured to communicate with one another and/or the hub 106.
  • a surgical system 102 may include an M number of hubs 106, an N number of visualization systems 108, an O number of robotic systems 110, and a P number of handheld intelligent surgical instruments 112, where M, N, O, and P may be integers greater than or equal to one.
  • the visualization system 108 may include 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, as illustrated in FIG.2.
  • the visualization system 108 may include an interface for HL7, PACS, and EMR.
  • Various components of the visualization system 108 are described under the heading “Advanced Imaging Acquisition Module” in U.S. Patent Application Publication No. US 2019-0200844 A1 (U.S. Patent Application No.16/209,385), titled METHOD OF HUB COMMUNICATION, PROCESSING, STORAGE AND DISPLAY, filed December 4, 2018, the disclosure of which is herein incorporated by reference in its entirety.
  • a primary display 119 is positioned in the sterile field to be visible to an operator at the operating table 114.
  • a visualization tower 111 is positioned outside the sterile field.
  • the visualization tower 111 may include a first non- sterile display 107 and a second non-sterile display 109, which face away from each other.
  • the visualization system 108 guided by the hub 106, is configured to utilize the displays 107, 109, and 119 to coordinate information flow to operators inside and outside the sterile field.
  • the hub 106 may cause the visualization system 108 to display a snapshot of a surgical site, as recorded by an imaging device 124, on a non-sterile display 107 or 109, while maintaining a live feed of the surgical site on the primary display 119.
  • the snapshot on the non-sterile display 107 or 109 can permit a non-sterile operator to perform a diagnostic step relevant to the surgical procedure, for example.
  • the hub 106 may also be configured to route a diagnostic input or feedback entered by a non-sterile operator at the visualization tower 111 to the primary display 119 within the sterile field, where it can be viewed by a sterile operator at the operating table.
  • the input can be in the form of a modification to the snapshot displayed on the non-sterile display 107 or 109, which can be routed to the primary display 119 by the hub 106.
  • a surgical instrument 112 is being used in the surgical procedure as part of the surgical system 102.
  • the hub 106 may also be configured to coordinate information flow to a display of the surgical instrument 112. For example, in U.S. Patent Application Publication No.
  • US 2019-0200844 A1 (U.S. Patent Application No. 16/209,385), titled METHOD OF HUB COMMUNICATION, PROCESSING, STORAGE AND DISPLAY, filed December 4, 2018, the disclosure of which is herein incorporated by reference in its entirety.
  • a diagnostic input or feedback entered by a non- sterile operator at the visualization tower 111 can be routed by the hub 106 to the surgical instrument display 115 within the sterile field, where it can be viewed by the operator of the surgical instrument 112.
  • Example surgical instruments that are suitable for use with the surgical system 102 are described under the heading “Surgical Instrument Hardware” and in U.S. Patent Application Publication No. US 2019-0200844 A1 (U.S.
  • FIG.2 depicts an example of a surgical system 102 being used to perform a surgical procedure on a patient who is lying down on an operating table 114 in a surgical operating room 116.
  • a robotic system 110 may be used in the surgical procedure as a part of the surgical system 102.
  • the robotic system 110 may include a surgeon’s console 118, a patient side cart 120 (surgical robot), and a surgical robotic hub 122
  • the patient side cart 120 can manipulate at least one removably coupled surgical tool 117 through a minimally invasive incision in the body of the patient while the surgeon views the surgical site through the surgeon’s console 118.
  • An image of the surgical site can be obtained by a medical imaging device 124, which can be manipulated by the patient side cart 120 to orient the imaging device 124.
  • the robotic hub 122 can be used to process the images of the surgical site for subsequent display to the surgeon through the surgeon’s console 118.
  • Other types of robotic systems can be readily adapted for use with the surgical system 102.
  • the imaging device 124 may include at least one image sensor and one or more optical components. Suitable image sensors may include, but are not limited to, Charge-Coupled Device (CCD) sensors and Complementary Metal-Oxide Semiconductor (CMOS) sensors.
  • CCD Charge-Coupled Device
  • CMOS Complementary Metal-Oxide Semiconductor
  • the optical components of the imaging device 124 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.
  • the one or more image sensors may receive light reflected or refracted from the surgical field, including light reflected or refracted from tissue and/or surgical instruments.
  • the one or more illumination sources may be configured to radiate electromagnetic energy in the visible spectrum as well as the invisible spectrum.
  • the visible spectrum sometimes referred to as the optical spectrum or luminous spectrum, is that portion of the electromagnetic spectrum that is visible to (i.e., can be detected by) the human eye and may be referred to as visible light or simply light.
  • a typical human eye will respond to wavelengths in air that are from about 380 nm to about 750 nm.
  • the invisible spectrum is that portion of the electromagnetic spectrum that lies below and above the visible spectrum (i.e., wavelengths below about 380 nm and above about 750 nm).
  • the invisible spectrum is not detectable by the human eye.
  • Wavelengths greater than about 750 nm are longer than the red visible spectrum, and they become invisible infrared (IR), microwave, and radio electromagnetic radiation.
  • Wavelengths less than about 380 nm are shorter than the violet spectrum, and they become invisible ultraviolet, x-ray, and gamma ray electromagnetic radiation.
  • the imaging device 124 is configured for use in a minimally invasive procedure.
  • imaging devices suitable for use with the present 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 may employ multi-spectrum monitoring to discriminate topography and underlying structures.
  • a multi-spectral image is one that captures image data within specific wavelength ranges across the electromagnetic spectrum.
  • the wavelengths may be separated by filters or by the use of instruments that are sensitive to particular wavelengths, including light from frequencies beyond the visible light range, e.g., IR and ultraviolet.
  • Spectral imaging can allow extraction of additional information the human eye fails to capture with its receptors for red, green, and blue.
  • the use of multi-spectral imaging is described in greater detail under the heading “Advanced Imaging Acquisition Module” in .S. Patent Application Publication No. US 2019-0200844 A1 (U.S. Patent Application No. 16/209,385), titled METHOD OF HUB COMMUNICATION, PROCESSING, STORAGE AND DISPLAY, filed December 4, 2018, the disclosure of which is herein incorporated by reference in its entirety.
  • Multi-spectrum monitoring can be a useful tool in relocating a surgical field after a surgical task is completed to perform one or more of the previously described tests on the treated tissue. It is axiomatic that strict sterilization of the operating room and surgical equipment is required during any surgery. The strict hygiene and sterilization conditions required in a “surgical theater,” i.e., an operating or treatment room, necessitate the highest possible sterility of all medical devices and equipment. Part of that sterilization process is the need to sterilize anything that comes in contact with the patient or penetrates the sterile field, including the imaging device 124 and its attachments and components.
  • the sterile field may be considered a specified area, such as within a tray or on a sterile towel, that is considered free of microorganisms, or the sterile field may be considered an area, immediately around a patient, who has been prepared for a surgical procedure.
  • the sterile field may include the scrubbed team members, who are properly attired, and all furniture and fixtures in the area.
  • the hub 106 includes a hub display 135, an imaging module 138, a generator module 140, a communication module 130, a processor module 132, a storage array 134, and an operating-room mapping module 133.
  • the hub 106 further includes a smoke evacuation module 126 and/or a suction/irrigation module 128.
  • energy application to tissue, for sealing and/or cutting is generally associated with smoke evacuation, suction of excess fluid, and/or irrigation of the tissue. Fluid, power, and/or data lines from different sources are often entangled during the surgical procedure. Valuable time can be lost addressing this issue during a surgical procedure.
  • the hub modular enclosure 136 offers a unified environment for managing the power, data, and fluid lines, which reduces the frequency of entanglement between such lines.
  • Aspects of the present disclosure present a surgical hub for use in a surgical procedure that involves energy application to tissue at a surgical site.
  • the surgical hub includes a hub enclosure and a combo generator module slidably receivable in a docking station of the hub enclosure.
  • the docking station includes data and power contacts.
  • the combo generator module includes two or more of an ultrasonic energy generator component, a bipolar RF energy generator component, and a monopolar RF energy generator component that are housed in a single unit.
  • the combo generator module also includes a smoke evacuation component, at least one energy delivery cable for connecting the combo generator module to a surgical instrument, at least one smoke evacuation component configured to evacuate smoke, fluid, and/or particulates generated by the application of therapeutic energy to the tissue, and a fluid line extending from the remote surgical site to the smoke evacuation component.
  • the fluid line is a first fluid line and a second fluid line extends from the remote surgical site to a suction and irrigation module slidably received in the hub enclosure.
  • the hub enclosure comprises a fluid interface. Certain surgical procedures may require the application of more than one energy type to the tissue. One energy type may be more beneficial for cutting the tissue, while another different energy type may be more beneficial for sealing the tissue.
  • a bipolar generator can be used to seal the tissue while an ultrasonic generator can be used to cut the sealed tissue.
  • a hub modular enclosure 136 is configured to accommodate different generators, and facilitate an interactive communication therebetween.
  • One of the advantages of the hub modular enclosure 136 is enabling the quick removal and/or replacement of various modules.
  • Aspects of the present disclosure present a modular surgical enclosure for use in a surgical procedure that involves energy application to tissue.
  • the modular surgical enclosure includes a first energy- generator module, configured to generate a first energy for application to the tissue, and a first docking station comprising a first docking port that includes first data and power contacts, wherein the first energy-generator module is slidably movable into an electrical engagement with the power and data contacts and wherein the first energy-generator module is slidably movable out of the electrical engagement with the first power and data contacts.
  • the modular surgical enclosure also includes a second energy-generator module con­figured to generate a second energy, different than the first energy, for application to the tissue, and a second docking station comprising a second docking port that includes second data and power contacts, wherein the second energy­generator module is slidably movable into an electrical engagement with the power and data contacts, and wherein the second energy-generator module is slidably movable out of the electrical engagement with the second power and data contacts.
  • the modular surgical enclosure also includes a communication bus between the first docking port and the second docking port, configured to facilitate com­munication between the first energy-generator module and the second energy-generator module. Referring to FIG.
  • a hub modular enclosure 136 that allows the modular integration of a generator module 140, a smoke evacuation module 126, and a suction/irrigation module 128.
  • the hub modular enclosure 136 further facilitates interactive communication between the modules 140, 126, 128.
  • the generator module 140 can be a generator module with integrated monopolar, bipolar, and ultrasonic components supported in a single housing unit slidably insertable into the hub modular enclosure 136.
  • the generator module 140 can be configured to connect to a monopolar device 142, a bipolar device 144, and an ultrasonic device 146.
  • the generator module 140 may comprise a series of monopolar, bipolar, and/or ultrasonic generator modules that interact through the hub modular enclosure 136.
  • FIG.4 illustrates a surgical data network 201 comprising a modular communication hub 203 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 a cloud-based system (e.g., the cloud 204 that may include a remote server 213 coupled to a storage device 205).
  • the modular communication hub 203 comprises a network hub 207 and/or a network switch 209 in communication with a network router.
  • the modular communication hub 203 also can be coupled to a local computer system 210 to provide local computer processing and data manipulation.
  • the surgical data network 201 may be configured as passive, intelligent, or switching.
  • a passive surgical data network serves as a conduit for the data, enabling it to go from one device (or segment) to another and to the cloud computing resources.
  • An intelligent surgical data network includes additional features to enable the traffic passing through the surgical data network to be monitored and to configure each port in the network hub 207 or network switch 209.
  • An intelligent surgical data network may be referred to as a manageable hub or switch.
  • a switching hub reads the destination address of each packet and then forwards the packet to the correct port.
  • Modular devices 1a-1n located in the operating theater may be coupled to the modular communication hub 203.
  • the network hub 207 and/or the network switch 209 may be coupled to a network router 211 to connect the devices 1a-1n to the cloud 204 or the local computer system 210.
  • Data associated with the devices 1a-1n may be transferred to cloud- based computers via the router for remote data processing and manipulation.
  • Data associated with the devices 1a-1n may also be transferred to the local computer system 210 for local data processing and manipulation.
  • Modular devices 2a-2m located in the same operating theater also may be coupled to a network switch 209.
  • the network switch 209 may be coupled to the network hub 207 and/or the network router 211 to connect to the devices 2a-2m to the cloud 204.
  • Data associated with the devices 2a-2n may be transferred to the cloud 204 via the network router 211 for data processing and manipulation.
  • Data associated with the devices 2a-2m may also be transferred to the local computer system 210 for local data processing and manipulation.
  • the surgical data network 201 may be expanded by interconnecting multiple network hubs 207 and/or multiple network switches 209 with multiple network routers 211.
  • the modular communication hub 203 may be contained in a modular control tower configured to receive multiple devices 1a-1n/2a-2m.
  • the local computer system 210 also may be contained in a modular control tower.
  • the modular communication hub 203 is connected to a display 212 to display images obtained by some of the devices 1a-1n/2a-2m, for example during surgical procedures.
  • the devices 1a-1n/2a-2m may include, for example, various modules such as an imaging module 138 coupled to an endoscope, a generator module 140 coupled to an energy-based surgical device, a smoke evacuation module 126, a suction/irrigation module 128, a communication module 130, a processor module 132, a storage array 134, a surgical device coupled to a display, and/or a non-contact sensor module, among other modular devices that may be connected to the modular communication hub 203 of the surgical data network 201.
  • the surgical data network 201 may comprise a combination of network hub(s), network switch(es), and network router(s) connecting the devices 1a-1n/2a-2m to the cloud.
  • Any one of or all of the devices 1a-1n/2a-2m coupled to the network hub or network switch may collect data in real time and transfer the data to cloud computers for data processing and manipulation. It will be appreciated that cloud computing relies on sharing computing resources rather than having local servers or personal devices to handle software applications.
  • cloud may be used as a metaphor for “the Internet,” although the term is not limited as such.
  • cloud computing may be used herein to refer to “a type of Internet-based computing,” where different services—such as servers, storage, and applications—are delivered to the modular communication hub 203 and/or computer system 210 located in the surgical theater (e.g., a fixed, mobile, temporary, or field operating room or space) and to devices connected to the modular communication hub 203 and/or computer system 210 through the Internet.
  • the cloud infrastructure may be maintained by a cloud service provider.
  • the cloud service provider may be the entity that coordinates the usage and control of the devices 1a- 1n/2a-2m located in one or more operating theaters.
  • the cloud computing services can perform a large number of calculations based on the data gathered by smart surgical instruments, robots, and other computerized devices located in the operating theater.
  • the hub hardware enables multiple devices or connections to be connected to a computer that communicates with the cloud computing resources and storage.
  • the surgical data network can provide improved surgical outcomes, reduced costs, and improved patient satisfaction. At least some of the devices 1a-1n/2a-2m may be employed to view tissue states to assess leaks or perfusion of sealed tissue after a tissue sealing and cutting procedure.
  • At least some of the devices 1a-1n/2a-2m may be employed to identify pathology, such as the effects of diseases, using the cloud-based computing to examine data including images of samples of body tissue for diagnostic purposes. This may include localization and margin confirmation of tissue and phenotypes. At least some of the devices 1a-1n/2a-2m may be employed to identify anatomical structures of the body using a variety of sensors integrated with imaging devices and techniques such as overlaying images captured by multiple imaging devices. The data gathered by the devices 1a-1n/2a-2m, including image data, may be transferred to the cloud 204 or the local computer system 210 or both for data processing and manipulation including image processing and manipulation.
  • the data may be analyzed to improve surgical procedure outcomes by determining if further treatment, such as the application of endoscopic intervention, emerging technologies, a targeted radiation, targeted intervention, and precise robotics to tissue-specific sites and conditions, may be pursued. Such data analysis may further employ outcome analytics processing, and using standardized approaches may provide beneficial feedback to either confirm surgical treatments and the behavior of the surgeon or suggest modifications to surgical treatments and the behavior of the surgeon.
  • the operating theater devices 1a-1n may be connected to the modular communication hub 203 over a wired channel or a wireless channel depending on the configuration of the devices 1a-1n to a network hub.
  • the network hub 207 may be implemented, in one aspect, as a local network broadcast device that works on the physical layer of the Open System Interconnection (OSI) model.
  • OSI Open System Interconnection
  • the network hub may provide connectivity to the devices 1a-1n located in the same operating theater network.
  • the network hub 207 may collect data in the form of packets and sends them to the router in half duplex mode.
  • the network hub 207 may not store any media access control/Internet Protocol (MAC/IP) to transfer the device data. Only one of the devices 1a-1n can send data at a time through the network hub 207.
  • the network hub 207 may not have routing tables or intelligence regarding where to send information and broadcasts all network data across each connection and to a remote server 213 (FIG.4) over the cloud 204.
  • the network hub 207 can detect basic network errors such as collisions, but having all information broadcast to multiple ports can be a security risk and cause bottlenecks.
  • the operating theater devices 2a-2m may be connected to a network switch 209 over a wired channel or a wireless channel.
  • the network switch 209 works in the data link layer of the OSI model.
  • the network switch 209 may be a multicast device for connecting the devices 2a-2m located in the same operating theater to the network.
  • the network switch 209 may send data in the form of frames to the network router 211 and works in full duplex mode. Multiple devices 2a-2m can send data at the same time through the network switch 209.
  • the network switch 209 stores and uses MAC addresses of the devices 2a-2m to transfer data.
  • the network hub 207 and/or the network switch 209 may be coupled to the network router 211 for connection to the cloud 204.
  • the network router 211 works in the network layer of the OSI model.
  • the network router 211 creates a route for transmitting data packets received from the network hub 207 and/or network switch 211 to cloud-based computer resources for further processing and manipulation of the data collected by any one of or all the devices 1a-1n/2a-2m.
  • the network router 211 may be employed to connect two or more different networks located in different locations, such as, for example, different operating theaters of the same healthcare facility or different networks located in different operating theaters of different healthcare facilities.
  • the network router 211 may send data in the form of packets to the cloud 204 and works in full duplex mode. Multiple devices can send data at the same time.
  • the network router 211 uses IP addresses to transfer data.
  • the network hub 207 may be implemented as a USB hub, which allows multiple USB devices to be connected to a host computer.
  • the USB hub may expand a single USB port into several tiers so that there are more ports available to connect devices to the host system computer.
  • the network hub 207 may include wired or wireless capabilities to receive information over a wired channel or a wireless channel.
  • a wireless USB short-range, high-bandwidth wireless radio communication protocol may be employed for communication between the devices 1a-1n and devices 2a-2m located in the operating theater.
  • the operating theater devices 1a-1n/2a-2m may communicate to the modular communication hub 203 via Bluetooth wireless technology standard for exchanging data over short distances (using short-wavelength UHF radio waves in the ISM band from 2.4 to 2.485 GHz) from fixed and mobile devices and building personal area networks (PANs).
  • Bluetooth wireless technology standard for exchanging data over short distances (using short-wavelength UHF radio waves in the ISM band from 2.4 to 2.485 GHz) from fixed and mobile devices and building personal area networks (PANs).
  • the operating theater devices 1a-1n/2a-2m may communicate to the modular communication hub 203 via a number of wireless or wired communication standards or protocols, including but not limited to Wi-Fi (IEEE 802.11 family), WiMAX (IEEE 802.16 family), IEEE 802.20, new radio (NR), long-term evolution (LTE), and Ev-DO, HSPA+, HSDPA+, HSUPA+, EDGE, GSM, GPRS, CDMA, TDMA, DECT, and Ethernet derivatives thereof, as well as any other wireless and wired protocols that are designated as 3G, 4G, 5G, and beyond.
  • the computing module may include a plurality of communication modules.
  • a first communication module may be dedicated to shorter-range wireless communications such as Wi-Fi and Bluetooth
  • a second communication module may be dedicated to longer-range wireless communications such as GPS, EDGE, GPRS, CDMA, WiMAX, LTE, Ev-DO, and others.
  • the modular communication hub 203 may serve as a central connection for one or all of the operating theater devices 1a-1n/2a-2m and may handle a data type known as frames. Frames may carry the data generated by the devices 1a-1n/2a-2m. When a frame is received by the modular communication hub 203, it is amplified and transmitted to the network router 211, which transfers the data to the cloud computing resources by using a number of wireless or wired communication standards or protocols, as described herein.
  • FIG.5 illustrates a computer-implemented interactive surgical system 200.
  • the computer- implemented interactive surgical system 200 is similar in many respects to the computer- implemented interactive surgical system 100.
  • the computer-implemented interactive surgical system 200 includes one or more surgical systems 202, which are similar in many respects to the surgical systems 102.
  • Each surgical system 202 includes at least one surgical hub 206 in communication with a cloud 204 that may include a remote server 213.
  • the computer-implemented interactive surgical system 200 comprises a modular control tower 236 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 236 comprises a modular communication hub 203 coupled to a computer system 210.
  • the modular control tower 236 may be coupled to an imaging module 238 that may be coupled to an endoscope 239, a generator module 240 that may be coupled to an energy device 241, a smoke evacuator module 226, a suction/irrigation module 228, a communication module 230, a processor module 232, a storage array 234, a smart device/instrument 235 optionally coupled to a display 237, and a non-contact sensor module 242.
  • the operating theater devices may be coupled to cloud computing resources and data storage via the modular control tower 236.
  • a robot hub 222 also may be connected to the modular control tower 236 and to the cloud computing resources.
  • the devices/instruments 235, visualization systems 208, among others, may be coupled to the modular control tower 236 via wired or wireless communication standards or protocols, as described herein.
  • the modular control tower 236 may be coupled to a hub display 215 (e.g., monitor, screen) to display and overlay images received from the imaging module, device/instrument display, and/or other visualization systems 208.
  • the hub display also may display data received from devices connected to the modular control tower in conjunction with images and overlaid images.
  • FIG.6 illustrates a surgical hub 206 comprising a plurality of modules coupled to the modular control tower 236.
  • the modular control tower 236 may comprise a modular communication hub 203, e.g., a network connectivity device, and a computer system 210 to provide local processing, visualization, and imaging, for example.
  • the modular communication hub 203 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 203 and transfer data associated with the modules to the computer system 210, cloud computing resources, or both.
  • each of the network hubs/switches in the modular communication hub 203 may include three downstream ports and one upstream port.
  • the upstream network hub/switch may be connected to a processor to provide a communication connection to the cloud computing resources and a local display 217.
  • the surgical hub 206 may employ a non-contact sensor module 242 to measure the dimensions of the operating theater and generate a map of the surgical theater using either ultrasonic or laser-type non-contact measurement devices.
  • An ultrasound-based non- contact sensor module may scan the operating theater by transmitting a burst of ultrasound and receiving the echo when it bounces off the perimeter walls of an operating theater as described under the heading “Surgical Hub Spatial Awareness Within an Operating Room” in .S. Patent Application Publication No US 2019-0200844 A1 (U.S.
  • the computer system 210 may comprise a processor 244 and a network interface 245.
  • the processor 244 can be coupled to a communication module 247, storage 248, memory 249, non-volatile memory 250, and input/output interface 251 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 including, but not limited to, 9-bit bus, Industrial Standard Architecture (ISA), Micro-Charmel Architecture (MSA), Extended ISA (EISA), Intelligent Drive Electronics (IDE), VESA Local Bus (VLB), Peripheral Component Interconnect (PCI), USB, Advanced Graphics Port (AGP), Personal Computer Memory Card International Association bus (PCMCIA), Small Computer Systems Interface (SCSI), or any other proprietary bus.
  • ISA Industrial Standard Architecture
  • MSA Micro-Charmel Architecture
  • EISA Extended ISA
  • IDE Intelligent Drive Electronics
  • VLB VESA Local Bus
  • PCI Peripheral Component Interconnect
  • USB Advanced Graphics Port
  • PCMCIA
  • the processor 244 may be any 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, details of which are available for the product datasheet.
  • QEI quadrature encoder inputs
  • the processor 244 may comprise a safety controller comprising two controller-based families such as TMS570 and RM4x, known under the trade name Hercules ARM Cortex R4, also by Texas Instruments.
  • the safety controller may be configured specifically for IEC 61508 and ISO 26262 safety critical applications, among others, to provide advanced integrated safety features while delivering scalable performance, connectivity, and memory options.
  • the system memory may include 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 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 210 also may include removable/non-removable, volatile/non- volatile computer storage media, such as for example disk storage.
  • the disk storage can include, 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 device
  • 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 210 may include software that acts as an intermediary between users and the basic computer resources described in a suitable operating environment. Such software may include an operating system.
  • the operating system which can be stored on the disk storage, may act to control and allocate resources of the computer system.
  • System applications may take advantage of the management of resources by the operating system through program modules and program data stored either in the system memory or on the disk storage. It is to be appreciated that various components described herein can be implemented with various operating systems or combinations of operating systems.
  • a user may enter commands or information into the computer system 210 through input device(s) coupled to the I/O interface 251.
  • the input devices may include, but are not limited to, a pointing device such as a mouse, trackball, stylus, touch pad, keyboard, microphone, joystick, game pad, satellite dish, scanner, TV tuner card, digital camera, digital video camera, web camera, and the like.
  • a pointing device such as a mouse, trackball, stylus, touch pad, keyboard, microphone, joystick, game pad, satellite dish, scanner, TV tuner card, digital camera, digital video camera, web camera, and the like.
  • the interface port(s) include, for example, a serial port, a parallel port, a game port, and a USB.
  • the output device(s) use some of the same types of ports as input device(s)
  • a USB port may be used to provide input to the computer system and to output information from the computer system to an output device.
  • An output adapter may be provided to illustrate that there can be some output devices like monitors, displays, speakers, and printers, among other output devices that may require special adapters.
  • the output adapters may include, by way of illustration and not limitation, video and sound cards that provide a means of connection between the output device and the system bus. It should be noted that other devices and/or systems of devices, such as remote computer(s), may provide both input and output capabilities.
  • the computer system 210 can operate in a networked environment using logical connections to one or more remote computers, such as cloud computer(s), or local computers.
  • the remote cloud computer(s) can be a personal computer, server, router, network PC, workstation, microprocessor-based appliance, peer device, or other common network node, and the like, and typically includes many or all of the elements described relative to the computer system. For purposes of brevity, only a memory storage device is illustrated with the remote computer(s).
  • the remote computer(s) may be logically connected to the computer system through a network interface and then physically connected via a communication connection.
  • the network interface may encompass communication networks such as local area networks (LANs) and wide area networks (WANs).
  • LAN technologies may include Fiber Distributed Data Interface (FDDI), Copper Distributed Data Interface (CDDI), Ethernet/IEEE 802.3, Token Ring/IEEE 802.5 and the like.
  • the computer system 210 of FIG.6, the imaging module 238 and/or visualization system 208, and/or the processor module 232 of FIGS.5-6 may comprise an image processor, image-processing engine, 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.
  • the communication connection(s) may refer to the hardware/software employed to connect the network interface to the bus. While the communication connection is shown for illustrative clarity inside the computer system, it can also be external to the computer system 210.
  • the hardware/software necessary for connection to the network interface may include, for illustrative purposes only, internal and external technologies such as modems, including regular telephone-grade modems, cable modems, and DSL modems, ISDN adapters, and Ethernet cards.
  • FIG 7. is a block diagram of an example surgical simulator system.
  • the surgical simulator system may include a simulation device 30000.
  • the surgical simulator system may include an application creation device 30002, a human interface device 30004, a surgeon agent device 30006, and/or a surgical data system 30008.
  • the simulation device 30000 may provide core simulation functionality. For example, the loading/running of one or more simulations, the reception and processing of user control information input, the generation and transmission of visual, audible, and/or haptic information output, the collection of simulation operation and activity information, and the primary simulation cycle processing may be performed by the simulation device 30000.
  • the application creation device 30002 may provide simulation authoring functionality. Individual simulation applications may be stored as application modules 30010 at the simulation device 30000. The application modules 30010 may be created, modified, and/or deleted by the application creation device 30002.
  • the application modules 30010 may include computer readable and/or executable instructions to direct an operation of the simulation device 30000.
  • the application modules 30010 may include any filetype suitable for storing information to run a surgical simulation, for example, simulation scripts, programming code, structure data files such as Extensible Markup Language (XML) files, database files, and the like.
  • the application creation device 30002 may include a graphical user interface with controls to author application modules 30010.
  • the application creation device 3002 may communicate with the simulation device 30000 to retrieve, modify, and/or load application modules 30010 for simulation operation.
  • the graphical user interface may include interface structures to allow a user to select simulation activities, to input various simulation parameters, to set simulation objectives, and to confirm simulation execution.
  • the application creation device 30002 may be provided as a stand-alone device and/or integrated with one or more other devices of the surgical simulation system, such as integrated with the simulation device 30000 for example.
  • the human interface device 30004 may include any hardware, software, and/or combination thereof that enables a human user to interact with a simulation provided by the simulation device 30000.
  • the human interface device 30004 may enable a user to provide control input to the simulation device 300000 and/or to receive output information (such as visual, audible, and/or haptic information) from the simulation device 30000.
  • the human interface device 30004 may include a traditional desktop computer.
  • the human interface device 30004 may include suitable physical equipment.
  • the human interface device 30004 may include physical equipment that mimic physically and/or virtually aspects of a surgical procedure.
  • such equipment may include bench-top units, part-task virtual reality units, high fidelity virtual reality units, high fidelity full-size patient units, suite units, high fidelity full operating room units, full physics virtual reality units, surgical robot console units, and the like.
  • the human interface device 30004 may include devices such as the computer-based simulator interfaces disclosed by Gallager et al, “Simulations for Procedural Training,” Fundamentals of Surgical Simulation, Principles and Practice, Springer (2012). [00100]
  • the human interface device 30004 may include physical equipment that mimics, physically and/or virtually, surgical instruments.
  • the human interface device 30004 may include physical devices that mimic surgical instruments, appliances, and consumables, such as access equipment, such as trocars, hand-access ports, insufflation needles, and guiding sheaths; adjunctive hemostats, such as patches, gelatins, and powders; craniomaxillofacial appliances, like distractors and plates; balloons and inflators; catheters, like diagnostic catheters, access catheters, vascular catheters, and therapeutic catheters; energy sealing and dissecting devices, like tissue sealers, shears, blades, and forceps; orthopedic equipment, like reduction wires, compression screws, plates, implants, drills, burrs, rods, and connectors; ligation instruments, like open and endoscopic clip appliers; microwave ablation equipment; ancillary endoscopic instruments, like drains, sutures, ligature, needle holders, retrievers, and suture clips; surgical stapling equipment, like open staplers, endoscopic staplers, cutter staplers, powered staplers, circular staple
  • the human interface device 30004 may include virtual reality handheld controllers, that when operated with a virtual reality headset, mimics the surgical instruments, appliances, and consumables, such as those disclosed above.
  • the human interface device 30004 may include a display that communicates visual representations of the simulation to the user.
  • the human interface device 30004 may include a computer display.
  • the human interface device 30004 may include a virtual reality headset display.
  • the virtual reality headset display may be used display the surgical environment, such as that disclosed in FIG.2, herein.
  • a user with such a virtual reality headset display may view and/or interact with any of the elements in the surgical operating room 116, including, for example, the patient, the robotic system 110, the surgeon’s console 118, the surgical robotic hub 122, one or more surgical tools 117, the imaging device 124, the patient side cart 120, one or more displays 119, 107, 109, and the like.
  • the human interface device 30006 may present visual information that represents the point of the view of the surgeon.
  • the human interface device 30006 may present visual information from a simulated imaging device, such as an arthroscope, angioscope, bronchoscope, choledochoscope, colonoscope, cytoscope, duodenoscope, enteroscope, esophagogastro-duodenoscope (gastroscope), endoscope, laryngoscope, nasopharyngo- neproscope, sigmoidoscope, thoracoscope, ureteroscope, and their related instruments, controls, and the like.
  • a simulated imaging device such as an arthroscope, angioscope, bronchoscope, choledochoscope, colonoscope, cytoscope, duodenoscope, enteroscope, esophagogastro-duodenoscope (gastroscope), endoscope, laryngoscope, nasopharyngo- neproscope, sigmoidoscope, thoracoscope, ureteroscope, and their related instruments, controls, and the
  • the human interface device 30006 may present visual information from a simulated supplemental intra-operative imaging equipment, like computed tomography (CT) units, magnetic resonance imaging (MRI) units, image-guided surgery units, intra-operative ultrasound units; fluoroscopy units, and the like.
  • a simulated supplemental intra-operative imaging equipment like computed tomography (CT) units, magnetic resonance imaging (MRI) units, image-guided surgery units, intra-operative ultrasound units; fluoroscopy units, and the like.
  • CT computed tomography
  • MRI magnetic resonance imaging
  • image-guided surgery units intra-operative ultrasound units
  • fluoroscopy units and the like.
  • Such point-of-view visual information, surgical imaging information, and supplemental intra-operative imaging information may be displayed in any combination to the user suitable for the simulation’s operation.
  • such information may be presented to the user as a single full- screen view, a tiled window view, a picture-in-a-picture view, or registered to a simulated display unit in a virtual reality view.
  • an example surgeon-console-like human interface device 30004 may include a display, such as a stereo vision display and control inputs, including hand-held manipulators, foot pedals, and the like.
  • the surgeon- console-like human interface device 30004 may include an interface of the surgeon’s console 118, disclosed herein.
  • the human interface device 30004 may enable voice controls via, for example, a microphone and speech recognition functionality.
  • the human interface device 30004 may provide audible feedback via, for example, a speaker.
  • the human interface device 30004 may provide haptic feedback via, for example, vibration, force feedback, air vortex rings, and ultrasound techniques.
  • the human interface device 30004 may be provided as a stand-alone device and/or integrated with one or more other devices of the surgical simulation system, such as integrated with the simulation device 30000 for example.
  • the simulation device 30000 may include an interface module 30012 to communicate with the human interface device 30004.
  • human interface device 30004 may be integrated into one or more elements of the computer-implemented interactive surgical system 100.
  • the human interface device 30004 may be integrated into the computer system 210.
  • the human interface device 30004 may be integrated into the hub 106.
  • the human interface device 30004 may be integrated into the visualization system 108.
  • the interface module 30012 may communicate with the one or more elements of the computer-implemented interactive surgical system 100 via the surgical data system interface module 30014 for example.
  • more than one human interface device 30004 may concurrently engage with the simulation device 30000.
  • the surgeon agent device 30006 may include any hardware and/or software suitable for providing a computer-based control and response to the input and output of the simulation device 30000.
  • the surgeon agent device 30006 may include a computer process that mimics human input to the simulation device 30000.
  • the surgeon agent device 30006 may be able to record and register control inputs, such as basic instrument manipulation.
  • the surgeon agent device 30006 may include a computer process that can access a input/output application programming interface (API) of the simulation device 30000.
  • the API may reveal one or more input/output functions that may be directed according to the surgeon agent device 3006.
  • the functions may include granular manipulation and physics-based input/output functions, such as functions that directly control the location and movement of instruments.
  • the functions may include less granular surgical-activity-based input/output functions, such as a ligation activity, a suturing activity, a stapling activity, and the like.
  • the functions may include less granular surgical task and/or stage-based input/output functions, such as surgical access function, organ mobilization function, and the like.
  • Each function may include parameter consistent with its level of granularity.
  • the parameters may provide specific details to direct the operation of the function within the simulation.
  • the surgeon agent 30006 may include functionality for generating and operating multiple simulation runs. For example, a user may wish to estimate the duration of various suturing techniques.
  • a surgeon agent device 30006 may be used to script the simulation of any number of different techniques, each of which can be run via the simulation device, and the metrics collected by the simulation device may be used to estimate the difference in durations.
  • the surgeon agent device 30006 may be provided as a stand along device and/or integrated with one or more other devices of the surgical simulation system, such as integrated with the simulation device 30000 for example.
  • the simulation device 30000 may include an interface module 30012 to communicate with the surgeon agent device 30006.
  • the surgeon agent device 30006 may be integrated as a module of the simulation device 30000.
  • the surgeon agent device 30006 may be integrated into an application module 30010 of the simulation device.
  • the surgical data system 30008 may include any hardware and/or software suitable for providing external, structured surgical information and functionality to the simulation device 30000.
  • the surgical data system 30008 may include the structure and/or functions described in connection with FIGs.1-6 herein.
  • the surgical data system 30008 may include one or more elements of a computer-implemented interactive surgical system 100.
  • the surgical data system 30008 may include, for example, a surgical hub 106.
  • the simulation device 30000 include a surgical data system interface module 30014 that enables communication with the surgical hub 106 via the surgical hub’s communication module 130.
  • the surgical data system 30008 may include, for example, on or more surgical data repositories.
  • the surgical data system 30008 may include the computer system 210 located in the surgical theater.
  • the surgical data system 30008 may include the remote server 213 in the cloud 204.
  • a surgical data system 30008 such as the surgical hub 106 for example, may provide data to the simulation device 30000 and/or the application creation device 30002.
  • the data may include any surgical data collected and/or generated by the surgical hub 106.
  • the simulation device 30000 may receive similar data directly from any of the networked devices disclosed in FIGs 1-6.
  • Such data may include information about a live surgical procedure, for example.
  • Such data may include information about a past surgical procedure.
  • Information about the surgical procedures may include information about the patient, the staff, the procedure as planned, the procedure as experienced, and post-operative activity including patient outcomes.
  • the information received and used by the simulation device may include patient records, patient imaging, models of patient anatomy, patient lab results, patient medical history, and the like.
  • the information received and used by the simulation device may include a staff manifest for a procedure, details about the past procedures of the specific staff members, staff metrics, experience, recent scheduling and workload, and historical surgical activity, such instrument use statistics, procedure duration, and the like.
  • the information received and used by the simulation device may include procedure plans, equipment and inventory information, pull-lists, checklists, procedure plan analysis and recommendations.
  • the information received and used by the simulation device may include any data collected or generated during a live procedure, such as procedure progress, milestones, patient information, vitals, operating theater setup, staff movement, imaging, instrument use, surgical technique, such as that captured by video, recorded manually, and/or inferred from smart-instrument reporting for example, duration, abnormal event reporting, and the like. Any data captured during a live procedure may also be stored and made available as a past procedure.
  • the information received and used by the simulation device may include post-operative records, patient recovery information, and patient outcome information, post-operative diagnostic information, such as labs, imaging, etc., [00111]
  • the simulation device 30000 may include any computer or processing platform suitable for executing one or more simulations.
  • the simulation may include a computer-modeled environment of a surgical procedure.
  • the simulation may include a model of a patient’s anatomy and/or physiology.
  • the simulation may include a model of the actions and/or instruments of one or more healthcare professionals, such as the actions of a surgeon, nurse, other doctor, technician, or the like.
  • the simulation device 30000 may include one or more functional modules. Each module may include hardware, software, or a combination thereof that enable functionality of the module. One or more modules, operating in concert, may represent a computer framework on which a simulation of a medical procedure may be executed.
  • the modules may include hardware elements, such as a computer processing unit, a graphics processing unit, a field- programmable gate array (FPGAs), communications hardware, memory, and the like.
  • the modules may include software elements that when executed by a processor cause the module to perform certain functions.
  • the simulation device may include a core simulation module 30016, a simulation applications module directory 30018, the interface module 30012, an object properties module 30020, a physics module 30022, a physiology model 30024, a texture model 30026, a 3D graphics pipeline 30028, the surgical data system interface module 30014, a metrics extraction module 30030, a session storage and management module 30032, for example.
  • the simulation device may include an operating system module 30034.
  • the core simulation model 30016 may provide primary simulation functionality of the simulation device 30000.
  • the core simulation module 30016 may include code for initializing a simulation, for communicating and interacting with other modules of the simulation device 30000, and/or for managing architectural level simulation parameters.
  • the core simulation module 30016 may include a master event clock to provide time alignment and/or coordination of the operation of the modules of the simulation device 30000.
  • the core simulation module 30016 may establish the overall simulation frame rate.
  • the core simulation module 30016 may include core for providing a master simulation cycle.
  • the core simulation module 30016 may run one or more iteration of the master simulation cycle. Each iteration of the master simulation cycle may represent an individual time slice for simulation.
  • the core simulation module 30016 may run the master simulation cycle according to the flow disclosed in FIG.10.
  • the simulation applications module directory 30018 may manage the storing, retrieving, and/or linking of the one or more application modules 30010.
  • Each application module 30010 may include code that directs the application-level aspects of a simulation.
  • an application module 30010 may include the functionality to provide a simulation of specific anatomy, of specific teaching scope, of specific equipment, or the like.
  • an application-specific simulation device 30000 may operate with a single application module 30010 with or without a simulation application module directory 30010.
  • the simulation application module directory 30018 may operate based on interaction with the core simulation module 30016 and/or the application creation device 30002.
  • the interface module 30012 may provide functionality for interacting with the human interface device 30004 and/or the surgeon agent device 30006.
  • the interface module 30012 may include one or more drivers to translate information received from human interface device 30004 into software commands, interrupts, and the like.
  • the interface module 30012 may include a software application programming interface (API) for interacting with the surgeon agent 30006.
  • API software application programming interface
  • the interface module 30012 may provide information received from the human interface module 30004 and/or the surgeon agent device 30006 to other modules of the simulation device 30000.
  • the interface module 30012 may receive a control input from the human interface module 30004 and/or the surgeon agent device 30006 that represents movement of a simulated instrument and provide that information to one or more other modules of the simulation device 30000 so the movement may be represented in the simulation.
  • the interface module 30012 may provide the API to enable a more granular interaction with the surgeon agent device 30006.
  • the API may provide an interface to receive simulation parameters and simulation settings from the surgeon agent device 30006.
  • simulation parameters and/or simulation settings may be like those input by the user via the application creation device 30002, for example.
  • the surgeon agent device 30006 may be enabled to run one or more computer-controlled simulation trials through the simulation device 30000.
  • surgeon agent device 30006 may be enabled to run multiple simulations, each with alternative interactions.
  • the interface module 30012 may send output from the simulation device 30000 to the human interface device 30004 and/or the surgeon agent device 30006.
  • the output may include visual output, haptic output, audio output, and/or structured data output, or the like.
  • the object properties module 30020 may provide functionality for managing the simulated appearance and/or behavior of objects within in the simulation. Simulated objects may include objects such as anatomy, instrument, equipment, consumables, fluids, and the like.
  • An object’s appearance may be managed by object properties, such as location, dimensions, scale, material, parent/child relationships, vertices, faces, interactivity, transparency, trajectory, rendering properties, textures, surface reflectivity, motion blur, layering, and the like.
  • An object’s behavior may be managed by object properties, such as physics properties, mass, motion, collision behavior, elasticity, viscosity, surface tension, rigging constraints, hardness, shear strength, tearing behavior, grain, and the like.
  • the physics module 30022 may provide functionality to calculate the physical responses and/or interaction of objects within the simulation. The physical module may determine such responses and/or interactions according to classical mechanics, fluid mechanics, soft body dynamics, Brownian motion, collision detection, cloth behavior, finite element analysis, and the like.
  • the physics module 30022 may include commercial and/or open- source modules, such as PhysX (TM), Simulation Open Framework Architecture (SOFA) (TM), VisSim (TM), and the like.
  • the physiology module 30024 may provide functionality to calculate physiological responses and/or interactions of the anatomy and/or patient as a whole in the simulation.
  • the physiology module 30024 may provide physiological models for key organs and/or systems.
  • the physiological models may include mathematical models, statistical models, or the like.
  • the physiology module 30024 may module the patient’s vitals to calculate their response and/or interaction to activities performed during the simulation.
  • a circulatory model may calculate blood pressure in response to a severed vessel in the simulation.
  • the physiology module 30024 and the physics module 30022 may coordinate with each other during the calculation of each state of the simulation. For example, blood pressure calculated by the circulatory model may be used to determine fluid dynamics properties calculated by the physics module 30022 and managed by the object properties module 30020.
  • the texture module 30026 may provide functionality to determine, retrieve, and/or generate the appropriate surfacing of objects within the simulation.
  • the texture module 30026 may include one or more surfacing modalities that may be controlled according to parameters of the simulation.
  • the surfacing modalities may include artificially generated surfaces, surfaces based on real-world imagery, and combinations thereof.
  • the texture module 30026 may coordinate operation with the physics module 30022 to provide accurate haptic feedback to the user via the user interface module 30012.
  • the 3D graphics pipeline 30028 may provide functionality for visual rendering of the simulation environment.
  • the 3D graphics pipeline 30028 may receive object properties and a perspective.
  • the 3D graphics pipeline 30028 may determine the visualization to be presented to the user that represents the objects in 3D space as viewed from the camera perspective.
  • the 3D graphics pipeline 30028 may determine geometric aspects of the rendering, such as lighting, projection, clipping, view transformation, and the like.
  • the 3D graphics pipeline 30028 may determine rasterization aspects of the rendering, such as fragmentation, pixel shading, vertex shading, geometry sharing, texture filtering, and the like.
  • the 3D graphics pipeline 30028 may coordinate with the texture module 30026 to provide accurate visual feedback to the user via the interface module 30012.
  • the surgical data system interface module 30014 may provide interactive connectivity to one or more elements of computer-implemented interactive surgical system 100. Information from the one or more elements of the computer-implemented interactive surgical system 100 may be communicated via the surgical data system interface module 30014 to one more modules of the simulation device 30000 to influence operation of a simulation. For example, the surgical data system interface module 30014 may receive information about a surgical procedure an communicate it to a corresponding application module 30010. For example, the surgical data system interface module 30014 may receive information about an instrument and communicate it to the object properties module 30020. For example, the surgical data system interface module 30014 may receive information about a patient and communicate to the physiology module.
  • the surgical data system interface module 30014 may receive information about tissue imaging and communicate it to the texture module 30026.
  • Information from the modules of the simulation device 30000 may be provided, via the surgical data system interface 30014, to one or more elements of the computer- implemented interactive surgical system 100.
  • one or more elements of the computer-implemented interactive surgical system 100 may receive statistics related to a simulated procedure plan from the metrics extraction module 30030.
  • one or more elements of the computer-implemented interactive surgical system 100 may receive replayed simulation visualization procedure plan from the session storage and management module 30032.
  • the surgical data system interface module 30014 may provide a communications pathway between the interface module 30012 and one or more elements of the computer-implemented interactive surgical system 100.
  • the metrics extraction module 30014 may provide recording functionality of various parameters related to the operation of the simulation. For example, the metrics extraction module 30014 may record metrics related to the simulation as a whole, such as duration, number of activities, number of movements, complexity of movements, staff employed, staff movement, equipment and/or instrument changes, etc. For example, the metrics extraction module 30014 may record metrics related to a particular aspect of the simulation, such as simulated patient vitals, complications, collisions, bleeding, etc.
  • the metrics extraction module 30014 may maintain a master log of metric-related events during a simulation. For metrics extraction module 30014 may record metric-related events according to a configuration from the application module 30010 employed for the simulation. [00128]
  • the session storage and management module 30032 may provide management functionality of the main simulation run-record. For example, the session storage and management module 30032 may store the information to enable a simulation to be rerun, viewed, and/or analyzed in its entirety.
  • the session storage and management module 30032 may store the information about each input, simulation state, and output, such as the input, simulation state, and output disclosed with regard to FIG.10.
  • the session storage and management module 30032 may enable a previous simulation to be recalled, copied, and initialized with new user input.
  • the session storage and management module 30032 may provide overlay functionality between various runs of a particular simulation. Such overlays may highlight similarities and differences and may enhance training.
  • the operating system module 30034 may manage the hardware and/or software resources for the simulation device 30000.
  • the operating system module 30034 may provide common computing system-level services for the other modules of simulation device 30000.
  • the operating system module 30034 may provide hardware input and output handling, memory allocation, hardware interrupt handling, software interrupt handling, thread processing, single task handling, multi-task handling, and the like.
  • the simulation device 30000 may be a real-time computing device.
  • the operating system module 30034 may include a real-time operating system.
  • the operating system module 30034 may be driven by the events and frame rate established by the core simulation module 30016.
  • FIG.8 is a block diagram of an example surgical simulator system.
  • the simulation device 30000 is depicted with an example hardware architecture.
  • the simulation device 30000 may include a processor 30034, a memory 30036, a storage 30038, a display adapter 30040, a manipulation interface adapter 30042, a surgical data system adapter 30044, and/or a network adapter 30046.
  • the processor 30046 may include computer processing unit, graphics processing unit, any suitable microcontroller, microprocessor, field programmable gate array (FPGA), application specific integrated circuit (ASIC), or the like, and/or any combination thereof that is suitable for processing and delivering a 3D simulated environment for interaction with a computer agent and/or human user.
  • the processor 30046 may include one or more processing units.
  • the processor 30046 may be a processor of any suitable depth to perform the digital processing requirements disclosed herein.
  • the processor 30046 a 32-bit processor, a 64-bit processor, a 128-bit processor, or the like.
  • Such processors may comprise, or may be in communication with, media, for example computer-readable media, that may store instructions that, when executed by the processor, can cause the processor to perform the steps described herein as carried out, or assisted, by a processor.
  • Embodiments of computer-readable media may comprise, but are not limited to, an electronic, optical, magnetic, or other storage device capable of providing a processor, such as the processor in a web server, with computer-readable instructions.
  • the processor, and the processing, described may be in one or more structures, and may be dispersed through one or more structures.
  • the processor may comprise code for carrying out one or more of the methods (or parts of methods) described herein.
  • the memory 30036 may include any component or collection of components suitable for storing data.
  • the memory 30036 may include volatile memory and/or nonvolatile memory.
  • the memory 30036 may include random-access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), (electrically erasable programmable read-only memory) EEPROM, flash memory, or the like.
  • RAM random-access memory
  • ROM read-only memory
  • EPROM erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory or the like.
  • the storage 30038 may include any component or collection of components suitable for storing large quantities of data.
  • storage 30038 may include hard disk drives (HDD), solid state drives (SSD), network-attached storage (NAS), or the like.
  • the storage 30038 may include a database structure and/or a database management system (DBMS).
  • DBMS database management system
  • the display adapter 30040 may include any component or collection of components suitable for outputting the visual representation of a 3D simulation environment.
  • the display adapter 30040 may include a graphics card, a display card, a graphics adapter, or the like.
  • the display adapter 30040 may be used to generates a feed of output images to a display device, such as a display of the human interface device 30004.
  • the display adapter 30040 may include a graphics processing unit (GPU).
  • the display adapter 30040 may include hardware to render a graphics pipeline, for example.
  • the manipulation interface adapter 30042 may include any component or collection of components suitable for receiving manipulation information from the human interface device and/or outputting feedback information to the human interface device.
  • the manipulation interface adapter 30042 may receive motion tracking information from a virtual reality headset and in turn, manipulate the view being displayed to the user.
  • the manipulation interface adapter 30042 may receive control input indicative of a user manipulating a surgical instrument and, in turn, output haptic feedback to the user’s handheld device.
  • the manipulation interface adapter 30042 may receive control information from a traditional desktop keyboard and mouse.
  • the manipulation interface adapter may include input/output hardware such as serial input/output ports, parallel input/output ports, universal asynchronous receiver transmitters (UARTs), discrete logic input/output pins, analog-to-digital converters, digital-to-analog converters, universal serial bus (USB) ports, USB-C ports, FireWire ports, High Performance Parallel Interface (HIPPI), Thunderbolt port, Yapbus, Ethernet, Gigabit Ethernet, and/or any other suitable peripheral interface technology.
  • UARTs universal asynchronous receiver transmitters
  • HIPPI High Performance Parallel Interface
  • Thunderbolt port Yapbus, Ethernet, Gigabit Ethernet, and/or any other suitable peripheral interface technology.
  • the surgical data system adapter 30044 may include any component or collection of components suitable for communicating with the surgical data system 30008.
  • the surgical data system adapter 30044 may include communications hardware to establish a physical channel between the simulation device 30000 and the surgical data system 30008.
  • the surgical data system adapter 30044 may include a communication port such as, a USB port, USB-C ports, FireWire ports, HIPPI port, Thunderbolt port, Yapbus port, Ethernet port, Gigabit Ethernet port, and/or any other suitable peripheral interface.
  • the surgical data system adapter 30044 may include hardware, software, and/or a combination thereof to establish a logical channel between the simulation device 30000 and the surgical data system 30008 over the network adapter 30046 and the network 30048.
  • the network adapter 30046 may include any component or collection of components suitable for communication over a network, such as network 30048 for example.
  • the network adapter 30046 may enable communication over networks such as local area networks (LANs), wide area networks (WANs), and/or mobile networks.
  • LAN technologies may include Fiber Distributed Data Interface (FDDI), Copper Distributed Data Interface (CDDI), Ethernet/IEEE 802.3, Token Ring/IEEE 802.5, Wi-Fi/IEEE 802.11, and the like.
  • WAN technologies may include, but are not limited to, point-to-point links, circuit-switching networks like Integrated Services Digital Networks (ISDN) and variations thereon, packet-switching networks, and Digital Subscriber Lines (DSL).
  • ISDN Integrated Services Digital Networks
  • DSL Digital Subscriber Lines
  • the mobile networks may include communication links based on one or more of the following mobile communication protocols: GSM/GPRS/EDGE (2G), UMTS/HSPA (3G), long term evolution (LTE) or 4G, LTE-Advanced (LTE-A), new radio (NR) or 5G, etc.
  • the network adapter 30046 may include a wireless network adapter, such as a 5G network adapter.
  • a 5G network adapter 30046 may use a 5G New Radio (NR) transceiver to provide enhanced mobile broadband (eMBB) with ultra-reliable and low latency communications (URLLC).
  • eMBB enhanced mobile broadband
  • URLLC ultra-reliable and low latency communications
  • FIG.9 is a block diagram depicting an example surgical simulator human user interface device 30004.
  • the human user interface device 30004 is depicted with an example hardware architecture.
  • the human user interface device 30004 may include a processor 30050, a memory 30052, a display subsystem 30054, and/or a manipulation subsystem 30056.
  • the processor 30050 may include computer processing unit, graphics processing unit, any suitable microcontroller, microprocessor, field programmable gate array (FPGA), application specific integrated circuit (ASIC), or the like, and/or any combination thereof that is suitable for handling the processing associated with displaying visual information received from the simulation device 30000, processing manipulation information for sending to the simulation device, processing feedback information received from the simulation device 30000, and the like.
  • the processor 30050 may include a microcontroller to interface with one or more local sensors to sense control manipulation from the user and/or to interface with one or more local actuators to provide feedback from the user.
  • Such processors may comprise, or may be in communication with, media, for example computer-readable media, that may store instructions that, when executed by the processor, can cause the processor to perform the steps described herein as carried out, or assisted, by a processor.
  • Embodiments of computer-readable media may comprise, but are not limited to, an electronic, optical, magnetic, or other storage device capable of providing a processor, such as the processor in a web server, with computer-readable instructions.
  • Other examples of media comprise, but are not limited to, a floppy disk, CD-ROM, magnetic disk, memory chip, ROM, RAM, ASIC, configured processor, all optical media, all magnetic tape or other magnetic media, or any other medium from which a computer processor can read.
  • the processor, and the processing, described may be in one or more structures, and may be dispersed through one or more structures.
  • the processor may comprise code for carrying out one or more of the methods (or parts of methods) described herein.
  • the memory 30036 may include any component or collection of components suitable for storing data.
  • the memory 30036 may include volatile memory and/or nonvolatile memory.
  • the memory 30036 may include random-access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), (electrically erasable programmable read-only memory) EEPROM, flash memory, or the like.
  • the display subsystem 30054 may include any component or collection of components suitable for displaying visual representations of a 3D simulation from the simulation device 30000 to a user.
  • the display subsystem may include display hardware such as a monitor, a digital projector, a smart phone, a digital headset, a virtual reality headset, a stereoscopic display, a robotic surgery surgeon’s console display, a surgical display unit, a surgical microscope, and the like.
  • the manipulation subsystem 30056 may include any component or collection of components suitable for collecting manipulation controls from the user to send to the simulation device 30000 and/or providing feedback information, received from the simulation device 30000, to the user.
  • Manipulation from the user may include any interface with sensors that engage with the user, for example, engaging to indicate a user’s intent in the simulation.
  • the interfaces may include keyboards, mice, joysticks, physical equipment that mimics the size, shape, and operation of actual surgical instruments, virtual reality hand-held controllers, smart gloves, motion sensing systems (such as hand tracking systems, for example), a robotic surgery surgeon’s console manipulators and/or controls, a physical unit that mimics the size, shape, and operation of an actual robotic surgery surgeon’s console manipulators and/or controls, and the like.
  • the interface may include a point of view sensor, such as an accelerometer, in a headset to indicate a user’s point of view within the simulation.
  • Feedback from the simulation device 30000 may include any interface with an actuator that provides sensory input to the user.
  • the feedback may include haptic feedback, force feedback, temperature feedback, moisture feedback, audio feedback, olfactory feedback, and the like.
  • a force feedback and/or haptic actuator in the manipulator of a robotic surgery surgeon’s console may be used to simulate the feedback the user would feel if operating such a manipulator in a live procedure.
  • a force feedback and/or haptic actuator in a user device that mimics the size, shape, and operation of actual surgical stapler may be used to simulate the feedback the user would feel if operating such a device on live tissue, including force feedback when engaging the tissue and firing the stapler for example.
  • FIG.10 is a flow chart of an example surgical simulator operation.
  • a simulation application may be loaded.
  • the core simulation module 30016 may cause data associated with a particular application module 30010 to be loaded into memory 30036.
  • the loaded data may include instructions for the processor 30034 to operate a particular simulation.
  • the loaded data may include a procedural plan for the simulation.
  • the procedural plan may be structured as disclosed herein, for example with regard to FIGs.11A-B.
  • the loaded data may include an initial state for the simulation.
  • the simulation output may be determined and/or sent.
  • the simulation output may be determined and/or sent by the simulation device 30000.
  • the core simulation module 30016 may reference a current state of the simulation (e.g., an initial state and/or a subsequent state).
  • the core simulation module 30016 may engage one or more other modules to process the current state for output.
  • the core simulation module may engage any of the object properties module 30020, the texture module 30026, the application module 30010, the 3D graphics pipeline 30028, the interface module 30012, and/or the surgical data system interface module 30014 to process the current simulation state into information for output.
  • Information related to the output maybe processed and/or stored by the metrics extraction module 30030 and/or the session storage and management module 30032, for example.
  • output information may be sent via the display adapter 30040 and/or the manipulation interface adapter 30042 to the display subsystem 30054 and/or the manipulation subsystem 30056 of the human interface device 30004.
  • output information may be sent via the interface module 30012 to a surgeon agent 30006.
  • output information may be sent (e.g., processed locally) at an application module 30010.
  • output information may be sent by the surgical data system interface module 30014 via the surgical data system adapter 30044 and/or the network adapter 30046.
  • simulation input may be received and/or processed by the simulation device 30000.
  • the core simulation module may engage with the interface device, the surgical data system interface module, and/or the application module 30010 to receive control input.
  • Information related to the input maybe processed and/or stored by the metrics extraction module 30030 and/or the session storage and management module 30032, for example.
  • input information may be sent from a manipulation subsystem 30056 of the human interface device 30004 and received via the manipulation interface adapter 30042.
  • input information may be sent from a surgeon agent 30006 and received via the interface module 30012.
  • input information may be received (e.g., processed locally) at an application module 30010.
  • input information may be received via the surgical data system adapter 30044 and/or the network adapter 30046 and initially handled by the surgical data system interface module 30014.
  • a subsequent simulation state may be determined.
  • a subsequent simulation state may be determined from the current simulation state and/or the any received input.
  • the core simulation module 30016 may engage one or more of the other modules of the simulation device 30000 to determine the subsequent simulation state.
  • the code simulation module 30016 may engage the application module, the object properties module, the physics module, the physiology module, and the like.
  • the subsequent simulation state may be determined by operation of the processor 30034.
  • Information related to the input maybe processed and/or stored by the metrics extraction module 30030 and/or the session storage and management module 30032, for example.
  • the process may loop to receiving input at 30060. Each iteration of this flow may represent a corresponding time cycle in the simulation.
  • the framerate of the simulation may be set to a level suitable for the goal of the simulation and the processing capabilities of the surgical simulation device 30000. Lower framerates may enable processing that achieves a live human interaction simulation. Higher framerates may enable greater simulation fidelity.
  • FIGs.11A-B illustrate example surgical procedural plan data structures for use with a computer-implemented interactive surgical system and/or a surgical simulator.
  • a surgical procedure plan may include information that outlines the staff, equipment, technique, and steps that may be used to perform a surgical procedure.
  • the procedure plan may include a staff manifest indicating what roles and/or what specific health care professionals are to be involved in the procedure.
  • the procedure plan may include a listing of equipment, such as durable surgical equipment, imaging equipment, instruments, consumables, etc.
  • the procedure plan may include a pick list for a surgical technician to use to assemble the appropriate tools and materials for the surgeon and the surgery when prepping the operating theater.
  • the procedure plan may include information about the procedure’s expected technique.
  • the procedure plans for the same surgical goal may include different methods of access, mobilization, inspection, tissue joining, wound closure, and the like.
  • the procedure plan may reflect a surgeon’s professional judgement with regard to an individual case.
  • the procedure plan may reflect a surgeon’s preference for and/or experience with a particular technique.
  • the procedure plan may map specific surgical tasks to roles and equipment.
  • the procedure plan may provide an expected timeline for the procedure.
  • the procedure plan may include one or more decision points and/or branches.
  • Such decision points and/or branches may provide surgical alternatives that are available for particular aspects of the procedure, where selection of one of the alternatives may be based on information from the surgery itself. For example, the choice of one or more alternatives may be selected based on the particular planes of the particular patient’s anatomy, and the surgeon may select an alternative based on her assessment of the patient’s tissue during the live surgery.
  • the procedural plan may include one or more contingencies. These may include information about unlikely but possible situations that may arise during the live surgery.
  • the contingencies may include one or more surgical tasks that may be employed if the situation does occur. The contingencies may be used to ensure that adequate equipment, staff, and/or consumables are at the ready during the procedure.
  • the procedure plan may be recorded in one or more data structures.
  • a procedure plan data structure may be used to record data about a future live surgery, about a completed live surgery, about a future simulated surgery, about a completed simulated surgery, and the like.
  • a procedure plan data structure for live surgeries may be used by the computer- implemented interactive surgical system 100.
  • the procedure plan data structure for live surgeries may be used by surgical hub 106 to enhance situational awareness and/or the operational aspects of the computer-implemented interactive surgical system 100.
  • the procedure plan data structure for live surgeries may be used by the surgical hub 106 to record discrete elements of the live surgery for structured analysis.
  • a procedure plan data structure may be used by a simulation device 30000.
  • the procedure plan data structure may be used by the simulation device 30000 to establish a setting and/or one or more objectives for a simulation session.
  • the procedure plan data structure may be used by the simulation device 30000 to record the discrete elements of the simulated surgery for structured analysis.
  • the procedure plan data structure may include any structure suitable for capturing data elements related to the procedure.
  • the procedure plan may be recorded in a tree-like data structure, such as the one shown in FIG.11A, for example.
  • the root of the tree structure represents the core procedure data 30066.
  • the core procedure data 30066 may include information about the procedure as a whole, such as procedure name, procedure code, patient name, date, time, and the like.
  • the core procedure data 30066 may include information about simulation device, such as device ID, software version, user, the simulation run settings, such as frame rate, resolution, connected user interface devices, and the like.
  • the procedure data may include leaves of the tree structure.
  • the first level of leaves may include data regarding the main aspects of the procedure plan, such as the procedure setup 30068, one or more procedure stages 30070, one or more contingencies 30072, and the data regarding the result of the procedure 30074.
  • the setup data 30068 may include information related to the preparations and/or initial state of the procedure.
  • the setup data 30068 may include elements such as staff manifest, staff roles and/or staff IDs, operating room ID, an equipment list, a room layout, an initial surgical table position, a listing of instruments and/or consumables on prepared in the surgical field, any initial settings associated with equipment, pre-surgical imaging, patient record, etc.
  • the setup data 30068 may include information related the simulated environment, such as a record of the simulated anatomy, a record of the simulated physiology, pre-surgical imaging, and the like.
  • the stage data 30070 may include data elements related to a major milestone of the procedure.
  • a stage of a procedure may include a milestone such as establishing access.
  • the stage data 30070 may include information related to the staff, equipment, technique, and steps that may be used to perform the particular stage of the procedure.
  • the stage data 30070 may include a stage ID.
  • the stage may be further detailed by one or more sub-leaves, such as one or more surgical tasks 30076.
  • the surgical task may represent a discrete surgical step within a given stage. For example, within the stage of access, placing a trocar may be a surgical task.
  • the surgical task data 30076 may include a task ID.
  • the surgical task data 30076 may include information related to the particular task, such as the staff and/or surgeon performing the task, the equipment to be used, the particular technique being applied, the patient vitals at the time the task is being performed, other environment information, and the list.
  • Each task may be further detailed with goal data 30078, data related to an anatomy-instrument interaction 30080, and result data 30082.
  • the goal data 30078 may include information indicative of the relative success of the task performance.
  • the goal data 30078 may include information about expected task duration, acceptable performance specificity, efficiency modality, avoidance of complications, and the like.
  • the result data 30082 may include information related to one or more goals.
  • the result data 30082 may record the surgical performance (e.g., live and/or simulated) relative to the goals.
  • the task data 30076 may include one or more elements of anatomy-instrument interaction data 30080.
  • the anatomy-instrument interaction data 30080 may represent a granular indication of surgical performance.
  • the anatomy-instrument interaction data 30080 may represent the one or more specific activities used to perform the surgical task.
  • the anatomy-instrument interaction data 30080 may represent the observable behavior of the surgeon.
  • the anatomy-instrument interaction data 30080 may include the specific positions, forces, angles, and the like being applied to the anatomy by the surgeon.
  • data recorded from smart instruments by the surgical hub 106 may be captured as anatomy-instrument interaction data 30080.
  • a smart surgical stapler in cooperation with other elements of the computer-implemented interactive surgical system 100 may record stapler position, angle, tip forces, jaw forces, staple cartridge type, closing pressure, firing rate, and the like. In a simulated surgery, similar data elements may be captured.
  • the contingency data 30072 may indicate any complications that may be relevant to the procedure.
  • Each contingency data 30072 may include one or more task data elements 30084 that address the appropriate response to the particular complication.
  • the contingency data 30072 may indicate deviations from an original procedure plan.
  • contingency data may be cross-referenced to one or more tasks 30078 and/or anatomy-instrument interactions 30080. For example, if a certain performance in an anatomy-instrument interactions 30080 could lead to a complication, the nature of that performance and a cross-reference to the contingency may include in the result data 30082 associated with that anatomy-instrument interactions 30080.
  • the result data 30074 may be indicative of the result of the procedure.
  • overall metrics of the surgical performance may be stored, notes, actual and/or simulated patient recovery information, and/or patient outcomes.
  • the result data 30074 may include efficiency information, cost information, surgical duration, workload metrics, percentage of planned consumables used, and the like.
  • FIG.11B illustrates a procedural plan data structure with the above disclosed elements, which further establishes structure of alternative steps for completing a particular procedure, task, or activity.
  • the procedure represented by the procedure data 30086 may include two alternative setups each indicated by respective setup data—a first setup data 30088, 30090 and a second setup data 30092.
  • the first setup data 30088, 30090 may include two alternative tasks 30094, 30096.
  • the second setup data 30092 may include one task 30098.
  • the procedure represented by procedure data 30086 may be accomplished in three different ways. First via first setup 30088 and the first task 30094.
  • FIG.12 illustrates an example data flow 31000 of an example surgical simulator 31016 operation.
  • the example surgical simulator 31016 may be the simulation device 30000 (e.g., described in FIGs.7 and 8).
  • the simulator 31016 may include the processor 30034 of the simulation device 30000.
  • Images of a patient’s organ(s) and/or tissue(s) may be captured during a surgical procedure.
  • images of a patient’s stomach may be captured during a laparoscopic sleeve gastrectomy procedure.
  • a surgeon and a surgeon assistant are performing a laparoscopic sleeve gastrectomy procedure 31003.
  • a laparoscope with structured light imaging capability may be used in the procedure 31003.
  • the laparoscope may include an incoming light channel for a pattern of light from a structured light projector and an outgoing light channel for light reflected from a surgical site (e.g., the stomach).
  • the pattern of light from the structured light projector may be a narrow-band light (e.g., a blue light).
  • the light reflected from the stomach may include the distorted pattern of light reflected from the stomach and white light reflected from the stomach.
  • the images of the stomach as reflected in white light may be filtered and captured by a white light camera and images of the stomach may be presented to the surgeon and/or surgeon assistant in a visualization user interface.
  • the images of the stomach overlaid with the distorted pattern of light may be filtered and captured by a corresponding narrow-band light camera intra-operatively, e.g., in a video format.
  • the white light camera and the narrow-band light camera may be calibrated such that red/green/blue (RGB) color values of the images captured by the white light camera may be looked up for the images captured by the narrow-band light camera.
  • RGB red/green/blue
  • images of the stomach overlaid with the distorted pattern of light and the associated RGB color values may be captured intra- operatively.
  • the captured images of the patient’s organ(s) and/or tissue(s) may be sent to a surgical data system 31004.
  • the captured images of the stomach 31012 overlaid with the distorted pattern of light may be sent to a surgical data system 31004 in the operating room 31002 (e.g., surgical data system 30006 as described in FIG.7).
  • the pattern of light projected from the structured light projector may also be sent to the surgical data system 31004.
  • the surgical data system 31004 may send the captured images of patient organ(s) and/or tissue(s) to a remote system 31008.
  • the surgical data system 31004 may send the images of the stomach captured from a plurality of laparoscopic sleeve gastrectomy procedures 31013 to a remote system 31008 (e.g., the cloud 14 as described in FIG.1).
  • the surgical data system 31004 may also send the pattern of light projected from the structured light projector to the remote system 31008.
  • the remote system 31008 may include a remote server 31010 coupled to a storage device 31006.
  • the plurality of the laparoscopic sleeve gastrectomy procedures may include the procedures performed on the same patient and/or the procedures performed on different patients.
  • a surgical simulator 31016 may simulate a surgical procedure using two-dimensional (2D) image data of patient organ(s) and/tissue(s) from the remote system 31008.
  • a surgical simulator 31016 may simulate a laparoscopic sleeve gastrectomy procedure using 2D image data of a stomach 31014 from the remote system 31008.
  • the 2D image data of a stomach 31014 may include 2D image data of a stomach from a plurality of surgical data systems, e.g., at a same facility, at different facilities in a same geographic region, or at different facilities in different geographic regions.
  • the 2D image data of a stomach 31014 may be image frames from videos captured intraoperatively using structured light imaging described herein.
  • the surgical simulator 31016 may generate a simulated human organ for the simulated surgical procedure by generating a baseline deformable three-dimensional (3D) model of the human organ and combining the model with the 2D image data of a human organ from the remote system 31016.
  • the surgical simulator 31016 may generate a simulated stomach by generating a baseline deformable 3D model of a stomach 31018 and combining the model 31018 with the 2D image data of a stomach 31014 from the remote system 31008.
  • the surgical simulator 31016 may reconstruct 3D data of a stomach from the 2D image data of a stomach 31014 from the remote system 31008.
  • the surgical simulator 31016 may map the shape of the baseline deformable 3D model of the stomach 31018 to correspond to the reconstructed 3D data of the stomach 31014 from the remote system 31008.
  • the surgical simulator 31016 may map the surface of the baseline deformable 3D model of the stomach 31018 to correspond to the reconstructed 3D data of the stomach 31014.
  • the surgical simulator 31016 may output the mapped baseline deformable 3D model of the simulated human organ 31020 after mapping its shape and its surface to correspond to the reconstructed 3D data of the human organ.
  • FIG.13 illustrates an example data flow of an example surgical simulator 31050 operation.
  • the example surgical simulator 31050 may be the simulation device 30000 (e.g., described in FIGs.7 and 8).
  • the example data flow may be performed by the simulation device 30000.
  • the example data flow may be performed by the processor 30034 of the simulation device 30000.
  • the surgical simulator 31050 may include a 3D reconstruction module 31056.
  • the 3D reconstruction module 31056 may receive 2D human organ images 31054 and associated 3D reconstruction reference data 31052.
  • the 2D human organ images 31054 may be the 2D images of stomach 31014 as described in FIG.12.
  • the associated 3D reconstruction reference data 31052 may be the pattern of light projected from the structured light projector as described in FIG.12.
  • the 3D reconstruction module 31056 may reconstruct 3D image data from the received 2D human organ images 31054 and associated 3D reconstruction reference data 31052.
  • the 3D reconstruction module 31056 may recover a 3D point cloud 31060 from 2D stomach images 31014 and the associated 3D reconstruction reference data 31052.
  • the 3D reconstruction module 31056 may recover a 3D point cloud from the 2D images of stomach 31014 and the pattern of light projected from the structured light projector as described in FIG.12.3D points may be recovered at pixels of 2D images of stomach 31014 using any suitable 3D reconstruction algorithm associated with the pattern of light.
  • 3D points recovered from the 2D images of stomach 31014 may include RGB color values from the 2D images of stomach 31014.3D points recovered from the 2D images of stomach 31014 may include 3D spatial coordinates.3D points recovered from different 2D images of stomach 31014 may be spatially aligned into a uniform 3D coordinate system, e.g., using image registration algorithms, such as non-rigid registration algorithm and/or feature-based registration algorithm.
  • the surgical simulator 31050 may include a 3D model generator 31055.
  • the 3D model generator 31055 may generate a deformable 3D human organ model 31058.
  • the 3D model generator 31055 may generate a deformable 3D stomach model 31058 based on a stomach anatomical template (e.g., an anatomical atlas of a stomach).
  • the deformable 3D stomach model 31058 may be deformable volumetric tetrahedron model.
  • the deformable 3D stomach model’s 31058 surface vertices may embody the surface shape of the stomach anatomical template.
  • the deformable 3D stomach model’s 31058 surface vertices may be generated in a default color and in a default texture.
  • the surgical simulator 31050 may include an image mapping module 31062.
  • the image mapping module 31062 may receive the reconstructed 3D point cloud 31060 recovered from the 2D images of stomach 31014 and the deformable 3D stomach model 31058.
  • the mapping module 31062 may generate a mapped deformable 3D human organ model 31064 based on the reconstructed 3D point cloud 31060 and the deformable 3D human organ model 31058.
  • the mapping module 31062 may extract a 3D mesh surface stomach model from the deformable 3D stomach model 31058.
  • the mapping module 31062 may convert the extracted 3D mesh surface stomach model into a corresponding 3D point cloud.
  • Such 3D point cloud may be mapped to the reconstructed 3D point cloud 31060 recovered from the 2D images of stomach 31014 to minimize the difference from the reconstructed 3D point cloud 31060, e.g., using the iterative closest point (ICP) algorithm.
  • the mapped 3D point cloud may be converted back to a 3D mesh surface stomach model and subsequently the 3D mesh surface stomach model may be converted back to a deformable volumetric tetrahedron model.
  • the mapped deformable 3D stomach model 31064 matches closest to the shape, the color, and the texture of the reconstructed 3D point cloud 31060.
  • the mapped deformable 3D human organ model 31064 may be sent to a visualization module for a user to interact with.
  • the mapped deformable 3D stomach model may be sent a visualization module for a user to interact with in a simulation environment.
  • FIG.14 is a flow chart of an example operation an example surgical simulator.
  • the example operation may include a process 31100 to generate 3D image data from 2d image data.
  • the process 31100 may map a deformable 3d Model to the 3D image data.
  • the example surgical simulator may be the simulation device 30000 (e.g., described in FIGs.7 and 8).
  • the process 31100 may be performed by the simulation device 30000.
  • the method 31100 may be performed by the processor 30034 of the simulation device 30000.
  • first two-dimensional (2D) image data of a first human organ of a first patient may be received.
  • the first 2D image data may include first 2D visible image data captured inside the first patient and first three-dimension (3-D) reconstruction reference data.
  • the 2D image data of the first human organ of a first patient may be captured using structured light imaging.
  • second 2D image data of a second human organ of a second patient may be received.
  • the second 2D image data may include second 2D visible image data captured inside the second patient and second 3D reconstruction reference data.
  • the first human organ of the first patient and the second human organ of the second patient may be a same type of human organ.
  • the first 2D image data may further include first invisible image data that is captured inside the first patient.
  • the second 2D image data may further include second invisible image data that is captured inside the second patient.
  • the 3D image data from the aggregation of the first visible image data and the second visible image data may be generated based on the first reference and the second reference, and based on the first invisible image data and the second invisible image data.
  • the 3D image data may further include non-visual information.
  • Sub-surface data of the deformable 3D model of the simulated human organ may be generated based on the non- visual information of the 3D image data.
  • 3D image data from an aggregation of the first visible image data and the second visible image data and based on the first reference and the second reference may be generated.
  • the 3D image data may include spatial information and visual information.
  • a shape of a deformable 3D model of a simulated human organ may be mapped to correspond to the spatial information of the 3D image data.
  • the method may receive tissue property data of the one or more human organs.
  • the tissue property data may be determined at least by tracking a displacement of a physical fiducial marker attached on the one or more human organs.
  • a simulated force is applied to the deformable 3D model may be determined.
  • the shape of the deformable 3D model may be deformed based on the physical property data.
  • a surface of the deformable 3D model of the simulated human organ may be mapped to correspond to the visual information of the 3D image data.
  • patient specific data may be received.
  • the surface of the deformable 3D model of the simulated human organ may be mapped to correspond to the visual information of the 3D image data and the patient specific data.
  • the deformable 3D model may be outputted.
  • an expected aspect of the simulated surgical procedure may be defined. The expected aspect may be one of a surgical step, a job that is a part of the surgical step, a location in a surgical scene, or a surgical instrument.
  • An input data, from a user, to the simulated surgical procedure may be monitored.
  • the input data to correspond to the expected aspect may be determined.
  • a relevant instruction may be presented to the user.
  • an expected aspect of the simulated surgical procedure may be defined.
  • the expected aspect may be one of a surgical step, a job that is a part of the surgical step, a location in a surgical site, or a surgical instrument.
  • An input data, from a user, to the simulated surgical procedure may be monitored.
  • the input data may be determined to correspond to the expected aspect.
  • a choice of initiating an instructive interaction with the user may be presented to an instructor.
  • an expected surgical step of the simulated surgical procedure may be defined.
  • An input data to the simulated surgical procedure from a user may be monitored.
  • the input data may be determined to correspond to the expected surgical step.
  • a choice of viewing a corresponding segment of one or more actual surgical procedure videos may be presented to the user.
  • the one or more actual surgical procedure videos may include segments that are indexed on surgical steps.
  • the choice of viewing the corresponding segment of the one or more actual surgical procedure videos may be further customized by a surgical complication or a surgical outcome.
  • the simulator may be configured to provide realistic appearance via integration of real- world information.
  • the simulator may include surgical simulator models with real world images, textures, organ manipulated shapes and organ aspects (e.g., via computer adaptation).
  • the simulator models (e.g., 3D models) of the simulation may have real world imagery overlaid onto the models to provide accuracy and interactive aspects of the surgery and organs.
  • the deformed organ images may be generated through a combination of structured light imaging of real surgeries.
  • the surface textures, features, and look may be generated form an aggregation of real surgical imagery.
  • the overlays may be customized by a user, a facility, a surgical data system (e.g., a hub), or a remote system (e.g., a cloud-based system) based on specific needs of the simulation and/or specific aspects of the simulated procedure and/or patient.
  • the simulator may be configured to provide digital simulation using video overlay of actual tissue imaging.
  • the video overlay of actual tissue imaging may be adjusted to the deformed state 3D models, e.g., via structured light imaging of an original dataset of actual tissue imaging.
  • the overlays of actual tissue imaging may be adaptive.
  • the overlays of actual tissue imaging may be derived from aggregated real-world imaging of similar tissues and may include multi-spectral imaging and other imaging technologies of the tissues.
  • the aggregated real-world imaging may be adjusted by a user based on predefined aspects for realism to a specific patient or tissue.
  • the aggregated real-world imaging may be updated from additional data aggregated in a remote system (e.g., a cloud-based system) as more procedures are imaged.
  • the adaptions may be customized by a region, a population age, one or more co-morbidities, and/or treatment effects.
  • Tissue models may be adjusted to real deformed state and/or real repositioned state with respect to other anatomy through intra-operative scans (e.g., via structured light or time-of- flight distance sensor array(s)). Tissue models may be adjusted to data that are inputted to simulation from Crowd-Sourced Assessment of Technical Skills (CSATS) databases or other live-view databases.
  • the simulator may be configured to simulate micro tension and/or surface strain, which may induce subsurface shear, deformation, and/or stresses.
  • the simulator may perform such simulator using structured light combined with a physical fiducial marker on organ(s) and/or tissues.
  • Physically attached markers may be added to the structured light tracking of organ(s) and/or tissue(s), e.g., in place of or in combination with the structured-light projected tracking. Tracking using physically attached markers may provide monitoring of strains and stress within the surface of the organs and may enable extrapolation of the sub- surface force implied deformations and motions. Using such tracking, the deformed model generation may more realistically reflect movement and retractions and/or cutting of the organ(s) and/or tissue(s). Surface and sub-surface strains and stresses may be calculated. Using such calculation, the sectioning of the organ may be in an appropriate configuration for viewing. Using such calculation, tissue tensions, blood flow occlusion due to tissue shear, and micro tissue tensions and max strain before tearing, may be shown.
  • the simulator may be configured to include indexable recording of real-world video of surgeries that may be accessed and reviewed within the simulator (e.g., for learning from real surgeon activities).
  • the indexable recording may include CSATS surgical phases augmented into the simulator (e.g., for learning).
  • the indexable recording may include ethnography.
  • the indexable recording may include step segmentation viewing of a specific procedure. The step segmentation may allow the user to view one or more examples of how the system suggests to approach the step. Sources of the example videos could be thought leader, crowd sourced, a given hospital’s network best practice.
  • the network examples may be related to an economical aspect. Such network examples may promote consistent behaviors in the network.
  • the pay and reimbursement of a procedure may drive examples of how surgeons in that network may handle predefined approaches, treatments, or product utilization. Differing steps may be searched for to pull in example videos. An example of such step may be vascular isolation for mesentery transection. An example of such step may be introduction of the anvil into the colon. An example of such step may be approximation of anvil.
  • the indexable recording may provide searching for specific difference to pull in an example of how to deal with that difference via a specific doctor’s approach.
  • the indexable recording may be searchable by outcome(s) and/or complication(s).
  • the simulator may be configured to provide live instruction(s) to a user during a simulation via simulation control(s).
  • the simulation controls may include toggleable labeling, landmark ID, complication callouts, indications of tissue plane orientations, and deviation notification from best practice activities.
  • the simulator may be configured to operate in an automated tutorial mode.
  • the simulation may have a predefined initiation, or steps to take as the user gets to specific predefined locations, step, instruments, or jobs.
  • the predefined initiation and/or steps may include instructions on one or more of the following: step-by-step operation, interaction with other systems like augmented imaging, or instruments or the use of auxiliary or adjunct tools or materials.
  • the simulator may be configured to operate in a live instruction mode.
  • the simulation may include interaction with an instructor, such as teaching staff or a residence director.
  • the simulation may allow the user to communicate with the instructor.
  • the simulation may allow for prompting at predetermined times.
  • the simulation may be controlled via exterior controls or indicators, e.g., by an external instructor.
  • the controls may indicate a re- orientation, or may walk the user through the steps.
  • the controls may include orientation, points, marking, labeling, or otherwise guiding the user.
  • the simulation may include verbal overlay.
  • the simulator may be configured to include cooperative interaction of alternative visualization means in the simulation.
  • the simulation may include multi- spectral imaging overlay or supplementation, or other imaging interactions to provide occluded view of critical structures.
  • imaging interactions may include post- exposure treatment hospital (PET) uptake number scans, augmented views of a lymph node,
  • An example of the critical structures may include vessels.
  • the simulation may include clinical involvement.
  • the simulation may include imaging from Indocyanine green (ICG) to indicate blood flow.
  • the simulation may include simulating a best time to systemically introduce ICG.
  • the simulation may include simulating ICG fading (e.g., over a period time).
  • the simulation may include simulating when to directly introduce ICG.
  • the simulator may be configured to include imaging supplementation of the anatomy of a specific patient to adapt the simulated aggregate base anatomy to be customized for the patient irregularities.
  • the simulation may affect size of the organs, disease state impacts, location or positioning of the organs of the vascular geometries specific to that patient.
  • the simulation may include divergent patient organs and unusual anatomy.
  • the simulation may include input from pre-operative imaging eg multiple bifurcation and/or trifurcation of vascular into lung lobes and segments.
  • the simulation may include intra-operative and/or pre-operative fluoroscopy that provides information of collateral circulation to organs.
  • a computing device comprising: a processor configured to: receive first two-dimensional (2D) image data of a first human organ, wherein the first 2D image data comprises first 2D visible image data captured inside a first patient and first three-dimension (3D) reconstruction reference data; receive second 2D image data of a second human organ, wherein the second 2D image data comprises second 2D visible image data captured inside a second patient and second 3D reconstruction reference data; generate 3D image data from an aggregation of the first 2D visible image data and the second 2D visible image data and based on the first 3D reconstruction reference data and the second 3D reconstruction reference data, wherein the 3D image data comprises spatial information and visual information; map a shape of a deformable 3D model of a human organ to correspond to the spatial information of the 3D image data; map a surface of the deformable 3D model of the human organ to correspond to the visual information of the 3D image data; and output the deformable 3D model.
  • 2D image data comprises first 2D visible image data captured inside a first patient
  • a “deformable 3D model” can refer to any volumetric model which comprises a plurality of spatial data points (such as a model of a human organ which is rendered in 3D). This allows the model to be easily “deformed” (or interacted with, so as to change the shape/size of the model), through the modification of the spatial data points in the model.
  • “mapping” a shape/surface of a first model refers to modifying the shape/surface of the first model based on a separate 3D model (i.e.3D image data).
  • Embodiment 2 The computing device of embodiment 1, wherein the processor is configured to simulate a surgical procedure.
  • Embodiment 3 The computing device of any one embodiments 1 to 2, wherein the 3D model of a human organ is a 3D model of a simulated human organ.
  • Embodiment 5 The computing device of any one of embodiments 1 to 3, wherein the first human organ and the second human organ are a same type of human organ.
  • Embodiment 5 The computing device of any one of embodiments 1 to 4, where the first patient is the same as the second patient.
  • Embodiment 6 The computing device of any one of embodiments 1 to 5, wherein the 2D image data is captured using structured light imaging.
  • the processor is further configured to: receive tissue property data of the one or more human organs, wherein the tissue property data is determined at least by tracking a displacement of a physical fiducial marker attached on the one or more human organs; and when a simulated force is applied to the deformable 3D model, deform the deformable 3D model based on the physical property data.
  • first 2D image data further comprises first invisible image data that is captured inside the first patient
  • second 2D image data further comprises second invisible image data that is captured inside the second patient
  • the processor is further configured to generate the 3D image data from the aggregation of the first visible image data and the second visible image data, based on the first reference and the second reference, and based on the first invisible image data and the second invisible image data
  • the 3D image data further comprises non-visual information
  • the processor is further configured to generate sub-surface data of the deformable 3D model of the human organ based on the non-visual information of the 3D image data.
  • Embodiment 10 A computing device of any one of embodiments 2 to 9, when dependent on embodiment 2, wherein the processor is further configured to: define an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical scene, or a surgical instrument; monitor an input data, from a user, to the simulated surgical procedure; and when the input data is determined to correspond to the expected aspect, present a relevant instruction to the user.
  • Embodiment 11 The computing device of any one of embodiments 2 to 9, when dependent on embodiment 2, wherein the processor is further configured to: define an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical site, or a surgical instrument; monitor an input data, from a user, to the simulated surgical procedure; and when the input data is determined to correspond to the expected aspect, present to an instructor a choice of initiating an instructive interaction with the user.
  • Embodiment 13 A computing device of embodiment 12, wherein the choice of viewing the corresponding segment of the one or more actual surgical procedure videos may be further customized by a surgical complication or a surgical outcome.
  • a computer-implemented method comprising: receiving first two-dimensional (2D) image data of a first human organ, wherein the first 2D image data comprises first 2D visible image data captured inside a first patient and first three-dimension (3D) reconstruction reference data; receiving second 2D image data of a second human organ, wherein the second 2D image data comprises second 2D visible image data captured inside a second patient and second 3D reconstruction reference data; generating 3D image data from an aggregation of the first 2D visible image data and the second 2D visible image data and based on the first 3D reconstruction reference data and the second 3D reconstruction reference data, wherein the 3D image data comprises spatial information and visual information; mapping a shape of a deformable 3D model of a human organ to correspond to the spatial information of the 3D image data; mapping a surface of the deformable 3D model of the human organ to correspond to the visual information of the 3D image data; and outputting the deformable 3D model.
  • 2D image data comprises first 2D visible image data captured inside a first patient
  • Embodiment 15 The computer-implemented method of embodiment 14, wherein the 3D model of a human organ is a 3D model of a simulated human organ.
  • Embodiment 16 The computer-implemented method of any one of embodiments 14 to 15, wherein the first human organ and the second human organ are a same type of human organ.
  • Embodiment 17 The computer-implemented method of any one of embodiments 14 to 16, where the first patient is the same as the second patient.
  • Embodiment 18 The computer-implemented method of any one of embodiments 14 to 17, wherein the 2D image data is captured using structured light imaging.
  • Embodiment 19 Embodiment 19.
  • the computer-implemented method of any one of embodiments 14 to 18 further comprising: receiving tissue property data of the one or more human organs, wherein the tissue property data is determined at least by tracking a displacement of a physical fiducial marker attached on the one or more human organs; and when a simulated force is applied to the deformable 3D model, deforming the deformable 3D model based on the physical property data.
  • tissue property data is determined at least by tracking a displacement of a physical fiducial marker attached on the one or more human organs
  • a simulated force is applied to the deformable 3D model, deforming the deformable 3D model based on the physical property data.
  • first 2D image data further comprises first invisible image data that is captured inside the first patient
  • second 2D image data further comprises second invisible image data that is captured inside the second patient
  • the processor is further configured to generate the 3D image data from the aggregation of the first visible image data and the second visible image data, based on the first reference and the second reference, and based on the first invisible image data and the second invisible image data
  • the 3D image data further comprises non-visual information
  • the processor is further configured to generate sub-surface data of the deformable 3D model of the human organ based on the non-visual information of the 3D image data.
  • Embodiment 22 The computer-implemented method of any one of embodiments 14 to 21, further comprising: defining an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical scene, or a surgical instrument; monitoring an input data, from a user, to the simulated surgical procedure; and when the input data is determined to correspond to the expected aspect, presenting a relevant instruction to the user.
  • Embodiment 23 The computer-implemented method of any one of embodiments 14 to 22, further comprising: defining an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical site, or a surgical instrument; monitoring an input data, from a user, to the simulated surgical procedure; and when the input data is determined to correspond to the expected aspect, presenting to an instructor a choice of initiating an instructive interaction with the user.
  • Embodiment 24 Embodiment 24.
  • Embodiment 25 The computer-implemented method of embodiment 24, wherein the choice of viewing the corresponding segment of the one or more actual surgical procedure videos may be further customized by a surgical complication or a surgical outcome.
  • Embodiment 26 The computer-implemented method of any one of embodiments 14 to 23, wherein the processor is further configured to: defining an expected surgical step of the simulated surgical procedure; monitoring an input data to the simulated surgical procedure from a user; and when the input data is determined to correspond to the expected surgical step, presenting to the user a choice of viewing a corresponding segment of one or more actual surgical procedure videos, wherein the one or more actual surgical procedure videos comprise segments that are indexed on surgical steps.
  • Embodiment 25 The computer-implemented method of embodiment 24, wherein the choice of viewing the corresponding segment of the one or more actual surgical procedure videos may be further customized by a surgical complication or a surgical outcome.
  • Embodiment 26 Embodiment 26.
  • a computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method of any one of embodiments 14 to 25.
  • a computing device for simulating a surgical procedure comprising: a processor configured to: receive first two-dimensional (2D) image data of a first human organ of a first patient, wherein the first 2D image data comprises first 2D visible image data captured inside the first patient and first three-dimension (3D) reconstruction reference data; receive second 2D image data of a second human organ of a second patient, wherein the second 2D image data comprises second 2D visible image data captured inside the second patient and second 3D reconstruction reference data; generate 3D image data from an aggregation of the first 2D visible image data and the second 2D visible image data and based on the first 3D reconstruction reference data and the second 3D reconstruction reference data, wherein the 3D image data comprises spatial information and visual information; map a shape of a deformable 3D model of a simulated human organ to correspond to the spatial information of the 3D image data; map a surface of the deformable 3D model of the simulated human organ to correspond to the visual information of the 3D image data; and [00240] output
  • Aspect 2 The computing device for simulating a surgical procedure of Aspect 1, wherein the first human organ of the first patient and the second human organ of the second patient are a same type of human organ.
  • Aspect 3 The computing device for simulating a surgical procedure of Aspect 1, wherein the first 2D image data of the first human organ of the first patient is captured using structured light imaging.
  • the computing device for simulating a surgical procedure of Aspect 1 wherein the processor is further configured to: receive tissue property data of one or more human organs, wherein the tissue property data is determined at least by tracking a displacement of a physical fiducial marker attached on the one or more human organs; determine that a simulated force is applied to the deformable 3D model; and deform the shape of the deformable 3D model based on the tissue property data.
  • the processor is further configured to: receive tissue property data of one or more human organs, wherein the tissue property data is determined at least by tracking a displacement of a physical fiducial marker attached on the one or more human organs; determine that a simulated force is applied to the deformable 3D model; and deform the shape of the deformable 3D model based on the tissue property data.
  • Aspect 6 The computing device for simulating a surgical procedure of Aspect 1, wherein the processor is further configured to: receive patient specific data; and map the surface of the deformable 3D model of the simulated human organ to correspond to the visual information of the 3D image data and the patient specific data.
  • the computing device for simulating a surgical procedure of Aspect 1 wherein the processor is further configured to: define an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical scene, or a surgical instrument; monitor an input data, from a user, to the simulated surgical procedure; determine that the input data corresponds to the expected aspect; and present a relevant instruction to the user.
  • the computing device for simulating a surgical procedure of Aspect 1 wherein the processor is further configured to: define an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical site, or a surgical instrument; monitor an input data, from a user, to the simulated surgical procedure; determine that the input data corresponds to the expected aspect; and present to an instructor a choice of initiating an instructive interaction with the user.
  • the computing device for simulating a surgical procedure of Aspect 1 wherein the processor is further configured to: define an expected surgical step of the simulated surgical procedure; monitor an input data to the simulated surgical procedure from a user; determine that the input data corresponds to the expected surgical step of the simulated surgical procedure; and present to the user a choice of viewing a corresponding segment of one or more actual surgical procedure videos, wherein the one or more actual surgical procedure videos comprise segments that are indexed on surgical steps.
  • Aspect 10 The computing device for simulating a surgical procedure of Aspect 9, wherein the choice of viewing the corresponding segment of the one or more actual surgical procedure videos is further customized by a surgical complication or a surgical outcome.
  • a computer-implemented method for simulating a surgical procedure comprising: receiving first two-dimensional (2D) image data of a first human organ of a first patient, wherein the first 2D image data comprises first 2D visible image data captured inside the first patient and first three-dimension (3D) reconstruction reference data; receiving second 2D image data of a second human organ of a second patient, wherein the second 2D image data comprises second 2D visible image data captured inside the second patient and second 3D reconstruction reference data; generating 3D image data from an aggregation of the first 2D visible image data and the second 2D visible image data and based on the first 3D reconstruction reference data and the second 3D reconstruction reference data, wherein the 3D image data comprises spatial information and visual information; mapping a shape of a deformable 3D model of a simulated human organ to correspond to the spatial information of the 3D image data; mapping a surface of the deformable 3D model of the simulated human organ to correspond to the visual information of the 3D image data; and outputting the deformable 3
  • Aspect 12 The computer-implemented method for simulating a surgical procedure of Aspect 11, wherein the first human organ of the first patient and the second human organ of the second patient are a same type of human organ.
  • Aspect 13 The computer-implemented method for simulating a surgical procedure of Aspect 11, wherein the first 2D image data of the first human organ of the first patient is captured using structured light imaging.
  • Aspect 14 The computer-implemented method for simulating a surgical procedure of Aspect 11, wherein the first 2D image data of the first human organ of the first patient is captured using structured light imaging.
  • Aspect 17 The computer-implemented method for simulating a surgical procedure of Aspect 11, further comprising: defining an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical scene, or a surgical instrument; monitoring an input data, from a user, to the simulated surgical procedure; determining that the input data corresponds to the expected aspect; and presenting a relevant instruction to the user.
  • Aspect 18 The computer-implemented method for simulating a surgical procedure of Aspect 11, further comprising: defining an expected aspect of the simulated surgical procedure, wherein the expected aspect is one of a surgical step, a job that is a part of the surgical step, a location in a surgical site, or a surgical instrument; monitoring an input data, from a user, to the simulated surgical procedure; determining that the input data corresponds to the expected aspect; and presenting to an instructor a choice of initiating an instructive interaction with the user.
  • Aspect 19 Aspect 19.
  • the computer-implemented method for simulating a surgical procedure of Aspect 11 further comprising: defining an expected surgical step of the simulated surgical procedure; monitoring an input data to the simulated surgical procedure from a user; determining that the input data corresponds to the expected surgical step of the simulated surgical procedure; and presenting to the user a choice of viewing a corresponding segment of one or more actual surgical procedure videos, wherein the one or more actual surgical procedure videos comprise segments that are indexed on surgical steps.
  • Aspect 20 The computer-implemented method for simulating a surgical procedure of Aspect 19, wherein the choice of viewing the corresponding segment of the one or more actual surgical procedure videos is further customized by a surgical complication or a surgical outcome.

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Abstract

Un dispositif informatique destiné à simuler une intervention chirurgicale peut être configuré pour recevoir des premières données d'image bidimensionnelle (2D) d'un premier organe humain d'un premier patient et des secondes données d'image 2D d'un second organe humain d'un second patient. Le dispositif informatique peut être configuré pour générer des données d'image 3D à partir d'une agrégation des premières données d'image 2D et des secondes données d'image 2D et sur la base de données de référence de reconstruction 3D. Le dispositif informatique peut être configuré pour mapper une forme d'un modèle 3D déformable d'un organe humain simulé de façon à ce qu'elle corresponde aux informations spatiales des données d'image 3D. Le dispositif informatique peut être configuré pour mapper une surface du modèle 3D déformable de l'organe humain simulé de façon à ce qu'elle corresponde aux informations visuelles des données d'image 3D. Le dispositif informatique peut être configuré pour produire le modèle 3D déformable.
PCT/IB2022/054724 2021-05-21 2022-05-20 Système de rectification d'objet de simulation chirurgicale WO2022243954A1 (fr)

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JP2023571923A JP2024521721A (ja) 2021-05-21 2022-05-20 手術シミュレーション物体修正システム
EP22727468.5A EP4150603A1 (fr) 2021-05-21 2022-05-20 Système de rectification d'objet de simulation chirurgicale

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US63/191,681 2021-05-21
US17/332,524 2021-05-27
US17/332,524 US20220370137A1 (en) 2021-05-21 2021-05-27 Surgical Simulation Object Rectification System

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US20190200844A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Method of hub communication, processing, storage and display
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