1. Technical Field
The present disclosure relates to a method for measuring a dimension of a target site. More particularly, the present disclosure relates to methods of projecting and correcting images for use in measuring a dimension of a target site.
2. Background of the Related Art
Minimally invasive surgery, e.g., laparoscopic, endoscopic, and thoroscopic surgery, has many advantages over traditional open surgeries. In particular, minimally invasive surgery eliminates the need for a large incision, thereby reducing discomfort, recovery time, and many of the deleterious side effects associated with traditional open surgery.
The minimally invasive surgeries are performed through small openings in a patient's skin. These openings may be incisions in the skin or may be naturally occurring body orifices (e.g., mouth, anus, or vagina). In general, insufflation gas is used to enlarge the area surrounding the target surgical site to create a larger, more accessible work area.
During minimally invasive procedures, it is often difficult for a surgeon to determine sizes of various organs, tissues, and other structures in a surgical site. Various in-situ surgical metrology methods exist for measurement in a surgical site. Such methods require many moving parts and projection images that change size and/or focus quickly as projectors move in or out of a surface of projection.
In-situ surgical metrology optical projection methods are employed in situations where it is desired to measure the size of defects and to correlate the size of the defects with commercially available mesh sizes for ventral hernia repair. Such methods often employ an optical projection device that includes a laser light source and diffractive optics to generate a light pattern on an area of interest. In other methods, a light source and lens system is used to project an image on the surgical site.
In projected-pattern metrology, the projected image or pattern serves as an optical ruler, where the distance between dots or lines in the pattern is directly translated to actual distances. In laparoscopic applications, when the instrument is inserted through a laparoscopic port, it is not always possible to position the projection device in front of the site to be measured. When the surface of the projection is tilted or offset with respect to the optical axis, the projected image becomes distorted, which results in significant reduction in accuracy of the measurements. Numerical methods to correct for the reduction in accuracy are not always available for the particular scenarios encountered.
The embodiments of the present disclosure advance the state of the art of optical metrology and correction of images by providing a small size light emitting source (a point source) and a mask with an image that is to be projected onto a target object. If the light source is small enough, the projected image will maintain sharp edges over a wide range of distances from the projector of the light source. The projected pattern may include a circle or other well recognizable object. If the surface of the target objected is tilted with respect to the mask, significant distortion may occur. The distortion is compensated for by introducing pre-distortions of the projected image. The degree of pre-distortion is adjusted manually by visual observation of the shape of the projected image. The procedure is complete when the projected image is corrected to an image that approximates its expected shape, e.g., a circle.
In one embodiment of the present disclosure, an optical metrology and image correction device includes a point size light source adapted to emit a beam of light; and a translucent mask configured and disposed to receive the beam of light emitted from the point size light source. The translucent mask is rotatably disposed to rotate from a first position wherein the beam of light is received by the translucent mask in a direction substantially orthogonal to the translucent mask to a second position wherein the beam of light is received by the translucent mask at an angle offset with respect to the translucent mask.
In one embodiment of the present disclosure, when the beam of light is received by the translucent mask in the first position, the beam of light may create a substantially undistorted image on a surface of a target object positioned distally from the point size light source and distally from the translucent mask, and the translucent mask and the surface of the target object may be substantially parallel to one another to define a first mask and target object position.
In yet another embodiment of the present disclosure, when the beam of light is received by the translucent mask in the first position, the beam of light may create a distorted image of the substantially undistorted image on the surface of the target object, and the translucent mask and the surface of the target object may be substantially skewed with respect to one another to define a second mask and target object position.
In one embodiment of the present disclosure, when the beam of light is received by the translucent mask in the second position, the beam of light may substantially recreate the substantially undistorted image on the surface of the target object, and the translucent mask and the surface of the target object may be substantially parallel to one another and both may be skewed with respect to the beam of light to define a third mask and target position.
The translucent mask may include an internal surface configured to cause a pre-distortion in the substantially undistorted image created by the beam of light in the first position. The target object may be tissue in the body of a patient.
The embodiments of the present disclosure also include a method of measuring and correcting an image emitted from an optical metrology and image correction device that includes the steps of emitting a beam of light from a point size light source, causing the beam of light to be received by a translucent mask in a first position wherein the beam of light is received by the translucent mask in a direction substantially orthogonal to the translucent mask, and causing the beam of light to be received by the translucent mask in a second position wherein the beam of light is received by the translucent mask in a direction at an angle offset with respect to the translucent mask.
In one embodiment of the present disclosure, when the beam of light is received by the translucent mask in the first position, the method may further include the steps of positioning the translucent mask and a surface of a target object substantially parallel to one another and creating a substantially undistorted image on the surface of the target object positioned distally from the point size light source and distally from the translucent mask.
In still another embodiment of the present disclosure, when the beam of light is received by the translucent mask in the first position, the method may further include the steps of positioning the translucent mask such that the surface of the target object is in a position substantially skewed with respect to the position of the translucent mask and creating a distorted image of the substantially undistorted image on the surface of the target object.
In one embodiment of the present disclosure, when the beam of light is received by the translucent mask in the second position, the method may further include the steps of maintaining the surface of the target object in the position substantially skewed with respect to the beam of light, rotating the translucent mask to a position substantially parallel to the surface of the target object and substantially skewed with respect to the beam of light and substantially recreating the undistorted image on the surface of the target object.
In one embodiment of the present disclosure, the step of causing the beam of light to be received by the translucent mask in the second position may include orienting an internal surface in the translucent mask to cause a pre-distortion in the substantially undistorted image created by the beam of light in the first position.
In yet another embodiment of the present disclosure, the step of positioning the translucent mask and a surface of a target object substantially parallel to one another may include positioning the translucent mask and a surface of tissue in the body of a patient parallel to one another, and the step of creating a substantially undistorted image on the surface of the target object positioned distally from the point size light source and distally from the translucent mask may include creating a substantially undistorted image on the surface of the tissue in the body of a patient positioned distally from the point size light source and distally from the translucent mask.
In one embodiment of the present disclosure, the step of positioning the optical system such that the surface of the target object is in a position substantially skewed with respect to the position of the translucent mask may include positioning the optical system such that the surface of tissue in the body of a patient is in a position substantially skewed with respect to the position of the translucent mask and the step of creating a distorted image of the substantially undistorted image on the surface of the target object may include creating a distorted image of the substantially undistorted image on the surface of the tissue in the body of a patient.
In one embodiment of the present disclosure, the step of maintaining the surface of the target object in the position substantially skewed with respect to the beam of light may include maintaining the surface of the tissue in the body of a patient in the position substantially skewed with respect to the beam of light, the step of rotating the translucent mask to a position substantially parallel to the surface of the target object and substantially skewed with respect to the beam of light may include rotating the translucent mask to a position substantially parallel to the surface of the tissue in the body of a patient and substantially skewed with respect to the beam of light, and the step of substantially recreating the undistorted image on the surface of the target object may include substantially recreating the undistorted image on the surface of the tissue in the body of a patient.
Various embodiments will be described herein below with reference to the drawings wherein:
The embodiments of an optical metrology and image correction system according to the present disclosure yield methods for real-time in-body-cavity metrology employing visible, ultraviolet or near-infrared (IR) radiation, which is either coherent or incoherent, to reduce overall surgery time and the cognitive burden on the surgeon. The embodiments also potentially improve patient outcome with more accurate, smaller (depending on the miniaturization scale) incision procedures, which are less prone to human errors or miscalculations.
Improvements in the surgical procedures originate from both savings in time and from more accurate surgical choices by a given surgeon when attempting to choose measurement-dependent devices for a give in-body task or procedure, such as mesh size during a hernia repair.
Reference will now be made to the drawings, wherein like reference numerals refer to like parts.
Turning now to
The image positioning apparatus 100 further includes an optical metrology and image correction device 110 positioned on, and movably or immovably connected to, the shaft 104 in proximity to the distal end 108b.
The optical metrology and image correction device 110 includes a housing 112 having an interior region 114 in which is disposed a point size light source 116 that is adapted to emit a beam of light “L” in a direction generally parallel to the axis “A” to define an illumination axis “B”. The device 110 further includes a translucent mask 118 that is configured and disposed to receive the beam of light “L” emitted from the point size light source 116. The translucent mask 118, which is substantially planar and defines a proximal planar surface 118a and a distal planar surface 118b, is rotatably disposed within the housing 112 to pivot around pivot point 120 so as to be capable of rotating from a first position 121 wherein the beam of light “L” is received by the translucent mask 118 in a direction substantially orthogonal to the translucent mask 118. That is, the centerline of the beam of light “L” defines the illumination axis “B” and in the first position 121, the beam of light “L” is generally orthogonal to the proximal planar surface 118a of the translucent mask 118.
As used herein, the point size light source 116 is referred to generically to represent different light sources such as lasers or laser diodes. With appropriate optics fibers, light emitting diodes (LEDs), or lasers can be utilized as point sources.
The light beam “L” may be a laser emitted by a laser diode disposed within the point source or light projector. The light beam may be emitted by an LED disposed within the point source projector. The light beam may be focused to the point by a lens disposed within the point source projector. The semi-transparent or translucent mask 118 may be translatable to adjust the magnification factor. The semi-transparent mask may be disposed within the point source projector. The point source projector may be attached to an endoscope for visually inspecting the target site. The mask pattern may include a series of uniformly spaced concentric circles. The mask pattern 131 includes a series of uniformly spaced linear markings as in the projected image 131 in
Those skilled in the art will recognize that the semi-transparent or translucent mask 118 can be custom designed and built to be suitable for the imaging described in the present disclosure. One example of a manufacturer with such capabilites is Applied Image Inc. www.appliedimage.com, 1653 East Main Street, Rochester, N.Y. 14609 USA.
The beam of light “L” passes through the translucent mask 118 to impinge upon a target object “T”, which may be patient tissue, to project a first image 131 on surface 136 of the target object “T”. The translucent mask 118, and more particularly the distal surface 118b, and the surface of the target object 136 at the location of the first image 131 are substantially parallel to one another to define a first mask and target object position 141.
In the first mask and target object position 141, the beam of light “L” creates a substantially undistorted image, i.e., first image 131, on the surface 136 of the target object “T” that is positioned distally from the point size light source 116 and distally from the translucent mask 118. For illustration purposes, the first image 131, which appears on the surface 136, is illustrated as a circle projected along the illumination axis “B” to the right of the surface 136.
However, the optical metrology and image correction device 110 of the image positioning apparatus 100 as illustrated in
In the second mask and target object position 142, the beam of light “L” creates a distorted image 132 of the substantially undistorted image 131 of
The translucent mask 136 includes an internal surface (not specifically illustrated or numbered) that is configured to cause a pre-distortion in the substantially undistorted image 131 created by the beam of light “L” in the first position 121.
When the beam of light “L” is received by the translucent mask 118 in the second position 122, and when the translucent mask 118 and the surface of the target object 136 are substantially parallel to one another and both are skewed with respect to the beam of light “L” in the third mask and target position 143, the beam of light “L” substantially recreates on the surface 136 of the target object “T”, as a substantially undistorted third image 133, the substantially undistorted image or first image 131 of
Since the translucent mask 118 and the surface of the target object 136 are substantially parallel to one another and both are skewed with respect to the beam of light “L”, the angle “θ1” defined between the illumination axis “B” and the surface 136 of the target object “T” and the angle “θ2” defined between the illumination axis “B” and the translucent mask 118 are substantially equal to one another.
As indicated above, the target object “T” may be tissue or, in some cases, an organ, in the body of a patient.
Those skilled in the art will recognize that the description of
When the beam of light “L” is received by the translucent mask 118 in the first position 121, the method may also include the steps of positioning the translucent mask 118 and the surface 136 of the target object “T” substantially parallel to one another and creating substantially undistorted image 131 on the surface 136 of the target object “T” that is positioned distally from the point size light source 116 and distally from the translucent mask 118.
When the beam of light “L” is received by the translucent mask 118 in the first position 121, the method may further include the steps of positioning the translucent mask 118 such that the surface 136 of the target object “T” is in a position substantially skewed with respect to the position of the translucent mask 118, e.g., as illustrated by angle “θ1” (see
When the beam of light “L” is received by the translucent mask 118 in the second position 122, the method may further includes the steps of maintaining the surface 136 of the target object “T” in the position substantially skewed with respect to the beam of light “L”, e.g., as illustrated by angle “θ1” (see
The step of causing the beam of light “L” to be received by the translucent mask 118 in the second position 122 may include orienting the internal surface (not shown but described above) in the translucent mask 118 to cause a pre-distortion in the substantially undistorted image 131 created by the beam of light “L” in the first mask and target position 141, as illustrated by distorted image 132 in the second mask and target position 142 in
The step of positioning the translucent mask 118 and the surface 136 of the target object “T” substantially parallel to one another may include positioning the translucent mask 118 and the surface of tissue in the body of a patient parallel to one another. Similarly, the step of creating the substantially undistorted image 131 on the surface 136 of the target object “T” positioned distally from the point size light source 116 and distally from the translucent mask 118 may include creating the substantially undistorted image 131 on the surface 136 of the tissue in the body of a patient positioned distally from the point size light source 116 and distally from the translucent mask 118.
The step of positioning the optical system 100 such that the surface 136 of the target object “T” is in a position substantially skewed with respect to the position of the translucent mask 118 includes positioning the optical system 100 such that the surface of tissue in the body of a patient is in a position substantially skewed with respect to the position of the translucent mask 118. Similarly, the step of creating the distorted image 132 of the substantially undistorted image 131 on the surface 136 of the target object “T” includes creating the distorted image 132 of the substantially undistorted image 131 on the surface of the tissue in the body of a patient.
The step of maintaining the surface 136 of the target object “T” in the position substantially skewed with respect to the beam of light “L”, e.g., as illustrated by angle “θ1” in
As can be appreciated from the foregoing description and drawings, embodiments of an optical metrology and image correction system according to the present disclosure have been described which yield methods for real-time in-body-cavity metrology employing visible, ultraviolet or near-infrared (IR) radiation, which is either coherent or incoherent, to reduce overall surgery time and the cognitive burden on the surgeon. The embodiments also potentially improve patient outcome with more accurate, smaller (depending on the miniaturization scale) incision procedures, which are less prone to human errors or miscalculations.
Improvements in the surgical procedures originate from both savings in time and from more accurate surgical choices by a given surgeon when attempting to choose measurement-dependent devices for a give in-body task or procedure, such as mesh size during a hernia repair.
While several embodiments of the disclosure have been shown in the drawings, it is not intended that the disclosure be limited thereto, as it is intended that the disclosures be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments.
The present application claims the benefit of and priority to U.S. Provisional Application Ser. No. 61/603,460, filed on Feb. 27, 2012, the entire contents of which are incorporated herein by reference.
Number | Name | Date | Kind |
---|---|---|---|
2788390 | Sheldon | Apr 1957 | A |
3817635 | Kawahara | Jun 1974 | A |
3819267 | Kawahara | Jun 1974 | A |
3854822 | Altman et al. | Dec 1974 | A |
3943361 | Miller | Mar 1976 | A |
4281931 | Chikama | Aug 1981 | A |
4660982 | Okada | Apr 1987 | A |
4702229 | Zobel | Oct 1987 | A |
4895431 | Tsujiuchi et al. | Jan 1990 | A |
4935810 | Nonami et al. | Jun 1990 | A |
4958932 | Kegelman et al. | Sep 1990 | A |
4980763 | Lia | Dec 1990 | A |
4986262 | Saito | Jan 1991 | A |
5090400 | Saito | Feb 1992 | A |
5200838 | Nudelman et al. | Apr 1993 | A |
5261404 | Mick et al. | Nov 1993 | A |
5381236 | Morgan | Jan 1995 | A |
5428447 | Toida | Jun 1995 | A |
5469254 | Konomura | Nov 1995 | A |
5573492 | Dianna et al. | Nov 1996 | A |
5576975 | Sasaki et al. | Nov 1996 | A |
5633675 | Danna et al. | May 1997 | A |
5669871 | Sakiyama | Sep 1997 | A |
5776050 | Chen et al. | Jul 1998 | A |
5801762 | Dianna et al. | Sep 1998 | A |
5860912 | Chiba | Jan 1999 | A |
5967968 | Nishioka | Oct 1999 | A |
6009189 | Schaack | Dec 1999 | A |
6063023 | Sakiyama | May 2000 | A |
6134003 | Tearney et al. | Oct 2000 | A |
6178346 | Amundson et al. | Jan 2001 | B1 |
6191862 | Swanson et al. | Feb 2001 | B1 |
6205243 | Migdal et al. | Mar 2001 | B1 |
6263234 | Engelhardt et al. | Jul 2001 | B1 |
6301416 | Okano et al. | Oct 2001 | B1 |
6482148 | Luke | Nov 2002 | B1 |
6503195 | Keller et al. | Jan 2003 | B1 |
6508761 | Ramsbottom et al. | Jan 2003 | B1 |
6520959 | Iwahashi | Feb 2003 | B1 |
6542249 | Kofman et al. | Apr 2003 | B1 |
6569088 | Koshikawa | May 2003 | B2 |
6663560 | MacAulay et al. | Dec 2003 | B2 |
6750971 | Overbeck et al. | Jun 2004 | B2 |
6832985 | Irion et al. | Dec 2004 | B2 |
6890296 | Ogawa | May 2005 | B2 |
6937268 | Ogawa | Aug 2005 | B2 |
6945930 | Yokota | Sep 2005 | B2 |
7046376 | Sezginer | May 2006 | B2 |
7066930 | Boll et al. | Jun 2006 | B2 |
7193713 | Shiode et al. | Mar 2007 | B2 |
7310431 | Gokturk et al. | Dec 2007 | B2 |
7317954 | McGreevy | Jan 2008 | B2 |
7317955 | McGreevy | Jan 2008 | B2 |
7556599 | Rovegno | Jul 2009 | B2 |
7564626 | Bendall et al. | Jul 2009 | B2 |
7794388 | Draxinger et al. | Sep 2010 | B2 |
7809225 | Bouma et al. | Oct 2010 | B2 |
7819798 | Krauter et al. | Oct 2010 | B2 |
20020156380 | Feld et al. | Oct 2002 | A1 |
20020188172 | Irion et al. | Dec 2002 | A1 |
20030135101 | Webler | Jul 2003 | A1 |
20030191363 | Boll et al. | Oct 2003 | A1 |
20040147808 | MacAulay et al. | Jul 2004 | A1 |
20040242961 | Bughici | Dec 2004 | A1 |
20050085717 | Shahidi | Apr 2005 | A1 |
20050090749 | Rubbert | Apr 2005 | A1 |
20050124988 | Terrill-Grisoni | Jun 2005 | A1 |
20050237423 | Nilson et al. | Oct 2005 | A1 |
20050277186 | Fein et al. | Dec 2005 | A1 |
20060044546 | Lewin et al. | Mar 2006 | A1 |
20060103854 | Franke et al. | May 2006 | A1 |
20060235273 | Moriyama et al. | Oct 2006 | A1 |
20070060792 | Draxinger et al. | Mar 2007 | A1 |
20070156018 | Krauter et al. | Jul 2007 | A1 |
20070225550 | Gattani et al. | Sep 2007 | A1 |
20080016487 | Wen | Jan 2008 | A1 |
20080024793 | Gladnick | Jan 2008 | A1 |
20080068197 | Neubauer et al. | Mar 2008 | A1 |
20080200808 | Leidel et al. | Aug 2008 | A1 |
20080221446 | Washburn et al. | Sep 2008 | A1 |
20080284979 | Yee et al. | Nov 2008 | A1 |
20080285913 | Yang et al. | Nov 2008 | A1 |
20090002485 | Fujiwara | Jan 2009 | A1 |
20090082629 | Dotan et al. | Mar 2009 | A1 |
20090103050 | Michaels et al. | Apr 2009 | A1 |
20090116023 | Wadman | May 2009 | A1 |
20090221874 | Vinther et al. | Sep 2009 | A1 |
20090221922 | Lec et al. | Sep 2009 | A1 |
20090270682 | Visser | Oct 2009 | A1 |
20090323084 | Dunn et al. | Dec 2009 | A1 |
20100036393 | Unsworth | Feb 2010 | A1 |
20100201796 | Chan | Aug 2010 | A1 |
20100265463 | Lai | Oct 2010 | A1 |
20100280321 | Modell | Nov 2010 | A1 |
20110054308 | Cohen et al. | Mar 2011 | A1 |
20110279670 | Park | Nov 2011 | A1 |
20120101370 | Razzaque et al. | Apr 2012 | A1 |
20120293812 | Sharonov | Nov 2012 | A1 |
20130226037 | Pinto | Aug 2013 | A1 |
Number | Date | Country |
---|---|---|
3629435 | Mar 1987 | DE |
10 2010 025752 | Jan 2012 | DE |
0403399 | Dec 1990 | EP |
1480067 | Nov 2004 | EP |
2106748 | Oct 2009 | EP |
2011 185767 | Sep 2011 | JP |
WO 0008415 | Feb 2000 | WO |
WO 2005013814 | Feb 2005 | WO |
Entry |
---|
European Search Report from EP 12190094.8 dated Mar. 4, 2013 (6 pgs.). |
European Search Report from EP 12168466.6 dated Mar. 26, 2013 (10 pgs.). |
European Search Report from EP 13156689.5 dated Apr. 26, 2013 (7 pgs.). |
European Search Report from EP12190097.1 dated Sep. 16, 2013. (6 pgs.). |
European Search Report from EP13172563.2 dated Oct. 1, 2013. (8 pgs.). |
European Search Report for Application No. 13 17 7731 dated Nov. 28, 2013. |
U.S. Appl. No. 13/645,559, filed Oct. 5, 2012, United States Surgical. |
U.S. Appl. No. 13/650,156, filed Oct. 12, 2012, United States Surgical. |
European Search Report, Application No. EP 13 17 7731 dated Mar. 24, 2014. |
European Search Report for Application No. 13156676.2-1553 date of completion Jun. 24, 2013 (7 pages). |
Number | Date | Country | |
---|---|---|---|
20130226156 A1 | Aug 2013 | US |
Number | Date | Country | |
---|---|---|---|
61603460 | Feb 2012 | US |