Patent Application
20210007808
NOT APPLICABLE
The present application generally relates to optical coherence tomography (OCT), including its use as a sensor for guiding robotic surgical systems. Specifically, the application is related to techniques for adapting OCT for real-time use in acquiring depth maps of a wet brain surface or other tissue surface for robotic insertion of electrodes.
Devices exist that can be implanted into biological membranes such as the brain. In certain instances, the implantable device has a biocompatible substrate with conduits, such as electrodes, for stimulation of neurons and/or recording neuronal signals.
Brain implants require delicate control to securely insert and attach an implant and all of the respective connection points to the brain. Several challenges exist in surgically implanting a brain implant, including but not limited to avoiding vasculature, while also making successful physical and electrical connections into the brain.
International Patent Application Publication No. WO 2016/126340, published Aug. 11, 2016, discloses implantable devices that can be implanted into the brain of a subject and used for a variety of purposes. The implantable device can have conduits or electrodes that can record or deliver stimulation, such as light, current, voltage, or drugs.
In certain implementations, and particularly with progression of modern medicine, surgical robots are becoming an assistive tool for implantation procedures. Given the limited access to the brain as well as the complex structure of the brain, computer vision for surgical robots becomes a problem in differentiating the varying layers of the brain as well as discerning shadows that may be cast by surgery tools, portions of the implant, or perhaps even the surgical robot itself.
For brain implants utilizing electrodes, implantation with specific accuracy becomes difficult spatially in terms of accommodating for underlying background movement, such as blood flow, heart rate, breathing, and natural brain movement. This may be compounded by the presence of a fluid membrane on the surface of the brain as well as distinguishing between the proper depth to implant as more neurons are added.
Leveraging the accuracy of a surgical robot is desirable in operations involving delicate organs, such as the brain. There is a need in the art for a more precise, real-time brain electrode implantation method to connect to implantable devices.
Generally, a robotic surgery system uses optical coherence tomography (OCT) to facilitate implanting biocompatible electrodes in biological tissue (e.g., neurological tissue such as the brain) using robotic assemblies. Real-time OCT helps guide the robotic surgery system, which includes components to engage an implantable device, identify a target implantation site, and verify insertion. The system attaches, via robotic manipulation, the electrode to an engagement element of an insertion needle. The OCT illuminates the first few hundred microns of brain tissue with suitable wavelengths of light, obtain 2-dimensional slices of the brain vasculature and other features, processes the slices to find a depth map based on the known layering of brain tissue, and presents the depth map so that the surgical robot may implant the electrode via robotic assembly.
In utilizing OCT to facilitate implanting biocompatible electrodes, to best ensure precision and accuracy throughout the operation, the OCT must be adaptive to the brain's dynamic environment. As a result, filtering out and ensuring correct guidance to the implantation site are important to providing a successful operation.
The method of guiding robotic surgery may start with receiving a series of cross-sectional 3-dimensional (3D) space obtained from an optical coherence tomography (OCT) probe over biological tissue, with each slice including a 2-dimensional array of intensity values. Next, the intensity values in each slice may be spatially smoothed to produce a corresponding blurred slice. Next, the blurred slice may be thresholded to create a corresponding segmented slice. Next, a connected-component analysis may be performed on each segmented slice to identify blobs on the respective segmented slice. Next, the blobs may be filtered at least on a size of the blobs. Next, the filtered blobs may have edge detection run to construct a corresponding edge detection slice. Next, a selective median filter may be invoked on the edge detection slices to construct a depth map of a surface of the biological tissue. Next, a robotic end effector can be guided based on the depth map.
In some embodiments, the method may also include removing from consideration a segmented slice whose largest blob does not project at least 50% across the respective segmented slice. In some embodiments, the method may remove the segmented slice whose blob does not project at least 75% across the respective segmented slice.
In some embodiments, filtering out blobs may reject a blob corresponding to an electrical wire protruding from the biological tissue.
In some embodiments, the biological tissue may be the brain cortex covered with pia-arachnoid complex.
In some embodiments, the spatially smoothing may include Gaussian blurring or median blurring.
In some embodiments, the thresholding may involve dynamically selecting threshold values using Otsu's method to minimize intra-class intensity variance.
In some embodiments, the method may include selecting the series of slices from a larger set of OCT slices.
In some embodiments, the edge detecting may result in more than one continuous edge in each edge detection slice.
In some embodiments, the selective median filter may create multiple depth maps of surfaces of the tissue. In some embodiments, the method may include selecting a top surface depth map.
In some embodiments, a non-transitory computer-readable medium may store computer-executable instructions that, when executed by a processor, cause the processor to perform, and/or to instruct the components of the system to perform, any of the methods described above for guiding robotic surgery.
Optical coherence tomography (OCT) can be used in real-time control of a robotic arm for surgery. Specifically, OCT works well for determining where vasculature is in the outermost layers of the brain—which are transparent or translucent to the light used for OCT to a depth of about 100 μm (microns). Additionally, OCT works through blood or other fluids that obfuscate the field.
Commercially available OCT visualization systems, which is used by optometrists, are generally too slow for real-time control. For example, it takes a few seconds to scan and display portions of a patient's eye. Updates on the order of a few seconds are too slow for real-time robotic operations, even with a sedated subject.
Because of the way certain layers and features of the meninges appear in OCT data, one can use these features to accelerate the determination of those features and guide a robotically guided needle or other end effector.
In this example, system 100 includes an inserter head 102 and device engagement sub-system 104. Device engagement sub-system 104 can engage electrodes for implantation, and inserter head 102 can perform targeting and/or insertion verification functions while implanting the electrodes in neurological tissue, as described herein below. Inserter head 102 may also be referred to as a targeting and/or insertion verification sub-system, and device engagement sub-system 104 may also be referred to as an electrode stage. In some embodiments, the functions of inserter head 102 and device engagement sub-system 104 can instead be performed by a single apparatus. For example, in some embodiments, the functions of device engagement sub-system 104 may be performed by components of inserter head 102. System 100 may further include ultrasonic cleaner 106.
System 100 and/or sub-system 104 can contain light sources configured to illuminate the electrode device and system 100 and/or sub-system 102 can contain light sources configured to illuminate the surgical field. The light sources illuminating the electrode device or an insertion needle can produce light of wavelengths selected based on a material associated with the electrode device or needle, while the light sources illuminating the surgical field can produce light of wavelengths chosen for imaging the target tissue. In particular, system 100 may contain multiple independent light modules, each capable of independently illuminating with 405 nm, 525 nm and 650 nm or white light. For example, if the implantable electrode device contains a bio-compatible substrate made from polyimide, the wavelength of the light from the light source may be between 390 nm and 425 nm (e.g., 405 nm or 395 nm). In an embodiment, the light sources may include a laser and/or a light emitting diode (LED). In an embodiment, the implantable electrode device can contain a bio-compatible substrate made from polyimide, polyamide, and/or another aromatic rigid chain polymer material, fluorescent material, or other material, and is not limited by the present disclosure.
System 100 can contain cameras configured to obtain images, such as digital photos, of the electrode device and an insertion needle, and cameras configured to obtain images of the target neurological tissue, e.g. a brain cortex. In another example, the images can include images of any subject relevant to robotic surgical implantation. In a typical embodiment, the cameras can include two cameras arranged at a relative angle (e.g., a relative angle substantially equal to 45°, or some other angle). In various embodiments, system 100 can contain additional cameras, or other sensors, such as video cameras, microphones, chemical sensors, temperature sensors, time sensors, and force or pressure sensors, and is not limited by the present disclosure.
The light sources may include one or more light sources that can be cycled or strobed between illuminated and extinguished states, and/or among different wavelengths of light, so that the cameras can image different perspectives or aspects of the surgical field. In an embodiment, the cameras can be cooled in order to increase their sensitivity, such as to faint fluorescent light. In one embodiment, one or more of the cameras may be integrated into a microscope. In embodiments, the light sources may be suitable for interferometry, such as that used in optical coherence tomography.
In embodiments where the light sources are suitable for interferometry, such as that used in optical coherence tomography, a sensor may be used for the interferometry. The sensor may acquire and transmit data on the order of, for example, 30 gBits/sec.
System 100 can include a processing unit, such as computing system 1800 in the example of
System 100 can contain one or more robotic assemblies, such as a robotic assembly configured to implant the electrode device surgically into target biological tissue. The robotic assemblies may be guided by a processing unit, such as computing system 1800 in the example of
In some embodiments, system 100 can include additional cameras, and is not limited by the present disclosure. For example, system 100 can use a separate camera system, located on a head of a robotic assembly, for mapping the target tissue site. In some embodiments, this robotic assembly may also be configured to carry an insertion needle. The separate camera system can be movably situated on one or more axes. In an embodiment, the system drives this robotic assembly down an axis, such that a focus of the camera system is below the target tissue site of interest, such as brain tissue. The robotic assembly can move upward along the axis, and/or scan the camera system upwards, in order to image the target tissue.
In a typical embodiment of the present disclosure, robotic surgery system 100 may implant implantable devices including electrodes with improved depth penetration that are able to penetrate below the surface of biological tissue (e.g., cortex). Example electrodes may include those discussed in a U.S. Patent Publication No US 2020/0085375 A1 titled “Electrode Design and Fabrication,” which is hereby incorporated by reference. The disclosed robotic system may implant implantable devices that are arranged in a pillbox, a cartridge, and/or a pillbox-cartridge assembly such as those discussed in a U.S. Patent Publication No. US 2020/0086111 A1 titled “Device Implantation Using a Cartridge,” which is hereby incorporated by reference. Additionally, the disclosed robotic system may control the operation of a needle.
Below the arachnoid layer is the subarachnoid space, which is limited externally by a water-tight layer of connective tissue, the arachnoid, and internally by a thinner layer, the pia mater. It is within the subarachnoid space that CSF flows.
The pia mater adheres intimately to the surface of the brain and spinal cord. The pia mater is the layer of meninges closest to the surface of the brain. The pia mater has many blood vessels that reach deep into the surface of the brain. The major arteries supplying the brain provide the pia with its blood vessels. The space that separates the arachnoid and the pia mater is called the subarachnoid space.
Optical coherence tomography (OCT) can be used to guide a system, such as system 100 (see
In ensuring a proper depth map is generated, an OCT sensor, such as the OCT sensor 110, may begin by obtaining a stack of 2-dimensional arrays, showing intensity values that correlate to light that bounces back to the sensor of the system. In embodiments, the OCT sensor may obtain a volume of points of light intensity based off a captured reflection from a surface, such as a brain. The OCT sensor may obtain a range of points, such as 20 million, 30 million, 40 million or more points. The various points are collected into a 2-dimensional array of slices, with each slice being a different depth layer of the brain. The 2-dimensional array may consist of anywhere from 120-160 slices. From this full stack of slices, a processor, such as the processor 1800 of
However, OCT may pick up background signal, noise and other artifacts in the captured slice 410. In order to filter out low signal and noise, a smoothing method may be applied.
A processing unit, such as processing unit 1800 (see
As the intensity points represent discrete locations on each slice, a processing unit may encounter problems identifying regions that form part of the surface as opposed to voids, such as noise, low signal, or artifacts. In order to correct for this, a processing unit may implement a smoothing filter to obtain a smoother image relative to the array of intensity points. In embodiments, the smoothing can be a Gaussian blur, a median blur, a bilateral filter, or other spatially smoothing algorithms. The processing unit may apply the filter to each slice individually within a stack.
After applying a smoothing operation, a processing unit, such as processing unit 1800 (see
Thresholding can involve dynamically selecting threshold values using Otsu's method to minimize intra-class intensity variance, or equivalently, maximize inter-class intensity variance.
The threshold intensity may be based off of known pixel intensities for a measured brain surface. For example, a known measured brain surface intensity may be used as the thresholding value for an unknown brain to gauge the pixel intensity of the surface of the brain.
Comparing the corresponding segmented slice 700 with the blurred slice 600, there is a visual difference between the gradient intensity values of blurred slice 600 and the thresholded white on black of the corresponding segmented slice 700. For example, the lower intensity pixels close to the bottom of blurred slice 600 become empty/dark patches, providing a clear image of the regions with higher intensity signal that correspond to portions of the surface of the brain.
After a thresholding operation, the processing unit may use a connected-component analysis/operation to further define the surface of the brain. The connected-component operation groups connected regions based on the corresponding segmented slice. The connected component operation may look for continuity in the corresponding segmented slice and identify “blobs,” or regions of threshold intensity values that form continuous structures. The processing unit may look at continuity to evaluate whether a region fulfills the qualifying pixel size of a blob. For example, the processing unit may look at each slice and set a threshold continuity of 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, or 90% of the slice or more to qualify as a blob above the threshold value.
The continuity threshold may be based off of known brain heuristics and to assist in filtering out noise and artifacts that were captured by the OCT in processing each slice. For example, noisy signal and occlusions cast from the liquid or shadows would not have a continuity of greater than 50% of the slice, and thus, are subject to filtering out. In embodiments, the continuity threshold may be 60%, 70%, 80%, or 90%, or otherwise to properly filter out unwanted blobs.
After filtering the blobs based on a size, the processing unit may perform an edge detection on the blobs that have been filtered based on size.
For speed, the edge detection algorithm may proceed only from the top of the slice to the bottom (i.e., in they direction only) instead of a more computationally expensive edge detection algorithms that finds edges from all angles.
The resultant edge 901 details the edge corresponding to the brain surface at a particular stack depth within the stack of slices. A processing unit may run a smoothing operation, thresholding operation, a connected component analysis, filtering, and edge detection on multiple slices in the stack in order to acquire the surface edge of the brain at varying depths corresponding to each slice.
From the resultant edges of the blobs of the stack of slices, a surface topology can be extracted using image derivatives and compiled into a 32-bit depth map. The slices can be ranked spatially according to known depths from the OCT measurement. The detected edges can be correlated to the real-world coordinates on the actual brain surface.
In order to filter out any noise or shadows that provide an inaccurate depth map, a selective median filter can be used. The selective median filter may identify median points along the formed edges to create a surface topography. Moreover, because the selective median filter assesses the median value, the processing unit can confirm that a valid surface location is being selected, rather than a location in space that may occur with a selective mean filter.
The inserter head 1202 support system holds an imaging stack used for guiding the needle into the thread loop, insertion targeting, live insertion viewing, and insertion verification. In addition, the inserter head contains light modules, each capable of independently illuminating with 405 nm, 525 nm and 650 nm or white light. A 405 nm illumination can excite fluorescence from polyimide and allow the optical stack and computer vision to reliably localize the (16×50) μm2 thread loop and execute sub-micron visual serving to guide, illuminated by 650 nm the needle through it. Stereoscopic cameras, computer vision methods such as monocular extended depth of field calculations, and illumination with 525 nm light can allow for precise estimation of the location of the cortical surface while avoiding vasculature and other threads that may have been previously implanted.
The robot registers insertion sites to a common coordinate frame with landmarks on the skull, which, when combined with depth tracking, enables precise targeting of anatomically defined brain structures. Integrated custom computer instructions may allow pre-selection of all insertion sites, enabling planning of insertion paths optimized to minimize tangling and strain on the threads. The planning feature highlights the ability to avoid vasculature during insertions, one of the key advantages of inserting electrodes individually. This may provide a technical advantage, in order to avoid damage to the blood-brain barrier and thereby reduce inflammatory response. In an embodiment, the robot can feature an auto-insertion mode. While the entire insertion procedure can be automated, a surgeon can retain control, and can make manual micro-adjustments to the thread position before each insertion into the target tissue, such as a cortex. The neurosurgical robot is compatible with sterile shrouding, and has features to facilitate successful and rapid insertions such as automatic sterile ultrasonic cleaning of the needle.
Given the number of threads being inserted in a typical implantation operation, several of the initially inserted threads may be prone to casting shadows that impact computer vision for later inserted threads. For example, as can be seen in
The artifacts observed at the region 1504 are caused by the refraction of light off of the fluid of the brain. The light sources used for OCT may refract off of the fluid on the brain when at certain angles, causing artifacts that are picked up as intensity values above the surface layer of the brain.
Accordingly, use of the aforementioned filtering and processing methods improves the precision and accuracy of a surgical robot in implanting electrodes to neurons. Moreover, the above mentioned filtering and processing methods can be quick and efficient enough that a processed image will not have changed by the time the depth map has been generated. The filtering methods may not require lengthy processes to divide the data points, and the depth map generation does not require lengthy computation times.
The use of a selective median filter on the depth map allows for noise and artifacts, like those shown above, that may make it into the edge detection algorithm to be accounted for. In particular, when multiple electrodes are being implanted, it is important to avoid the previously implanted electrodes, and also important that previously implanted electrodes do not present a false surface mapping of the surface of the brain. Such a guiding error could result in implantation failure as well as breaking of the threads during operation.
In a first step 1702, a series of cross-sectional slices of 3D space obtained from an OCT probe or sensor, such as the stack 400 of
In a second step 1704, the intensity values of each slice is spatially smoothed to produce a corresponding blurred slice. For example, the corresponding blurred slice 600 in
In embodiments, the smoothing may be by a Gaussian blur. In embodiments, different smoothing functions, such as median blur, bilateral filter, or otherwise, can be applied to spatially smooth the slice.
In a third step 1706, each blurred slice is thresholded to create a corresponding segmented slice. Segmented slice 700 in
In a fourth step 1708, a connected-component analysis is performed on each segmented slice to identify blobs, like the slice 800 in
In a fifth step 1710, blobs are filtered out on each segmented slice based on at least the size of the blobs. In embodiments, the blob size can be known based off of empirical data from known measured blobs. In embodiments, the filtering can be based on the continuity of a blob in proportion to the width of a particular slice. For example, blobs may be filtered off of 50%, 60%, 70%, 80%, or 90% continuity across a slice, or in other proportions as applications allow.
In embodiments, the filtering can be based on the continuity of a blob in proportion to the width of a particular slice. For example, blobs may be filtered off of 50%, 60%, 70%, 80%, or 90% continuity across a slice. Optionally, the filtering process may remove a blob that does not project at least 50%, 75%, or 90% across a segmented slice.
In a sixth step 1712, edge detection is performed on the filtered blobs on each segmented slice, for example, like the edge detection slice 900 of
In a seventh step 1714, a selective median filter is invoked on the edge detection slices to construct a depth map of a surface of the biological tissue, like the depth map 1000 of
In an eighth step 1716, a robotic end effector is guided based on the depth map. In embodiments, the robotic end effector is controlled by a surgical robot, such as that of system 100 (see
Computing system 1800 may include computing device 1804, which may be connected to the robotic assemblies 1820, light sources 1822, and cameras 1824, as well as to any other devices, such as actuators, etc. The computing device 1804 may be in communication with these devices and/or other components of the robotic surgery system via one or more network(s), wired connections, and the like. The network may include any one or a combination of many different types of networks, such as cable networks, the Internet, wireless networks, cellular networks, radio networks, and other private and/or public networks.
Turning now to the details of the computing device 1804, the computing device 1804 may include at least one memory 1814 and one or more processing units (or processor(s)) 1810. The processor(s) 1810 may be implemented as appropriate in hardware, computer-executable instructions, software, firmware, or combinations thereof. For example, the processor(s) 1810 may include one or more general purpose computers, dedicated microprocessors, or other processing devices capable of communicating electronic information. Examples of the processor(s) 1810 include one or more application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), digital signal processors (DSPs) and any other suitable specific or general purpose processors.
Computer-executable instruction, software, or firmware implementations of the processor(s) 1810 may include computer-executable or machine-executable instructions written in any suitable programming language to perform the various functions described. The memory 1814 may include more than one memory and may be distributed throughout the computing device 1804. The memory 1814 may store program instructions (e.g., a triangulation module 1818) that are loadable and executable on the processor(s) 1810, as well as data generated during the execution of these programs. Depending on the configuration and type of memory including the triangulation module 1818, the memory 1814 may be volatile (such as random access memory (RAM)) and/or non-volatile (such as read-only memory (ROM), flash memory, or other memory). In an embodiment, the triangulation module 1818 may receive and/or adjust the linear combination coefficients for Laplacian estimation based on the potentials measured by the CRE. In an embodiment, triangulation module 1818 may implement the linear combination based on these coefficients. The computing device 1804 may also include additional removable and/or non-removable storage 1806 including, but not limited to, magnetic storage, optical disks, and/or tape storage. The disk drives and their associated computer-readable media may provide non-volatile storage of computer-readable instructions, data structures, program modules, and other data for the computing devices. In some implementations, the memory 1814 may include multiple different types of memory, such as static random access memory (SRAM), dynamic random access memory (DRAM), or ROM. The memory 1814 may also include an operating system 1816.
The memory 1814 and the additional storage 1806, both removable and non-removable, are examples of computer-readable storage media. For example, computer-readable storage media may include volatile or non-volatile, removable, or non-removable media implemented in any suitable method or technology for storage of information such as computer-readable instructions, data structures, program modules, or other data. As used herein, modules may refer to programming modules executed by computing systems (e.g., processors) that are part of the triangulation module 1818. The modules of the triangulation module 1818 may include one or more components, modules, and the like. For example, triangulation module 1818 may include modules or components that triangulate the location of objects such as electrodes, insertion needles, and/or target tissue based on computer vision. The computing device 1804 may also include input/output (“I/O”) device(s) and/or ports 1812, such as for enabling connection with a keyboard, a mouse, a pen, a voice input device, a touch input device, a display, speakers, a printer, or other I/O device. The I/O device(s) 1812 may enable communication with the other systems of the robotic surgery system.
The computing device 1804 may include a user interface 1808. The user interface 1808 may be utilized by an operator or other authorized user such as the user to access portions of the computing device 1804 (e.g., the triangulation module 1818). In some examples, the user interface 1808 may include a graphical user interface, web-based applications, programmatic interfaces such as application programming interfaces (APIs), or other user interface configurations.
The computer system 1850 may include at least a processor 1852, a memory 1854, a storage device 1856, input/output peripherals (I/O) 1858, communication peripherals 1185, and an interface bus 1862. The interface bus 1862 is configured to communicate, transmit, and transfer data, controls, and commands among the various components of the computer system 1850. The memory 1854 and the storage device 1856 include computer-readable storage media, such as Radom Access Memory (RAM), Read ROM, electrically erasable programmable read-only memory (EEPROM), hard drives, CD-ROMs, optical storage devices, magnetic storage devices, electronic non-volatile computer storage, for example Flash® memory, and other tangible storage media. Any of such computer-readable storage media can be configured to store instructions or program codes embodying aspects of the disclosure. The memory 1854 and the storage device 1856 also include computer-readable signal media. A computer-readable signal medium includes a propagated data signal with computer-readable program code embodied therein. Such a propagated signal takes any of a variety of forms including, but not limited to, electromagnetic, optical, or any combination thereof. A computer-readable signal medium includes any computer-readable medium that is not a computer-readable storage medium and that can communicate, propagate, or transport a program for use in connection with the computer system 1850.
Further, the memory 1854 includes an operating system, programs, and applications. The processor 1852 is configured to execute the stored instructions and includes, for example, a logical processing unit, a microprocessor, a digital signal processor, and other processors. The memory 1854 and/or the processor 1852 can be virtualized and can be hosted within another computing system of, for example, a cloud network or a data center. The I/O peripherals 1858 include user interfaces, such as a keyboard, screen (e.g., a touch screen), microphone, speaker, other input/output devices, and computing components, such as graphical processing units, serial ports, parallel ports, universal serial buses, and other input/output peripherals. The I/O peripherals 1858 are connected to the processor 1852 through any of the ports coupled to the interface bus 1862. The communication peripherals 1185 are configured to facilitate communication between the computer system 1850 and other computing devices over a communications network and include, for example, a network interface controller, modem, wireless and wired interface cards, antenna, and other communication peripherals.
The terms “computing system” and “processing unit” as used herein are intended for all purposes to be interpreted broadly and is defined for all uses, all devices, and/or all systems and/or systems in this disclosure as a device comprising at least a central processing unit, a communications device for interfacing with a data network, transitory computer-readable memory, and/or a non-transitory computer-readable memory and/or media. The central processing unit carries out the instructions of one or more computer programs stored in the non-transitory computer-readable memory and/or media by performing arithmetical, logical, and input/output operations to accomplish in whole or in part one or more steps of any method described herein. A computing system is usable by one or more users, other computing systems directly and/or indirectly, actively and/or passively for one or more suitable functions herein. The computing system may be embodied as computer, a laptop, a tablet computer, a smartphone, and/or any other suitable device and may also be a networked computing system, a server, or the like. Where beneficial, a computing system can include one or more human input devices such as a computer mouse and/or keyboard and one or more human interaction device such as one or more monitors. A computing system may refer to any input, output, and/or calculating device associated with providing an experience to one or more users. Although one computing system may be shown and/or described, multiple computing systems may be used. Conversely, where multiple computing systems are shown and/or described, a single computing device may be used.
A “pia-arachnoid complex” typically includes arachnoid and pia mater. Arachnoid includes arachnoid mater and subarachnoid space containing cerebrospinal fluid (CSF). The pia mater is an approximately single-cell layer conformal to the cortex.
It is known that there are shadows from vasculature, so that information is used to match potential vascular boundaries in one image to potential vascular boundaries in other images. It is also known that three other surfaces, including the CSF, pia, and cortex surfaces, should be present. A real-time algorithm can use this information to pre-determine areas that should have surfaces and thus narrow down their search.
It should be appreciated that a brain implant or other system and a respective control system for the brain implant can have one or more microprocessors/processing devices that can further be a component of the overall apparatuses. The control systems are generally proximate to their respective devices, in electronic communication (wired or wireless) and can also include a display interface and/or operational controls configured to be handled by a user to monitor the respective systems, to change configurations of the respective systems, and to operate, directly guide, or set programmed instructions for the respective systems, and sub-portions thereof. Such processing devices can be communicatively coupled to a non-volatile memory device via a bus. The non-volatile memory device may include any type of memory device that retains stored information when powered off. Non-limiting examples of the memory device include electrically erasable programmable read-only memory (“ROM”), flash memory, or any other type of non-volatile memory. In some aspects, at least some of the memory device can include a non-transitory medium or memory device from which the processing device can read instructions. A non-transitory computer-readable medium can include electronic, optical, magnetic, or other storage devices capable of providing the processing device with computer-readable instructions or other program code. Non-limiting examples of a non-transitory computer-readable medium include (but are not limited to) magnetic disk(s), memory chip(s), ROM, random-access memory (“RAM”), an ASIC, a configured processor, optical storage, and/or any other medium from which a computer processor can read instructions. The instructions may include processor-specific instructions generated by a compiler and/or an interpreter from code written in any suitable computer-programming language, including, for example, C, C++, C #, Java, Python, Perl, JavaScript, etc.
While the above description describes various embodiments of the invention and the best mode contemplated, regardless how detailed the above text, the invention can be practiced in many ways. Details of the system may vary considerably in its specific implementation, while still being encompassed by the present disclosure. As noted above, particular terminology used when describing certain features or aspects of the invention should not be taken to imply that the terminology is being redefined herein to be restricted to any specific characteristics, features, or aspects of the invention with which that terminology is associated. In general, the terms used in the following claims should not be construed to limit the invention to the specific examples disclosed in the specification, unless the above Detailed Description section explicitly defines such terms. Accordingly, the actual scope of the invention encompasses not only the disclosed examples, but also all equivalent ways of practicing or implementing the invention under the claims.
In some embodiments, the systems and methods of the present disclosure can be used in connection with neurosurgical techniques. However, one skilled in the art would recognize that neurosurgical techniques are a non-limiting application, and the systems and methods of the present disclosure can be used in connection with any biological tissue. Biological tissue can include, but is not limited to, the brain, muscle, liver, pancreas, spleen, kidney, bladder, intestine, heart, stomach, skin, colon, and the like.
The systems and methods of the present disclosure can be used on any suitable multicellular organism including, but not limited to, invertebrates, vertebrates, fish, bird, mammals, rodents (e.g., mice, rats), ungulates, cows, sheep, pigs, horses, non-human primates, and humans. Moreover, biological tissue can be ex vivo (e.g., tissue explant), or in vivo (e.g., the method is a surgical procedure performed on a patient).
The teachings of the invention provided herein can be applied to other systems, not necessarily the system described above. The elements and acts of the various examples described above can be combined to provide further implementations of the invention. Some alternative implementations of the invention may include not only additional elements to those implementations noted above, but also may include fewer elements. Further any specific numbers noted herein are only examples; alternative implementations may employ differing values or ranges, and can accommodate various increments and gradients of values within and at the boundaries of such ranges.
References throughout the foregoing description to features, advantages, or similar language do not imply that all of the features and advantages that may be realized with the present technology should be or are in any single embodiment of the invention. Rather, language referring to the features and advantages is understood to mean that a specific feature, advantage, or characteristic described in connection with an embodiment is included in at least one embodiment of the present technology. Thus, discussion of the features and advantages, and similar language, throughout this specification may, but do not necessarily, refer to the same embodiment. Furthermore, the described features, advantages, and characteristics of the present technology may be combined in any suitable manner in one or more embodiments. One skilled in the relevant art will recognize that the present technology can be practiced without one or more of the specific features or advantages of a particular embodiment. In other instances, additional features and advantages may be recognized in certain embodiments that may not be present in all embodiments of the present technology.
This application claims priority from U.S. Patent Application No. 62/873,705, filed Jul. 12, 2019, which is hereby incorporated by reference in its entirety for all purposes.
| Number | Date | Country | |
|---|---|---|---|
| 62873705 | Jul 2019 | US |
