SCHEIB, Charles J.,RITCHIE, Paul G.,MOORE, Sarah A.,SWAYZE, Jeffrey S.,TALBERT, Joshua D.,YOUNG, Joshua D.,MORENO, Victor C.
申请号：
IBIB2019/057334
公开号：
WO2020/016866A3
申请日:
2019.08.30
申请国别(地区):
IB
年份:
2020
代理人:
摘要：
A robotic surgical system is disclosed which comprises a structured light source, a shaft-less tool (3102, 3502) comprising a projector (3110, 3510a ) configured to emit a structured light pattern on a surface of an anatomical structure, and a cable (3112, 3512) extending from the shaft-less tool (3102, 3502) to the structured light source. Also, a surgical visualization system is disclosed. The surgical visualization system is configured to identify one or more structure(s) and/or determine one or more distances with respect to obscuring tissue and/or the identified structure(s). The surgical visualization system can facilitate avoidance of the identified structure(s) by a surgical device. The surgical visualization system can comprise a first emitter configured to emit a plurality of tissue-penetrating light waves and a second emitter configured to emit structured light onto the surface of tissue. The surgical visualization system can also include an image sensor configured to detect reflected visible light, tissue- penetrating light, and/or structured light. The surgical visualization system can convey information to one or more clinicians regarding the position of one or more hidden identified structures and/or provide one or more proximity indicators. In various instances, a shaft-less light projection tool can be manipulated around the surgical site by a robotic tool.L'invention concerne un système de visualisation chirurgicale. Le système de visualisation chirurgicale est configuré pour identifier une ou plusieurs structures et/ou déterminer une ou plusieurs distances par rapport au tissu d'obscurcissement et/ou à la ou aux structures identifiées. Le système de visualisation chirurgicale peut faciliter l'évitement de la ou des structures identifiées par un dispositif chirurgical. Le système de visualisation chirurgicale peut comprendre un premier émetteur configuré pour émettre une pluralité d'ondes lumineuses pénétrant dans un tissu et un second émetteur con
