Medical system including a medical imaging device having a light source and a member for moving a sensor in response to the sensor's detection of light

Abstract

A medical system (100) is disclosed, comprising a medical device (110) having an imaging device configured to capture an image of a target site, thereby determining a location of the target site based on the image. The medical device comprises a light source configured to direct light to the location of the target site, a processor (104), and a non-transitory computer-readable medium storing instructions, which, when executed by the processor, cause the processor to move a sensor of a medical device (140) toward the location of the target site based on the sensor detecting light at the target site.

Description

[0001] Cross-references to related literature

[0002] This application claims priority to U.S. Provisional Application No. 62 / 942,959, filed on December 3, 2019, the entire contents of which are incorporated herein by reference. Technical Field

[0003] Various aspects of the present disclosure generally relate to medical device tracking systems, apparatus, and related methods. More specifically, at least some embodiments of the present disclosure relate to systems, apparatus, and related methods for locating one or more target sites within a patient's body during endoscopic surgery to facilitate placement of a medical device, among other aspects. Background Art

[0004] Technological advances have enabled users of medical systems, devices, and methods to perform increasingly complex procedures on subjects. One challenge in the field of minimally invasive surgery, such as endoscopy, is associated with cannulation of a target site within a patient's body, such as the ampullary opening to the common bile duct. Arranging a medical device at a precise location within a patient's body at a target site can be difficult due to a general lack of visibility of the target site and a lack of control over the placement of the medical device at the target site. Limitations in the stability of the medical device in placing the endoscope at the target treatment site in the patient can extend the duration of the procedure, limit its efficiency, and / or result in injury to the patient due to misplacement or instability of the medical device. There is a need for devices and methods that address one or more of these difficulties or other related problems. Summary of the Invention

[0005] Aspects of the present disclosure relate to, among other things, systems, apparatus, and methods for placing a medical device at a target treatment site with a medical system that includes target recognition logic.Each aspect disclosed herein may include one or more features described in relation to any other disclosed aspect.

[0006] According to one example, a medical system includes a medical device having an imaging device configured to capture an image of a target site. A location of the target site is determined based on the image. The medical device further includes a light source configured to illuminate the location of the target site, a processor, and a non-transitory computer-readable medium storing instructions that, when executed by the processor, cause the processor to move a sensor of the medical device toward the location of the target site based on the sensor detecting light at the target site.

[0007] Any of the medical systems described herein may have any of the following features. Based on the sensor detecting light at the target site, the sensor is movable relative to the imaging device toward the position of the target site. Instructions stored in a non-transitory computer-readable medium cause a processor to detect a change in the position of the imaging device relative to the target site, determine the position of the target site relative to the imaging device, and redirect light toward the position of the target site. The processor is configured to detect a change in the position of the imaging device relative to the target site based on images periodically captured by the imaging device. The processor is configured to compare the position of the target site with an original position of the target site to determine a position difference. The processor is configured to determine whether the position difference exceeds a preset threshold. The light source includes a source that generates a laser beam. The imaging device includes a camera. The medical system may include a medical device, wherein the sensor includes at least one of a photodetector, a photodiode, and a charged coupled device (CCD). The sensor is configured to generate a photodiode signal in response to detecting light at the target site. The intensity of the photodiode signal generated by the sensor includes a greater intensity when the sensor is located at a first distance from the light and a lesser intensity when the sensor is located at a second distance from the light. The first distance is less than the second distance. The medical device includes a mirror configured to reflect light generated by a light source to a location of a target site. The mirror is configured to move in response to a processor detecting a change in the position of an imaging device relative to the target site to redirect the light to the location of the target site. The mirror includes a micromirror (MEMs mirror) configured to reflect light along two axes. The mirror is positioned adjacent to the light source on the medical device. The processor is configured to generate a visual identifier along an image captured by the imaging device, the visual identifier indicating the location of the target site.

[0008] According to another example, a medical system includes a medical device comprising an imaging device configured to capture an image of a target site, and a light source configured to direct light onto the target site. The medical system includes a medical instrument movable relative to the medical device. The medical instrument includes a sensor configured to detect light on the target site. In response to the sensor detecting the light on the target site, the medical instrument is movable toward the target site.

[0009] Any of the medical systems described herein may have any of the following features. The medical system may include a processor configured to detect movement of a medical device relative to a target site based on images captured by an imaging device. The light source is configured to redirect light based on the detected movement of the medical device. The medical device is an endoscope or duodenoscope, and the medical instrument is a catheter.

[0010] According to another example, a method for moving a medical device toward a target site includes capturing an image of the target site with an imaging device. A first position of the target site is determined based on the image. The method includes emitting light from a light source toward the first position, detecting the light incident at the first position by a sensor of the medical device, and moving the medical device toward the target site based on the sensor detecting the light incident at the first position.

[0011] Any of the methods of using a medical system described herein may have any of the following steps and / or features: In response to detecting movement of a medical device within a target site, the method includes capturing an image of the target site with an imaging device to determine a second location of the target site, redirecting light from a light source to the second location, and moving the medical device toward the target site based on the sensor detecting light at the second location.

[0012] It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.

[0014] Figure 1 is a schematic diagram of an exemplary medical system according to various aspects of the present disclosure;

[0015] Figure 2 According to various aspects of the present disclosure, Figure 1 A partial three-dimensional diagram of medical equipment of a medical system;

[0016] Figure 3 According to various aspects of the present disclosure, Figure 1 A partial three-dimensional diagram of a medical device of a medical system;

[0017] Figure 4 According to aspects of the present disclosure, a Figure 1 Schematic diagram of the healthcare system;

[0018] Figure 5A is according to aspects of the present disclosure, including locating an image of a target region of a patient;

[0019] Figure 5B According to aspects of the present disclosure, comprising marking with a light beam Figure 5A An image of the target part;

[0020] Figure 5C is an aspect of the present disclosure, comprising marking an image of a target site with a light beam while the medical system is moved; and

[0021] Figure 6 According to aspects of the present disclosure, Figure 1 Block diagram of an exemplary method for locating a target site by a medical system. DETAILED DESCRIPTION

[0022] Embodiments of the present disclosure include systems, devices, and methods for positioning, tracking, and / or steering one or more tools or other medical devices at a target site within the body. Reference will now be made in detail to various aspects of the present disclosure, examples of which are illustrated in the accompanying drawings. Wherever possible, the same or similar reference numerals will be used in the drawings to refer to the same or similar components. The term "distal" refers to the portion of the device farthest from the user when introduced into the patient's body. Conversely, the term "proximal" refers to the portion of the device closest to the user when placed into the patient's body. As used herein, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus comprising a list of elements may not necessarily include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "exemplary" is used in the sense of "example," not "ideal." As used herein, the terms "about," "substantially," and "approximately" refer to a range of values ​​within + / - 10% of the stated value.

[0023] Embodiments of the present disclosure may be used to locate a target site using a medical system, such as, for example, a medical system having target recognition logic. For example, some embodiments combine an imaging device and a light source with a medical device to locate a target site. The imaging device may capture an image of the target site, and the light source may direct light onto the target site in response to the position of the target site identified based on the image. The target recognition logic of the medical system may detect movement of the medical device and responsively determine an adjusted position of the target site relative to the medical device, thereby redirecting light from the light source to the location of the target site.

[0024] Embodiments of the present disclosure may relate to devices and methods for performing various medical procedures and / or treatments on the large intestine (colon), small intestine, cecum, esophagus, any other portion of the gastrointestinal tract, and / or any other suitable portion of a patient's anatomy (collectively referred to herein as a "target treatment site"). Various embodiments described herein include single-use or disposable medical devices. Reference will now be made in detail to the examples of the present disclosure described above and shown in the accompanying drawings. Wherever possible, the same reference numerals will be used throughout the drawings to refer to the same or similar parts.

[0025] Figure 1A schematic depiction of an exemplary medical system 100 according to an embodiment of the present disclosure is shown. The medical system 100 may include an image processing device 102, a medical device 110, and a medical instrument 140. The image processing device 102 may be communicatively coupled to the medical device 110 via a cable 118. It should be understood that in other embodiments, the image processing device 102 may communicate wirelessly with the medical device 110. In an embodiment, the image processing device 102 is a computer system that includes multiple hardware components that enable the image processing device 102 to receive and monitor data, accurately display images of one or more features (e.g., a target area), and / or process other information described herein. Illustrative hardware components of the image processing device 102 may include at least one processor 104 and at least one memory 106.

[0026] The processor 104 of the image processing device 102 may include any computing device capable of executing machine-readable instructions, which may be stored on a non-transitory computer-readable medium, such as, for example, the memory 106 of the image processing device 102. By way of example, the processor 104 may include a controller, an integrated circuit, a microchip, a computer, and / or any other computer processing unit capable of performing the computational and logical operations required to execute a program. As described in greater detail herein, the processor 104 is configured to perform one or more operations based on instructions stored on the memory 106, such as, for example, the target recognition logic 108.

[0027] The memory 106 of the image processing device 102 is a non-transitory computer-readable medium on which machine-readable instructions are stored, such as, for example, target recognition logic 108. As described in further detail below, the target recognition logic 108 may include executable instructions that allow the medical device 110 to track the location of the target site so that the medical instrument 140 can lock and turn to perform one or more procedures on or near the target site. It should be understood that various programming algorithms and data that support the operation of the medical system 100 can be present in whole or in part in the memory 106. The memory 106 may include any type of computer-readable medium suitable for storing data and algorithms, such as, for example, random access memory (RAM), read-only memory (ROM), flash memory, a hard disk, and / or any device capable of storing machine-readable instructions. The memory 106 may include one or more data sets, including but not limited to image data 109 from one or more components of the medical system 100 (e.g., medical device 110, medical instrument 140, etc.).

[0028] Still refer to Figure 1, the medical device 110 can be configured to facilitate placement of one or more components of the medical system 100, such as, for example, a medical instrument 140, relative to a patient. In embodiments, the medical device 110 can be any type of endoscope and can include a handle 112, an actuation mechanism 114, at least one port 116, and a shaft 120. The handle 112 of the medical device 110 can have one or more lumens (not shown) that communicate with lumens of one or more other components of the medical system 100. The handle 112 further includes at least one port 116 that opens into the one or more lumens of the handle 112. As described in further detail herein, the at least one port 116 is sized and shaped to receive one or more instruments, for example, the medical instrument 140 of the medical system 100, therethrough.

[0029] The shaft 120 of the medical device 110 can include a sufficiently flexible tube such that the shaft 120 is configured to selectively bend, rotate, and / or twist when inserted into and / or through the tortuous anatomy of a patient to a target treatment site. The shaft 120 can have one or more lumens (not shown) extending therethrough, including, for example, a working lumen for receiving an instrument (e.g., the medical device 140). In other embodiments, the shaft 120 can include additional lumens, such as a control wire lumen for receiving one or more control wires to actuate one or more distal components / tools (e.g., including an articulating joint and an elevator), a fluid lumen for delivering fluid, an illumination lumen for receiving at least a portion of an illumination assembly (not shown), and / or an imaging lumen for receiving at least a portion of an imaging assembly (not shown).

[0030] Still refer to Figure 1 , the medical device 110 can further include a tip 122 located at the distal end of the shaft 120. In some embodiments, the tip 122 can be attached to the distal end of the shaft 120, while in other embodiments, the tip 122 can be integral with the shaft 120. For example, the tip 122 can include a cap configured to receive the distal end of the shaft 120 therein. The tip 122 can include one or more openings that communicate with one or more lumens of the shaft 120. For example, the tip 122 can include a working opening 124 through which the medical device 140 can exit the working lumen of the shaft 120. In other embodiments, the tip 122 of the shaft 120 can include additional and / or fewer openings therein, such as a fluid opening or nozzle through which fluid can be discharged from the fluid lumen of the shaft 120, an illumination opening / window through which light can be emitted, and / or an imaging opening / window for receiving light used by an imaging device to generate an image.

[0031] The actuation mechanism 114 of the medical device 110 is positioned on the handle 112 and may include one or more knobs, buttons, levers, switches, and / or other suitable actuators. The actuation mechanism 114 is configured to control at least one of the deflection of the shaft 120 (e.g., via actuation of a control wire), the delivery of fluids, the emission of illumination, and / or various imaging functions. As described in more detail herein, in some embodiments, the medical device 110 includes one or more control wires for driving an elevator 126 of the medical device 110 at the tip 122 (see FIG. Figure 2-3 Thus, a user of the medical device 110 can manipulate the actuation mechanism 114 to selectively apply at least one of a pulling force and a pushing force on one or more control wires to control the position of the elevator 126 and, thereby, the position of an instrument (e.g., the medical instrument 140) proximate to the elevator 126.

[0032] Still refer to Figure 1 The medical device 140 of the medical system 100 may include a catheter having a longitudinal body 142 disposed between a proximal end and a distal end 144 of the longitudinal body 142. A handle 141 is disposed at the proximal end of the longitudinal body 142. The longitudinal body 142 of the medical device is flexible such that the medical device 140 is configured to bend, rotate, and / or twist when inserted into the working lumen of the medical device 110. The handle 141 of the medical device 140 may be configured to move, rotate, and bend the longitudinal body 142. Furthermore, the handle 141 may define one or more ports (not shown) sized to receive one or more tools through the longitudinal body 142 of the medical device 140. The medical device 110 is configured to receive the medical device 140 via the at least one port 116 and through the shaft 120 via the working lumen to the working opening 124 at the tip 122. In this case, the medical device 140 may extend distally from the working opening 124 into the environment surrounding the tip 122, such as, for example, a target treatment site of a patient as described in further detail below. The distal end 144 of the medical device 140 can extend distally from the working opening 124 in response to translation of the longitudinal body 142 through the working lumen of the shaft 120. It should be understood that in other embodiments, the medical device 140 can include various other devices besides those shown and described herein, including but not limited to guidewires, cutting or grasping forceps, biopsy devices, loops, injection needles, cutting blades, scissors, retractable baskets, retrieval devices, ablation and / or electrophysiology catheters, stent placement devices, surgical suturing devices, balloon catheters, laser emitting devices, imaging devices, and / or any other suitable instruments.

[0033] Now refer to Figure 2, the tip 122 of the shaft 120 is depicted with the medical device 140 omitted from the working opening 124. The tip 122 includes an elevator 126 adjacent to the working opening 124 and partially disposed within the working cavity of the shaft 120. It should be understood that the elevator 126 is shown and described herein in an unactivated position and that the actuation mechanism 114 on the actuation handle 112 can extend the elevator 126 to the activated position (see FIG. Figure 3 As described in further detail below, the elevator 126 is configured to position an instrument (eg, medical instrument 140 ) received through the working lumen of the shaft 120 outwardly from the working opening 124 when in the actuated position.

[0034] The tip 122 of the medical device 110 further includes a light source 128, an imaging device 130, and a laser 132 disposed adjacent the working opening 124 of the shaft 120. In embodiments, the light source 128 of the medical device 110 is configured and operable to direct light outwardly from the tip 122 of the shaft 120 to illuminate the surroundings of the tip 122, such as, for example, a target treatment site of a patient where the medical device 110 may be located (see Figures 5A-5C ). The light source 128 may include a light emitter such as, for example, a light emitting diode (LED), etc. The imaging device 130 of the medical device 110 is configured and operable to capture images of the surroundings of the tip 122, such as, for example, a target treatment site of the patient (see Figures 5A-5C In some embodiments, imaging device 130 can include a camera capable of high-resolution imaging. It should be understood that in other embodiments, medical device 110 can completely omit imaging device 130 on tip 122, such that a separate imaging device can be received by medical device 110 via shaft 120.

[0035] Still refer to Figure 2 , the laser 132 of the medical device 110 is configured and operable to generate a light / laser beam outward from the tip 122 of the shaft 120. In some embodiments, the laser 132 is further configured to selectively direct the light / laser beam to a predetermined location, thereby marking the predetermined location with the light / laser beam. It should be understood that the light / laser beam generated by the laser 132 can be independently steerable relative to the light emitted by the light source 128 and / or any other component of the medical system 100. As further described below, a target site in the patient's body can be marked with the light / laser beam from the laser 132 so that the location of the target site can be tracked during use of the medical system 100 (see Figures 5A-5C ).

[0036] In some embodiments, the medical device 110 may further include a mirror positioned along and / or adjacent to the tip 122 of the shaft 120. The mirror of the medical device 110 may be positioned adjacent to the laser 132 to form an integral structure such that the mirror coincides with the beam emitted by the laser 132. In some embodiments, the mirror of the medical device 110 is configured and operable to selectively reflect the light / laser beam generated by the laser 132 to a predetermined location at the target site. The mirror of the medical device 110 is configured to move, pivot, translate, and / or rotate relative to the laser 132 and / or the tip 122 of the shaft 120 to redirect the light / laser beam to the predetermined location at the target site. In some embodiments, the mirror includes a micromirror (MEMS mirror) configured to reflect the light / laser beam along two axes (e.g., XY coordinate axes) and / or reflect the light / laser beam to an optical scanning angle of up to approximately 32 degrees. As described in further detail below, the predetermined location of the target site may be determined based on images (eg, image data 109 ) captured by the imaging device 128 of the medical device 110 .

[0037] like Figure 3 1 and 2. As shown, the medical device 140 is depicted extending outwardly from the tip 122 of the shaft 120 with the elevator 126 abuttingly engaged with the longitudinal body 142 of the medical device 140. When the elevator 126 is in the actuated position, the forward surface of the elevator 126 engages the longitudinal body 142 of the medical device 140, thereby deflecting the distal end 144 laterally outward from the working opening 124. In some embodiments, the forward surface of the elevator 126 has a curvature that facilitates deflection and / or bending of the longitudinal body 142 of the medical device 140. It should be understood that the elevator 126 may include many other shapes, sizes, and / or configurations than those shown and described herein without departing from the scope of the present disclosure.

[0038] The medical device 140 further includes a sensor 146 positioned along the longitudinal body 142 proximate the distal end 144. In embodiments, the sensor 146 can be located on a distal-facing surface and / or a distal-most surface of the medical device 140. The sensor 146 of the medical device 140 is configured to detect one or more objects, attributes, features, and / or characteristics present at and / or proximal to the distal end 144 of the medical device 140. For example, in some embodiments, the sensor 146 can be configured to detect light, such as light generated by the light source 128 of the medical device 110. In other embodiments, the sensor 146 can be configured to detect light / laser beams generated by the laser 132 of the medical device 110, such as a point at which the light / laser beam 132 is incident on a target site. The sensor 146 can include at least one of a photodetector, a photodiode, a charged coupled device (CCD), and / or various other suitable detectors.

[0039] In an embodiment, the sensor 146 comprises a four-quadrant photodiode configured to convert light into an electrical current. As described in greater detail herein, in an embodiment, the sensor 146 is configured and operable to identify a predetermined location of the target site in response to detecting the light / laser beam directed onto the target site by the laser 132 (see Figures 5A-5C In some embodiments, a sensor 146 can be positioned along the proximal end of the longitudinal body 142 of the handle 141 of the medical device 140 adjacent to a fiber that is communicatively coupled to the sensor 146 positioned adjacent to the distal end 144. In this case, the distal end 144 of the medical device 140 can have a relatively low profile. It should be understood that in other embodiments, the medical device 140 can entirely omit the sensor 146 on the distal end 144, such that a separate sensing device can be received by the medical device 140 through the longitudinal body 142, for example, via one or more guidewires.

[0040] Now combine Figure 6 Flowchart reference Figure 4-5C , schematically depicts an exemplary method 200 of using the medical system 100 to locate and access a target site. Figure 4-6 The description and accompanying explanation below are not meant to limit the subject matter described herein to a specific method.

[0041] In step 202 and as Figure 4 As shown, the medical device 110 of the medical system 100 can be inserted into the patient's body 10. The shaft 120 of the medical device 100 is guided through the patient's digestive tract by inserting the tip 122 into the nose or mouth (or other suitable natural body orifice) of the patient's body 10. In an embodiment, the medical device 110 is inserted through the gastrointestinal tract of the patient's body 10, including the esophagus 12, the stomach 16, and into the small intestine 18, until the target treatment site is reached. It should be understood that the length of the shaft 120 can be long enough so that the proximal end of the medical device 110 (including the handle 112) is outside the patient's body 10, while the tip 122 of the medical device 110 is inside the patient's body 10. Although the present disclosure relates to the use of the medical system 100 in the digestive tract of the patient's body 10, it should be understood that the features of the present disclosure can be used in various other locations within the patient's body 10 (e.g., other organs, tissues, etc.).

[0042] The shaft 120 of the medical device 110 can be extended into the patient's body 10 until it reaches a location where a tool disposed within the medical device 110, such as the medical instrument 140 of the medical system 100, can access a target treatment site. In an example where the medical device 110 is used to access and visualize various aspects of the pancreaticobiliary system, this location can be, for example, the duodenum of the small intestine 18. In such an example, the target site can be the ampulla of Vater / papilla of Vater 22 located in a portion of the duodenum of the small intestine 18. It should be understood that the ampulla of Vater / papilla of Vater 22 generally forms an opening into which the pancreatic duct and common bile duct 20 empty into the duodenum of the small intestine 18, and the hepatic duct and gallbladder empty into the common bile duct 20.

[0043] Still refer to Figure 4 , when the tip 122 of the shaft 120 is located proximal to the target site (e.g., the ampulla of Vater 22), the medical device 140 of the medical system 100 can be slidably received within the medical device 110, thereby positioning the distal end 144 proximal to the target site. In response to actuation of the handle 142, the medical device 140 is advanced into the port 106 and through the shaft 120 to the tip 122. It should be understood that in other embodiments, the medical device 140 can be received by the medical device 110 before the shaft 120 is inserted through the patient's body 10 at step 202.

[0044] In some embodiments, the tip 122 may need to be rotated near the target site to facilitate placement of the working opening 124 at the target site. For example, the distal end 144 of the medical device 140 may need to be rotated by the elevator 126 ( Figure 3 ) reaches the Ampulla of Vater / nipple 22 when deflected outward from the working opening 124. In this case, the tip 122 of the shaft 120 can be rotated until the working opening 124 is directly opposite the Ampulla of Vater / nipple 22, and the medical instrument 140 can be removed from the medical device 110 through the working opening 124. The tip 122 and / or the shaft 120 can be rotated in response to actuating the actuating mechanism 114 on the handle 112 and / or rotation can be provided by rotating all of the handles 112, and the relative orientation and / or position of the tip 122 can be identified in response to actuating the imaging device 130 on the tip 122.

[0045] At step 204, with the working opening 124 on the tip 122 facing the target site, the surrounding environment of the target site may be illuminated in response to activating the light source 128. It should be understood that in other embodiments, the light source 128 may already be activated to direct light outward from the tip 122, for example, before and / or while the medical device 110 is inserted into the patient's body 10 at step 202.

[0046] At step 206, with the target site illuminated by the light source 128, the processor 104 of the image processing device 102 executes the target recognition logic 108 to activate the imaging device 130 of the medical device 110. Accordingly, the imaging device 130 captures an image of the target site. With the imaging device 130 facing the target site (e.g., the ampulla of Vater 22), an image of the location of the target site can be obtained by the medical device 110 and communicated to the image processing device 102 for storage in the memory 106 as image data 109.

[0047] In step 208 and with reference to Figure 5A , using image data 109 received from the medical device 110 and stored in the memory 106, the processor 104 of the image processing device 102 executes the target recognition logic 108 to determine a first position 52A of a target site (e.g., the ampulla of Vater 22 within the small intestine 18) relative to the imaging device 130 on the tip 122. The processor 104 analyzes the image data 109 captured by the imaging device 130 and, in accordance with machine-readable instructions executing the target recognition logic 108, determines the coordinate position of the target site relative to the tip 122. Alternatively, in other embodiments, a user of the medical system 100 can manually identify the first position 52A of the target site based on the image data 109, such as, for example, via a touch screen user interface display (not shown) communicatively coupled to the image processing device 102.

[0048] In some embodiments, the processor 104, when executing the target recognition logic 108, may generate a visual identifier (e.g., a highlight, a geometric figure, an arrow, etc.) at the first location 52A, thereby visually designating the first location 52A of the target site for reference. Figure 5A As shown, to visually designate the target site in the image data 109, the visual identifier of the first location 52A may include a box and / or an “X” superimposed on the image of the target site. The visual identifier of the first location 52A may be displayed on a user interface display (not shown) communicatively coupled to the image processing device 102. Alternatively, in other embodiments, a user of the medical system 100 may manually mark the first location 52A of the target site with a visual identifier based on the image data 109, such as, for example, via a touch screen user interface display (not shown) communicatively coupled to the image processing device 102. In this case, the processor 104 may analyze the image data 109 to determine the first location 52A of the target site based on the manual marking and / or identification by the user of the medical system 100 for continued tracking in subsequent images of the target site.

[0049] In step 210 and with reference to Figure 5BAfter determining the first location 52A of the target site relative to the tip 122, the processor 104 of the image processing device 102 executes the target recognition logic 108 to mark the first location 52A of the target site with the light / laser beam 134 by actuating the laser 132 of the medical device 110. The processor 104, in accordance with the machine-readable instructions executing the target recognition logic 108, actuates the mirror of the medical device 110 to reflect the light / laser beam 134 generated by the laser 132, thereby redirecting the light / laser beam 132 to the first location 52A of the target site.

[0050] At step 212 and still referring to Figure 5B , with the light / laser beam 134 of the laser 132 directed (e.g., via a mirror) to a first position 52A at a target site (e.g., the ampulla of Vater 22), the medical device 140 can be moved toward the target site in response to the sensor 146 detecting the light / laser beam 132. The handle 141 of the medical device 140 can be actuated to automatically translate the longitudinal body 142 through the working lumen of the shaft 120 to position the distal end 144 adjacent to the target site. Accordingly, the medical device 110 tracks the first position 52A of the target site to allow the medical device 140 to lock onto the first position 52A with the sensor 146 and autonomously steer the distal end 144 toward the target site to perform one or more procedures thereon, such as, for example, cannulating the ampulla duct opening 22 of the common bile duct 20.

[0051] Where sensor 146 is positioned along distal end 144, sensor 146 is configured to generate feedback in response to detecting the light / laser beam 132 incident upon a target site relative to distal end 144. In some embodiments, sensor 146 comprises a photodiode configured to convert the light / laser beam 134 into an electrical current, such that the feedback generated by sensor 146 comprises a photodiode signal that is transmitted to a user of medical device 140. The intensity of the photodiode signal generated by sensor 146 can indicate the spatial (e.g., three-dimensional) proximity of sensor 146 to the point of incidence of light / laser beam 134. Thus, where light / laser beam 134 is directed to first location 52A of a target site, it will be appreciated that the intensity of the photodiode signal generated by sensor 146 can increase as the distance between distal end 144 of medical device 140 and the target site decreases because sensor 146 can detect light / laser beam 132 at a relatively close proximity.

[0052] It should be further understood that the intensity (e.g., intensity variation) of the photodiode signal generated by the sensor 146 can decrease as the distance between the distal end 144 of the medical device 140 and the target site increases because the sensor 146 can detect the light / laser beam 132 at a relatively greater proximity. Although the sensor 146 in the embodiments described herein comprises a photodiode or CCD configured to generate feedback in the form of a photodiode signal in response to detecting the light / laser beam 132, it should be understood that various other suitable sensors and / or forms of feedback may be generated by the sensor on the medical device 140 without departing from the scope of the present disclosure.

[0053] In some embodiments, the medical device 140 may include a processor and memory similar to the processor 104 and memory 106 of the image processing device 102 shown and described above. In this case, the processor of the medical device 140, while executing target recognition logic stored in the memory of the medical device 140, may provide autonomous steering of the medical device 140 relative to the first location 52A of the target site by tracking the light / laser beam 134 with the sensor 146. In other embodiments, the medical device 140 may be manually navigated to the first location 52A of the target site by a user of the medical system 100 by visually tracking the position of the distal end 144 relative to the first location 52A via a user interface display (not shown). In this case, the user may visually navigate the distal end 144 of the medical device 140 toward a visual identifier generated by the light / laser beam 132. By way of illustrative example only, the distal end 144 of the medical device 140 may be displayed on the user interface display by a visual identifier, such as, for example, a crosshair superimposed on the user interface display indicating the position of the distal end 144. Furthermore, feedback generated by the sensor 146 may be utilized in addition to and / or in place of a user interface display to manually steer the medical instrument 140 toward the first position 52A of the target site.

[0054] In some cases, at step 212, as the medical device 140 is moved toward the target site, the medical device 110 of the medical system 100 may intentionally and / or unintentionally move relative to the target site during the procedure. This movement may occur due to difficulty in maintaining the stability of the medical device 110 during the procedure. In such cases, the position of the target site (e.g., the Ampulla of Vater 22) relative to the tip 122 of the shaft 120 and / or the distal end 144 of the medical device 140 may be modified and / or change relative to the initial corresponding position between the target site and the medical device 110. Consequently, at step 206, the image data 109 initially acquired by the medical system 100 may include inaccuracies and / or deficiencies in providing the current position of the target site (e.g., the Ampulla of Vater 22). As a result, the distal end 144 of the medical device 140 continues to move toward the first position 52A, as initially determined by the processor 104 of the imaging processing device 102 at step 208, which may not allow the user of the medical system 100 to fully access the target site.

[0055] At step 214 and with reference to Figure 5C In response to the processor 104 of the image processing device 102 detecting movement of the medical device 110 relative to the target site (e.g., the ampulla of Vater 22), the processor 104 may execute the target recognition logic 108 to actuate the imaging device 130 to obtain updated image data 109 of the target site. In some embodiments, when executing the target recognition logic 108, the processor 104 of the image processing device 102 may be configured to determine whether the medical device 110 has moved relative to the target site by periodically capturing images with the imaging device 130 and comparing them with the image data 109 stored in the memory 106 in step 206. Thus, movement of the medical device 110 relative to the target site may be determined based on a positional difference between the first position 52A and the detected position of the target site being equal to or greater than a preset threshold (e.g., millimeters, micrometers, nanometers, etc.).

[0056] In this case, upon determining that the recorded position of the first location 52A has changed relative to the position of the target site detected via the periodically captured images, the processor 104 of the image processing system 102 repeats steps 206, 208, 210, and 212 of the above-described method 200. The processor 104 executes the target recognition logic 108 to capture an image of the target site (e.g., image data 109) at step 206, determine a second location 52B of the target site (e.g., the ampulla of Vater 22) at step 208, and mark the second location 52B with the light / laser beam 134 at step 210. It should be understood that the method 200 performs these steps substantially similar to those shown and described above to facilitate locating the target site using the medical system 100 based on the new, second location 52B of the target site.

[0057] In other embodiments, the image processing device 102 of the medical system 100 can be communicatively coupled to a remote station (not shown) in order to dynamically update the target recognition logic 108 stored in the memory 106. By way of illustrative example, the image processing device 102 can be operated to receive neural network data from the remote station (e.g., a computer server), such as, for example, via a wired and / or wireless connection. The neural network data received by the image processing device 102 can include supplemental image data 109 recorded from multiple previous procedures, devices, systems, etc., similar to the image data 109 shown and described above. Such image data can be from multiple different patients, acquired over time, with the same or similar patient anatomy. The supplemental image data 109 can be stored in the memory 106 and used by the processor 104 of the image processing device 102 to manually determine and / or identify common physical attributes and / or features of one or more target locations, such as, for example, the ampulla of Vater 22 within the small intestine 18, the ampulla duct opening 22 of the common bile duct 20, etc.

[0058] In an embodiment, when executing the machine-readable instructions of the target recognition logic 108, the processor 104 of the image processing device 102 may refer to the supplemental image data 109 when analyzing the image data 109 captured by the imaging device 130 of the medical device 110 to determine the first location 52A of the target site (e.g., the ampulla of Vater 22 within the small intestine 18). Therefore, it should be understood that the supplemental image data 109 may facilitate determining the coordinate position of the target site relative to the medical device 110 during surgery by providing the image processing device 102 with additional data for artificially learning the size, shape, and / or configuration of similar target sites.

[0059] Each of the aforementioned devices, components, and methods can be used to detect, mark, and track the location of a target site. By providing a medical component, a user can utilize artificial intelligence software within an image processing device to accurately interact with the patient's tissue during surgery, thereby reducing overall surgical time, improving surgical efficiency, and avoiding unnecessary harm to the patient's body due to a lack of control over the movement and placement of the medical device when accessing the patient's target tissue.

[0060] It will be apparent to those skilled in the art that various modifications and variations may be made to the disclosed apparatus and methods without departing from the scope of the present disclosure. It should be understood that the disclosed apparatus may include various suitable computer systems and / or computing units comprising a plurality of hardware components, such as, for example, a processor and a non-transitory computer-readable medium, which allow the apparatus to perform one or more operations as described herein during a surgical procedure. Other aspects of the present disclosure will be apparent to those skilled in the art by consideration of the specification and practice of the features disclosed herein. The present specification and examples are to be considered as exemplary only.

Claims

1. A medical system, comprising: Medical equipment, comprising: an imaging device configured to capture an image of a target site, wherein a location of the target site is determined based on the image; a light source configured to direct light to the location of the target site; a mirror configured to reflect the light generated by the light source to the location of the target site; as well as a medical device slidably received in the medical apparatus, the medical device comprising a sensor configured to detect light at the target site; an image processing device communicatively coupled to the medical device, the image processing device comprising a processor and a non-transitory computer-readable medium storing instructions that, when executed by the processor, cause the processor to move the sensor toward the position of the target site based on the sensor detecting light at the target site.

2. The medical system of claim 1 , wherein the instructions stored in a non-transitory computer-readable medium cause the processor to: detecting a change in the position of the imaging device relative to the target site; determining the position of the target site relative to the imaging device; and The mirror is actuated to redirect the light to the location of the target site.

3. The medical system of claim 2, wherein the processor is configured to detect a change in position of the imaging device relative to the target site based on images periodically captured by the imaging device; and Wherein the processor is configured to compare the position of the target site with an original position of the target site to determine a position difference. The medical system of claim 3 , wherein the processor is configured to determine whether the position difference exceeds a preset threshold.

5. The medical system of claim 1, wherein the light source comprises a source that produces a laser beam. The medical system of claim 1 , wherein the imaging device comprises a camera.

7. The medical system of claim 1, wherein the sensor comprises at least one of a photodetector, a photodiode, and a charged coupled device (CCD).

8. The medical system of claim 7, wherein the sensor is configured to generate a photodiode signal in response to detecting the light at the target site.

9. The medical system of claim 8, wherein an intensity of the photodiode signal generated by the sensor comprises a greater intensity when the sensor is located at a first distance from the light and comprises a lesser intensity when the sensor is located at a second distance from the light; and The first distance is smaller than the second distance.

10. The medical system of claim 1, wherein the mirror is configured to move in response to the processor detecting a change in position of the imaging device relative to the target site to redirect the light to the location of the target site.

11. The medical system of claim 1 , wherein the mirror comprises a micromirror configured to reflect the light along two axes.

12. The medical system of claim 1, wherein the mirror is positioned adjacent to the light source on the medical device.

13. The medical system of claim 1, wherein the processor is configured to execute the instructions to generate a visual identifier along with the image captured by the imaging device, the visual identifier indicating the location of the target site.

Images