Variation to target distance in spectral distribution
By dynamically measuring the gap between the optical fiber and the target area and changing the laser spectral distribution, the problem of improper optical fiber absorption in laser therapy was solved, thus improving treatment efficiency and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- GYRUS ACMI INC
- Filing Date
- 2024-09-04
- Publication Date
- 2026-04-21
AI Technical Summary
In laser treatment surgery, existing technologies struggle to effectively manage the absorption of the treatment laser between the optical fiber and the target area, leading to fiber degradation or low treatment efficiency.
By dynamically measuring the distance between the distal end of the optical fiber and the target area, and using a controller to dynamically change the spectral distribution of the treatment laser based on the measurement results, an appropriate spectral region is selected to reduce or increase the absorption of the medium, and lasers of different wavelengths are activated at different distances.
It improves the efficiency and safety of laser treatment, avoids fiber optic degradation, and reduces treatment time.
Smart Images
Figure CN121908998A_ABST
Abstract
Description
[0001] Cross-references to related applications
[0002] This application claims the benefit of U.S. Provisional Application No. 63 / 581,802, filed September 11, 2023, the entire contents of which are incorporated herein by reference. Technical Field
[0003] This article generally deals with surgical systems, such as endoscopic systems. Background Technology
[0004] Operators (such as physicians, practitioners, or users) can use endoscopes to provide visual observation of internal parts of a patient's body. The operator can insert the endoscope into the patient's body. The endoscope delivers light to the target being examined, such as the target anatomical structure or object. The endoscope collects the light reflected from the target. The reflected light can carry information about the target being examined.
[0005] Endoscopes may include a working channel. In some examples, the operator can perform aspiration through the working channel. In some examples, the operator can pass instruments such as brushes, biopsy needles, or forceps through the working channel. In some examples, the operator can perform minimally invasive procedures through the working channel, such as removing unwanted tissue or foreign bodies from the patient's body.
[0006] Endoscopes can use laser or plasma systems to perform laser treatments such as ablation, coagulation, vaporization, fragmentation, and lithotripsy. In laser treatment, the operator can use an endoscope to deliver surgical laser energy to various target treatment areas, such as soft or hard tissue. In lithotripsy, the operator can use an endoscope to deliver surgical laser energy to break down stone structures in the patient's kidneys, gallbladder, ureters, or other stone-forming areas, or to ablate large stones into smaller fragments. Summary of the Invention
[0007] In an example, a surgical system may include: a light source configured to generate a therapeutic laser and controllably change the spectral distribution of the therapeutic laser; an optical fiber having a distal end configured to deliver the therapeutic laser to a target site; a distance sensor configured to repeatedly measure a time-varying distance value corresponding to a time-varying interval between the distal end of the optical fiber and the target site; and a controller configured to cause the light source to temporarily change the spectral distribution of the therapeutic laser in response to the time-varying distance value.
[0008] In an example, a method for operating a surgical system may include: generating a therapeutic laser using a light source having a variable spectral distribution; propagating the therapeutic laser distally along the length of an optical fiber; propagating the therapeutic laser from the distal end of the optical fiber to a target site; repeatedly measuring a time-varying distance value corresponding to a time-varying interval between the distal end of the optical fiber and the target site; and temporarily altering the spectral distribution of the therapeutic laser in response to the time-varying distance value.
[0009] In an example, a surgical system may include: a light source configured to generate a therapeutic laser comprising one of a first light or a second light, the light source including a first laser configured to emit the first light at a first wavelength and a second laser configured to emit the second light at a second wavelength, water having a first absorption coefficient at the first wavelength and a second absorption coefficient at the second wavelength, the first absorption coefficient being greater than the second absorption coefficient; an optical fiber having a distal end configured to deliver the therapeutic laser to a target site; a distance sensor configured to repeatedly measure time-varying distance values corresponding to time-varying intervals between the distal end of the optical fiber and the target site; and a controller configured to: compare each measured value of the time-varying distance value with the specified distance threshold; when the time-varying distance value is less than the specified distance threshold, enable the first laser of the light source while disabling the second laser, such that the therapeutic laser has a first wavelength; and when the time-varying distance value is greater than the specified distance threshold, enable the second laser of the light source while disabling the first laser, such that the therapeutic laser has a second wavelength. Attached Figure Description
[0010] Various embodiments are illustrated by way of example in the accompanying drawings. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the subject matter.
[0011] Figure 1 A side view schematic diagram of an example surgical system including an endoscope is shown.
[0012] Figure 2 It shows the applicable Figure 1 A side view schematic diagram of an example of a beam splitter in a surgical system.
[0013] Figure 3 It shows the applicable Figure 1 A side view schematic diagram of an example of a beam splitter in a surgical system.
[0014] Figure 4 A flowchart illustrating an example of a method for operating a surgical system is shown.
[0015] Figure 5A schematic diagram of an example of a computer-based clinical decision support system (CDSS) is shown, which is configured to provide selection of a spectral distribution from multiple (predefined) spectral distributions based on the measurement interval between the distal end of an optical fiber and the target site. Detailed Implementation
[0016] In laser treatment procedures, physicians can position the distal end of an endoscope close to a target such as a kidney stone. The endoscope may include an optical fiber that can deliver the treatment laser to the target, for example, via its distal end. During treatment, dynamically monitoring the distance between the distal end of the fiber and the target can be beneficial. For example, if the distal end of the fiber is positioned too close to the target, it can cause a condition known as flash, which may degrade the distal end of the fiber. Similarly, if the distal end of the fiber is positioned too far from the target, a large portion of the treatment laser may be absorbed before reaching the target, potentially reducing the efficiency of the laser treatment procedure or causing it to take longer.
[0017] To address the absorption issue during the propagation of therapeutic lasers from an optical fiber to a target, an endoscope can dynamically measure the distance between the distal end of the fiber and the target, and dynamically adjust the spectral distribution of the therapeutic laser based on the measured distance. For example, when the distance is relatively large, absorption during propagation may be significant, and the endoscope can select a spectral distribution with relatively low absorption in the propagation medium between the fiber and the target. Similarly, when the distance is relatively small, absorption during propagation may become less significant, and the endoscope can select a spectral distribution with relatively high absorption in the propagation medium between the fiber and the target. In some examples, the endoscope may include a controller that causes the light source to change the spectral distribution of the therapeutic laser over time in response to a time-varying distance value. In some examples, the light source may include a first laser that is activated only when the time-varying distance value is less than a specified distance threshold and a second laser of a different wavelength that is activated only when the time-varying distance value is greater than the specified distance threshold.
[0018] Figure 1 A side view schematic diagram of an example of a surgical system 100 including an endoscope 102 is shown. Figure 1 The configuration shown is just one example of a surgical system; other configurations may also be used.
[0019] Endoscope 102 may include an elongated body portion extending between a proximal end 102P and a distal end 102D. The precise shape of the elongated body portion may depend on the medical procedure for which endoscope 102 is originally designed. For simplicity, the elongated body portion is shown as a cylinder with a circular cross-section orthogonal to the direction of elongation. Other suitable shapes may also be used.
[0020] The surgical system 100 may include a light source 104 that generates a therapeutic laser (L) and controllably alters the spectral distribution of the therapeutic laser (L). The surgical system 100 may include an optical fiber 106 having a distal end 106D that delivers the therapeutic laser (L) to a target site 108. The surgical system 100 may include a distance sensor 110 that repeatedly measures a time-varying distance value (Z) corresponding to a time-varying interval between the distal end 106D of the optical fiber 106 and the target site 108. The surgical system 100 may include a controller 112 that causes the light source 104 to temporarily alter the spectral distribution of the therapeutic laser (L) in response to the time-varying distance value (Z). The light source 104, optical fiber 106, distance sensor 110, and controller 112 will now be described in more detail.
[0021] Light source 104 can generate a therapeutic laser (L) and controllably change the spectral distribution of the therapeutic laser (L). For example, light source 104 can receive an electrical spectral distribution control signal 114 from controller 112, and in response, can generate a therapeutic laser (L) having one of a specified number of spectral distributions. For a propagation medium (M), such as water, positioned between the distal end 106D of optical fiber 106 and the target site 108, the spectral distribution can correspond to spectral regions with different absorption coefficients (given in reciprocals of length) or absorptivity. Controller 112 can select a spectral region suitable for the instantaneous (or near-instantaneous) physical conditions during the procedure.
[0022] For example, if the distal end 106D of the optical fiber 106 is relatively far from the target site 108, the therapeutic laser (L) can propagate through a relatively long distance in the propagation medium (M). In these cases, it may be desirable to select a spectral region of the propagation medium (M) with a relatively low absorption coefficient or absorptivity to reduce the amount of therapeutic laser (L) lost due to absorption before it reaches the target site 108.
[0023] Similarly, if the distal end 106D of the optical fiber 106 is relatively close to the target site 108, the therapeutic laser (L) can propagate through a relatively short distance in the propagation medium (M). In these cases, higher absorption (per unit propagation distance) in the propagation medium (M) can be tolerated because the therapeutic laser (L) propagates over a shorter distance. In these cases, it may be desirable to select a spectral region of the propagation medium (M) with a relatively high absorption coefficient. For examples where the propagation medium (M) is water or primarily water, the target site 108 may also comprise a majority of water, and using a spectral region where water has a relatively high absorption coefficient can improve efficiency during ablation of the target site 108.
[0024] In some examples, where the first spectral region corresponds to a relatively small distance propagated in the propagation medium (M) and the second spectral region corresponds to a relatively large distance propagated in the propagation medium (M), the first spectral region may have a relatively high absorption coefficient, and the second spectral region may have a relatively low absorption coefficient. In other words, the propagation medium (M) may have a first absorption coefficient in the first spectral region and a second absorption coefficient in the second spectral region, wherein the first absorption coefficient may be greater than the second absorption coefficient.
[0025] In some examples, light source 104 may include a first laser 122 capable of emitting a first light of a first wavelength (λ1) and a second laser 124 capable of emitting a second light of a second wavelength (λ2). In some examples, the first wavelength (λ1) may be about 1.9 micrometers, such as between about 1810 nm and about 2100 nm, between about 1900 nm and about 2000 nm, or about 1940 nm. In some examples, the first laser 122 may include a thulium fiber laser. In some examples, the second wavelength (λ2) may be about 2.1 micrometers, such as between about 2100 nm and about 2140 nm, or about 2100 nm. In some examples, the second laser 124 may include a holmium-yttrium aluminum garnet (Ho:YAG) laser. Other wavelengths and / or wavelength ranges may also be used. Other laser types may also be used.
[0026] In some examples, the first spectral distribution may consist only of the first light. In some examples, the second spectral distribution may consist only of the second light. For an example in which the light source 104 includes a first laser 122 capable of emitting first light of a first wavelength (λ1) and a second laser 124 capable of emitting second light of a second wavelength (λ2), the light source 104 may power the first laser 122 instead of the second laser 124 to form a therapeutic laser (L) having the first spectral distribution, and power the second laser 124 instead of the first laser 122 to form a therapeutic laser (L) having the second spectral distribution.
[0027] In some examples, the surgical system 100 may also include a beam splitter 126. The beam splitter 126 may combine more first light than second light to generate a first spectral distribution, and combine more second light than first light to generate a second spectral distribution.
[0028] Figure 2 It shows the applicable Figure 1 A side view schematic diagram of an example of a beam splitter 126A of a surgical system 100. Figure 2 The configuration shown is just one example of the beam splitter 126A; other configurations can also be used.
[0029] exist Figure 2 In the example, beam splitter 126A may include a dichroic beam splitter. For example, for a configuration with a first wavelength of approximately 1.9 micrometers and a second wavelength of approximately 2.1 micrometers, the dichroic beam splitter may reflect most or all of the light at approximately 1.9 micrometers (or approximately 2.1 micrometers) and transmit most or all of the light at approximately 2.1 micrometers (or approximately 1.9 micrometers). Beam splitter 126A may define a first optical path 202 extending from the first laser 122 to beam splitter 126A and further to the distal end 106D of optical fiber 106. The therapeutic laser (L) may propagate along the first optical path 202. Beam splitter 126A may also define a second optical path 204 extending from the second laser 124 to beam splitter 126A and further to the distal end 106D of optical fiber 106. The therapeutic laser (L) may propagate along the second optical path 204. Other suitable beam splitter configurations may also be used, including wavelength-insensitive, 50-50, fiber-based beam splitters, etc.
[0030] Figure 3 It shows the applicable Figure 1 A side view schematic diagram of an example of the beam splitter 126B of the surgical system 100. Figure 3 The configuration shown is just one example of the beam splitter 126B; other configurations can also be used.
[0031] exist Figure 3 In the example, beam splitter 126B may include at least one movable mirror. For example, at least one movable mirror may receive a movable mirror signal 128 from controller 112. Figure 1 In response, the movable mirror signal 128 moves to a position forming an optical path between one of the lasers 122, 124 and the optical fiber 106. In some examples, the movable mirror signal 128 may be an electrically movable mirror signal. The beam splitter 126B may define a first optical path 202 extending from the first laser 122 to the beam splitter 126B and further to the distal end 106D of the optical fiber 106. The therapeutic laser (L) may propagate along the first optical path 202. The beam splitter 126B may also define a second optical path 204 extending from the second laser 124 to the beam splitter 126B and further to the distal end 106D of the optical fiber 106. The therapeutic laser (L) may propagate along the second optical path 204. Other suitable movable mirror configurations may also be used, including mirrors that can be rotated, translated, rotated and translated, etc.
[0032] return Figure 1In some examples, the surgical system 100 may include a single optical fiber 106 extending along the length of the endoscope 102, and may include a beam splitter 126 that can guide a therapeutic laser (L) of appropriate wavelength along an optical path to the distal end 106D of the optical fiber 106 extending along the length of the optical fiber 106. In some examples, the surgical system 100 may include multiple optical fibers 106 extending parallel to each other along the length of the endoscope 102, each optical fiber 106 being configured to deliver a therapeutic laser (L) of a corresponding wavelength (λ) to a target site 108.
[0033] Distance sensor 110 can repeatedly measure time-varying distance values (Z) corresponding to time-varying intervals between the distal end 106D of optical fiber 106 and target portion 108. In some examples, distance sensor 110 can measure time-varying distance values (Z) discretely at regular or irregular time intervals. In some examples, distance sensor 110 can measure time-varying distance values (Z) continuously. In some examples, distance sensor 110 may include an optical sensor that can direct electromagnetic energy toward target portion 108, capture reflected electromagnetic energy reflected from target portion 108, and determine the time-varying distance value (Z) based on the captured reflected electromagnetic energy.
[0034] In some examples, such as Figure 1 In the configuration shown, the distance sensor 110 can be separated from the optical fiber 106 and the target portion 108. In some examples, the distance sensor 110 can direct electromagnetic energy toward the target portion 108 via the optical fiber 106, such as by generating distance sensor light at the light source 104 and using a beam splitter, such as beam splitter 126, to direct the distance sensor light distally toward the target portion 108 along the optical fiber 106.
[0035] In some examples, such as Figure 1 As shown in the configuration, distance sensor 110 can use a detector separate from optical fiber 106 to capture reflected electromagnetic energy. In some examples, distance sensor 110 can capture reflected electromagnetic energy via optical fiber 106, such as by including one or more sensors in a housing including light source 104 and using a beam splitter such as beam splitter 126 to direct the reflected electromagnetic energy to one or more sensors.
[0036] In some examples, the optical sensor may include a time-of-flight sensor that can determine a time-varying distance value (Z) from the arrival time of reflected electromagnetic energy. For example, the time-of-flight sensor may be a light detection and ranging (LIDAR) system using light or electromagnetic radiation of a suitable wavelength. Another suitable time-of-flight sensor may utilize frequency-modulated continuous wave (FMCW) radiation, which can use continuous (e.g., non-pulsed) light, and in which distance is proportional to the frequency difference being measured. Another suitable time-of-flight sensor may utilize dual-comb radiation, which can use two light sources with regularly spaced frequency components, where the frequency interval is slightly different for the two light sources. In some examples, distance sensor 110 may include a camera that can capture an image of target location 108 and determine a time-varying distance value (Z) from the captured image. In some examples, distance sensor 110 may include an acoustic device that can direct acoustic energy toward target location 108, capture reflected acoustic energy reflected from target location 108, and determine a time-varying distance value (Z) from the captured reflected acoustic energy. For example, the acoustic device may be an acoustic imager. These are merely examples; other suitable distance sensors may also be used.
[0037] The controller 112 can cause the light source 104 to change the spectral distribution of the therapeutic laser (L) over time in response to a time-varying distance value (Z). For example, the controller 112 can apply one or more criteria to the time-varying distance value (Z) to determine whether the distal end 106D of the fiber optic cable 106 is relatively close to or relatively far from the target site 108, and in response, cause the light source 104 to generate a therapeutic laser (L) with a first spectral distribution or a second spectral distribution. In some examples, the controller 112 can compare each measurement of the time-varying distance value (Z) with a specified distance threshold (Z0). When the time-varying distance value (Z) is less than the specified distance threshold (Z0), the controller 112 can cause the light source 104 to generate a therapeutic laser (L) with a first spectral distribution. When the time-varying distance value (Z) is greater than the specified distance threshold (Z0), the controller 112 can cause the light source 104 to generate a therapeutic laser (L) with a second spectral distribution different from the first spectral distribution.
[0038] In some examples, the specified distance threshold (Z0) can be user-selectable. For example, the specified distance threshold (Z0) can be selected by the user based on the stone type and / or tissue type. The stone type and / or tissue type can be automatically identified by the surgical system 100, such as by performing spectral analysis on one or more images captured by a camera at the distal end 102D of the endoscope 102. Additionally or alternatively, the stone type and / or tissue type can be manually identified by the user, such as by inputting information to the controller 112. As another example, the specified distance threshold (Z0) can be selected by the user based on the technique used to remove the stone. For example, two such removal techniques are pulverization and fragmentation. The user can automatically or manually select the specified distance threshold (Z0) based on the removal technique. Other criteria can also be applied to select the specified distance threshold (Z0).
[0039] In some examples, when the time-varying distance value (Z) is less than a specified distance threshold (Z0), controller 112 may automatically activate the first laser 122 instead of the second laser 124. In some examples, when the time-varying distance value (Z) is greater than the specified distance threshold (Z0), controller 112 may automatically activate the second laser 124 instead of the first laser 122. In some examples, controller 112 may automatically select which laser to activate based on spectral analysis of one or more images captured by a camera at the distal end 102D of endoscope 102. In some examples, controller 112 may automatically adjust the specified distance threshold (Z0) based on spectral analysis of one or more images captured by a camera at the distal end 102D of endoscope 102.
[0040] In some examples, controller 112 may trigger alarm 130 to the user via electrical alarm activation signal 132 when one of the first laser 122 or the second laser 124 becomes either enabled or disabled. In some examples, alarm 130 may include a visual alarm, such as a series of LEDs or colored LEDs. In some examples, alarm 130 may include a speaker configured to generate an audible alarm, such as a buzzer. In some examples, alarm 130 may include both visual and audible alarms. Other suitable alarms may also be used.
[0041] In some examples, more than two wavelengths or wavelength ranges may be used. In some examples, more than one specified distance threshold may also be used.
[0042] In a specific example, the surgical system 100 may include a light source 104 that generates a therapeutic laser (L) comprising either a first light or a second light. The light source 104 may include a first laser 122 capable of emitting the first light at a first wavelength (λ1) and a second laser 124 capable of emitting the second light at a second wavelength (λ2). Water has a first absorption coefficient at the first wavelength (λ1). Water has a second absorption coefficient at the second wavelength (λ2). The first absorption coefficient may be greater than the second absorption coefficient. The surgical system 100 may include an optical fiber 106 having a distal end 106D that delivers the therapeutic laser (L) to a target site 108. The surgical system 100 may include a distance sensor 110 that repeatedly measures a time-varying distance value (Z) corresponding to a time-varying interval between the distal end 106D of the optical fiber 106 and the target site 108. The surgical system 100 may include a controller 112. The controller 112 may compare each measurement of the time-varying distance value (Z) with a specified distance threshold (Z0). When the time-varying distance value (Z) is less than a specified distance threshold (Z0), the controller 112 can enable the light source 104 to activate the first laser 122 instead of the second laser 124, so that the treatment laser (L) has a first wavelength (λ1). When the time-varying distance value (Z) is greater than the specified distance threshold (Z0), the controller 112 can enable the light source 104 to activate the second laser 124 instead of the first laser 122, so that the treatment laser (L) has a second wavelength (λ2).
[0043] Figure 4 It shows the methods for operating endoscopes (such as Figure 1 A flowchart illustrating an example of method 400 using an endoscope 102 or other suitable endoscope. Figure 4 Method 400 is merely one example of a method for operating an endoscope. Other suitable methods may also be used.
[0044] At operation 402, method 400 may include generating a therapeutic laser (such as therapeutic laser (L)) using a light source (such as light source 104) having a variable spectral distribution.
[0045] At operation 404, method 400 may include propagating a therapeutic laser distally along the length of an optical fiber (such as optical fiber 106).
[0046] At operation 406, method 400 may include propagating a therapeutic laser from the distal end of an optical fiber to a target site, such as target site 108.
[0047] At operation 408, method 400 may include repeatedly measuring a time-varying distance value, such as a time-varying distance value (Z), corresponding to a time-varying interval between the distal end of the optical fiber and the target location. The time-varying distance value can be measured using distance sensor 110 or another suitable distance sensor.
[0048] At operation 410, method 400 may include causing the light source to change the spectral distribution of the therapeutic laser over time in response to a time-varying distance value. Operation 410 may optionally include comparing each measurement of the time-varying distance value with a specified distance threshold. Operation 410 may optionally include: when the time-varying distance value is less than the specified distance threshold, causing the light source to generate a therapeutic laser with a first spectral distribution. Operation 410 may optionally include: when the time-varying distance value is greater than the specified distance threshold, causing the light source to generate a therapeutic laser with a second spectral distribution different from the first spectral distribution.
[0049] Figure 5 A schematic diagram of an example of a computer-based clinical decision support system (CDSS) 500 is shown, which is configured to provide selection of a spectral distribution from a plurality of (predefined) spectral distributions based on a measurement interval between the distal end of an optical fiber (such as fiber 106) and a target site (such as target site 108). In various embodiments, the CDSS 500 includes: an input interface 502 through which patient-specific optical characteristics are provided as input features to an artificial intelligence (AI) model 504; a processor, such as a controller 112, which performs inference operations in which the measured interval is applied to the AI model to generate the spectral distribution; and a user interface (UI) through which the spectral distribution is transmitted to a user, such as a clinician.
[0050] In some embodiments, input interface 502 may be a direct data link between CDSS 500 and one or more medical devices (such as surgical system 100 or endoscope 102) that generate at least some input features. For example, input interface 502 may transmit optical features directly to CDSS during treatment and / or diagnostic medical procedures. Additionally or alternatively, input interface 502 may be a classic user interface that facilitates interaction between a user and CDSS 500. For example, input interface 502 may be a user interface that facilitates the user's ability to manually input measurement intervals. Additionally or alternatively, input interface 502 may provide CDSS 500 with access to an electronic patient record from which one or more input features can be extracted. In any of these cases, input interface 502 is configured to collect optical features associated with a particular patient at or before the time when CDSS 500 is used to evaluate a medical condition (such as kidney stones) addressed by surgical system 100 or endoscope 102.
[0051] Based on one or more of the aforementioned input features, a processor (such as controller 112) uses an AI model to perform inference operations to generate a spectral distribution. For example, input interface 502 can deliver measured intervals to the input layer of the AI model, which propagates the input features through the AI model to the output layer. AI models can provide computer systems with the ability to perform tasks without explicit programming by reasoning based on patterns discovered in data analysis. AI model exploration involves the research and construction of algorithms (e.g., machine learning algorithms) that can learn from existing data and predict new data. Such algorithms operate by building AI models from example training data to make data-driven predictions or decisions represented as outputs or evaluations.
[0052] Machine learning (ML) has two common paradigms: supervised ML and unsupervised ML. Supervised ML uses prior knowledge (e.g., examples that correlate inputs with outputs or outcomes) to learn the relationship between inputs and outputs. The goal of supervised ML is to learn a function that best approximates the relationship between inputs and outputs given some training data, so that the ML model can achieve the same relationship to generate the corresponding output given the input. Unsupervised ML trains the ML algorithm using information that is neither classified nor labeled, allowing the algorithm to act on that information without guidance. Unsupervised ML is useful in exploratory analytics because it can automatically identify structures in the data.
[0053] Common tasks in supervised ML are classification and regression problems. Classification problems, also known as categorization problems, aim to classify items into one of several category values (e.g., is this object an apple or an orange?). Regression algorithms aim to quantify some items (e.g., by assigning scores to some input values). Some examples of commonly used supervised ML algorithms are logistic regression (LR), Naive Bayes, random forest (RF), neural networks (NN), deep neural networks (DNN), matrix factorization, and support vector machines (SVM).
[0054] Some common tasks in unsupervised ML include clustering, representation learning, and density estimation. Examples of commonly used unsupervised ML algorithms include K-means clustering, principal component analysis, and autoencoders.
[0055] Another type of machine learning is federated learning (also known as collaborative learning), which trains algorithms on multiple decentralized devices holding local data without exchanging data. This approach contrasts sharply with traditional centralized machine learning techniques (where all local datasets are uploaded to a single server) and more classic decentralized methods (which typically assume that local data samples have the same distribution). Federated learning enables multiple participants to build public, robust machine learning models without sharing data, thus allowing for the resolution of key issues such as data privacy, data security, data access permissions, and access to heterogeneous data.
[0056] In some examples, the AI model can be trained continuously or periodically before the inference operation is performed by a processor such as controller 112. Then, during the inference operation, patient-specific input features provided to the AI model can propagate from the input layer through one or more hidden layers and eventually to the output layer corresponding to the spectral distribution.
[0057] In some examples, the AI model may include a database that can contain patient-specific data. The database can provide patient records to the CDSS500. In some examples, the AI model may receive measured intervals from distance sensors, such as distance sensor 110.
[0058] During and / or after inference operations, the spectral distribution can be transmitted to the user via a user interface (UI) and / or automatically cause the processor or an alarm connected to the processor to perform the desired action. For example, the processor can cause a light source to generate light with a selected spectral distribution. Alternatively, the processor can cause an alarm to alert practitioners.
[0059] In some examples, the CDSS500 can optionally be used to determine the action to be taken in response to the value of the measurement interval.
[0060] In the foregoing detailed description, the methods and apparatus of this disclosure have been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and changes can be made thereto without departing from the broader spirit and scope of this disclosure. Therefore, this specification and the accompanying drawings should be considered illustrative rather than restrictive.
[0061] To further illustrate the apparatus and related methods disclosed herein, a list of non-limiting examples is provided below. Each of the following non-limiting examples may exist independently or may be combined with any or more of the other examples in any permutation or combination.
[0062] In Example 1, the endoscope may include: a light source configured to generate a therapeutic laser and controllably change the spectral distribution of the therapeutic laser; an optical fiber having a distal end configured to deliver the therapeutic laser to a target site; a distance sensor configured to repeatedly measure a time-varying distance value corresponding to a time-varying interval between the distal end of the optical fiber and the target site; and a controller configured to cause the light source to change the spectral distribution of the therapeutic laser over time in response to the time-varying distance value.
[0063] In Example 2, the endoscope of Example 1 may optionally be configured such that the controller is also configured to: compare each measurement of the time-varying distance value with a specified distance threshold; and when the time-varying distance value is less than the specified distance threshold, cause the light source to generate a therapeutic laser with a first spectral distribution.
[0064] In Example 3, the endoscope according to any one of Examples 1 to 2 may optionally be configured such that the controller is further configured to cause the light source to generate the therapeutic laser having a second spectral distribution different from the first spectral distribution when the time-varying distance value is greater than the specified distance threshold.
[0065] In Example 4, the endoscope according to any of Examples 1 to 3 may optionally be configured such that a specified distance threshold is selectable by the user.
[0066] In Example 5, the endoscope according to any one of Examples 1 to 4 may optionally be configured such that a first spectral distribution and a second spectral distribution result in different absorption amounts of the therapeutic laser in the medium located between the distal end of the optical fiber and the target site.
[0067] In Example 6, the endoscope according to any one of Examples 1 to 5 may optionally be configured such that the light source includes a first laser configured to emit a first light of a first wavelength and a second laser configured to emit a second light of a second wavelength.
[0068] In Example 7, the endoscope according to any one of Examples 1 to 6 may optionally be configured such that: the first laser comprises a thulium fiber laser; and the second laser comprises a holmium yttrium aluminum garnet (Ho:YAG) laser.
[0069] In Example 8, the endoscope according to any one of Examples 1 to 7 may optionally be configured such that: the first wavelength is about 1.9 micrometers; and the second wavelength is about 2.1 micrometers.
[0070] In Example 9, the endoscope according to any one of Examples 1 to 8 may optionally be configured such that: a first spectral distribution includes only first light; and a second spectral distribution includes only second light.
[0071] In Example 10, the endoscope according to any one of Examples 1 to 9 may optionally be configured such that the controller is further configured to: automatically activate the first laser and disable the second laser when the time-varying distance value is less than a specified distance threshold; and automatically activate the second laser and disable the first laser when the time-varying distance value is greater than the specified distance threshold.
[0072] In Example 11, the endoscope according to any one of Examples 1 to 10 may optionally be configured such that the controller is further configured to provide an alarm to the user when one of the first laser or the second laser becomes enabled or disabled.
[0073] In Example 12, the endoscope according to any one of Examples 1 to 11 may optionally include a beam splitter configured to: combine a first light source more than a second light source to generate a first spectral distribution; and combine a second light source more than a first light source to generate a second spectral distribution.
[0074] In Example 13, the endoscope according to any one of Examples 1 to 12 may optionally further include a beam splitter defining a first optical path extending from a first laser to the beam splitter and further to a distal end of an optical fiber, the therapeutic laser being configured to propagate along the first optical path, and the beam splitter further defining a second optical path extending from a second laser to the beam splitter and further to a distal end of an optical fiber, the therapeutic laser being configured to propagate along the second optical path.
[0075] In Example 14, the endoscope according to any one of Examples 1 to 13 may optionally be configured such that the beam splitter includes a dichroic beam splitter.
[0076] In Example 15, the endoscope according to any one of Examples 1 to 14 may optionally be configured such that the beam splitter includes at least one movable mirror.
[0077] In Example 16, the endoscope according to any one of Examples 1 to 15 may optionally be configured such that the distance sensor includes an optical sensor configured to direct electromagnetic energy toward the target site, capture reflected electromagnetic energy reflected from the target site, and determine a time-varying distance value based on the captured reflected electromagnetic energy.
[0078] In Example 17, the endoscope according to any one of Examples 1 to 16 may optionally be configured such that the optical sensor includes a time-of-flight sensor configured to determine a time-varying distance value from the arrival time of the reflected electromagnetic energy.
[0079] In Example 18, the endoscope according to any one of Examples 1 to 17 may optionally be configured such that the distance sensor includes a camera configured to capture an image of the target site and determine a time-varying distance value based on the captured image.
[0080] In Example 19, the endoscope according to any one of Examples 1 to 18 may optionally be configured such that the distance sensor includes an acoustic device configured to direct acoustic energy toward the target site, capture reflected acoustic energy reflected from the target site, and determine the time-varying distance value based on the captured reflected acoustic energy.
[0081] In Example 20, a method for operating an endoscope may include: generating a therapeutic laser using a light source having a variable spectral distribution; propagating the therapeutic laser distally along the length of an optical fiber; propagating the therapeutic laser from the distal end of the optical fiber to a target site; repeatedly measuring a time-varying distance value corresponding to a time-varying interval between the distal end of the optical fiber and the target site; and causing the light source to change the spectral distribution of the therapeutic laser over time in response to the time-varying distance value.
[0082] In Example 21, the method according to Example 20 may optionally be configured such that causing the light source to change the spectral distribution of the therapeutic laser in time in response to a time-varying distance value includes: comparing each measurement of the time-varying distance value with a specified distance threshold; when the time-varying distance value is less than the specified distance threshold, causing the light source to generate a therapeutic laser with a first spectral distribution; and when the time-varying distance value is greater than the specified distance threshold, causing the light source to generate a therapeutic laser with a second spectral distribution different from the first spectral distribution.
[0083] In Example 22, an endoscope may include: a light source configured to generate a therapeutic laser comprising one of a first light or a second light, the light source including a first laser configured to emit the first light at a first wavelength and a second laser configured to emit the second light at a second wavelength, water having a first absorption coefficient at the first wavelength and a second absorption coefficient at the second wavelength, the first absorption coefficient being greater than the second absorption coefficient; an optical fiber having a distal end configured to deliver the therapeutic laser to a target site; a distance sensor configured to repeatedly measure time-varying distance values corresponding to time-varying intervals between the distal end of the optical fiber and the target site; and a controller configured to: compare each measured value of the time-varying distance value with the specified distance threshold; when the time-varying distance value is less than the specified distance threshold, enable the first laser of the light source while disabling the second laser, such that the therapeutic laser has a first wavelength; and when the time-varying distance value is greater than the specified distance threshold, enable the second laser of the light source while disabling the first laser, such that the therapeutic laser has a second wavelength.
Claims
1. A surgical system, the surgical system comprising: A light source configured to generate a therapeutic laser and to controllably alter the spectral distribution of the therapeutic laser; An optical fiber having a distal end configured to deliver the therapeutic laser to a target site; A distance sensor configured to repeatedly measure time-varying distance values corresponding to time-varying intervals between the distal end of the optical fiber and the target location; as well as A controller configured to cause the light source to change the spectral distribution of the therapeutic laser over time in response to the time-varying distance value.
2. The surgical system according to claim 1, wherein, The controller is further configured to: Each measurement of the time-varying distance value is compared with a specified distance threshold; and When the time-varying distance value is less than the specified distance threshold, the light source generates the therapeutic laser with a first spectral distribution.
3. The surgical system according to claim 2, wherein, The controller is further configured to cause the light source to generate the therapeutic laser having a second spectral distribution different from the first spectral distribution when the time-varying distance value is greater than the specified distance threshold.
4. The surgical system according to claim 2, wherein, The specified distance threshold is selectable by the user.
5. The surgical system according to claim 2, wherein, The first spectral distribution and the second spectral distribution result in different absorption amounts of the therapeutic laser in the medium located between the distal end of the optical fiber and the target site.
6. The surgical system according to claim 5, wherein, The light source includes a first laser configured to emit a first light of a first wavelength and a second laser configured to emit a second light of a second wavelength.
7. The surgical system according to claim 6, wherein: The first laser includes a thulium fiber laser; and The second laser includes a holmium yttrium aluminum garnet (Ho:YAG) laser; The first wavelength is approximately 1.9 micrometers; and The second wavelength is approximately 2.1 micrometers.
8. The surgical system according to claim 6, wherein: The first spectral distribution includes only the first light; and The second spectral distribution includes only the second light.
9. The surgical system according to claim 6, wherein, The controller is further configured to: When the time-varying distance value is less than the specified distance threshold, the first laser is automatically activated while the second laser is not activated; and When the time-varying distance value is greater than the specified distance threshold, the second laser is automatically activated while the first laser is not activated.
10. The surgical system according to claim 9, wherein, The controller is further configured to provide an alert to the user when one of the first laser or the second laser becomes either enabled or disabled.
11. The surgical system of claim 6, further comprising a beam splitter configured to: Combining more of the first light than the second light to generate the first spectral distribution; and The second light is combined in greater quantities than the first light to generate the second spectral distribution.
12. The surgical system of claim 6, further comprising a beam splitter defining a first optical path extending from the first laser to the beam splitter and further to the distal end of the optical fiber, the therapeutic laser being configured to propagate along the first optical path, the beam splitter further defining a second optical path extending from the second laser to the beam splitter and further to the distal end of the optical fiber, the therapeutic laser being configured to propagate along the second optical path.
13. The surgical system according to claim 12, wherein, The beam splitter includes a dichroic beam splitter or at least one movable mirror.
14. The surgical system according to claim 1, wherein, The distance sensor includes an optical sensor configured to direct electromagnetic energy toward the target location, capture reflected electromagnetic energy reflected from the target location, and determine the time-varying distance value based on the captured reflected electromagnetic energy.
15. The surgical system according to claim 14, wherein, The optical sensor includes a time-of-flight sensor configured to determine the time-varying distance value based on the arrival time of the reflected electromagnetic energy.
16. The surgical system according to claim 1, wherein, The distance sensor includes a camera configured to capture an image of the target location and determine the time-varying distance value based on the captured image.
17. The surgical system according to claim 1, wherein, The distance sensor includes an acoustic device configured to direct acoustic energy toward the target location, capture reflected acoustic energy from the target location, and determine the time-varying distance value based on the captured reflected acoustic energy.
18. A method for operating a surgical system, the method comprising: Therapeutic lasers are generated using light sources with variable spectral distributions; The therapeutic laser propagates distally along the length of the optical fiber; The therapeutic laser is transmitted from the distal end of the optical fiber to the target area; Repeatedly measure the time-varying distance value corresponding to the time-varying interval between the distal end of the optical fiber and the target location; as well as The light source is made to change the spectral distribution of the therapeutic laser in time in response to the time-varying distance value.
19. The method according to claim 18, wherein, The process of causing the light source to change the spectral distribution of the therapeutic laser in time in response to the time-varying distance value includes: Each measurement of the time-varying distance value is compared with a specified distance threshold; When the time-varying distance value is less than the specified distance threshold, the light source generates the therapeutic laser with a first spectral distribution; and When the time-varying distance value is greater than the specified distance threshold, the light source generates the therapeutic laser with a second spectral distribution that is different from the first spectral distribution.
20. A surgical system, the surgical system comprising: A light source configured to generate a therapeutic laser comprising either a first light or a second light, the light source comprising a first laser configured to emit a first light of a first wavelength and a second laser configured to emit a second light of a second wavelength, wherein water has a first absorption coefficient at the first wavelength and a second absorption coefficient at the second wavelength, the first absorption coefficient being greater than the second absorption coefficient. An optical fiber having a distal end configured to deliver the therapeutic laser to a target site; A distance sensor configured to repeatedly measure time-varying distance values corresponding to time-varying intervals between the distal end of the optical fiber and the target location; as well as The controller is configured to: Each measurement of the time-varying distance value is compared with a specified distance threshold; When the time-varying distance value is less than the specified distance threshold, the first laser of the light source is activated while the second laser is not activated, so that the therapeutic laser has the first wavelength; as well as When the time-varying distance value is greater than the specified distance threshold, the second laser is activated while the first laser is not activated, so that the therapeutic laser has the second wavelength.