Medical lighting system and method of using same - Patents.com

Abstract

A medical system including a shaft having a distal end configured to be placed at a target site, a first light and a second light disposed at the distal end, and a computing device communicatively coupled to the first and second lights. The computing device includes a processor and a non-transitory computer readable medium having stored thereon instructions that, when executed by the processor, cause the processor to determine a first illuminance measurement of a first region of the target site by the first light and a second illuminance measurement of a second region of the target site by the second light. The second region is different from the first region. The processor adjusts an emittance from the first light in response to the first illuminance measurement differing from a first threshold and adjusts an emittance from the second light in response to the second illuminance measurement differing from a second threshold.

Description

[Technical field]

[0001] Various aspects of the present disclosure relate generally to medical lighting devices, systems, apparatus, and related methods. Specifically, embodiments of the present disclosure relate to devices, systems, apparatus, and related methods for improving visibility of one or more target sites within a patient during an endoscopic procedure, among other aspects. This application claims the benefit of priority to U.S. Provisional Patent Application No. 63 / 221,361, filed July 13, 2021, which is incorporated by reference herein in its entirety. [Background technology]

[0002] Advances in technology provide users of medical systems, devices, and methods with the ability to perform increasingly complex procedures on subjects. One challenge in the field of minimally invasive surgery, such as endoscopy, among other surgical procedures, relates to providing sufficient visibility to a physician attempting to locate a target treatment site within a patient using an imaging device. Illumination of the target treatment site using one or more illumination devices may provide limited optical visibility within the patient to adequately perform inspection and diagnostic analysis of the target site. This may generally be due to the varying anatomical profile of each target treatment site, which may require application of light tailored to the target anatomy being viewed. Limitations of medical devices in providing sufficient illumination of the target site may prolong the procedure, limit its effectiveness, and / or cause injury to the patient due to lack of visibility. Summary of the Invention

[0003] Aspects of the present disclosure relate in particular to systems, devices, instruments, and methods for illuminating a target treatment site, and among other aspects, to systems, devices, instruments, and methods for illuminating a target treatment site based on automatically controlling an illumination beam profile emanating within a target anatomical structure under observation. Each of the aspects disclosed herein may include one or more of the features described in association with any of the other disclosed aspects.

[0004] According to one embodiment, a medical system may include a shaft having a distal end configured to be placed at a target site, a first light disposed at the distal end, a second light disposed at the distal end, and a computing device communicatively coupled to the first light and the second light. The computing device may include a processor and a non-transitory computer readable medium having instructions stored thereon. The instructions, when executed by the processor, cause the processor to: (i) determine a first illuminance measurement of a first region of the target site by a first light; (ii) determine a second illuminance measurement of a second region of the target site by a second light, the second region being different from the first region; (iii) adjust an emittance from the first light in response to the first illuminance measurement of the first region differing from a first threshold; and (iv) adjust an emittance from the second light in response to the second illuminance measurement of the second region differing from a second threshold.

[0005] The medical system described herein may include any of the following features: The instructions stored on the non-transitory computer readable medium cause the processor to increase the emittance from the first light when the first illuminance measurement of the first region is less than the first threshold and decrease the emittance from the first light when the first illuminance measurement of the first region is greater than the first threshold. The instructions stored on the non-transitory computer readable medium cause the processor to increase the emittance from the second light when the second illuminance measurement of the second region is less than the second threshold and decrease the emittance from the second light when the second illuminance measurement of the second region is greater than the second threshold. The medical system further includes an imaging device disposed at the distal end and configured to capture image data of the first region and the second region of the target site. The computing device is communicatively coupled to the imaging device, and the instructions stored on the non-transitory computer readable medium cause the processor to determine a first location of the first region of the target site relative to the distal end based on the image data captured by the imaging device. The instructions stored on the non-transitory computer readable medium cause the processor to determine the first illuminance measurement of the first region based on the image data captured by the imaging device at the first location, and to determine the second illuminance measurement of the second region based on the image data captured by the imaging device at the second location. The instructions stored on the non-transitory computer readable medium cause the processor to determine the first illuminance measurement of the first region by calculating an average luminance of a plurality of pixels from the image data captured by the imaging device.The instructions stored on the non-transitory computer-readable medium cause the processor to adjust the first illuminance measurement of the first region based on a first cross-term parameter indicative of illuminance of the first region by the second light, and adjust the second illuminance measurement of the second region based on a second cross-term parameter indicative of illuminance of the second region by the first light. Each of the first and second cross-term parameters comprises a predetermined variable stored on the computing device. Each of the first and second cross-term parameters comprises a dynamic variable that is automatically adjusted by the computing device based on the image data captured by the imaging device. The instructions stored on the non-transitory computer-readable medium cause the processor to modify each of the first and second cross-term parameters based on a frequency distribution of a plurality of pixels from the image data captured by the imaging device. The instructions stored on the non-transitory computer readable medium cause the processor to periodically determine the first illuminance measurement of the first region and the second illuminance measurement of the second region using the imaging device after adjusting emittance from the first light and the second light. The instructions stored on the non-transitory computer readable medium cause the processor to determine an area of ​​the first region and an area of ​​the second region of the target site based on the image data captured by the imaging device. The instructions stored on the non-transitory computer readable medium cause the processor to determine the first illuminance measurement of the first region due to the first light and the second light based at least in part on the area of ​​the first region, and determine the second illuminance measurement of the second region due to the second light and the first light based at least in part on the area of ​​the second region. The first light is configured to generate a broad beam profile and the second light is configured to generate a narrow beam profile, such that the second region includes a central area of ​​the target site relative to the distal end and the first region includes a peripheral area of ​​the target site surrounding the central area.

[0006] According to another embodiment, a method of illuminating a target site with a medical system may include determining a first position of a first region and a second position of a second region of the target site relative to the medical system, determining a first illuminance measurement of the first region by a first light of the medical system, determining a second illuminance measurement of the second region by a second light of the medical system, the second region being different from the first region, and adjusting an emittance of one or more of the first light or the second light in response to the first illuminance measurement or the second illuminance measurement varying from a threshold value.

[0007] The methods described herein may include any of the following steps: capturing image data of the target site with an imaging device of the medical system, where determining the first location of the first region and the second location of the second region is based on the image data captured by the imaging device; capturing image data of the target site with an imaging device of the medical system, where determining the first illuminance measurement and the second illuminance measurement is based on the image data captured by the imaging device; adjusting the first illuminance measurement and the second illuminance measurement based on an intersection parameter indicative of illuminance of opposing regions of the target site by a corresponding first light or second light.

[0008] According to a further embodiment, a method of illuminating a target site using a medical system includes: (a) capturing image data of the target site using an imaging device of the medical system; (b) determining a location of a first region and a location of a second region of the target site relative to the medical system; (c) determining a size of the first region and a size of the second region based on the image data; (d) determining a first illuminance measurement of the first region by a first light of the medical system based on the location and the size of the first region; (e) determining a second illuminance measurement of the first region by a first light of the medical system based on the location and the size of the second region. (f) determining a second illuminance measurement of the second area by a second light of the medical system; (g) comparing each of the first illuminance measurement and the second illuminance measurement to a respective threshold; (h) adjusting the emittance of one or more of the first light or the second light in response to the first illuminance measurement or the second illuminance measurement varying from the respective threshold; and (h) repeating steps (a)-(g) at periodic intervals until in step (f) it is determined that the first illuminance measurement and the second illuminance measurement are equal to the threshold.

[0009] It should 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. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary aspects of the disclosure and, together with the following description, serve to explain the principles of the disclosure. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of an exemplary medical system according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a partial perspective view of the medical system of FIG. 1 positioned at a target site in a patient according to an embodiment of the present disclosure. [Diagram 3]FIG. 3 is a schematic diagram of an image received by the medical system of FIG. 1 positioned at a target site on a patient according to an embodiment of the present disclosure. [Figure 4] FIG. 4 is a block diagram of an exemplary method for illuminating a target site using the medical system of FIG. 1 according to an embodiment of the present disclosure. [Diagram 5] FIG. 5 is a block diagram of an exemplary method for illuminating a target site using the medical system of FIG. 1 according to an embodiment of the present disclosure. [Figure 6] FIG. 6 is a block diagram of an exemplary method for illuminating a target site using the medical system of FIG. 1 according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Examples of the present disclosure include systems, devices, and methods for facilitating illumination of one or more target treatment sites within a subject (e.g., a patient) based on an anatomical profile of the site. Reference will now be made in detail to aspects of the present disclosure. Examples of aspects of the present disclosure are illustrated in the accompanying drawings. Wherever possible, the same or similar reference numbers are used throughout the drawings to refer to the same or similar parts. The term "distal" refers to the part furthest from the user when the device is introduced into the patient. In contrast, the term "proximal" refers to the part closest to the user when the device is placed within the subject. As used herein, the terms "comprises," "comprising," or any other variants thereof are intended to cover a non-exclusive inclusion such that a process, method, article, or device that includes a list of elements does not necessarily include only those elements, but may include other elements not expressly listed or other elements inherent to such process, method, article, or device. The term "exemplary" is used in the sense of "example" rather than "ideal." As used herein, the terms "about," "substantially," and "approximately" indicate a range of values ​​within + / - 10% of the stated value.

[0012] An embodiment of the present disclosure may be used to illuminate a target site using a medical system, such as a medical system including a computing device capable of executing illumination control logic. For example, the target site may include various spatial regions relative to the medical device, such as a first central region and a second peripheral region surrounding the central region, where the medical device is received. The computing device of the medical system may perform one or more logical operations to illuminate the various spatial regions of the target site to provide sufficient illumination and facilitate therapeutic action at the target site. The illumination control logic of the medical system may detect and / or measure real-time visibility within the target site by determining the relative illuminance of each spatial region to determine whether sufficient visibility is available to enable optical inspection of the region.

[0013] The embodiments of the present disclosure relate to devices and methods for performing various medical procedures and / or treatments of 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 "target treatment site"). However, the present disclosure is not limited to any particular anatomical region and may be used in ureteroscopy, bronchoscopy, colonoscopy, endoscopy, etc., and / or diagnosis or treatment of any body lumen. Various embodiments described herein include single use or disposable medical devices. Reference will now be made in detail to the embodiments of the present disclosure as illustrated in the accompanying drawings described above. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts.

[0014] FIG. 1 illustrates a schematic diagram of an exemplary medical system 100 according to an embodiment of the present disclosure. The medical system 100 may include a medical device 110, a medical instrument 120, an imaging device 130, a first light source 132, a second light source 134, and a computing device 140. The computing device 140 may be communicatively coupled to the medical device 110, for example, by a wired connection, a wireless connection, etc. In an embodiment, the computing device 140 may include a computer system incorporating multiple hardware components that enable the computing device 140 to receive and monitor data (e.g., image data 148), initiate transmission of light (e.g., light from the first light source 132 and / or the second light source 134), and / or process other information as described herein. Exemplary hardware components of the computing device 140 may include at least one processor 142, at least one memory 144, and at least one display 150.

[0015] The processor 142 of the computing device 140 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 144 of the computing device 140. By way of example, the processor 142 may include a controller, an integrated circuit, a microchip, a computer, and / or any other computer processing unit operable to perform the calculations and logical operations required to execute a program. As described in more detail herein, the processor 142 may be configured to perform one or more operations, such as, for example, the lighting control logic 146, in accordance with the instructions stored in the memory 144.

[0016] 1, the memory 144 may include a non-transitory computer readable medium storing machine readable instructions, such as, for example, the illumination control logic 146. As described in further detail below, the illumination control logic 146 may include executable instructions that enable the medical system 100 to detect and / or measure optical visibility of a target site to determine whether the target site requires enhanced emittance of illumination from the light sources 132, 134 to facilitate optical inspection and treatment of the target site by the medical device 110 and the medical instrument 120. The illumination control logic 146 may also include executable instructions that determine illuminance requirements based on an anatomical profile of the target treatment site such that control of the light sources 132, 134 is automated in real time based on current conditions within the target site.

[0017] Illumination control logic 146 may automatically perform periodic or continuous visibility assessment of the target site without requiring user input. In other embodiments, computing device 140 may be configured to receive user input to initiate illuminance assessment of the target site, such as from a user input in communication (e.g., wireless, wired, etc.) with computing device 140 via display 150. In this embodiment, display 150 may include a user interface configured and operable to generate a graphical display of information and receive user input to send commands to processor 142. For example, display 150 may include a touch screen interface display.

[0018] It should be noted that various programming algorithms and data supporting the operation of the medical device 110 may reside, in whole or in part, in the memory 144. The memory 144 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, hard drive, and / or any device capable of storing machine-readable instructions. The memory 144 may include one or more data sets including, but not limited to, diagnostic data from one or more components of the medical system 100 (e.g., the medical device 110, the medical equipment 120, the imaging device 130, etc.). In this example, the memory 144 may receive and store image data 148 of a target treatment site recorded by the imaging device 130 during use of the medical system 100 in a procedure.

[0019] With continued reference to FIG. 1 , the medical device 110 may be configured to facilitate placement of one or more components of the medical system 100, such as, for example, a medical device 120, relative to a subject (e.g., a patient). In an embodiment, the medical device 110 may be any type of endoscope, duodenoscope, gastroscope, colonoscope, ureteroscope, bronchoscope, catheter, or other instrument for providing light and imaging capabilities. The medical device 110 may include a handle 112, an actuation mechanism 114, at least one port 116, and a shaft 118. The handle 112 may 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 may include at least one port 116 that opens into one or more lumens of the medical device 110. As described in further detail herein, the at least one port 116 is sized and shaped to receive one or more devices, such as, for example, a medical device 120.

[0020] The medical system 100 may further include an umbilicus assembly 108 coupled to the medical device 110 via at least one port along the handle 112. The umbilicus assembly 108 may be configured to facilitate a connection between the medical device 110 and one or more devices of the medical system 100. The umbilicus assembly 108 may include an umbilicus tube having a first end coupled to the medical device 110 and a second (opposite) end including a number of connections (e.g., electrical, fluid, etc.). In this example, the umbilicus assembly 108 may be configured to connect to and / or receive one or more electronic cables, wires, etc. from one or more devices (e.g., the imaging device 130, the first light source 132, the second light source 134, the computing device 140, etc.). The electronic cables and / or wires from the one or more devices may be received within the shaft 118 through the handle 112 (e.g., via one or more respective lumens). In other embodiments, one or more of the first light source 132 and / or the second light source 134 may be disposed within the shaft 118, such as at the distal end 119.

[0021] The shaft 118 may include a tube having sufficient flexibility. Thus, the shaft 118 is configured to selectively bend, rotate, and / or twist when inserted into and / or through the tortuous anatomy of a subject to a target treatment site. The shaft 118 may have one or more lumens (not shown) extending therethrough. The lumens include, for example, a working lumen 117 (FIG. 3) for receiving a device (e.g., medical instrument 120). In other examples, the shaft 118 may include additional lumens, such as a control wire lumen for receiving one or more control wires for actuating one or more distal portions / tools (e.g., articulation joints, elevators, etc.), a fluid lumen for delivering fluid, one or more illumination lumens for receiving a first light 133 communicatively coupled to the first light source 132 and a second light 135 communicatively coupled to the second light source 134, and / or an imaging lumen for receiving an imaging sensor 131 of the imaging device 130 (FIG. 3). The first light 133 and the second light 135 may include, but are not limited to, optical fibers, LEDs, and / or various other suitable imaging devices. The imaging sensor 131 may include, but is not limited to, a charge-coupled device (CCD), a CMOS, and / or various other suitable camera sensors.

[0022] 1, the shaft 118 may further include a distal end 119. The distal end 119 may include one or more openings that communicate with one or more lumens of the shaft 118. For example, the distal end 119 may include a working opening through which the medical instrument 120 exits the shaft 118. In other examples, the distal end 119 may include additional and / or fewer openings, such as, for example, a fluid opening or nozzle through which fluid may be emitted from the fluid lumen of the shaft 118, an illumination opening / window through which light from the first light 133 and the second light 135 may be emitted, and / or an imaging opening / window through which the imaging sensor 131 may be used to generate an image. The actuation mechanism 114 may be disposed on the handle 112 and may include one or more knobs, buttons, levers, switches, and / or other suitable actuators. The actuation mechanism 114 may be configured to control at least one of the deflection of the shaft 118 (e.g., through actuation of a control wire), the delivery of fluid, the emission of illumination (e.g., from the first light source 132 and / or the second light source 134), and / or various imaging functions (e.g., via the imager 130).

[0023] 1 , the medical instrument 120 may include a catheter having a longitudinal body 124 defined between a proximal end and a distal end 126. The longitudinal body 124 may be flexible such that the medical instrument 120 may be configured to bend, rotate, and / or twist when inserted into the working lumen of the medical device 110. The proximal end of the medical instrument 120 may include a handle 122 configured to move, rotate, and / or bend the longitudinal body 124. Additionally, the handle 122 may define one or more ports (not shown) sized to receive one or more tools through the longitudinal body 124 of the medical instrument 120. Alternatively, the distal end 126 of the medical instrument 120 may include an end effector such as a cutting or grasping forceps, a biopsy device, a snare loop, a syringe needle, a cutting blade, scissors, a retractable basket, a retrieval device, an excision and / or electrophysiology tool, a stent placement device, a surgical stapling device, a balloon catheter, a laser emitting device, and / or any other suitable diagnostic and therapeutic end effector.

[0024] The medical device 110 may be configured to receive a medical instrument 120 via at least one port 116, through a working lumen, via the shaft 118 to a working opening at the distal end 119. In this example, the medical instrument 120 may extend distally from the working opening and into the surrounding environment of the distal end 119, such as a target treatment site in a subject. A distal end 126 may extend distally from the working opening of the shaft 118 in response to translation of the longitudinal body 124 through the working lumen of the shaft 118.

[0025] 2, the distal end 126 of the longitudinal body 124 is shown within an anatomical lumen 10 of a subject. The anatomical lumen 10 may include various regions within the subject's body that may be observed by the medical system 100. The anatomical lumen 10 may be defined by at least a first (outer) region 12 and a second (central) region 14. The first region 12 is located around the adjacent periphery of the second region 14. In other words, the anatomical lumen 10 may have a size and / or shape having a generally narrow profile with the first region 12 defining a peripheral region around the second region 14.

[0026] With the distal end 119 disposed within the anatomical lumen 10, the first light 133 and the second light 135 may be configured to emit light distally from the distal end 119. The first light 133 may be communicatively coupled to the first light source 132 and the second light 135 may be communicatively coupled to the second light source 134. The first light 133 may be configured to emit a wide light beam having a first emittance profile. The second light 135 may be configured to emit a narrow light beam having a second emittance profile that is different from the first emittance profile. In this embodiment, the first emittance profile is larger (e.g., wider) than the second emittance profile. In other words, the second light 135 may be operable to transmit light from the second light source 134 having a focused illumination profile that is narrower in size and / or shape than the light transmitted by the first light 133 from the first light source 132.

[0027] 2 , with the distal end 119 disposed within the anatomical lumen 10, the imaging sensor 131 may be configured to capture images of a portion of the anatomical lumen 10 distal to the distal end 119. The imaging sensor 131 may be communicatively coupled to the imaging device 130. The imaging sensor 131 may be adjacent to one or more camera lenses. Data captured by the imaging sensor 131 may be communicated by the imaging device 130 to the computing device 140 and stored in the memory 144 as image data 148.

[0028] In some embodiments, the image data 148 generated by the imaging device 130 may include a processed image having a sub-resolution frame of pixel values ​​that visually highlight one or more features and / or characteristics of a luminal passageway within an object, such as the anatomical lumen 10. Note that the imaging sensor 131 may include a color filter sensor array such that the digital image captured by the imaging sensor 131 may provide a raw image (e.g., image data 148) having various color pixel values ​​arranged in a mosaic pattern. Each pixel array of the pattern may include a single color pixel value such that one or more color pixel values ​​may be omitted on the pixel array. The digital image generated by the imaging device 130 may include a two-dimensional array of pixel values. Each pixel value corresponds to a light intensity (e.g., a color pixel value) in one of a plurality of spectral bands at a particular pixel location within the captured image of the anatomical lumen 10.

[0029] 3, a schematic diagram of an image captured by an imaging sensor 131 of an anatomical lumen 10 is shown. In some embodiments, the medical system 100, and in particular the computing device 140, may be configured to determine the location of the first region 12 and the second region 14 within the anatomical lumen 10 by identifying a boundary A defined between the regions 12, 14. In other words, the boundary A may define a boundary region of the anatomical lumen 10 located between the regions 12, 14. It should be noted that the boundary A is shown to serve as a visual reference for informational purposes only, and the second region 14 may substantially coincide within the boundary A, and the first region 12 may be generally located outside the boundary A.

[0030] 1-3 in conjunction with the flow diagram of Figure 4, an exemplary method 200 of using the medical system 100 to illuminate a target treatment site (e.g., an anatomical lumen 10) is generally illustrated. The illustration of Figure 4 and the associated following discussion are not meant to limit the subject matter described herein to any particular method.

[0031] First, the medical device 110 may be inserted into a subject's body (not shown) and positioned with the distal end 119 adjacent to a target site, such as the anatomical lumen 10 (FIGS. 2 and 3). The shaft 118 may be guided through the subject's digestive tract by inserting the distal end 119 into the nose or mouth (or other suitable natural body orifice) of the subject's body and traverse through the gastrointestinal tract (e.g., esophagus, stomach, small intestine, etc.) of the subject's body until it reaches the anatomical lumen 10. It should be noted that the length of the shaft 118 may be sufficient such that the proximal end of the medical device 110 (including the handle 112) is external to the subject and the distal end 119 is internal to the subject's body. Also, although the present disclosure relates to the use of the medical device 110 in the digestive tract of a subject, the features of the present disclosure may be used in various other locations (e.g., other organs, tissues, etc.) within the subject's body.

[0032] With the medical device 110 received within the patient's body, the medical instrument 120 may be received within the medical device 110 via at least one port 116. The longitudinal body 124 may be translated through the shaft 118, specifically through at least one of the lumens (e.g., working lumen) of the shaft 118. The distal end 126 may extend distally from an opening at the distal end 119, such as, for example, a working opening that is in communication with the working lumen of the shaft 118. Thus, as seen in FIG. 2, the distal end 126 may be disposed within the anatomical lumen 10.

[0033] In some embodiments, at least a distal portion of shaft 118, including distal end 119, may be selectively articulated along an articulation joint of shaft 118. For example, handle 112 may be actuated to adjust the position, location, and / or orientation of distal end 119 relative to anatomical lumen 10. Thus, a user may selectively orient imaging sensor 131, first light 133, and second light 135 (which are received within the lumen of shaft 118) relative to first region 12 and second region 14.

[0034] With the distal end 119 disposed within the anatomical lumen 10, the imaging sensor 131, the first light 133, and the second light 135 may be utilized to facilitate visual observation of the anatomical lumen 10 during the procedure. For example, the first light 133 and the second light 135 may be configured to transmit light distally from the distal end 119. The imaging sensor 131 may be configured to detect, record, and capture image data of the anatomical lumen 10 facilitated by the illumination provided by the first light 133 and the second light 135.

[0035] 4 , a user may generate images of tissue (e.g., image data 148) using the imaging device 130 to visualize the anatomical lumen 10, and in particular the target treatment site within the anatomical lumen 10. For example, in step 202, the processor 142 may execute one or more instructions in accordance with the illumination control logic 146 to capture an image of the anatomical lumen 10 with the imaging device 130. The image data 148 may be communicated to the computing device 140, stored on the memory 144, and displayed on the display 150 for real-time viewing by a user of the medical system 100.

[0036] In step 204, the processor 142 may determine a location of each of the first region 12 and the second region 14 of the anatomical lumen 10 based on the image data 148. For example, the processor 142 may determine the location of each region 12, 14 based on the size, shape, profile, and / or configuration of the anatomical lumen 10 as determined by the image data 148 detected by the imaging sensor 131. The processor 142 may determine a location of a boundary A that defines a boundary region of the anatomical lumen 10 between the first region 12 and the second region 14. As described above, the area falling within the boundary A may be determined to generally include the second region 14, while the area located outside the boundary A may represent the first region 12.

[0037] In step 206, the processor 142 may determine a first illuminance measurement of the first region 12 by the first light 133. In step 208, the processor 142 may determine a second illuminance measurement of the second region 14 by the second light 135. In some embodiments, the processor 142 may be configured to measure the amount of visible light (lumens) received on a surface (e.g., a tissue wall) defining the regions 12, 14 of the anatomical lumen 10 based on the image data 148. The light intensities of the first light source 132 and the second light source 134 may be measured based on raw pixel data (e.g., image data 148) captured by the imaging sensor 131.

[0038] In one example, the processor 142 may determine an average luminance value for each pixel located within each region 12, 14 from the image data 148. In another example, the processor 142 may determine a sum of a plurality of pixel values ​​for each region 12, 14 and calculate a corresponding illuminance measurement as a predetermined percentage of that sum (e.g., about 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, and more). In further examples, the processor 142 may determine the luminous flux emitted onto each of the first region 12 and the second region 14 via various other suitable processes without departing from the scope of this disclosure.

[0039] In step 210, the processor 142 may determine whether the first illuminance measurement (step 206) exceeds a first luminance threshold for the first light source 132. In step 212, the processor 142 may determine whether the second illuminance measurement (step 208) exceeds a second luminance threshold for the second light source 134. In some embodiments, the first luminance threshold may define a different light intensity tolerance range than the second luminance threshold. For example, the first luminance threshold may correspond to a predetermined minimum luminance required to adequately illuminate the first region 12. The second luminance threshold may correspond to a predetermined minimum luminance required to adequately illuminate the second region 14.

[0040] In some examples, the predetermined brightness threshold may be based on a predetermined saturation determined from the image data 148. In this example, the predetermined saturation may range from about 30% to about 60% of the light intensity captured at a plurality of pixels located within each region 12, 14 from the image data 148. In other embodiments, one or more of the brightness thresholds may be altered by the computing device 140 and / or a user of the medical system 100 (e.g., via the display 150). For example, the processor 142 may automatically and selectively adjust the first and / or second brightness thresholds based on the detected size, shape, profile, and / or configuration of the anatomical lumen 10, particularly the first region 12 and the second region 14, based on the image data 148 detected by the imaging device 130.

[0041] In response to determining in step 210 that the first illuminance measurement exceeds the first luminance threshold, the processor 142 may decrease the emittance of light from the first light source 132 in step 218. In some embodiments, the processor 142 may determine the variance between the first illuminance measurement and the first luminance threshold (e.g., measured in candelas) and decrease the light emission from the first light source 132 by that variance.

[0042] In other embodiments, the processor 142 may control the first light 133 by decreasing the light emittance from the first light source 132 by a predetermined (negative) luminosity variable. In this example, the predetermined (negative) luminosity variable may include a fixed (static) parameter used to automatically decrease the light emission from the first light source 132 regardless of the first illuminance measurement of the first area 12.

[0043] Alternatively, in response to determining in step 210 that the first illuminance measurement does not exceed the first luminance threshold, the processor 142 may increase the emittance of light from the first light source 132 in step 214. The processor 142 may increase the light emission by determining a variance between the first illuminance measurement and the first luminance threshold and increasing the light emission from the first light source 132 by that variance. Alternatively, the processor 142 may automatically increase the light emittance by a predetermined (positive) luminance variable (e.g., a fixed (static) parameter) regardless of the first illuminance measurement of the first region 12.

[0044] In response to determining that the second illuminance measurement exceeds the second brightness threshold in step 212, the processor 142 may decrease the emittance of light from the second light source 134 in step 220 in a manner similar to that of the first light source 132 described above in step 218 (e.g., variance, a predetermined (negative) luminance variable, etc.). Alternatively, in response to determining that the second illuminance measurement does not exceed the second brightness threshold in step 212, the processor 142 may increase the emittance of light from the second light source 134 in step 216 in a manner similar to that of the first light source 132 described above in step 214 (e.g., variance, a predetermined (positive) luminance variable, etc.). Thus, the illumination of the anatomical lumen 10 by the light sources 132, 134 may be automatically determined in real time by the current visibility conditions of each region 12, 14.

[0045] The processor 142 may return to step 202 after increasing (steps 214, 216) and / or decreasing (steps 218, 220) the emittance of light from the first light source 132 and / or the second light source 134, respectively. In this example, the processor 142 may periodically (or continuously) execute the method 200 by recapturing the image data 148 using the imaging device 130 in multiple cycles (or continuously) in executing one or more instructions of the lighting control logic 146. In some embodiments, the processor 142 may repeat the execution of the lighting control logic 146 at predetermined intervals. Also, in other embodiments, the processor 142 may continuously repeat the steps described herein during operation due to continued use of the medical system 100. In other embodiments, the processor 142 may stop executing the method 200 when it determines that the first illuminance measurement and / or the second illuminance measurement are equal to the first luminance threshold and / or the second luminance threshold, respectively.

[0046] Referring now to FIG. 5, another exemplary method 300 of using the medical system 100 to irradiate a target treatment site (e.g., an anatomical lumen 10) is shown in schematic form. The illustration of FIG. 5 and the following related description are not meant to limit the subject matter described herein to a particular method. Except as otherwise described below, one or more of the steps of the method 300 may be similar to the method 200 described above and illustrated. For example, the processor 142 may be configured to capture image data 148 (step 302) and determine corresponding positions of each region 12, 14 in the anatomical lumen 10 based on the image data 148 (step 304) in a manner similar to the method 200 described above. Additionally, the processor 142 may determine a first illuminance measurement of the first region 12 (step 306) and a second illuminance measurement of the second region 14 (step 308), similar to steps 206 and 208, respectively.

[0047] In step 307, the processor 142 may execute one or more instructions according to the lighting control logic 146 to adjust the first illuminance measurement (step 306) by a first cross-term parameter. In step 309, the processor 142 may adjust the second illuminance measurement (step 308) by a second cross-term parameter. The first cross-term parameter may be the same as or different from the second cross-term parameter. These cross-term parameters may include a weighting variable that takes into account at least a portion of the luminance intensities present in the other regions 12, 14 when calculating the final (adjusted) illuminance measurement for each region 12, 14.

[0048] The processor 142 may adjust the first illuminance measurement by the cross-term parameter in step 307 to account for the luminance of the second region 14 that at least partially affects the overall luminance of the first region 12. Additionally, the processor 142 may adjust the second illuminance measurement by the cross-term parameter in step 309 to account for the luminance of the first region 12 that at least partially affects the overall luminance of the second region 14.

[0049] In other words, assuming that a first region 12 is disposed adjacent to a second region 14, and vice versa, the processor 142 may incorporate cross-term parameters to adjust the first illuminance measurement (step 307) and the second illuminance measurement (step 309) to account for the luminance effect that each light source 132, 134 has on the other region 12, 14 (to which the corresponding light 133, 135 is not directed). In some embodiments, the cross-term parameters may be predetermined fixed variables that indicate the minimum influence that each light source 132, 134 may have on the other region 12, 14. In other embodiments, the cross-term parameters may be a percentage of the luminance measured in the opposing region 12, 14. By way of example, the cross-term parameters may range in value from about 0 to about 1, where a value close to 0 may indicate minimal or no coupling between adjacent regions 12, 14 (i.e., the luminance of each region has no contributing influence on the opposing region). Additionally, values ​​close to 1 may indicate maximum or perfect coupling between adjacent regions 12, 14 (ie, the luminance of each region has a contributing influence on the opposing region).

[0050] In other embodiments, the cross-term parameters may be dynamic variables that are automatically determined by the processor 142 based on one or more characteristics of the anatomical lumen 10, such as within each of the first region 12 and the second region 14. In this example, the processor 142 may automatically adjust the cross-term parameters based on the illumination conditions in each region 12, 14. For example, the processor 142 may determine the cross-term parameters as a function of corresponding percentages of illumination measurements in opposing regions 12, 14, such as percentages in a range of about 10% to about 90%.

[0051] In another example, the processor 142 may determine the cross-term parameters as a function of illuminance measurements for spatial sub-regions of the opposing regions 12, 14, such as sub-regions ranging from about 10% to about 90% of the total area of ​​the opposing regions 12, 14. In this example, illuminance measurements for a number of pixels located within the sub-regions of the opposing regions 12, 14 may be determined and incorporated into the final (adjusted) illuminance measurements for each region 12, 14 in the form of cross-term parameters.

[0052] In a further example, the processor 142 may determine the cross term parameters based on one or more processes including, but not limited to, a frequency distribution (e.g., histogram analysis) of all of the pixel values ​​in each region 12, 14. In this example, the processor 142 may determine the cross term parameters based on the average of the pixel values, the median pixel value, the mode of the pixel values, etc. In another example, the histogram analysis of the pixel values ​​from the regions 12, 14 may be fitted to two or more Gaussian curves (e.g., normal bell curve distributions). In this example, the cross term parameters may be determined (and adjusted) based on the amplitude and / or width of the Gaussian curves relative to one another. As an example, the processor 142 may calculate a relatively low cross term parameter when the histogram analysis results in a first Gaussian curve representing high intensity values ​​having a high amplitude and a small (narrow) width relative to a second Gaussian curve representing low intensity values. As a further example, the processor 142 may calculate a relatively high cross-term parameter when the histogram analysis results in a first Gaussian curve representing high intensity values ​​having a lower amplitude and a larger (wider) width relative to a second Gaussian curve representing low intensity values.

[0053] As an example, in response to determining that a local pixel value within one of the respective regions 12, 14 includes an outlier illumination intensity (e.g., a target bright spot and / or a local dark spot), the processor 142 may set the cross term parameters to mitigate an undue influence of the outlier measurement on the adjustment of the illuminance measurements (steps 307, 309). Thus, the processor 142 may determine a final (adjusted) first illuminance measurement by automatically adjusting (step 307) the first illuminance measurement by a first cross term parameter, and determine a final (adjusted) second illuminance measurement by automatically adjusting (step 309) the second illuminance measurement by a second cross term parameter.

[0054] In step 310, processor 142 may determine whether the final (adjusted) first illuminance measurement (step 307) exceeds a first brightness threshold for first light source 132, in a manner similar to step 210 described above. In step 312, processor 142 may determine whether the final (adjusted) second illuminance measurement (step 309) exceeds a second brightness threshold for second light source 134, in a manner similar to step 212 described above.

[0055] In response to determining in step 310 that the final (adjusted) first illuminance measurement exceeds the first brightness threshold, the processor 142 may, in step 318, decrease the emittance of light from the first light source 132 (similar to step 218). Alternatively, in response to determining in step 310 that the final (adjusted) first illuminance measurement does not exceed the first brightness threshold, the processor 142 may, in step 314, increase the emittance of light from the first light source 132 (similar to step 214).

[0056] In response to determining in step 312 that the final (adjusted) second illuminance measurement exceeds the second brightness threshold, the processor 142 may decrease the emittance of light from the second light source 134 in step 320 (as in step 220). Alternatively, in response to determining in step 312 that the final (adjusted) second illuminance measurement does not exceed the second brightness threshold, the processor 142 may increase the emittance of light from the second light source 134 in step 316 (as in step 216). Thus, the illumination of the anatomical lumen 10 by the light sources 132, 134 may be automatically determined in real time by the current visibility conditions of each region 12, 14.

[0057] The processor 142 may return to step 302 once it has increased (steps 314, 316) and / or decreased (steps 318, 320) the emittance of light from the first light source 132 and / or the second light source 134, respectively. In this example, the processor 142, in executing one or more instructions of the illumination control logic 146, may periodically (or continuously) execute the method 300 by recapturing the image data 148 with the imager 130 at multiple cycles, at predetermined intervals, and / or continuously during continued use of the medical system 100 in a procedure. In other embodiments, the processor 142 may stop execution of the method 300 upon determining that the first illuminance measurement and / or the second illuminance measurement are equal to the first luminance threshold and / or the second luminance threshold, respectively.

[0058] Referring now to FIG. 6, another exemplary method 400 of using the medical system 100 to irradiate a target treatment site (e.g., an anatomical lumen 10) is shown in schematic form. The illustration of FIG. 6 and the following related description are not meant to limit the subject matter described herein to a particular method. Except as otherwise described below, one or more of the steps of the method 400 may be similar to the methods 200, 300 described and illustrated above. For example, the processor 142 may be configured to capture image data 148 (step 402) and determine corresponding positions of each region 12, 14 in the anatomical lumen 10 based on the image data 148 (step 404) in a manner similar to the method 200 described above.

[0059] In step 405, the processor 142 may execute one or more instructions according to the illumination control logic 146 to determine an area and / or size of a first region 12 in the anatomical lumen 10 based on the image data 148. In step 407, the processor 142 may determine an area and / or size of a second region 14 in the anatomical lumen 10 based on the image data 148. The area and / or size of the first region 12 and the second region 14 may indicate a distribution of light from the corresponding first light 133 and second light 135 received in each region 12, 14. In other words, the size of each region 12, 14 may determine a concentration of luminance from each light source 132, 134 transmitted onto the respective region 12, 14 of the anatomical lumen 10.

[0060] For example, a region 12,14 having a relatively narrow size and / or profile may receive a larger distribution of light from the respective lights 133,135 directed at the other region 12,14, which may result in a relatively larger illuminance measurement within that region 12,14 than another region 12,14 having a relatively wider size and / or profile. In other words, the processor 142 may determine that a region 12,14 having a relatively smaller size may allow other light sources 132,134 (not directed to illuminate that region 12,14) to provide a larger contribution to the total illumination of that region 12,14 given its narrow profile.

[0061] In contrast, the processor 142 may determine that a region 12,14 having a relatively large size, given its broad profile, may result in other light sources 132,134 (not directed to illuminate the region 12,14) providing the least contribution to the total illumination of the region 12,14. The processor 142 may consider various dimensional characteristics of the anatomical lumen 10 in determining the size of each region 12,14, such as depth, width, height, shape, etc. In some embodiments, pixel values ​​exhibiting sharp contrast in the captured image (image data 148) may correspond to pixel locations that define the peripheral boundary of the region 12,14.

[0062] In a further example, the processor 142 may determine the size of each region 12,14 based on one or more processes including, but not limited to, a frequency distribution (e.g., histogram analysis) of a plurality of pixel values ​​within each region 12,14. In this example, the processor 142 may determine the extent and depth of each of the regions 12,14 within the anatomical lumen 10. In one embodiment, the size of each region 12,14 may be determined based on a surface plot or gradient of the resulting intensity at each region 12,14. In this example, a relatively sharp change in intensity within one of the regions 12,14 may indicate the location of a boundary of the corresponding region 12,14 where the influence of a secondary light source (e.g., from the other region) may taper off. Thus, the processor 142 may automatically adjust the size of the first region 12 at step 405 and automatically adjust the size of the second region 14 at step 407 based on the image data 148 captured by the imaging sensor 131.

[0063] In step 406, processor 142 may determine a first illuminance measurement of first region 12 based on the determined size of first region 12 (step 405), in a manner similar to step 206 described above. In step 408, processor 142 may determine a second illuminance measurement of second region 14 based on the determined size of second region 14 (step 407), in a manner similar to step 208 described above.

[0064] In some embodiments, upon determining the size of each region 12, 14, the processor 142 may take into account the effect of the second light 135 on the first region 12 when determining the first illuminance measurement for the first region 12 by utilizing a first cross-term parameter, as described above in step 307. Additionally, the processor 142 may take into account the overlap of illumination by the first light 133 on the second region 14 when determining the second illuminance measurement for the second region 14 by utilizing a second cross-term parameter, as described above in step 309.

[0065] For example, in response to determining that the anatomical lumen 10 has a relatively narrow second region 14 based on the image data 148, the processor 142 may adjust the first illuminance measurement with the first cross-term parameter to take into account a larger contribution by the second light 135 to the illuminance of the first region 12. Alternatively, in response to determining that the anatomical lumen 10 has a relatively wide second region 14, the processor 142 may determine that the second light 135 results in a minimum illuminance of the first region 12 when adjusting the first illuminance measurement with the first cross-term parameter.

[0066] As a further example, in response to determining that the anatomical lumen 10 has a relatively narrow first region 12, the processor 142 may adjust the second illuminance measurement with the second cross-term parameter to take into account a greater contribution by the first light 133 to the illuminance of the second region 14. Alternatively, in response to determining that the anatomical lumen 10 has a relatively wide first region 12, the processor 142 may determine that the first light 133 results in a minimum illuminance of the second region 14 when adjusting the second illuminance measurement with the second cross-term parameter.

[0067] In step 410, the processor 142 may determine whether the first illuminance measurement (step 406) exceeds a first brightness threshold for the first light source 132 in a manner similar to step 210 described above. In step 412, the processor 142 may determine whether the second illuminance measurement (step 408) exceeds a second brightness threshold for the second light source 134 in a manner similar to step 212 described above. In response to determining in step 410 that the first illuminance measurement exceeds the first brightness threshold, the processor 142 may decrease the emittance of light from the first light source 132 in step 418. Alternatively, in response to determining in step 410 that the first illuminance measurement does not exceed the first brightness threshold, the processor 142 may increase the emittance of light from the first light source 132 in step 414.

[0068] In response to determining in step 412 that the second illuminance measurement exceeds the second brightness threshold, the processor 142 may decrease the emittance of light from the second light source 134 in step 420. Alternatively, in response to determining in step 412 that the second illuminance measurement does not exceed the second brightness threshold, the processor 142 may increase the emittance of light from the second light source 134 in step 416. Thus, the illumination of the anatomical lumen 10 by the light sources 132, 134 may be automatically determined in real time by the current visibility conditions of each region 12, 14.

[0069] The processor 142 may return to step 402 once it has increased (steps 414, 416) and / or decreased (steps 418, 420) the emittance of light from the first light source 132 and / or the second light source 134, respectively. In this example, the processor 142, in executing one or more instructions of the lighting control logic 146, may periodically (or continuously) execute the method 400 by recapturing the image data 148 with the imager 130 at multiple cycles, at predetermined intervals, and / or during operation with continued use of the medical system 100. In other embodiments, the processor 142 may stop executing the method 400 upon determining that the first illuminance measurement and / or the second illuminance measurement are equal to the first luminance threshold and / or the second luminance threshold, respectively.

[0070] Each of the above-mentioned systems, devices, assemblies, and methods may be used to detect, measure, and illuminate the location of a target site. By providing a medical system including a computing device that automatically controls the illumination output of a plurality of illumination devices, a user may have optimal visibility within a subject's body during treatment, thereby enabling the user to reduce overall treatment time, increase the efficiency of the treatment, and avoid unnecessary harm to the subject's body caused by insufficient visibility at the target treatment site. The above-mentioned methods may further be used to train algorithms configured and operable to simulate the processing of the above-mentioned systems and devices without the need for user intervention, for application by one or more automated machines in the form of artificial intelligence.

[0071] It is apparent to those skilled in the art that various modifications and changes may be made in the disclosed apparatus and method without departing from the scope of the present disclosure. The disclosed apparatus may include various suitable computer systems and / or computing units incorporating multiple hardware components, such as processors and non-transitory computer-readable media, which enable the apparatus to perform one or more operations during processing according to the operations described herein. Other aspects of the present disclosure will be apparent to those skilled in the art from consideration of the present specification and practice of the features disclosed herein. It is intended that the present specification and examples be considered merely as examples.

[0072] The various systems may include any computing device. The computing device may include input and output ports for connecting with input and output devices such as a keyboard, mouse, touch screen, monitor, display, etc. Of course, the various system functions may be implemented in a distributed manner on several similar platforms to distribute the processing load. Alternatively, the system may be implemented by appropriate programming of one computer hardware platform.

[0073] In an embodiment, any of the disclosed systems, methods, and / or graphical user interfaces may be executed or implemented by a computing system consistent with or similar to the description herein. Although not required, aspects of the present disclosure are described in the context of computer-executable instructions, such as routines executed by a data processing device, e.g., a server computer, a wireless device, and / or a personal computer. Those skilled in the art will appreciate that aspects of the present disclosure may be implemented with other communication, data processing, or computer system configurations, including Internet devices, handheld devices (including personal digital assistants ("PDAs")), wearable computers, any type of cellular or mobile phone (including voice over IP ("VoIP") phones), dumb terminals, media players, gaming devices, virtual reality devices, multiprocessor systems, microprocessor-based or programmable consumer electronics devices, set-top boxes, network PCs, minicomputers, mainframe computers, and the like. It should be noted that the terms "computer," "computing device," and the like are generally used interchangeably herein to refer to any of the devices and systems described above, as well as any data processors.

[0074] Aspects of the present disclosure may be embodied in a special purpose computer and / or data processor that is specifically programmed, configured, and / or constructed to execute one or more of the computer-executable instructions detailed herein. Although aspects of the present disclosure, such as certain functions, are described as being executed exclusively on a single device, the present disclosure may also be practiced in a distributed environment in which functions or modules are shared among different processing devices linked via a communication network, such as a local area network ("LAN"), a wide area network ("WAN"), and / or the Internet. Similarly, techniques presented herein as involving multiple devices may be implemented in a single device. In a distributed computing environment, program modules may be located in both local and / or remote memory storage devices.

[0075] Aspects of the present disclosure may be stored and / or distributed on non-transitory computer-readable media, including magnetically or optically readable computer disks, hardwired or preprogrammed chips (e.g., EEPROM semiconductor chips), nanotechnology memories, biological memories, or other data storage media. Alternatively, computer-implemented instructions, data structures, screen displays, and other data under aspects of the present disclosure may be distributed over a period of time on a propagating signal (e.g., electromagnetic waves, sound waves, etc.) on a propagating medium, via the Internet and / or other networks (including wireless networks), and / or provided over any analog or digital network (packet-switched, circuit-switched, or other manner).

[0076] Program aspects of the technology may be considered as "products" or "articles" in the form of executable code and / or associated data typically carried on or embodied within some type of machine-readable medium. "Storage" type media includes any or all of the tangible memory of a computer or processor or their associated modules, such as various semiconductor memories, tape drives, disk drives, etc., that may provide non-transitory storage at any time for software programming. All or a portion of the software may possibly be communicated over the Internet or various other telecommunications networks. Such communication may enable loading of the software, for example, from one computer or processor to another, for example, from a management server or host computer of a mobile communications network to a server's computing platform, and / or from a server to a mobile device. Thus, other types of media that may carry software elements include optical, electrical, and electromagnetic waves, such as those used across physical interfaces between local devices, and through wired and optical landline networks, and over various air links. The physical elements that carry such waves, such as wired or wireless links, optical links, etc., may also be considered media that bear the software. As used herein, terms such as computer or machine "readable medium" refer to any medium that participates in providing instructions to a processor for execution, unless limited to non-transitory, tangible "storage" media.

[0077] It will be apparent to those skilled in the art that various modifications and variations can be made to the disclosed systems, methods, and apparatus without departing from the scope of the disclosure. Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.

Claims

1. A medical system comprising: a shaft having a distal end configured to be disposed at a target site; a first light disposed at the distal end; a second light disposed at the distal end; an arithmetic unit communicably coupled to the first light and the second light, the arithmetic unit including a processor and a non-transitory computer-readable medium storing instructions; wherein the instructions, when executed by the processor, (i) determine a first illuminance measurement value of a first region of the target site by the first light; (ii) determine a second illuminance measurement value of a second region of the target site by the second light, the second region being different from the first region; (iii) adjust the emission from the first light in response to the first illuminance measurement value of the first region being different from a first threshold; and (iv) adjust the emission from the second light in response to the second illuminance measurement value of the second region being different from a second threshold. A medical system that causes the processor to execute the above.

2. The instructions stored in the non-transitory computer-readable medium cause the processor to increase the emission from the first light when the first illuminance measurement value of the first region is less than the first threshold, and decrease the emission from the first light when the first illuminance measurement value of the first region is greater than the first threshold. The medical system according to claim 1.

3. The instructions stored in the non-transitory computer-readable medium cause the processor to Increasing the emittance from the second light when the second illuminance measurement value of the second region is less than the second threshold value, and decreasing the emittance from the second light when the second illuminance measurement value of the second region is greater than the second threshold value, The medical system according to claim 1 or 2, which causes the processor to execute the above.

4. The medical system according to claim 1 or 2, further comprising an imaging device disposed at the distal end and configured to capture image data of the first region and the second region of the target site.

5. The arithmetic unit is communicably coupled to the imaging device, and the instructions stored in the non-transitory computer-readable medium are Based on the image data captured by the imaging device, determining a first position of the first region of the target site with respect to the distal end and a second position of the second region of the target site; The medical system according to claim 4, which causes the processor to execute the above.

6. The instructions stored in the non-transitory computer-readable medium are Determining the first illuminance measurement value of the first region based on the image data captured by the imaging device at the first position, and Determining the second illuminance measurement value of the second region based on the image data captured by the imaging device at the second position; The medical system according to claim 5, which causes the processor to execute the above.

7. The instructions stored in the non-transitory computer-readable medium are Determining the first illuminance measurement value of the first region by calculating the average luminance of a plurality of pixels from the image data captured by the imaging device, The medical system according to claim 6, which causes the processor to execute the above.

8. The instructions stored in the non-transitory computer-readable medium cause the processor to adjust the first illuminance measurement value of the first region based on a first cross-term parameter indicating the illuminance of the first region by the second light, and the processor to adjust the second illuminance measurement value of the second region based on a second cross-term parameter indicating the illuminance of the second region by the first light, for the medical system according to claim 4.

9. The medical system according to claim 8, wherein each of the first and second cross-term parameters includes a predetermined variable stored on the arithmetic unit.

10. The medical system according to claim 8, wherein each of the first and second cross-term parameters includes a dynamic variable that is automatically adjusted by the arithmetic unit based on the image data captured by the imaging device.

11. The instructions stored in the non-transitory computer-readable medium cause the processor to modify each of the first and second cross-term parameters based on a frequency distribution of a plurality of pixels from the image data captured by the imaging device, for the medical system according to claim 10.

12. The instructions stored in the non-transitory computer-readable medium cause after adjusting the emissions from the first light and the second light, the processor to periodically determine the first illuminance measurement value of the first region and the second illuminance measurement value of the second region using the imaging device, for the medical system according to claim 4.

13. The instructions stored in the non-transitory computer-readable medium cause Determining the area of the first region and the area of the second region of the target site based on the image data captured by the imaging device; The medical system according to claim 11, causing the processor to execute the above.

14. The instructions stored in the non-transitory computer-readable medium are Determining the first illuminance measurement value of the first region by the first light and the second light based at least in part on the area of the first region, and Determining the second illuminance measurement value of the second region by the second light and the first light based at least in part on the area of the second region, The medical system according to claim 13, causing the processor to execute the above.

15. The first light is configured to generate a broad beam profile and the second light is configured to generate a narrow beam profile such that the second region includes a central area of the target site relative to the distal end and the first region includes a peripheral area of the target site surrounding the central area. The medical system according to claim 1 or 2.

Images