Medical lighting systems and methods for using them

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 generally relate to medical lighting devices, systems, apparatuses, and related methods. Specifically, embodiments of the present disclosure relate, among other things, to devices, systems, apparatuses, and related methods for improving the visibility of one or more target sites within a patient during an endoscopic procedure. This application claims the benefit of priority of U.S. Provisional Patent Application No. 63 / 221,361, filed Jul. 13, 2021, the entire disclosure of which is incorporated herein by reference.

Background Art

[0002] With the development of technology, the ability to perform increasingly complex procedures on subjects has been given to users of medical systems, devices, and methods. Among other surgical procedures, one issue in the field of minimally invasive surgery, such as endoscopy, relates to providing sufficient visibility to a physician attempting to identify the location of a target treatment site within a patient using an imaging device. Illumination of a target treatment site using one or more lighting devices can provide limited optical visibility within a patient to appropriately perform an examination and diagnostic analysis of the target site. This can generally be due to the various anatomical profiles of each target treatment site and may require the application of light adjusted to the target biological structure being observed. Limitations of medical devices in providing sufficient illumination of the target site can prolong the procedure, limit its effectiveness, and / or cause damage to the patient due to lack of visibility.

Summary of the Invention

[0003] Aspects of the present disclosure relate, among other things, to systems, devices, apparatuses, and methods for illuminating a target treatment site, and more particularly to systems, devices, apparatuses, and methods for illuminating a target treatment site based on automatically controlling an illumination beam profile emitted within a target biological structure being observed. Each of the aspects disclosed herein may include one or more of the features described in relation to any of the other disclosed aspects.

[0004] According to one embodiment, the medical system may include a shaft having a distal end configured to be positioned at a target site, a first light positioned at the distal end, a second light positioned 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-temporary computer-readable medium storing instructions. When executed by the processor, the instructions cause the processor to: (i) determine a first illuminance measurement of a first area of ​​the target site by the first light; (ii) determine a second illuminance measurement of a second area of ​​the target site, which is different from the first area, by the second light; (iii) adjust the emittance from the first light in response to the first illuminance measurement of the first area being different from a first threshold; and (iv) adjust the emittance from the second light in response to the second illuminance measurement of the second area being different from a second threshold.

[0005] The medical systems described herein may include any of the following features: Instructions stored in the non-temporary computer-readable medium cause the processor to increase the emittance from the first light when the first illuminance measurement of the first area is less than the first threshold, and to decrease the emittance from the first light when the first illuminance measurement of the first area is greater than the first threshold. Instructions stored in the non-temporary computer-readable medium cause the processor to increase the emittance from the second light when the second illuminance measurement of the second area is less than the second threshold, and to decrease the emittance from the second light when the second illuminance measurement of the second area is greater than the second threshold. The medical system further includes an imaging device located at the distal end and configured to capture image data of the first and second areas of the target site. The arithmetic unit is communicatively coupled to the imaging device, and the instructions stored in the non-temporary computer-readable medium cause the processor to perform the following: determine a first position of the first region of the target area relative to the distal end and a second position of the second region of the target area based on the image data captured by the imaging device. The instructions stored in the non-temporary computer-readable medium cause the processor to perform the following: determine a first illuminance measurement value of the first region based on the image data captured by the imaging device at the first position, and determine a second illuminance measurement value of the second region based on the image data captured by the imaging device at the second position. The instructions stored in the non-temporary computer-readable medium cause the processor to perform the following: determine a first illuminance measurement value of the first region by calculating the average brightness of a plurality of pixels from the image data captured by the imaging device.Instructions stored in the non-temporary computer-readable medium cause the processor to adjust the first illuminance measurement of the first region based on a first crossover parameter indicating the illuminance of the first region by the second light, and to adjust the second illuminance measurement of the second region based on a second crossover parameter indicating the illuminance of the second region by the first light. Each of the first and second crossover parameters includes a predetermined variable stored on the arithmetic unit. Each of the first and second crossover parameters includes a dynamic variable that is automatically adjusted by the arithmetic unit based on the image data captured by the imaging device. Instructions stored in the non-temporary computer-readable medium cause the processor to modify each of the first and second crossover parameters based on the frequency distribution of multiple pixels from the image data captured by the imaging device. The instructions stored in the non-temporary computer-readable medium cause the processor to periodically determine a first illuminance measurement of the first region and a second illuminance measurement of the second region using the imaging device after adjusting the emittance from the first light and the second light. The instructions stored in the non-temporary computer-readable medium cause the processor to determine the area of ​​the first region and the area of ​​the second region of the target area based on the image data captured by the imaging device. The instructions stored in the non-temporary computer-readable medium cause the processor to determine a first illuminance measurement of the first region by the first light and the second light based at least partially on the area of ​​the first region, and to determine a second illuminance measurement of the second region by the second light and the first light based at least partially on the area of ​​the second region. The first light is configured to produce a broad beam profile, and the second light is configured to produce a narrow beam profile, such that the second region includes the central area of ​​the target site relative to the distal end, and the first region includes the peripheral area of ​​the target site surrounding the central area.

[0006] According to another embodiment, a method for illuminating a target area using a medical system may include determining a first position of a first region and a second position of a second region of the target area 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, which is different from the first region, by a second light of the medical system; and adjusting the emittance of one or more of the first or second lights in response to the first or second illuminance measurement being deviated from a threshold.

[0007] The methods described herein may include any of the following steps: capturing image data of the target area using an imaging device of the medical system, wherein the first position of the first region and the second position of the second region are determined based on the image data captured by the imaging device; capturing image data of the target area using an imaging device of the medical system, wherein the first illuminance measurement and the second illuminance measurement are determined based on the image data captured by the imaging device; and adjusting the first and second illuminance measurements based on an intersection parameter indicating the illuminance of the opposing region of the target area by the corresponding first or second light.

[0008] According to further embodiments, a method for illuminating a target area using a medical system includes: (a) capturing image data of the target area using an imaging device of the medical system; (b) determining the position of a first region and a second region of the target area relative to the medical system; (c) determining the size of the first region and the 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 position and size of the first region; and (e) determining the position and size of the second region (a) to determine a second illuminance measurement of the second area by a second light of the medical system; (f) to compare each of the first illuminance measurement and the second illuminance measurement with their respective thresholds; (g) to adjust 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 being different from their respective thresholds; and (h) to repeat steps (a) to (g) at periodic intervals until it is determined in step (f) that the first illuminance measurement and the second illuminance measurement are equal to the thresholds.

[0009] Furthermore, the general explanation above and the detailed explanation below are merely illustrative and descriptive, and do not limit the invention described in the claims. The accompanying drawings incorporated herein and constituting part thereof illustrate exemplary embodiments of the Disclosure and, together with the following description, serve to illustrate the principles of the Disclosure. [Brief explanation of the drawing]

[0010] [Figure 1] Figure 1 is a schematic diagram of an exemplary medical system according to an aspect of this disclosure. [Figure 2] Figure 2 is a partial perspective view of the medical system of Figure 1 positioned at a target site in a patient according to an aspect of this disclosure. [Figure 3]Figure 3 is a schematic diagram of an image received by the medical system of Figure 1, positioned on a target site of a patient according to an aspect of this disclosure. [Figure 4] Figure 4 is a block diagram of an exemplary method for illuminating a target site using the medical system of Figure 1 according to an aspect of this disclosure. [Figure 5] Figure 5 is a block diagram of an exemplary method for illuminating a target site using the medical system of Figure 1 according to an aspect of this disclosure. [Figure 6] Figure 6 is a block diagram of an exemplary method for illuminating a target site using the medical system of Figure 1 according to an aspect of this disclosure. [Modes for carrying out the invention]

[0011] The embodiments of this disclosure include systems, devices, and methods for facilitating the illumination of one or more targeted therapeutic sites within a subject (e.g., a patient) based on the anatomical profile of the site. The embodiments of this disclosure are described below in detail. Embodiments of the embodiments of this disclosure are illustrated in the accompanying drawings. Wherever possible, identical or similar reference numerals are used throughout the drawings to refer to identical or similar parts. The term “distal” refers to the part of the device furthest from the user when the device is introduced into the patient. In contrast, the adjective “proximal” refers to the part of the device closest to the user when the device is positioned within the subject. The terms “equipped,” “equipped,” or any other variations thereof as used herein are intended to cover non-exclusive inclusion, such that a process, method, article, or device containing a list of elements does not necessarily contain only those elements, but may include other elements not expressly enumerated, or other elements specific 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] Embodiments 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 is a spatial area in which a medical device is received, and may include various spatial areas relative to the medical device, such as a first central area and a second peripheral area surrounding this central area. The computing device of the medical system may perform one or more logical operations to illuminate various spatial areas 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 light intensity of each spatial area and determine whether sufficient visibility is obtained to enable optical inspection of the area.

[0013] The embodiments of this 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 part of the gastrointestinal tract, and / or any other appropriate part of a patient's biological structure (collectively referred to herein as “Target Therapy Sites”). However, this disclosure is not limited to any particular anatomical area and may be used in ureteroscopy, bronchoscopy, colonoscopy, endoscopy, etc., and / or in the diagnosis or treatment of any body lumen. The various embodiments described herein include single-use or disposable medical devices. Hereafter, the embodiments of this disclosure shown in the accompanying drawings described above will be referred to in detail. Wherever possible, the same reference numerals will be used throughout the drawings to refer to the same or similar parts.

[0014] Figure 1 shows a schematic diagram of an exemplary medical system 100 according to one 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 by, for example, a wired connection, a wireless connection, etc. In the embodiment, the computing device 140 may include a computer system incorporating a plurality of hardware components that enable the computing device 140 to receive and monitor data (e.g., image data 148), initiate the transmission of light (e.g., light from the first light source 132 and / or the second light source 134), and / or process other information 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 arithmetic unit 140 may include any arithmetic unit capable of executing machine-readable instructions that can be stored on a non-temporary computer-readable medium, such as the memory 144 of the arithmetic unit 140. For example, the processor 142 may include a controller, an integrated circuit, a microchip, a computer, and any other computer processing unit capable of operating to perform calculations and logical operations required to run a program. As will be described in more detail herein, the processor 142 may be configured to perform one or more operations, such as lighting control logic 146, in accordance with instructions stored in the memory 144.

[0016] Continuing to refer to Figure 1, memory 144 may include a non-temporary computer-readable medium for storing machine-readable instructions, such as lighting control logic 146. As will be described in more detail below, lighting control logic 146 may include executable instructions that enable the medical system 100 to detect and / or measure the optical visibility of a target site to determine whether the target site requires enhanced emittance illumination from light sources 132,134, thereby facilitating optical examination and treatment of the target site by medical devices 110 and 120. Lighting control logic 146 may also include executable instructions that determine illumination requirements based on the anatomical profile of the target treatment site, so that the control of light sources 132,134 is automated in real time based on the current state within the target site.

[0017] The lighting control logic 146 can automatically perform periodic or continuous visibility evaluation of a target area without requiring user input. In other embodiments, the computing unit 140 may be configured to receive user input to initiate illuminance evaluation of a target area, for example, from user input communicating with the computing unit 140 via the display 150 (e.g., wirelessly, wired, etc.). In this embodiment, the display 150 may include a user interface that is configured and operable to generate a graphical display of information and receive user input for sending commands to the processor 142. For example, the display 150 may include a touchscreen interface display.

[0018] Furthermore, various programming algorithms and data supporting the operation of the medical device 110 may reside in memory 144, either entirely or in part. Memory 144 may include any type of computer-readable medium suitable for storing data and algorithms, such as random access memory (RAM), read-only memory (ROM), flash memory, a hard drive, and / or any device capable of storing machine-readable instructions. Memory 144 may include one or more datasets, including but not limited to diagnostic data from one or more components of the medical system 100 (e.g., medical device 110, medical equipment 120, imaging device 130, etc.). In this example, memory 144 may receive and store image data 148 of the target treatment site recorded by the imaging device 130 during the use of the medical system 100 in a procedure.

[0019] Continuing to refer to Figure 1, the medical device 110 may be configured to facilitate the placement of one or more components of the medical system 100 to a person (e.g., a patient), such as a medical instrument 120. In embodiments, the medical device 110 may be any type of endoscope, duodenoscope, gastroscopy, colonoscope, ureteroscope, bronchoscope, catheter, or other instrument for providing light and imaging capabilities. The medical device 110 may include a handle 112, an operating 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 the 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 will be described in more detail herein, the at least one port 116 has a size and shape for receiving one or more devices, such as a medical instrument 120.

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

[0021] The shaft 118 may include a tube having sufficient flexibility. Therefore, the shaft 118 is configured to selectively bend, rotate, and / or twist when inserted into and / or through the serpentine biostructure of a subject to a target therapeutic site. The shaft 118 may have one or more lumens (not shown) passing through it. These lumens include, for example, a working lumen 117 (Figure 3) for receiving a device (e.g., a medical device 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 operating one or more distal parts / tools (e.g., joints, elevators, etc.), a fluid lumen for delivering fluid, one or more illumination lumens for receiving a first light 133 communicably coupled to a first light source 132 and a second light 135 communicably coupled to a second light source 134, and / or an imaging lumen for receiving an imaging sensor 131 of an imaging device 130 (Figure 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 are not limited to, charge-coupled devices (CCDs), CMOSs, and / or various other suitable camera sensors.

[0022] Continuing to refer to FIG. 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. The medical device 120 exits the shaft 118 through this working opening. 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 discharged 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 the actuation of control wires), 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 imaging device 130).

[0023] Continuing to refer to FIG. 1, the medical device 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 device 120 may be configured to bend, rotate, and / or twist when inserted into the working lumen of the medical apparatus 110. The proximal end of the medical device 120 may include a handle 122 configured to move, rotate, and / or bend the longitudinal body 124. Further, 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 device 120. Alternatively, the distal end 126 of the medical device 120 may include an end effector such as a cutting or grasping forceps, a biopsy device, a snare loop, an injection needle, a cutting blade, forceps, a retractable basket, a retrieval device, an excision and / or electrophysiology tool, a stent delivery device, a surgical stapling device, a balloon catheter, a laser emitting device, and / or any other suitable diagnostic or therapeutic end effector.

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

[0025] Referring here to Figure 2, the distal end 126 of the longitudinal body 124 is shown within the anatomical lumen 10 of the subject. The anatomical lumen 10 may include various regions within the subject's body that can be observed by the medical system 100. The anatomical lumen 10 may be defined by at least a first (lateral) 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 with a generally narrow profile in which the first region 12 defines the peripheral region around the second region 14.

[0026] With the distal end 119 positioned 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 broad beam of light having a first emittance profile. The second light 135 may be configured to emit a narrow beam of light having a second emittance profile different from the first emittance profile. In this embodiment, the first emittance profile is greater (e.g., broader) than the second emittance profile. In other words, the second light 135 may be operable to transmit light from the second light source 134, which has a focused illumination profile that is narrower in size and / or shape than the light transmitted by the first light source 133 from the first light source 132.

[0027] Continuing to refer to Figure 2, with the distal end 119 positioned within the anatomical lumen 10, the imaging sensor 131 may be configured to capture an image of the portion of the anatomical lumen 10 located distal to the distal end 119. The imaging sensor 131 may be communicably coupled to the imaging device 130. The imaging sensor 131 may be adjacent to one or more camera lenses. The 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 partial-resolution frame of pixel values ​​that visually highlights one or more features and / or characteristics of a luminal passage within a target, such as an anatomical lumen 10. The imaging sensor 131 may also include a color filter sensor array so that the digital image captured by the imaging sensor 131 provides a raw image (e.g., image data 148) having various color pixel values ​​arranged in a mosaic pattern. Each pixel array in the pattern may include a single color pixel value so that one or more color pixel values ​​can 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 the light intensity (e.g., color pixel value) in one of a plurality of spectral bands at a specific pixel location in the captured image of the anatomical lumen 10.

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

[0030] Referring here to Figures 1-3 in conjunction with the flowchart in Figure 4, an exemplary method 200 using a medical system 100 to illuminate a target treatment site (e.g., an anatomical lumen 10) is schematically shown. The illustration in Figure 4 and the related description below are not intended to limit the subject matter described herein to a particular method.

[0031] First, the medical device 110 may be inserted into the subject's body (not shown) and positioned with its distal end 119 adjacent to a target site such as an anatomical lumen 10 (Figures 2 and 3). The shaft 118 may be guided through the subject's digestive tract by inserting its distal end 119 into the subject's nose or mouth (or other suitable natural body opening) and traverse the subject's gastrointestinal tract (e.g., esophagus, stomach, small intestine, etc.) until it reaches the anatomical lumen 10. The length of the shaft 118 may be sufficient such that the proximal end of the medical device 110 (including the handle 112) is located outside the subject and the distal end 119 is located inside the subject's body. Furthermore, although this disclosure relates to the use of the medical device 110 in the subject's digestive tract, a feature of this disclosure is that it can also be used in various other locations within the subject's body (e.g., other organs, tissues, etc.).

[0032] With the medical device 110 accepted into the patient's body, the medical device 120 may be accepted into 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 of the shaft 118 (e.g., the working lumen). The distal end 126 may extend distally from an opening at the distal end 119, such as a working opening communicating with the working lumen of the shaft 118. Thus, as shown in Figure 2, the distal end 126 may be positioned within the anatomical lumen 10.

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

[0034] With the distal end 119 positioned within the anatomical lumen 10, an imaging sensor 131, a first light 133, and a second light 135 may be used 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] Therefore, referring here to Figure 4, the user may use the imaging device 130 to generate tissue images (e.g., image data 148) to visualize the anatomical lumen 10, particularly the target treatment site within the anatomical lumen 10. For example, in step 202, the processor 142 may capture an image of the anatomical lumen 10 by the imaging device 130 by executing one or more instructions according to the illumination control logic 146. The image data 148 is communicated to the computing device 140, recorded in memory 144, and can be displayed on the display 150 for real-time observation by the user of the medical system 100.

[0036] In step 204, the processor 142 may determine the location 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 determined by the image data 148 detected by the imaging sensor 131. The processor 142 may determine the location of boundary A that defines the boundary region of the anatomical lumen 10 between the first region 12 and the second region 14. As described above, the area that coincides within boundary A may generally be determined to include the second region 14, while the area located outside 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., tissue wall) defining regions 12,14 of the anatomical lumen 10, based on image data 148. The light intensity 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 the average luminance value of each pixel located within each region 12,14 from the image data 148. In another example, the processor 142 may determine the sum of multiple pixel values ​​for each region 12,14 and calculate the corresponding illuminance measurement as a predetermined percentage of that sum (e.g., about 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, and above). In yet another example, the processor 142 may determine the luminous flux emitted over each of the first region 12 and the second region 14 through 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 the first luminance threshold of the first light source 132. In step 212, the processor 142 may determine whether the second illuminance measurement (step 208) exceeds the second luminance threshold of 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 luminous intensity required to adequately illuminate the first region 12. The second luminance threshold may correspond to a predetermined minimum luminous intensity required to adequately illuminate the second region 14.

[0040] In some examples, a predetermined luminance threshold may be based on a predetermined saturation level determined from image data 148. In this example, the predetermined saturation level may be in the range of approximately 30% to approximately 60% of the light intensity captured by multiple pixels located within each region 12,14 from the image data 148. In other embodiments, one or more of the luminance thresholds may be modified by the user of the computing device 140 and / or 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 luminance thresholds based on the image data 148 detected by the imaging device 130, 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.

[0041] In response to determining in step 210 that the first illuminance measurement exceeds the first luminance threshold, the processor 142 may reduce 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 reduce 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 reducing the light emittance from the first light source 132 by a predetermined (negative) luminous intensity variable. In this example, the predetermined (negative) luminous intensity variable may include a fixed (static) parameter used to automatically reduce the light emission from the first light source 132 regardless of a first illuminance measurement in the first region 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 light emittance from the first light source 132 in step 214. The processor 142 may determine the variance between the first illuminance measurement and the first luminance threshold and increase 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 in the first region 12.

[0044] In response to the processor 142 determining in step 212 that the second illuminance measurement exceeds the second luminance threshold, it may reduce the emittance of light from the second light source 134 in step 220 in a similar manner to that of the first light source 132 described above in step 218 (e.g., dispersion, a predetermined (negative) luminous intensity variable, etc.). Alternatively, in response to the processor 142 determining in step 212 that the second illuminance measurement does not exceed the second luminance threshold, it may increase the emittance of light from the second light source 134 in step 216 in a similar manner to that of the first light source 132 described above in step 214 (e.g., dispersion, a predetermined (positive) luminous intensity variable, etc.). Thus, the illumination of the anatomical lumen 10 by the light sources 132 and 134 can be automatically determined in real time based on the current visibility conditions of each region 12 and 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 method 200 by recapturing image data 148 using the imaging device 130 at multiple cycles (or continuously) when executing one or more instructions of the illumination control logic 146. In some embodiments, the processor 142 may repeat the execution of the illumination control logic 146 at predetermined intervals. In other embodiments, the processor 142 may continuously repeat the steps described herein during operation due to the continuous use of the medical system 100. In other embodiments, the processor 142 may stop executing 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 here to Figure 5, another exemplary method 300 is schematically shown in which the medical system 100 is used to irradiate a target treatment site (e.g., an anatomical lumen 10). The illustration in Figure 5 and the related description below are not intended to limit the subject matter described herein to a particular method. Unless otherwise stated below, one or more steps of method 300 may be the same as those of method 200 described above and illustrated. For example, the processor 142 may be configured to capture image data 148 in a manner similar to that of method 200 described above (step 302) and to determine the corresponding locations of each region 12,14 within the anatomical lumen 10 based on the image data 148 (step 304). Furthermore, 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 adjust the first illuminance measurement (step 306) by a first crossover parameter by executing one or more instructions according to the lighting control logic 146. In step 309, the processor 142 may adjust the second illuminance measurement (step 308) by a second crossover parameter. The first crossover parameter may be the same as or different from the second crossover parameter. These crossover parameters may include weighting variables that take into account at least a portion of the luminance intensity present in other regions 12,14 when calculating the final (adjusted) illuminance measurement for each region 12,14.

[0048] The processor 142 may consider the luminance of the second region 14, which at least partially affects the overall luminance of the first region 12, by adjusting the first illuminance measurement using the crossover term parameter in step 307. Furthermore, the processor 142 may consider the luminance of the first region 12, which at least partially affects the overall luminance of the second region 14, by adjusting the second illuminance measurement using the crossover term parameter in step 309.

[0049] In other words, assuming that the first region 12 is adjacent to the second region 14 and vice versa, the processor 142 may incorporate an intersection parameter to adjust the first illuminance measurement (step 307) and the second illuminance measurement (step 309) to take into account the luminance effect that each light source 132,134 has on the other region 12,14 (to which the corresponding lights 133,135 are not directed). In some embodiments, the intersection parameter may be a predetermined fixed variable indicating the minimum influence that each light source 132,134 can have on the other region 12,14. In other embodiments, the intersection parameter may be a ratio of the luminance measured in the opposing regions 12,14. For example, the intersection parameter may be in the range of approximately 0 to approximately 1, where a value close to 0 may indicate that the coupling between adjacent regions 12,14 is minimal or nonexistent (i.e., the luminance of each region has no influence on the opposing region). Furthermore, a value close to 1 may indicate that the coupling between adjacent regions 12 and 14 is maximum or perfect (i.e., the brightness of each region has an influence that contributes to the opposing region).

[0050] In other embodiments, the crossover parameter may be a dynamic variable automatically determined by the processor 142 based on one or more characteristics of the anatomical lumen 10, such as the interiors of the first region 12 and the second region 14. In this example, the processor 142 may automatically adjust the crossover parameter based on the illuminance conditions of each region 12,14. For example, the processor 142 may determine the crossover parameter according to corresponding proportions of illuminance measurements in opposing regions 12,14, such as a proportion in the range of about 10% to about 90%.

[0051] In another example, the processor 142 may determine the crossover term parameter based on illuminance measurements of spatial subregions of opposing regions 12,14, such as subregions ranging from approximately 10% to 90% of the total area of ​​the opposing regions 12,14. In this example, illuminance measurements of multiple pixels located within the subregions of opposing regions 12,14 may be determined and incorporated into the final (adjusted) illuminance measurements of each region 12,14 in the form of crossover term parameters.

[0052] In further examples, processor 142 may determine the crossover parameter based on one or more processes, including, but not limited to, the entire frequency distribution (e.g., histogram analysis) of multiple pixel values ​​within each region 12,14. In this example, processor 142 may determine the crossover parameter based on the mean of multiple pixel values, the median pixel value, the modes of multiple pixel values, etc. In other examples, the histogram analysis of multiple pixel values ​​from regions 12,14 can be fitted to two or more Gaussian curves (e.g., a normal bell curve distribution). In this example, the crossover parameter may be determined (and adjusted) based on the amplitude and / or width of the Gaussian curves relative to each other. For example, processor 142 may calculate a relatively low crossover parameter if, as a result of the histogram analysis, the first Gaussian curve representing high intensity values ​​has a high amplitude and a small (narrow) width relative to the second Gaussian curve representing low intensity values. As a further example, processor 142 may calculate a relatively high crossover term parameter if, as a result of histogram analysis, the first Gaussian curve representing high intensity values ​​has a lower amplitude and a larger (wider) width than the second Gaussian curve representing low intensity values.

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

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

[0055] In step 310, in response to determining that the final (adjusted) first illuminance measurement exceeds the first luminance 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 step 310, in response to determining that the final (adjusted) first illuminance measurement does not exceed the first luminance 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 step 312, if the processor 142 determines that the final (adjusted) second illuminance measurement exceeds the second luminance threshold, it may, in step 320, reduce the emittance of light from the second light source 134 (similar to step 220). Alternatively, in step 312, if the processor 142 determines that the final (adjusted) second illuminance measurement does not exceed the second luminance threshold, it may, in step 316, increase the emittance of light from the second light source 134 (similar to step 216). Thus, the illumination of the anatomical lumen 10 by light sources 132 and 134 can be automatically determined in real time based on the current visibility conditions of each region 12 and 14.

[0057] The processor 142 may return to step 302 after increasing (steps 314, 316) and / or decreasing (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 may periodically (or continuously) execute method 300 by recapturing image data 148 using the imaging device 130 at multiple cycles, at predetermined intervals, and / or continuously during continuous use of the medical system 100 in a procedure, when executing one or more instructions of the lighting control logic 146. In other embodiments, the processor 142 may stop executing method 300 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.

[0058] Referring here to Figure 6, another exemplary method 400 is schematically shown in which the medical system 100 is used to irradiate a target treatment site (e.g., an anatomical lumen 10). The illustration in Figure 6 and the related description below are not intended to limit the subject matter described herein to a particular method. Unless otherwise stated below, one or more steps of method 400 may be the same as those of methods 200, 300 described above and illustrated. For example, the processor 142 may be configured to capture image data 148 in a manner similar to that of method 200 described above (step 402) and to determine the corresponding locations of each region 12, 14 within the anatomical lumen 10 based on the image data 148 (step 404).

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

[0060] For example, regions 12,14 having a relatively narrow size and / or profile may receive a larger distribution of light from their respective lights 133,135 directed towards the other regions 12,14, thereby potentially resulting in illuminance measurements within those regions 12,14 being relatively higher than those within other regions 12,14 having a relatively wide size and / or profile. In other words, the processor 142 may determine that regions 12,14 having a relatively small size may allow other light sources 132,134 (not directed towards illuminating those regions 12,14) to contribute more to the overall illumination of those regions 12,14 given their narrow profiles.

[0061] In contrast, the processor 142 may determine, based on the broad profile of the relatively large regions 12,14, that other light sources 132,134 (not directed to illuminate the regions 12,14) can make the smallest contribution to the total illumination of those regions 12,14. The processor 142 may consider various dimensional characteristics of the anatomical lumen 10 when determining the size of each region 12,14, such as depth, width, height, and shape. In some embodiments, pixel values ​​showing sharp contrast in the captured image (image data 148) may correspond to pixel positions defining the periphery of the regions 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 of multiple pixel values ​​within each region 12,14 (e.g., histogram analysis). In this example, the processor 142 may determine the extent and depth of each region 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 intensity obtained in each region 12,14. In this example, a relatively abrupt change in intensity within one of the regions 12,14 may indicate the location of the boundary of the corresponding region 12,14 where the influence of a secondary light source (e.g., from another region) can gradually decrease. Thus, the processor 142 may automatically adjust the size of the first region 12 in step 405 and the size of the second region 14 in step 407 based on image data 148 captured by the imaging sensor 131.

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

[0064] In some embodiments, when determining the size of each region 12,14, the processor 142 may consider the effect of the second light 135 on the first region 12 when determining the first illuminance measurement of the first region 12 by utilizing the first crossover term parameter, as described above in step 307. Furthermore, the processor 142 may consider the illumination overlap of the first light 133 on the second region 14 when determining the second illuminance measurement of the second region 14 by utilizing the second crossover term parameter, as described above in step 309.

[0065] For example, in response to determining, based on image data 148, that the anatomical lumen 10 has a relatively narrow second region 14, the processor 142 may take into account the greater contribution of the second light 135 to the illuminance of the first region 12 by adjusting the first illuminance measurement using the first crossover parameter. 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 provides the minimum illuminance of the first region 12 when adjusting the first illuminance measurement with the first crossover 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 take into account a greater contribution of the first light 133 to the illuminance of the second region 14 by adjusting the second illuminance measurement using a second crossover parameter. 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 provides the minimum illuminance of the second region 14 when adjusting the second illuminance measurement with a second crossover parameter.

[0067] In step 410, the processor 142 may determine, in the same manner as in step 210 described above, whether the first illuminance measurement (step 406) exceeds the first luminance threshold of the first light source 132. In step 412, the processor 142 may determine, in the same manner as in step 212 described above, whether the second illuminance measurement (step 408) exceeds the second luminance threshold of the second light source 134. In response to the determination in step 410 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 418. Alternatively, in response to the determination in step 410 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 414.

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

[0069] The processor 142 may return to step 402 after increasing (steps 414, 416) and / or decreasing (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 may periodically (or continuously) execute method 400 by recapturing image data 148 using the imaging device 130 at multiple cycles, at predetermined intervals, and / or during operation due to the continuous use of the medical system 100, when executing one or more instructions of the lighting control logic 146. In other embodiments, the processor 142 may stop executing method 400 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.

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

[0071] It will be apparent to those skilled in the art that various modifications and changes can be made to the disclosed apparatus and methods without departing from the scope of this disclosure. The disclosed apparatus may include a computing unit incorporating various suitable computer systems and / or multiple hardware components, such as a processor and a non-temporary computer-readable medium, which enable the apparatus to perform one or more operations during a procedure in accordance with the operations described herein. Other aspects of this disclosure will be apparent to those skilled in the art from consideration herein and the implementation of the features disclosed herein. This specification and the examples are intended to be considered merely illustrative.

[0072] Various systems may include any arithmetic unit. The arithmetic unit may include input and output ports for connecting to input and output devices such as keyboards, mice, touchscreens, monitors, and displays. Of course, various system functions may be implemented in a distributed manner on several similar platforms to distribute the processing load. Alternatively, a system may be implemented by appropriate programming on a single computer hardware platform.

[0073] In one embodiment, any of the disclosed systems, methods, and / or graphical user interfaces may be executed or implemented by an arithmetic system consistent with or similar to those described herein. While not essential, aspects of the disclosure are described in the context of computer executable instructions, such as routines executed by data processing devices, e.g., server computers, wireless devices, and / or personal computers. Those skilled in the art will understand that aspects of the disclosure may be implemented using 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, game devices, virtual reality devices, multiprocessor systems, microprocessor-based or programmable consumer electronics, set-top boxes, network PCs, minicomputers, and mainframe computers. The terms "computer," "arithmetic device," and similar terms are generally used interchangeably herein and refer to any of the devices and systems described above, as well as any data processor.

[0074] Aspects of the present disclosure may be embodied in a dedicated computer and / or data processor that is specifically programmed, configured, and / or constructed to execute one or more of the computer executable instructions described in detail herein. While some aspects of the present disclosure, such as certain functions, are described as running exclusively on a single device, the present disclosure can also be implemented in a distributed environment where functions or modules are shared among different processing units linked via a communication network such as a local area network ("LAN"), a wide area network ("WAN"), and / or the Internet. Similarly, technologies presented herein as involving multiple devices can be implemented on a single device. In a distributed computing environment, program modules may reside in both local and / or remote memory storage.

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

[0076] The program aspects of this technology can typically be considered as “products” or “articles” in the form of executable code and / or associated data carried on or embodied within a certain type of machine-readable medium. “Storage” type media include any or all of the tangible memories of computers and processors or their associated modules, such as various semiconductor memories, tape drives, and disk drives, which can provide non-temporary storage at any given time for software programming. All or part of the software may be communicated, in some cases, via the Internet or various other telecommunications networks. Such communication can enable the loading of software, for example, from one computer or processor to another, from a management server or host computer on a mobile communication network to a server computer platform, and / or from a server to a mobile device. Therefore, other types of media capable of carrying software elements include light, electricity, and electromagnetic waves, such as those used across physical interfaces between local devices, and those used through wired and optical terrestrial communication line networks, and those used through various air links. Physical elements that carry such waves, such as wired or wireless links and optical links, can also be considered as media carrying software. As used herein, computer or machine-readable media, etc., refer to any medium involved in giving instructions to a processor for execution, unless not limited to non-temporary, tangible "storage" media.

[0077] It will be apparent to those skilled in the art that various modifications and changes can be made to the disclosed systems, methods, and apparatus without departing from the scope of this disclosure. Other embodiments of this disclosure will be apparent to those skilled in the art through consideration of this specification and the practice of the invention disclosed herein. This specification and the examples should be considered for illustrative purposes only, and the true scope and spirit of the invention are intended to be shown by the claims.

Claims

1. It is a medical system, A shaft having a distal end configured to be positioned at the target site, The first light positioned at the distal end, The second light positioned at the distal end, Communicatively coupled to the first light and the second light, the arithmetic unit includes a processor and a non-temporary computer-readable medium storing instructions, The instruction, when executed by the processor, (i) Determining a first illuminance measurement value of the first region of the target area by the first light directed to the first region of the target area, (ii) Determining a second illuminance measurement of the second region by the second light directed to the second region of the target area which is different from the first region, (iii) Determining a first illuminance coefficient that represents the contribution of the second light, which is not directed towards the first area, to the first area. (iv) Determining a second illuminance coefficient representing the contribution of the first light not directed towards the second area to the second area, (v) Adjusting the emittance from one or both of the first light and the second light in response to the first illuminance measurement of the first region adjusted by the first illuminance coefficient or the second illuminance measurement of the second region adjusted by the second illuminance coefficient being out of bounds. A medical system that causes the aforementioned processor to execute the following.

2. The emittance of the first light is adjusted in response to the first illuminance measurement of the first region, which is adjusted by the first illuminance coefficient, being deviated from a first threshold. The instruction stored in the non-temporary computer-readable medium is The emittance from the first light is increased when the first illuminance measurement of the first region adjusted by the first illuminance coefficient is less than the first threshold, and the emittance from the first light is decreased when the first illuminance measurement of the first region adjusted by the first illuminance coefficient is greater than the first threshold. The medical system according to claim 1, wherein the processor is made to execute the above.

3. The emittance of the second light is adjusted in response to the second illuminance measurement of the second region adjusted by the second illuminance coefficient being different from the second threshold, The instruction stored in the non-temporary computer-readable medium is The emittance from the second light is increased when the second illuminance measurement in the second region adjusted by the second illuminance coefficient is less than the second threshold, and the emittance from the second light is decreased when the second illuminance measurement in the second region adjusted by the second illuminance coefficient is greater than the second threshold. The medical system according to claim 2, wherein the processor is made to execute the above.

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

5. The arithmetic unit is communicatively coupled to the imaging device, and the instructions stored in the non-temporary computer-readable medium are, Based on the image data captured by the imaging device, the first position of the first region of the target area relative to the distal end and the second position of the second region of the target area are determined. The medical system according to claim 4, wherein the processor is made to execute the above.

6. The instruction stored in the non-temporary computer-readable medium is Based on the image data captured by the imaging device at the first position, the first illuminance measurement value of the first region is determined, and To determine 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, wherein the processor is made to execute the above.

7. The instruction stored in the non-temporary computer-readable medium is The first illuminance measurement value of the first region is determined by calculating the average brightness of a plurality of pixels from the image data captured by the imaging device. The medical system according to claim 6, wherein the processor is made to execute the above.

8. The instruction stored in the non-temporary computer-readable medium for determining the first illuminance coefficient and the second illuminance coefficient is: To determine a first crossover term parameter that indicates the illuminance of the first region by the second light, and To determine a second crossover term parameter that indicates the illuminance of the second region by the first light, The medical system according to claim 4, wherein the processor is made to execute the above.

9. The medical system according to claim 8, wherein each of the first and second crossover term parameters includes a predetermined variable stored on the computing device.

10. The medical system according to claim 8, wherein each of the first and second crossover parameter includes a dynamic variable that is automatically adjusted by the computing device based on the image data captured by the imaging device.

11. The instruction stored in the non-temporary computer-readable medium is Modify each of the first and second crossover term parameters based on the frequency distribution of multiple pixels from the image data captured by the imaging device. The medical system according to claim 10, wherein the processor is made to execute the above.

12. The instruction stored in the non-temporary computer-readable medium is After adjusting the emittance from the first light and the second light, the imaging device is used to periodically determine the first illuminance measurement value for the first region and the second illuminance measurement value for the second region. The medical system according to claim 4, wherein the processor is made to execute the above.

13. The instruction stored in the non-temporary computer-readable medium is Based on the image data captured by the imaging device, the area of ​​the first region and the area of ​​the second region of the target area are determined. The medical system according to claim 11, wherein the processor is made to execute the above.

14. The instruction stored in the non-temporary computer-readable medium is Determining the first illuminance measurement of the first region by the first light and the second light based at least partially on the area of ​​the first region, Determining the second illuminance measurement of the second region based at least partially on the area of ​​the second region, by the second light and the first light, The medical system according to claim 13, wherein the processor is made to execute the above.

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

Images