Systems and methods for illuminating a scene with laser light

Abstract

An illustrative system includes a laser light source configured to output a laser beam that exits a light guide at an exit angle to provide illumination within a scene while an imaging device captures an image of the scene; an optical element positioned in an optical path between the laser light source and the light guide; and a controller configured to control movement of the optical element to repeatedly vary, across a range of angles, the exit angle at which the laser beam exits the light guide.

Description

SYSTEMS AND METHODS FOR ILLUMINATING A SCENE WITH LASER LIGHTRELATED APPLICATIONS

[0001] This application claims priority to U.S. Provisional Patent Application No. 63 / 696,922, filed September 20, 2024, the contents of which is hereby incorporated by reference in its entirety.BACKGROUND INFORMATION

[0002] A computer-assisted surgical system that employs robotic and / or teleoperation technology typically includes a stereoscopic image viewer configured to provide, for display to a surgeon, images of a scene (e.g., a surgical scene) as captured by an imaging device such as an endoscope. While the surgeon’s eyes are positioned in front of viewing lenses of the stereoscopic image viewer, the surgeon may view the images of the scene while remotely manipulating one or more surgical instruments located within the scene. The surgical instruments are attached to one or more manipulator arms of a surgical instrument manipulating system included as part of the computer-assisted surgical system.

[0003] To facilitate the endoscope capturing images of a scene, white light is conventionally provided to illuminate the scene by way of a white light source such as light emitting diodes (LEDs). However, using such LEDs to provide illumination for image capture is energy inefficient due to LEDs having a high amount of divergence and a large emitting area. These factors make it difficult to efficiently couple the white light emitted from the LEDs into fiber optics configured to transmit the white light to the scene. In addition, white light provided by way of LEDs results in a significant temperature increase at a distal tip of the endoscope, which may result in tissue damage and / or otherwise inhibit image capture. Accordingly, there remains room to improve the manner in which a scene may be illuminated for image capture by a computer-assisted surgical system.SUMMARY

[0004] An example system comprises a laser light source configured to output a laser beam that exits a light guide at an exit angle to provide illumination within a scene while an imaging device captures an image of the scene; an optical element positioned in an optical path between the laser light source and the light guide; and a controller configured to control movement of the optical element to repeatedly vary, across a range of angles, the exit angle at which the laser beam exits the light guide.

[0005] An example computer-assisted surgical system comprises an imaging device configured to capture an image of a scene, the imaging device including a light guide through which a laser beam is transmitted to provide illumination for the capture of the image; a laser light source configured to output the laser beam to the light guide, the laser beam exiting the light guide at an exit angle to provide the illumination within the scene; and an optical element positioned in an optical path between the laser light source and the light guide, the optical element configured to move to repeatedly vary, across a range of angles, the exit angle at which the laser beam exits the light guide.

[0006] An example method comprises directing, by a scene illumination system, a laser light source to output a laser beam that exits a light guide at an exit angle to provide illumination within a scene while an imaging device captures an image of the scene; and controlling, by the scene illumination system, movement of an optical element positioned between the laser light source and the light guide to repeatedly vary, across a range of angles, the exit angle at which the laser beam exits the light guide.BRIEF DESCRIPTION OF THE DRAWINGS

[0007] The accompanying drawings illustrate various embodiments and are a part of the specification. The illustrated embodiments are merely examples and do not limit the scope of the disclosure. Throughout the drawings, identical or similar reference numbers designate identical or similar elements.

[0008] FIG. 1 illustrates an example computer-assisted surgical system according to principles described herein.

[0009] FIG. 2 illustrates an example scene illumination system that may be implemented according to principles described herein.

[0010] FIGS. 3-5 illustrate example configurations in which the scene illumination system shown in FIG. 2 may be implemented according to principles described herein.

[0011] FIG. 6 illustrates examples of illumination patterns that may result from different angles of an optical element according to principles described herein.

[0012] FIG. 7 illustrates an example method for illuminating a scene with laser light according to principles described herein.

[0013] FIG. 8 illustrates an example computing device according to principles described herein.DETAILED DESCRIPTION

[0014] Systems and methods for illuminating a scene with laser light are described herein. As will be described in more detail below, an illustrative system includes a laser light source configured to output a laser beam that exits a light guide at an exit angle to provide illumination within a scene while an imaging device captures an image of the scene, an optical element positioned in an optical path between the laser light source and the light guide, and a controller configured to control movement of the optical element to repeatedly vary, across a range of angles, the exit angle at which the laser beam exits the light guide.

[0015] Various advantages and benefits are associated with systems and methods described herein. For example, systems and methods such as those described herein result in illumination of a scene by using a laser light source that has lower divergence and a smaller emitting area as compared with conventional LED light sources. As a result, the systems and methods described herein are more efficient at coupling the light used for illumination to a fiber optic bundle used to deliver the light to the scene. In addition, light provided to the scene by way of a laser light source such as described herein produces less heat at the distal tip of an imaging device as compared to conventional systems that use LED light sources. As such, the systems and methods described herein are relatively more safe to use and lose less energy to heat than conventional LED light sources. Moreover, systems and methods such as those described herein provide laser light illumination to a scene for reflective image capture in a manner that results in providing substantially uniform speckle-free visible light illumination and providing a homogeneous illumination pattern to the scene. These andother benefits that may be realized by the systems and methods described herein will be evident from the disclosure that follows.

[0016] Example systems described herein may be configured to operate as part of or in conjunction with a plurality of different types of computer-assisted surgical systems. The different types of computer-assisted surgical systems may include any type of computer-assisted surgical system as may serve a particular implementation, such as a computer-assisted surgical system designed for use in minimally-invasive medical procedures, for example. In certain examples, a type of computer-assisted surgical system may include a system in which one or more surgical devices (e.g., surgical instruments) are manually (e.g., laparoscopically) controlled by a user. In certain examples, a type of computer-assisted surgical system may include a robotic surgical system configured to facilitate operation one or more smart instruments (e.g., smart sub-surface imaging devices) that may be manually and / or robotically controlled by a user. In certain implementations, the plurality of different types of computer- assisted surgical systems may be of different types at least because they include different types of surgical instrument manipulating systems. For example, a first computer-assisted surgical system may include a first type of surgical instrument manipulating system, a second computer-assisted surgical system may include a second type of surgical instrument manipulating system, and a third computer-assisted surgical system may include a third type of surgical instrument manipulating system.

[0017] Each type of surgical instrument manipulating system may have a different architecture (e.g., a manipulator arm architecture), have a different kinematic profile, and / or operate according to different configuration parameters. An illustrative computer- assisted surgical system with a first type of surgical instrument manipulating system will now be described with reference to FIG. 1. The described computer-assisted surgical system is illustrative and not limiting. Systems such as those described herein may operate as part of or in conjunction with the described computer-assisted surgical system and / or any other suitable computer-assisted surgical system.

[0018] FIG. 1 illustrates an example computer-assisted surgical system 100 (“surgical system 100”). As shown, surgical system 100 includes a surgical instrument manipulating system 102 (“manipulating system 102”), a user control system 104, and an auxiliary system 106 communicatively coupled one to another. Additional or alternative components may be included in surgical system 100 as may serve a particular implementation.

[0019] Surgical system 100 may be utilized by a surgical team to perform a computer-assisted surgical procedure on a patient 108. As shown, the surgical team may include a surgeon 110-1 , an assistant 110-2, a nurse 110-3, and an anesthesiologist 110-4, all of whom may be collectively referred to as “surgical team members 110.” Additional or alternative surgical team members may be present during a surgical session as may serve a particular implementation.

[0020] While FIG. 1 illustrates an ongoing minimally invasive surgical procedure, surgical system 100 may similarly be used to perform open surgical procedures or other types of surgical procedures that may similarly benefit from the accuracy and convenience of surgical system 100. Additionally, it will be understood that the surgical session throughout which surgical system 100 may be employed may not only include an operative phase of a surgical procedure, as is illustrated in FIG. 1 , but may also include preoperative, postoperative, and / or other suitable phases of the surgical procedure. A surgical procedure may include any procedure in which manual and / or instrumental techniques (e.g., teleoperated instrumental techniques) are used on a patient to investigate, diagnose, or treat a physical condition of the patient. Additionally, a surgical procedure may include any procedure that is not performed on a live patient, such as a calibration procedure, a simulated training procedure, and an experimental or research procedure.

[0021] As shown in FIG. 1 , surgical instrument manipulating system 102 includes a plurality of manipulator arms 112 (e.g., manipulator arms 112-1 through 112-4) to which a plurality of robotic surgical instruments (“robotic instruments”) (not shown) may be coupled. As used herein, a “robotic instrument” refers to any instrument that may be directly attached to (e.g., plugged into, fixedly coupled to, mated to, etc.) a manipulator arm (e.g., manipulator arm 112-1) such that movement of the manipulator arm directly causes movement of the instrument. Each robotic instrument may be implemented by any suitable therapeutic instrument (e.g., a tool having tissue-interaction functions), imaging device (e.g., an endoscope), diagnostic instrument, or the like that may be used for a computer-assisted surgical procedure (e.g., by being at least partially inserted into patient 108 and manipulated to perform a computer-assisted surgical procedure on patient 108). In some examples, one or more of the robotic instruments includes force-sensing and / or other sensing capabilities.

[0022] In the example shown in FIG. 1 , manipulator arms 112 of manipulating system 102 are attached on a distal end of an overhead boom that extends horizontally.However, manipulator arms 112 may have other configurations in certain implementations. In addition, while manipulating system 102 is depicted and described herein as including four manipulator arms 112, it will be recognized that manipulating system 102 may include only a single manipulator arm 112 or any other number of manipulator arms as may serve a particular implementation.

[0023] Manipulator arms 112 and / or robotic instruments attached to manipulator arms 112 may include one or more displacement transducers, orientational sensors, and / or positional sensors (hereinafter “surgical system sensors”) used to generate raw (e.g., uncorrected) kinematics information. One or more components of surgical system 100 may be configured to use the kinematics information to track (e.g., determine positions of) and / or control the robotic instruments.

[0024] In addition, manipulator arms 112 may each include or otherwise be associated with a plurality of motors or actuators that control movement of manipulator arms 112 and / or the surgical instruments attached thereto. For example, manipulator arm 112-1 may include or otherwise be associated with a first internal motor (not explicitly shown) configured to yaw manipulator arm 112-1 about a yaw axis. In like manner, manipulator arm 112-1 may be associated with a second internal motor (not explicitly shown) configured to drive and pitch manipulator arm 112-1 about a pitch axis. Likewise, manipulator arm 112-1 may be associated with a third internal motor (not explicitly shown) configured to slide manipulator arm 112-1 along insertion axis.Manipulator arms 112 may each include a drive train system driven by one or more of these motors in order to control the pivoting of manipulator arms 112 in any manner as may serve a particular implementation. As such, if a robotic instrument attached, for example, to manipulator arm 112-1 is to be mechanically moved, one or more of the motors coupled to the drive train may be energized to move manipulator arm 112-1.

[0025] Robotic instruments attached to manipulator arms 112 may each be positioned in an imaging space associated with a scene. An “scene” as used herein may refer to any space or location where an imaging operation may be performed by an imaging device such as described herein. In certain examples, a scene may correspond to a surgical scene. A “surgical scene” may, in certain examples, be entirely disposed within a patient and may include an area within the patient at or near where a surgical procedure is planned to be performed, is being performed, or has been performed. For example, for a minimally invasive surgical procedure being performed on tissue internal to a patient, the surgical scene may include the tissue, anatomy underlying the tissue,as well as space around the tissue where, for example, robotic instruments and / or other instruments being used to perform the surgical procedure are located. In other examples, a surgical scene may be at least partially disposed external to the patient at or near where a surgical procedure is planned to be performed, is being performed, or has been performed on the patient. For instance, surgical system 100 may be used to perform an open surgical procedure such that part of the surgical scene (e.g., tissue being operated on) is internal to the patient while another part of the surgical scene (e.g., a space around the tissue where one or more instruments may be disposed) is external to the patient. A robotic instrument may be referred to as being positioned or located at or within a surgical scene when at least a portion of the robotic instrument (e.g., a distal portion of the robotic instrument) is located within the surgical scene.

[0026] User control system 104 is configured to facilitate control by surgeon 110-1 of manipulator arms 112 and robotic instruments attached to manipulator arms 112. For example, surgeon 110-1 may interact with user control system 104 to remotely move, manipulate, or otherwise teleoperate manipulator arms 112 and the robotic instruments. To this end, user control system 104 may provide surgeon 110-1 with one or more images (e.g., high-definition three-dimensional (3D) images) of a surgical space associated with patient 108 as captured by an imaging device. In certain examples, user control system 104 may include a stereoscopic image viewer having two displays where stereoscopic images (e.g., 3D images) of a surgical space associated with patient 108 and generated by a stereoscopic imaging system may be viewed by surgeon 110-1. Surgeon 110-1 may utilize the images to perform one or more procedures with one or more robotic instruments attached to manipulator arms 112.

[0027] To facilitate control of robotic instruments, user control system 104 may include a set of master controls (not shown). These master controls may be manipulated by surgeon 110-1 to control movement of robotic instruments (e.g., by utilizing robotic and / or teleoperation technology). The master controls may be configured to detect a wide variety of hand, wrist, and finger movements by surgeon 110-1. In this manner, surgeon 110-1 may intuitively perform a surgical procedure using one or more robotic instruments.

[0028] In some examples, user control system 104 may is further configured to facilitate control by surgeon 110-1 of other components of surgical system 100. For example, surgeon 110-1 may interact with user control system 104 to change a configuration or operating mode of surgical system 100, to change a display mode ofsurgical system 100, to generate additional control signals used to control surgical instruments attached to manipulator arms 112, to facilitate switching control from one robotic instrument to another, to facilitate interaction with other instruments and / or objects within the surgical space, or to perform any other suitable operation. To this end, user control system 104 may also include one or more input devices (e.g., foot pedals, buttons, switches, etc.) configured to receive input from surgeon 110-1.

[0029] In some examples, auxiliary system 106 includes one or more computing devices configured to perform primary processing operations of surgical system 100. The one or more computing devices included in auxiliary system 106 may control and / or coordinate operations performed by various other components (e.g., manipulating system 102 and / or user control system 104) of surgical system 100. For example, a computing device included in user control system 104 may transmit instructions to manipulating system 102 by way of the one or more computing devices included in auxiliary system 106. As another example, auxiliary system 106 may receive, from manipulating system 102, and process image data representative of images captured by an imaging device attached to one of manipulator arms 112.

[0030] In some examples, auxiliary system 106 is configured to present visual content to surgical team members 110 who may not have access to the images provided to surgeon 110-1 at user control system 104. To this end, as shown, auxiliary system 106 includes a display monitor 114 configured to display one or more user interfaces, such as images (e.g., 2D images) of the surgical space, information associated with patient 108 and / or the surgical procedure, and / or any other visual content as may serve a particular implementation. For example, display monitor 114 may display images of the surgical space together with additional content (e.g., representations of target objects, graphical content, contextual information, etc.) concurrently displayed with the images. In some embodiments, display monitor 114 is implemented by a touchscreen display with which surgical team members 110 may interact (e.g., by way of touch gestures) to provide user input to surgical system 100.

[0031] Manipulating system 102, user control system 104, and auxiliary system 106 may be communicatively coupled one to another in any suitable manner. For example, as shown in FIG. 1 , manipulating system 102, user control system 104, and auxiliary system 106 are communicatively coupled by way of control lines 116, which may represent any wired or wireless communication link as may serve a particular implementation. To this end, manipulating system 102, user control system 104, andauxiliary system 106 may each include one or more wired or wireless communication interfaces, such as one or more local area network interfaces, Wi-Fi network interfaces, cellular interfaces, etc.

[0032] A light source (e.g., a light engine) is typically provided as part of a system such as system 100 to illuminate a scene (e.g., a surgical scene) with visible light (e.g., white light) to facilitate reflective light capture of visible images of the scene. Conventionally, such light sources include one or more LED light sources that provide visible light to the scene by way of a surgical instrument such as an endoscope. However, in contrast to conventional light sources, the systems and methods described herein use a laser light source to illuminate the scene with visible light instead of an LED light source. When laser light is used for illumination, the laser light typically produces a random interference effect known as a speckle pattern. This speckle pattern results because in places where crests of light waves coincide, the light waves add together, or interfere constructively, thereby creating bright spots. In other locations, the light waves may cancel, or interfere destructively, thereby creating dark spots. These light and dark spots are collectively known as laser speckle. Such laser speckle typically results in illumination of a scene that is suboptimal for reflective image capture. However, as will be described further herein, systems and methods such as those described herein implement a laser light source for reflective image capture but do so in a manner that substantially reduces or eliminates the speckle in the laser illumination light that would otherwise occur. As a result, system and methods such as those described herein are configured to provide laser light illumination that has a homogeneous illumination pattern and is substantially speckle-free.

[0033] To that end, FIG. 2 shows an example scene illumination system 200 that may be implemented according to principles described herein to illuminate a scene with laser light. As shown in FIG. 2, scene illumination system 200 (“system 200”) includes a processor 202. Processor 202 may be implemented one or more processors of any suitable type as may serve a particular implementation. For example, in certain implementations, all or part of the functions or processes described herein may be implemented as special purpose logic circuitry (e.g., a field programmable gate array (FPGA) and / or an application-specific integrated circuit (ASIC).

[0034] System 200 may include additional or alternative elements as may serve a particular implementation. For example, system 200 may further include a memory selectively and communicatively coupled to processor 202. Such a memory andprocessor 202 may each include or be implemented by hardware and / or software components (e.g., processors, memories, communication interfaces, instructions stored in memory for execution by the processors, etc.). In some examples, such a memory and processor 202 may be implemented by a single device (e.g., a single computing device). In certain alternate examples a memory and processor 202 may be distributed between multiple devices and / or multiple locations as may serve a particular implementation.

[0035] In certain examples, a memory may maintain (e.g., store) executable data used by processor 202 to perform any of the operations described herein. For example, a memory may store instructions that may be executed by processor 202 to perform any of the operations described herein. Such instructions may be implemented by any suitable application, software, code, computer program, and / or other executable data instance.

[0036] A computer program may be written in any form of programming language including compiled and / or interpreted languages, and can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. A computing program may be deployed to be executed by processor 202 at one site or distributed across multiple sites and interconnected by a network.

[0037] In certain examples, a memory may also maintain any data received, generated, managed, used, and / or transmitted by processor 202. For example, a memory may maintain any suitable data associated with providing laser light illumination to a scene. Such data may include, but is not limited to, data associated with scanning angles of optical elements, numerical aperture (NA) information, laser intensity information (e.g., as a function of scanning angle), and / or any other suitable data.

[0038] Processor 202 may be configured to perform (e.g., execute instructions stored in a memory) various processing operations associated with illumination of a scene with laser light. For example, processor 202 may control movement of an optical element in a manner such as described herein that results in homogeneous illumination of the scene with laser light. These and other operations that may be performed by processor 202 are described herein.

[0039] FIG. 3 illustrates an exemplary configuration 300 in which system 200 may be implemented in certain examples. As shown in FIG. 3, configuration 300 includes alaser light source 302 that is configured to output a laser beam 304, an optical element 306, a light guide 308, an imaging device 310, and a controller 312. As shown in FIG. 3, laser beam 304 exits light guide 308 at an exit angle to provide illumination 314 within a scene 316 while imaging device 310 captures an image of scene 316.

[0040] Laser light source 302 may correspond to any suitable type of laser light source as may serve a particular implementation. For example, laser light source 302 may correspond to a laser diode based light source in certain implementations. Laser light source 302 may be configured to emit any suitable wavelength of visible light. In certain examples, laser light source 302 may include a plurality of laser light sources. For example, laser light source 302 may include a red light source, a blue light source, and a green light source that are configured to produce white light illumination within scene 316.

[0041] In certain examples, laser light source 302 may include a first laser light source configured to output a first wavelength of light and a second laser light source configured to output a second wavelength of light that is different from the first wavelength of light. For example, the first laser light source may be configured to output visible light and the second laser light source may be configured to output non-visible light (e.g., near-infrared (NIR) light or infrared light). In such examples, the first laser light source may be configured to output visible light (e.g., white light) used for reflective image capture of visible images of scene 316. The second laser light source may correspond to an excitation laser light source that is configured to output excitation laser light (e.g., NIR light) for fluorescence imaging of scene 316. In certain examples, the excitation laser light may be provided to scene 316 by way of an additional optical path that does not include optical element 306.

[0042] As shown in FIG. 3, optical element 306 is positioned in an optical path between laser light source 302 and light guide 308. Optical element 306 may correspond to any suitable type of optical element that may be configured to vary the angle that laser beam 304 enters light guide 308 and exits light guide 308. For example, in certain implementations, optical element 306 may correspond to a scanning mirror that oscillates at a scanning frequency to vary the exit angle of laser beam 304 from light guide 308. In certain alternative implementations, optical element 306 may correspond to either a rotating optical element or one or more optical elements that shift position back and forth at a certain frequency to repeatedly vary the exit angle of laser beam 304 from light guide 308.

[0043] Light guide 308 may correspond to any suitable component or combinations of components that may be configured to deliver laser beam 304 to scene 316. For example, light guide 308 may include a fiber optic bundle that is configured to deliver laser beam 304 to scene 316. In such examples, at least a portion of the fiber optic bundle may be provided within a surgical device that is configured to illuminate scene 316 for image capture by imaging device 310. For example, at least a portion of the fiber optic bundle may be provided along a shaft of an endoscope. In certain examples, the fiber optic bundle may be configured to deliver laser beam 304 from a distal end of the endoscope to illuminate scene 316 with visible light illumination for visible light imaging of scene 316.

[0044] In certain examples, light guide 308 may further include a lens assembly that is provided between optical element 306 and a fiber optic bundle of light guide 308. In such examples, the lens assembly may be configured to couple laser beam 304 exiting optical element 306 into the fiber optic bundle. Such a lens assembly may include any suitable lens, combinations of lenses, or other optical components as may serve a particular implementation.

[0045] Imaging device 310 may correspond to any suitable type of imaging device as may serve a particular implementation. For example, imaging device 310 may include one or more sensors configured to capture a visible light image of scene 316 while scene 316 is illuminated by laser beam 304. In certain examples, imaging device 310 may be included as part of an endoscope that is communicatively coupled to a computer-assisted surgical system such as system 100.

[0046] Controller 312 may be implemented by any suitable processor, computing program, and / or component such as those described herein.

[0047] System 200 (e.g., processor 204 and / or controller 312) is configured to control movement of optical element 306 to repeatedly vary, across a range of angles, the exit angle at which laser beam 304 exits light guide 308. In so doing, the pattern of illumination within scene 316 changes as the angle of optical element, and therefore, the exit angle at which laser beam 304 exits light guide 308 changes. For example, a first orientation of optical element 306 may cause laser beam 304 to exit light guide 308 at a first exit angle resulting in a first pattern of illumination, a second orientation of optical element 306 may cause laser beam 304 to exit light guide 308 at a second exit angle resulting in a second pattern of illumination, and a third orientation of optical element 306 may cause laser beam 304 to exit light guide 308 at a third exit angleresulting in a pattern of illumination. The first exit angle, the second exit angle, and the third exit angle may each be different from one another. Likewise, the first pattern of illumination, the second pattern of illumination, and the third pattern of illumination may be different from one another. In certain examples, the patterns of illumination that result from varying the exit angle may correspond to concentric rings. For example, the first pattern of illumination may be a first concentric ring having a first diameter, the second pattern of illumination may be a second concentric ring having a second diameter that is different that the first diameter, and the third pattern of illumination may be a third concentric ring having a third diameter that is different than the first diameter and the second diameter.

[0048] Repeatedly varying of the exit angle of laser beam 304 from light guide 308 results in the different illumination patterns merging together to provide a homogeneous illumination pattern to the scene. As used herein, “a homogeneous illumination pattern” refers to an illumination pattern where the intensity of illumination throughout an entire illuminated portion of the scene is visibly and perceivably substantially the same to a user. As such, with a homogeneous illumination pattern, a user would not perceive fluctuations in illumination and / or different regions of relatively lower intensity illumination within an illuminated portion of a scene. In the example shown in FIG. 3, when an image of scene 316 is captured by imaging device 310, a substantially uniform illumination of scene 316 is represented in the image. In the example shown in FIG. 3, the circular shape of illumination 314 is intended to depict such a homogeneous illumination pattern.

[0049] System 200 may control the movement of optical element 306 in any suitable manner to repeatedly vary the exit angle. For example, in certain implementations, system 200 may set a frequency of movement of optical element 306 such that the frequency of movement is greater than a frequency where differences in illumination would be perceptible to a user. Any suitable frequency of movement may be used as may serve a particular implementation. For example, in certain implementations, system 200 may control the movement of optical element 306 by setting the frequency of the movement of optical element 306 to be greater than an image capture frequency of imaging device 310. In such examples, the frequency of movement may be at least double the image capture frequency of imaging device 310 in certain implementations. To illustrate, imaging device 310 may have an image capture frequency of 60 Hz and the frequency of movement of optical element 306 may be at least 120 Hz.

[0050] In certain alternative examples, the frequency of movement of optical element 306 may be in a kHz frequency range. For example, the frequency of movement of optical element 306 may be greater than 30 kHz in certain implementations. In so doing, illumination 314 appears homogeneous within scene 316 when captured by imaging device 310 even though the pattern of illumination is constantly changing based on the movement of optical element 306.

[0051] System 200 may control movement of optical element 306 in any suitable manner. For example, in implementations where optical element 306 corresponds to a scanning mirror, system 200 may apply an electrical voltage to cause the scanning mirror to make a continuous sinusoidal tilting motion.

[0052] In certain examples, system 200 may adjust the intensity of the laser light provided by way of laser light source 302 based on the exit angle from light guide 308. For example, system 200 may direct laser light source 302 to provide laser beam 304 at a first intensity when the exit angle is at a first angle and may direct laser light source 302 to provide laser beam 304 at a second intensity that is different than the first intensity when the exit angle is at a second angle that is different from the first angle. In certain examples, system 200 may increase the intensity of laser beam 304 as the exit angle increases. To illustrate an example, when the exit angle from light guide 308 is between 0-20° (e.g., from a longitudinal axis of a fiber optic bundle of light guide 308), system 200 may direct laser light source 302 to provide laser beam 304 at a first intensity. When the exit angle from light guide 308 is between 20-35°, system 200 may direct laser light source 302 to provide laser beam 304 at a second intensity that is greater than the first intensity. In so doing, system 200 may be configured to make the illumination uniform by correcting for light dispersion effects that occur at relatively higher exit angles.

[0053] In certain examples, system 200 may be configured to adjust an NA of laser beam 304 exiting light guide 308 by adjusting the range of angles from a first range of angles to a second range of angles that is different from the first range of angles. This may be accomplished in any suitable manner. For example, in implementations where optical element 306 corresponds to a scanning mirror, system 200 may vary the voltage applied to the scanning mirror in any suitable manner to either increase or decrease the maximum scan angle of the scanning mirror. By increasing the NA of laser beam 304 exiting light guide 308 it may be possible to increase the size or area of illumination 3014 within scene 316. Likewise, by decreasing the NA of laser beam 304 exiting lightguide 308 it may be possible to decrease the size or area of illumination 314 within scene 316.

[0054] In certain examples, laser light source 302, optical element 306, and controller 312 may be part of a computer-assisted surgical system (e.g., computer- assisted surgical system 100). In such examples, imaging device 310 may correspond to an endoscope that is communicatively coupled to the computer-assisted surgical system. In the example shown in FIG. 3, imaging device 310 is shown as being separate from light guide 308. However, it is understood that light guide 308 may be included as part of imaging device 310 in certain examples.

[0055] In certain examples, a computer-assisted surgical system may include a light engine that is coupled to an endoscope. The light engine may be configured in any suitable manner. For example, the light engine may be provided in a vision cart that is part of or is otherwise communicatively coupled to the computer-assisted surgical system. In such examples, laser light source 302 and optical element 306 may be provided in the light engine.

[0056] In certain examples, the light engine may be provided as part of a vision cart that includes laser light source 302, optical element 306, and at least a part of a fiber optic bundle of light guide 308. Such a vision cart may be coupled to an endoscope by way of an optical fiber connection in light guide 308. In such examples, the laser light provided by way of the portions of light guide 308 in the vision cart may have a first NA and the laser light provided by way of the portions of light guide in the endoscope may have a second NA that is different than the first NA. For example, the first NA may be relatively smaller than the second NA. By having a relatively lower NA at the coupling between the vision cart and the endoscope it is possible to more easily and efficiently transmit laser beam 304 via the coupling. After the coupling, the NA may be increased in any suitable manner. For example, one or more additional optical elements (e.g., a diffuser and / or one or more lenses) may be provided after the coupling (e.g., within the endoscope) to increase the NA.

[0057] In certain alternative examples, laser light source 302, optical element 306, light guide 308, imaging device 310, and controller 312 may be each included as part of an endoscope that is communicatively coupled to a computer-assisted surgical system.

[0058] Fig. 4 illustrates another example configuration 400 in which system 200 may be implemented in certain examples. As shown in FIG. 4, configuration 400 includes an image source 402 that is configured to output a laser beam 404 towards an opticalelement 406 that is in the form of a scanning mirror. In the example shown in FIG. 4, optical element 406 is in the form of a scanning mirror. As such, optical element 406 is configured to make a continuous sinusoidal tilting motion as shown by arrow 408 to vary the angle at which laser beam 404 enters and exits a light guide 410. This may be accomplished in any suitable manner such as described herein (e.g., by applying an electrical voltage to optical element 406).

[0059] In the example shown in FIG. 4, light guide 410 includes a lens assembly 412 and a fiber optic bundle 414. Lens assembly 412 may include any suitable lens or combinations of lenses as may serve a particular implementation. The continuous sinusoidal tilting motion of the scanning mirror results in the scanning mirror repeatedly varying, across a range of angles, the exit angle at which laser beam 404 exits fiber optic bundle 414 of light guide 410 resulting in a homogeneous illumination pattern 416 within scene 418 that is substantially uniform (e.g., an illumination pattern or region that is speckle free or devoid of a random granular pattern of illumination that may occur when laser illumination diffusely reflects from a surface in a scene).

[0060] FIG. 5 illustrates another example configuration 500 in which system 200 may be implemented in certain examples. As shown in FIG. 5, a plurality of laser light sources 502 (e.g., laser light sources 502-1 through 502-3) are configured to output laser light. For example, laser light source 502-1 may be a red light source configured to output red laser light, laser light source 502-2 may be a blue light source configured to output blue laser light, and laser light source 502-3 may be a green light source configured to output green laser light. As shown in FIG. 5, a plurality of dichroic elements 504 (e.g., dichroic elements 504-1 and 504-2) is provided to combine light from plurality of light sources 502 along a common optical path between an optical element 508 and plurality of laser light sources 502. When combined, the laser light from plurality of laser light sources 502 may produce a white light laser beam 506 that is used for reflective imaging of scene 418 by an imaging device (e.g., imaging device 310).

[0061] In the example shown in FIG. 5, optical element 508 is in the form of a scanning mirror. As such, optical element 508 is configured to continuously tilt as shown by arrow 510 in any suitable manner such as described herein to vary an angle at which white light laser beam 506 enters and exits light guide 512, which includes a lens assembly 514 and a fiber optic bundle 516. The varying of the exit angle from fiberoptic bundle 516 results in a homogeneous illumination pattern 518 of scene 520 that is substantially free of speckle.

[0062] FIG. 5 further depicts an excitation laser light source 522 that is configured to output excitation laser light for fluorescence imaging. As shown in FIG. 5, the excitation laser light 524 is provided to scene by way of an additional optical path that does not include optical element 508. In the example shown in FIG. 5, excitation laser light source 522 is shown as being separate from laser light sources 502, optical element 508, and light guide 512. However, it is understood that in certain examples light sources 502, optical element 508, light guide 512, and excitation laser light source 522 may each be included as part of the same surgical instrument (e.g., the same endoscope). In such examples, the excitation light provided by excitation laser light source 522 and white light laser beam 506 may each be emitted from a distal tip of the endoscope to both illuminate scene 520 with white light laser beam 506 for reflective light imaging and provide excitation laser light 524 to scene 520 for fluorescence imaging.

[0063] FIG. 6 shows an exemplary diagram 600 that depicts how various angles 602 (e.g., angles 602-1 through 602-3) of optical element 508 may result in different exit angles from fiber optic bundle 516 and cause different patterns of illumination within scene 520. As shown in FIG. 6, an angle 602-1 of approximately 135° of optical element 508 results in a 0° exit angle from fiber optic bundle 516 that results in a point pattern of illumination 604-1 within scene 520. An angle 602-2 of approximately 120° of optical element 508 results in approximately a 20° exit angle from fiber optic bundle 516 that results in a concentric ring pattern of illumination 604-2 within scene 520. An angle 602-3 of approximately 100° of optical element 508 results in approximately a 35° exit angle from fiber optic bundle 516 that results in a concentric ring pattern of illumination 604-3 within scene 520. As shown in FIG. 6, pattern of illumination 604-2 is a first concentric ring having a first diameter and pattern of illumination 604-3 is a second concentric ring having a second diameter that is relatively larger than the first diameter.

[0064] It is understood from FIG. 6 that optical element 508 is configured to repeatedly vary angle 602 at a frequency such that patterns of illumination 604 combine together to provide illumination to scene 520 that is speckle free and has a homogeneous illumination pattern. Angles 602 shown in FIG. 6 are provided as examples to show how different angles may result in different patterns of illumination. Itis understood that optical element 508 may be controlled to continuously oscillate between a range of angles to provide illumination to scene 520.

[0065] FIG. 7 illustrates an example method 700 for illuminating a scene with laser light. While FIG. 7 illustrates example operations according to one embodiment, other embodiments may omit, add to, reorder, and / or modify any of the operations shown in FIG. 7. One or more of the operations shown in FIG. 7 may be performed by a system such as system 200, any components included therein, and / or any implementation thereof.

[0066] At operation 702, a scene illumination system (e.g., scene illumination system 200) directs a laser light source to output a laser beam that exits a light guide at an exit angle to provide illumination within a scene while an imaging device captures an image of the scene. Operation 702 may be performed in any of the ways described herein.

[0067] At operation 704, the scene illumination system controls movement of an optical element positioned between the laser light source and the light guide to repeatedly vary, across a range of angles, the exit angle at which the laser beam exits the light guide. Operation 704 may be performed in any of the ways described herein.

[0068] In some examples, a non-transitory computer-readable medium storing computer-readable instructions may be provided in accordance with the principles described herein. The instructions, when executed by a processor of a computing device, may direct the processor and / or computing device to perform one or more operations, including one or more of the operations described herein. Such instructions may be stored and / or transmitted using any of a variety of known computer-readable media.

[0069] A non-transitory computer-readable medium as referred to herein may include any non-transitory storage medium that participates in providing data (e.g., instructions) that may be read and / or executed by a computing device (e.g., by a processor of a computing device). For example, a non-transitory computer-readable medium may include, but is not limited to, any combination of non-volatile storage media and / or volatile storage media. Illustrative non-volatile storage media include, but are not limited to, read-only memory, flash memory, a solid-state drive, a magnetic storage device (e.g., a hard disk, a floppy disk, magnetic tape, etc.), ferroelectric random-access memory (“RAM”), and an optical disc (e.g., a compact disc, a digitalvideo disc, a Blu-ray disc, etc.). Illustrative volatile storage media include, but are not limited to, RAM (e.g., dynamic RAM).

[0070] FIG. 8 illustrates an example computing device 800 that may be specifically configured to perform one or more of the processes described herein. As shown in FIG. 8, computing device 800 may include a communication interface 802, a processor 804, a storage device 806, and an input / output (“I / O”) module 808 communicatively connected one to another via a communication infrastructure 810. While an example computing device 800 is shown in FIG. 8, the components illustrated in FIG. 8 are not intended to be limiting. Additional or alternative components may be used in other embodiments. Components of computing device 800 shown in FIG. 8 will now be described in additional detail.

[0071] Communication interface 802 may be configured to communicate with one or more computing devices. Examples of communication interface 802 include, without limitation, a wired network interface (such as a network interface card), a wireless network interface (such as a wireless network interface card), a modem, an audio / video connection, and any other suitable interface.

[0072] Processor 804 generally represents any type or form of processing unit capable of processing data and / or interpreting, executing, and / or directing execution of one or more of the instructions, processes, and / or operations described herein.Processor 804 may perform operations by executing computer-executable instructions 812 (e.g., an application, software, code, and / or other executable data instance) stored in storage device 806.

[0073] Storage device 806 may include one or more data storage media, devices, or configurations and may employ any type, form, and combination of data storage media and / or device. For example, storage device 806 may include, but is not limited to, any combination of the non-volatile media and / or volatile media described herein. Electronic data, including data described herein, may be temporarily and / or permanently stored in storage device 806. For example, data representative of computer-executable instructions 812 configured to direct processor 804 to perform any of the operations described herein may be stored within storage device 806. In some examples, data may be arranged in one or more databases residing within storage device 806.

[0074] I / O module 808 may include one or more I / O modules configured to receive user input and provide user output. One or more I / O modules may be used to receive input for a single virtual experience. I / O module 808 may include any hardware,firmware, software, or combination thereof supportive of input and output capabilities. For example, I / O module 808 may include hardware and / or software for capturing user input, including, but not limited to, a keyboard or keypad, a touchscreen component (e.g., touchscreen display), a receiver (e.g., an RF or infrared receiver), motion sensors, and / or one or more input buttons.

[0075] I / O module 808 may include one or more devices for presenting output to a user, including, but not limited to, a graphics engine, a display (e.g., a display screen), one or more output drivers (e.g., display drivers), one or more audio speakers, and one or more audio drivers. In certain embodiments, I / O module 808 is configured to provide graphical data to a display for presentation to a user. The graphical data may be representative of one or more graphical user interfaces and / or any other graphical content as may serve a particular implementation.

[0076] In some examples, any of the systems, computing devices, and / or other components described herein may be implemented by computing device 800. For example, processor 204 and / or controller 312 may be implemented by processor 804.

[0077] In the preceding description, various example embodiments have been described with reference to the accompanying drawings. It will, however, be evident that various modifications and changes may be made thereto, and additional embodiments may be implemented, without departing from the scope of the invention as set forth in the claims that follow. For example, certain features of one embodiment described herein may be combined with or substituted for features of another embodiment described herein. The description and drawings are accordingly to be regarded in an illustrative rather than a restrictive sense.

Claims

CLAIMSWhat is claimed is:1 . A system comprising: a laser light source configured to output a laser beam that exits a light guide at an exit angle to provide illumination within a scene while an imaging device captures an image of the scene; an optical element positioned in an optical path between the laser light source and the light guide; and a controller configured to control movement of the optical element to repeatedly vary, across a range of angles, the exit angle at which the laser beam exits the light guide.

2. The system of claim 1 , wherein the laser light source includes a plurality of laser light sources.

3. The system of claim 2, wherein the plurality of laser light sources includes a red light source, a blue light source, and a green light source that are configured to produce white light illumination within the scene.

4. The system of claim 2, further comprising a plurality of dichroic elements configured to combine light from the plurality of laser light sources along a common optical path between the optical element and the plurality of laser light sources.

5. The system of claim 1 , further comprising an excitation laser light source configured to output excitation laser light for fluorescence imaging, the excitation laser light provided to the scene by way of an additional optical path that does not include the optical element.

6. The system of claim 5, wherein the excitation laser light source is a nearinfrared (NIR) laser light source configured to output NIR laser light as the excitation laser light.

7. The system of claim 1 , wherein the light guide comprises: a fiber optic bundle configured to transmit the laser beam to the scene; and a lens assembly provided between the fiber optic bundle and the optical element,wherein the lens assembly is configured to couple the laser beam exiting the optical element into the fiber optic bundle.

8. The system of claim 1 , wherein the repeatedly varying of the exit angle results in substantially uniform visible light illumination for a surgical procedure.

9. The system of claim 1 , wherein the repeatedly varying of the exit angle results in providing a homogeneous illumination pattern to the scene.

10. The system of claim 1 , wherein the controlling of the movement of the optical element by the controller includes setting a frequency of the movement of the optical element to be greater than an image capture frequency of the imaging device.

11. The system of claim 10, wherein the frequency of the movement is greater than a frequency where differences in illumination would be perceptible to a user.

12. The system of claim 10, wherein the frequency of the movement is greater than 30 kHz.

13. The system of claim 1 , wherein: when the exit angle is at a first angle, the illumination has a first pattern of illumination; and when the exit angle is at a second angle different than the first angle, the illumination has a second pattern of illumination that is different than the first pattern of illumination.

14. The system of claim 13, wherein: the first pattern of illumination is a first concentric ring having a first diameter; and the second pattern of illumination is a second concentric ring having a second diameter that is different than the first diameter.

15. The system of claim 1 , wherein the controller is further configured to: direct the laser light source to provide the laser beam at a first intensity when the exit angle is at a first angle; and direct the laser light source to provide the laser beam at a second intensity that is different than the first intensity when the exit angle is at a second angle that is different than the first angle.

16. The system of claim 1 , wherein the controller is further configured to adjust a numerical aperture (NA) of the laser beam exiting the light guide by adjusting the range of angles from a first range of angles to a second range of angles that is different than the first range of angles.

17. The system of claim 1 , wherein the optical element is a scanning mirror that oscillates at a scanning frequency to vary the exit angle.

18. The system of claim 1 , wherein: the laser light source, the optical element, and the controller are part of a computer-assisted surgical system; and the imaging device is an endoscope that is communicatively coupled to the computer-assisted surgical system.

19. The system of claim 18, wherein: the computer-assisted surgical system further includes a light engine that is coupled to the endoscope; and the laser light source and the optical element are provided in the light engine.

20. The system of claim 18, wherein: the light guide includes a fiber optic bundle that is provided along a shaft of the endoscope; and the fiber optic bundle is configured to deliver the laser beam from a distal end of the endoscope to illuminate the scene with visible light illumination for visible light imaging of the scene by the endoscope.

21. A computer-assisted surgical system comprising: an imaging device configured to capture an image of a scene, the imaging device including a light guide through which a laser beam is transmitted to provide illumination for the capture of the image; a laser light source configured to output the laser beam to the light guide, the laser beam exiting the light guide at an exit angle to provide the illumination within the scene; and an optical element positioned in an optical path between the laser light source and the light guide, the optical element configured to move to repeatedly vary, across a range of angles, the exit angle at which the laser beam exits the light guide.

22. The computer-assisted surgical system of claim 21 , wherein the laser light source includes a plurality of laser light sources.

23. The computer-assisted surgical system of claim 22, wherein the plurality of laser light sources includes a red light source, a blue light source, and a green light source that are configured to produce white light illumination within the scene.

24. The computer-assisted surgical system of claim 22, further comprising a plurality of dichroic elements configured to combine light from the plurality of laser light sources along a common optical path between the optical element and the plurality of laser light sources.

25. The computer-assisted surgical system of claim 21 , wherein the light guide comprises: a fiber optic bundle configured to transmit the laser beam to the scene; and a lens assembly provided between the fiber optic bundle and the optical element, wherein the lens assembly is configured to couple the laser beam exiting the optical element into the fiber optic bundle.

26. The computer-assisted surgical system of claim 21 , wherein: the imaging device is configured to capture images of the scene at an image capture frequency; and the optical element is configured to repeatedly vary the exit angle at a frequency that is greater than the image capture frequency.

27. The computer-assisted surgical system of claim 21 , further comprising a controller configured to control the laser light source and movement of the optical element.

28. The computer-assisted surgical system of claim 27, wherein the controller is configured to: direct the laser light source to provide the laser beam at a first intensity when the exit angle is at a first angle; and direct the laser light source to provide the laser beam at a second intensity that is different than the first intensity when the exit angle is at a second angle that is different than the first angle.

29. The computer-assisted surgical system of claim 27, wherein the controlling of the movement of the optical element by the controller includes setting a frequency of the movement of the optical element to be greater than an image capture frequency of the imaging device.

30. The computer-assisted surgical system of claim 29, wherein the frequency of the movement is greater than a frequency where differences in illumination would be perceptible to a user.

31. The computer-assisted surgical system of claim 29, wherein the frequency of the movement is greater than 30 kHz.

32. The computer-assisted surgical system of claim 27, wherein the controller is further configured to adjust a numerical aperture (NA) of the laser beam exiting the light guide by adjusting the range of angles from a first range of angles to a second range of angles that is different than the first range of angles.

33. The computer-assisted surgical system of claim 21 , wherein the repeatedly varying of the exit angle results in substantially uniform visible light illumination for a surgical procedure.

34. The computer-assisted surgical system of claim 21 , wherein the repeatedly varying of the exit angle results in providing a homogeneous illumination pattern to the scene.

35. The computer-assisted surgical system of claim 21 , wherein: when the exit angle is at a first angle, the illumination has a first pattern of illumination; and when the exit angle is at a second angle different than the first angle, the illumination has a second pattern of illumination that is different than the first pattern of illumination.

36. The computer-assisted surgical system of claim 35, wherein: the first pattern of illumination is a first concentric ring having a first diameter; and the second pattern of illumination is a second concentric ring having a second diameter that is different than the first diameter.

37. The computer-assisted surgical system of claim 21 , wherein the optical element is a scanning mirror that oscillates at a scanning frequency to vary the exit angle.

38. The computer-assisted surgical system of claim 21 , wherein the laser light source and the optical element are provided in the imaging device.

39. The computer-assisted surgical system of claim 21 , further comprising a light engine that is coupled to the imaging device, wherein the laser light source and the optical element are provided in the light engine.

40. The computer-assisted surgical system of claim 21 , wherein: the light guide includes a fiber optic bundle that is provided along a shaft of the imaging device; and the fiber optic bundle is configured to deliver the laser beam from a distal end of the imaging device to illuminate the scene with visible light illumination for visible light imaging of the scene by the imaging device.

41. A method comprising: directing, by a scene illumination system, a laser light source to output a laser beam that exits a light guide at an exit angle to provide illumination within a scene while an imaging device captures an image of the scene; and controlling, by the scene illumination system, movement of an optical element positioned between the laser light source and the light guide to repeatedly vary, across a range of angles, the exit angle at which the laser beam exits the light guide.

42. The method of claim 41 , wherein the laser light source includes a plurality of laser light sources.

43. The method of claim 42, wherein the plurality of laser light sources includes a red light source, a blue light source, and a green light source that are configured to produce white light illumination within the scene.

44. The method of claim 42, further comprising combining, by way of a plurality of dichroic elements, light from the plurality of laser light sources along a common optical path between the optical element and the plurality of laser light sources.

45. The method of claim 41 , wherein the light guide comprises: a fiber optic bundle configured to transmit the laser beam to the scene; and a lens assembly provided between the fiber optic bundle and the optical element, wherein the lens assembly is configured to couple the laser beam exiting the optical element into the fiber optic bundle.

46. The method of claim 41 , further comprising: capturing images of the scene at an image capture frequency; and repeatedly varying the exit angle at a frequency that is greater than the image capture frequency.

47. The method of claim 41 , further comprising controlling the laser light source and movement of the optical element.

48. The method of claim 47, further comprising: directing the laser light source to provide the laser beam at a first intensity when the exit angle is at a first angle; and directing the laser light source to provide the laser beam at a second intensity that is different than the first intensity when the exit angle is at a second angle that is different than the first angle.

49. The method of claim 47, wherein the controlling of the movement of the optical element includes setting a frequency of the movement of the optical element to be greater than an image capture frequency of the imaging device.

50. The method of claim 49, wherein the frequency of the movement is greater than a frequency where differences in illumination would be perceptible to a user.

51. The method of claim 49, wherein the frequency of the movement is greater than 30 kHz.

52. The method of claim 41 , wherein the repeatedly varying of the exit angle results in substantially uniform visible light illumination for a surgical procedure.

53. The method of claim 41 , wherein the repeatedly varying of the exit angle results in providing a homogeneous illumination pattern to the scene.

54. The method of claim 41 , wherein: when the exit angle is at a first angle, the illumination has a first pattern of illumination; and when the exit angle is at a second angle different than the first angle, the illumination has a second pattern of illumination that is different than the first pattern of illumination.

55. The method of claim 54, wherein: the first pattern of illumination is a first concentric ring having a first diameter; andthe second pattern of illumination is a second concentric ring having a second diameter that is different than the first diameter.

56. The method of claim 41 , further comprising adjusting a numerical aperture (NA) of the laser beam exiting the light guide by adjusting the range of angles from a first range of angles to a second range of angles that is different than the first range of angles.

57. The method of claim 41 , wherein the optical element is a scanning mirror that oscillates at a scanning frequency to vary the exit angle.

58. The method of claim 41 , wherein the laser light source and the optical element are provided in the imaging device.

59. The method of claim 41 , further comprising a light engine that is coupled to the imaging device, wherein the laser light source and the optical element are provided in the light engine.

60. The method of claim 41 , wherein: the light guide includes a fiber optic bundle that is provided along a shaft of the imaging device; and the fiber optic bundle is configured to deliver the laser beam from a distal end of the imaging device to illuminate the scene with visible light illumination for visible light imaging of the scene by the imaging device.

Images