ROBOTIC SYSTEMS WITH SEPARATE PHOTOACOUSTIC RECEIVERS

• Main Authors: Scheib, Charles J, Ritchie, Paul G
• Format: Patent
• Language: English
• Published: 16.02.2023
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; DEVICES OR ARRANGEMENTS, THE OPTICAL OPERATION OF WHICH ISMODIFIED BY CHANGING THE OPTICAL PROPERTIES OF THE MEDIUM OF THEDEVICES OR ARRANGEMENTS FOR THE CONTROL OF THE INTENSITY,COLOUR, PHASE, POLARISATION OR DIRECTION OF LIGHT, e.g.SWITCHING, GATING, MODULATING OR DEMODULATING; DIAGNOSIS; FREQUENCY-CHANGING; HUMAN NECESSITIES; HYGIENE; IDENTIFICATION; IMAGE DATA PROCESSING OR GENERATION, IN GENERAL; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEDICAL OR VETERINARY SCIENCE; NON-LINEAR OPTICS; OPTICAL ANALOGUE/DIGITAL CONVERTERS; OPTICAL LOGIC ELEMENTS; OPTICS; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURGERY; TECHNIQUES OR PROCEDURES FOR THE OPERATION THEREOF; TESTING

A surgical robotic visualization system comprises a first robotic arm, a second robotic arm, a photoacoustic receiver coupled to the first robotic arm, an emitter assembly coupled to the second robotic arm, and a control circuit. The control circuit is configured to cause the emitter assembly to emit electromagnetic radiation toward an anatomical structure at a plurality of wavelengths capable of penetrating the anatomical structure and reaching an embedded structure located below a surface of the anatomical structure, receive an input of the photoacoustic receiver indicative of an acoustic response signal of the embedded structure, and detect the embedded structure based on the input from the photoacoustic receiver.