Thoracic imaging, distance measuring, surgical awareness, and notification system and method

Patent metadata

Field	Value
Publication number	US-11617493-B2
Application number	US-201916682566-A
Country	US
Kind code	B2
Filing date	Nov 13, 2019
Priority date	Dec 13, 2018
Publication date	Apr 4, 2023
Grant date	Apr 4, 2023

Abstract

A method for enhanced surgical navigation, and a system performing the method and displaying graphical user interfaces associated with the method. A 3D spatial map of a surgical site is generated using a 3D endoscope including a camera source and an IR scan source. The method includes detecting a needle tip protruding from an anatomy and determining a needle protrusion distance corresponding to a distance between the needle tip and a surface of the anatomy using the 3D spatial map. A position of a surgical tool in the 3D spatial map is detected and a determination is made by the system indicative of whether the needle protrusion distance is sufficient for grasping by the surgical tool. A warning is generated when it is determined that the needle protrusion distance is not sufficient for grasping by the surgical tool.

First claim

What is claimed is:

1. A system for enhanced surgical navigation, comprising:
a 3D endoscope including a camera source and an IR source and configured to generate a 3D spatial map of a surgical site; and
a computing device operably coupled to the 3D endoscope and configured to:
detect whether a needle tip of a needle is protruding from an anatomy in the 3D spatial map;
determine a needle protrusion distance by measuring a distance between the needle tip and a surface of the anatomy using the 3D spatial map when the needle tip is protruding from the anatomy;
detect a position of a surgical tool in the 3D spatial map;
generate a warning when the needle protrusion distance is not sufficient for grasping by the surgical tool based on a current orientation of the needle when the needle tip is not protruding from the anatomy; and
display an indication representing a best position on the needle tip protruding from the anatomy to grasp with the surgical tool.

2. The system of claim 1 , wherein the computing device is further configured to display the 3D spatial map of the surgical site on a graphical user interface.

3. The system of claim 1 , wherein the computing device is further configured to display an indication representing a best position on the anatomy for a subsequent stitch based on at least one of a distance from an edge of the anatomy, a thickness of the anatomy, a distance from a previous stitch, or any combinations thereof.

4. The system of claim 1 , wherein the computing device is further configured to detect a type of surgical tool in the 3D spatial map and determine whether the needle protrusion distance is sufficient for grasping by the surgical tool based on the detected position of the surgical tool and the detected type of surgical tool.

5. The system of claim 1 , wherein the computing device is further configured to display a value representing the needle protrusion distance and modify the display of the value when it is determined that the needle protrusion distance is not sufficient for grasping by the surgical tool based on the detected position of the surgical tool.

6. The system of claim 1 , wherein the 3D spatial map includes a matrix of equidistant data points representing fixed points in a current view of the surgical site and a value of a data point represents an existence of an object at the data point in space, and the computing device is configured to determine the needle protrusion distance by calculating a difference between coordinates of two data points in the matrix or following a contour of a surface between two data points in the matrix and calculating a distance along the contour.

7. The system of claim 1 , wherein the computing device is further configured to:
determine whether a portion of the surgical tool is hidden by an object in the surgical site; and
use data from the 3D spatial map to display a hidden portion of the surgical tool in phantom when it is determined that a portion of the surgical tool is hidden by an object in the surgical site.

8. The system of claim 1 , wherein the computing device is further configured to determine whether the needle protrusion distance is sufficient for grasping by the surgical tool based on the detected position of the surgical tool.

9. The system of claim 1 , wherein the computing device is further configured to project a needle exit location based on a current orientation of the needle when the needle tip is not protruding from the anatomy.

10. The system of claim 1 , wherein the computing device is further configured to notify a user to further protrude the needle or to adjust the position of the surgical tool when generating the warning.

11. The system of claim 1 , wherein the computing device is further configured to:
detect properties of the anatomy;
determine whether the position of the surgical tool is optimal for grasping the anatomy based on the detected properties of the anatomy; and
generate a warning when it is determined that the position of the surgical tool is not optimal for grasping the anatomy.

12. The system of claim 11 , wherein the computing device is further configured to display an indication of a position on the anatomy for grasping the anatomy when it is determined that the position of the surgical tool is optimal for grasping the anatomy.

13. A system for enhanced surgical navigation, comprising:
a 3D endoscope including a camera source and an IR source and configured to generate a 3D spatial map of a surgical site; and
a computing device operably coupled to the 3D endoscope and configured to:
detect whether a needle tip of a needle is protruding from an anatomy in the 3D spatial map;
determine a needle protrusion distance by measuring a distance between the needle tip and a surface of the anatomy using the 3D spatial map when the needle tip is protruding from the anatomy;
detect a position of a surgical tool in the 3D spatial map;
generate a warning when the needle protrusion distance is not sufficient for grasping by the surgical tool based on a current orientation of the needle when the needle tip is not protruding from the anatomy; and
display an indication representing a best position on the needle tip to grasp,

wherein the 3D spatial map includes a matrix of equidistant data points representing fixed points in a current view of the surgical site and a value of a data point represents an existence of an object at the data point in space, and the computing device is configured to determine the needle protrusion distance by calculating a difference between coordinates of two data points in the matrix or following a contour of a surface between two data points in the matrix and calculating a distance along the contour.

14. A system for enhanced surgical navigation, comprising:
a 3D endoscope including a camera source and an IR source and configured to generate a 3D spatial map of a surgical site; and
a computing device operably coupled to the 3D endoscope and configured to:
detect whether a needle tip of a needle is protruding from an anatomy in the 3D spatial map;
determine a needle protrusion distance by measuring a distance between the needle tip and a surface of the anatomy using the 3D spatial map when the needle tip is protruding from the anatomy;
detect a position of a surgical tool in the 3D spatial map;
generate a warning when the needle protrusion distance is not sufficient for grasping by the surgical tool based on a current orientation of the needle when the needle tip is not protruding from the anatomy;
display an indication representing a best position on the needle tip to grasp,
detect properties of the anatomy;
determine whether the position of the surgical tool is optimal for grasping the anatomy based on the detected properties of the anatomy; and
generate a warning when it is determined that the position of the surgical tool is not optimal for grasping the anatomy.

Assignees

• Covidien Lp

Inventors

• Komp John W
• Sartor Joe D
• Cantrall Irena

Classifications

• A61B2034/2057

  Details of tracking cameras · CPC title

• A61B1/06

  with illuminating arrangements · CPC title

• A61B2034/2065

  Tracking using image or pattern recognition · CPC title

• A61B17/0491

  Sewing machines for surgery · CPC title

• A61B34/20 Primary

  Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis · CPC title