Thoracic imaging, distance measuring, and notification system and method

Patent metadata

Field	Value
Publication number	US-12201483-B2
Application number	US-202318379443-A
Country	US
Kind code	B2
Filing date	Oct 12, 2023
Priority date	Dec 13, 2018
Publication date	Jan 21, 2025
Grant date	Jan 21, 2025

Abstract

A system and method for enhanced surgical navigation and graphical user interfaces associated therewith. The system includes a 3D endoscope and a computing device including a display for displaying the graphical user interfaces. The 3D endoscope includes a camera source and a scan source and is utilized to generate a 3D spatial map of a surgical site. A position of a surgical tool is detected in the 3D spatial map, a distance between the position of the surgical tool in the 3D spatial map and a location of an anatomy is detected, and a warning is generated when it is determined that the distance between the position of the surgical tool in the 3D spatial map and the location of the anatomy is equal to or not greater than a threshold minimum distance.

First claim

What is claimed is:

1. A method for enhanced surgical navigation comprising:
generating a 3D spatial map;
detecting a position of a surgical tool in the generated 3D spatial map;
detecting a location of an anatomy in the generated 3D spatial map;
measuring a distance between the detected position of the surgical tool in the generated 3D spatial map and the location of the anatomy in the 3D spatial map;
determining whether the measured distance between the detected position of the surgical tool in the generated 3D spatial map and the location of the anatomy in the generated 3D spatial map is greater than a threshold minimum distance;
displaying a first band in a first form on the 3D spatial map and in a user interface, the first band having an outer dimension corresponding to the threshold minimum distance, the first band being displayed around the surgical tool or the anatomy;
displaying a second band on the 3D spatial map and in the user interface, wherein the second band is displayed around the surgical tool or the anatomy and includes an outer dimension that is different from the outer dimension of the first band; and
generating a warning when it is determined that the measured distance between the detected position of the surgical tool in the generated 3D spatial map and the location of the anatomy in the generated 3D spatial map is equal to or not greater than the threshold minimum distance from the location of the anatomy in the generated 3D spatial map, wherein the warning is displaying the first band in a second form on the 3D spatial map and in the user interface, the displayed second form of the first band having an outer dimension equal to the outer dimension of the displayed first form of the first band, the second form of the first band being displayed around the surgical tool or the anatomy, wherein the outer dimension of the displayed second band does not change.

2. The method of claim 1 , further comprising:
displaying a value in the user interface representing the measured distance between the detected position of the surgical tool in the generated 3D spatial map and the location of the anatomy in the generated 3D spatial map in the first form when it is determined that the measured distance between the detected position of the surgical tool in the generated 3D spatial map and the location of the anatomy in the generated 3D spatial map is greater than the threshold minimum distance from the location of the anatomy in the generated 3D spatial map, and
wherein generating the warning includes displaying the value in the second form different from the first form.

3. The method of claim 1 , further comprising detecting the location of the anatomy in the generated 3D spatial map by receiving a selection from pre-surgical imagery during a planning phase, the pre-surgical imagery including at least one of CT, MRI, fluoroscopic, ultrasound, or any combinations thereof.

4. The method of claim 1 , further comprising detecting the location of the anatomy in the generated 3D spatial map by receiving a selection from surgical imagery during a surgical phase from images captured intraoperatively.

5. The method of claim 1 , further comprising receiving a selection of the threshold minimum distance from the location of the anatomy in the generated 3D spatial map by receiving the selection from pre-surgical imagery during a planning phase, the pre-surgical imagery including at least one of CT, MRI, fluoroscopic, ultrasound, or any combinations thereof.

6. The method of claim 1 , further comprising receiving a selection of the threshold minimum distance from the location of the anatomy in the generated 3D spatial map by receiving the selection from surgical imagery during a surgical phase from images captured intraoperatively.

7. The method 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.

8. The method of claim 7 , wherein measuring the distance between the detected position of the surgical tool in the generated 3D spatial map and the location of the anatomy in the generated 3D spatial map includes at least one of:
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.

9. The method of claim 1 , wherein one or both of the first and second bands may change form.

10. A system for enhanced surgical navigation, comprising:
a surgical tool;
a computing device configured to:
generate a 3D spatial map;
display the 3D spatial map on a graphical user interface, wherein the 3D spatial map includes a matrix of equidistant data points representing fixed points in the 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;
detect a position of the surgical tool in the generated 3D spatial map;
measure a distance between the detected position of the surgical tool in the generated 3D spatial map and a location of an anatomy in the generated 3D spatial map;
determine whether the measured distance between the detected position of the surgical tool in the generated 3D spatial map and the location of the anatomy in the generated 3D spatial map is greater than a threshold minimum distance from the location of the anatomy in the generated 3D spatial map;
display a first band in a first form on the 3D spatial map and in the graphical user interface, the first band having an outer dimension corresponding to the threshold minimum distance, the first band being displayed around the surgical tool or the anatomy;
display a second band on the 3D spatial map and in the user interface, wherein the second band is displayed around the surgical tool or anatomy and includes an outer dimension that is different from the outer dimension of the first band;
generate a warning when it is determined that the measured distance between the detected position of the surgical tool in the generated 3D spatial map and the location of the anatomy in the generated 3D spatial map is equal to or not greater than the threshold minimum distance from the location of the anatomy in the generated 3D spatial map, wherein the warning is displaying the first band in a second form on the 3D spatial map and in the graphical user interface, the displayed second form of the first band having an outer dimension equal to the outer dimension of the displayed first form of the first band, the second form of the first band being displayed around the surgical tool or the anatomy, wherein the outer dimension of the displayed second band does not change.

11. The system of claim 10 , wherein the computing device is further configured to:
display, on the graphical user interface, a value representing the measured distance between the detected position of the surgical tool in the generated 3D spatial map and the location of the anatomy in the generated 3D spatial map in the first form when it is determined that the measured distance between the detected position of the surgical tool in the generated 3D spatial map and the location of the anatomy in the generated 3D spatial map is greater than the threshold minimum distance from the location of the anatomy in the generated 3D spatial map; and
display, on the graphical user interface, the value in the second form different from the first form when it is determined that the measured distance between the detected position of the surgical tool in the generated 3D spatial map and the location of the anatomy

Assignees

• Covidien Lp

Inventors

• Komp John W
• Cantrall Irena

Classifications

• A61B1/0605

  for spatially modulated illumination · CPC title

• A61B1/00194

  adapted for three-dimensional imaging · CPC title

• A61B1/00097

  Sensors · CPC title

• A61B1/00042

  for mechanical operation · CPC title

• A61B1/000094

  extracting biological structures · CPC title