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

Patent metadata

Field	Value
Publication number	US-12318064-B2
Application number	US-202318130361-A
Country	US
Kind code	B2
Filing date	Apr 3, 2023
Priority date	Dec 13, 2018
Publication date	Jun 3, 2025
Grant date	Jun 3, 2025

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 method for enhanced surgical navigation, comprising:
generating a 3D spatial map of a surgical site using a 3D endoscope, the 3D endoscope including a camera source and an IR scan source;
detecting whether a needle tip of a needle is protruding from an anatomy in the 3D spatial map;
determining 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;
detecting a position of a surgical tool in the 3D spatial map;
generating a warning when it is determined that 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
displaying an indication representing a best position on the needle tip protruding from the anatomy to grasp with the surgical tool.

2. The method of claim 1 , further comprising displaying 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.

3. The method of claim 1 , wherein generating the warning includes notifying a user to further protrude the needle or to adjust the position of the surgical tool.

4. The method of claim 1 , further comprising detecting a type of the surgical tool in the 3D spatial map and wherein determining whether the needle protrusion distance is sufficient for grasping by the surgical tool is based on the detected position of the surgical tool and the detected type of surgical tool.

5. The method of claim 1 , further comprising:
displaying a value representing the needle protrusion distance, and
wherein generating the warning includes modifying the display of the value representing the needle protrusion distance.

6. 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.

7. The method of claim 1 , wherein determining the needle protrusion distance 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.

8. The method of claim 1 , further comprising:
determining whether a portion of the surgical tool is hidden by an object in the surgical site; and
using data from the 3D spatial map, displaying a hidden portion of the surgical tool when it is determined that a portion of the surgical tool is hidden by an object in the surgical site.

9. The method of claim 1 , further comprising:
detecting properties of the anatomy;
determining whether the position of the surgical tool is optimal for grasping the anatomy based on the detected properties of the anatomy; and
generating a warning when it is determined that the position of the surgical tool is not optimal for grasping the anatomy.

10. The method of claim 9 , further comprising displaying 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.

11. The method of claim 1 , further comprising determining whether the needle protrusion distance is sufficient for grasping by the surgical tool based on the detected position of the surgical tool.

12. The method of claim 1 , further comprising projecting a needle exit location based on a current orientation of the needle when the needle tip is not protruding from the anatomy.

Assignees

• Covidien Lp

Inventors

• Komp John W
• Sartor Joe D
• Cantrall Irena

Classifications

• A61B1/0655

  Control therefor · CPC title

• A61B1/0605

  for spatially modulated illumination · CPC title

• A61B1/06

  with illuminating arrangements · CPC title

• A61B1/046

  for infrared imaging · CPC title

• A61B1/00194

  adapted for three-dimensional imaging · CPC title