US 12,274,512 B2
Indicator system
Steven Bishop, Walden (GB); and Ricardo Michael Henderson Da Silva, Cambridge (GB)
Assigned to CMR SURGICAL LIMITED, Cambridge (GB)
Appl. No. 17/282,676
Filed by CMR SURGICAL LIMITED, Cambridge (GB)
PCT Filed Oct. 3, 2019, PCT No. PCT/GB2019/052795
§ 371(c)(1), (2) Date Apr. 2, 2021,
PCT Pub. No. WO2020/070504, PCT Pub. Date Apr. 9, 2020.
Claims priority of application No. 1816168 (GB), filed on Oct. 3, 2018.
Prior Publication US 2021/0345893 A1, Nov. 11, 2021
Int. Cl. A61B 34/20 (2016.01); A61B 1/00 (2006.01); A61B 5/00 (2006.01); A61B 5/0205 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01); A61B 34/10 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 1/000094 (2022.02); A61B 5/0205 (2013.01); A61B 5/7405 (2013.01); A61B 5/742 (2013.01); A61B 5/7455 (2013.01); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/74 (2016.02); A61B 90/36 (2016.02); A61B 90/361 (2016.02); A61B 90/50 (2016.02); A61B 2034/102 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/2074 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2090/365 (2016.02)] 20 Claims
OG exemplary drawing
 
1. An indicator system for a surgical robotic system for indicating a state of at least a portion of patient anatomy, the surgical robotic system comprising a robot having a base and an arm extending from the base, the arm holding an endoscope at an end of the arm distal from the base, the endoscope being configured for insertion into a body cavity of the patient for observing a surgical site internal to a body of the patient, the indicator system comprising:
a receiver configured to receive video data of at least a portion of patient anatomy at the surgical site from the endoscope; and
a processor configured to:
detect a spatio-temporal change in a pixel region of the received video data;
identify, in response to the detected spatio-temporal change, a parameter of the patient anatomy;
generate a health indicator indicative of the identified parameter or indicative of a profile of the identified parameter; and
output the generated health indicator;
the processor being further configured to:
identify a relative movement between the endoscope and a bulk of the patient anatomy and/or between the bulk of the patient anatomy and a remainder of the surgical site and to detect the spatio-temporal change in dependence on the identified relative movement.