US 12,283,062 B2
Method and system for providing surgical site measurement
Kevin Andrew Hufford, Cary, NC (US); Tal Nir, Haifa (IL); Lior Alpert, Haifa (IL); Gal Wiezman, Haifa (IL); Alexander John Maret, Apex, NC (US); and Mohan Nathan, Raleigh, NC (US)
Assigned to Asensus Surgical US, Inc., Durham, NC (US); and Asensus Surgical Europe S.àR.L., Bertrange (LU)
Filed by Asensus Surgical US, Inc., Durham, NC (US)
Filed on Nov. 16, 2020, as Appl. No. 17/099,761.
Claims priority of provisional application 63/088,409, filed on Oct. 6, 2020.
Claims priority of provisional application 62/935,585, filed on Nov. 14, 2019.
Prior Publication US 2021/0256719 A1, Aug. 19, 2021
Int. Cl. G06T 7/529 (2017.01); A61B 90/00 (2016.01); G06T 7/00 (2017.01); G06T 7/70 (2017.01); G06T 11/00 (2006.01)
CPC G06T 7/529 (2017.01) [A61B 90/06 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); G06T 7/0012 (2013.01); G06T 7/70 (2017.01); G06T 11/00 (2013.01); A61B 2090/061 (2016.02); A61B 2090/364 (2016.02); G06T 2207/20092 (2013.01); G06T 2207/30004 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A system for measuring distances within a surgical site, comprising:
a camera positionable in a body cavity to capture real time 3D images corresponding to a treatment site, the treatment site including a tissue surface having a topography;
a display configured to display the real time 3D images in real time with the tissue surface and topography visible on the display;
at least one processor and at least one memory, the at least one memory storing instructions executable by said at least one processor to:
identify, using computer vision analysis of the images, a predetermined portion of a first surgical instrument that is positioned in the body cavity at the treatment site and determine a 3D position of said predetermined portion of the first surgical instrument,
display a first overlay on the display in known proximity to the predetermined part of the first surgical instrument, such that the first overlay moves on the display to track movement of the predetermined part of the first surgical instrument, wherein a 3D position of the first overlay comprises a first measurement point;
determine a 3D position of a second measurement point in the treatment site captured in the images,
receive, while displaying the first overlay, input from a user observing the displayed real time images in real time, the input instructing the system to display a plane containing the first measurement point and the second measurement point,
display a graphical plane overlay over the displayed real time 3D images, the graphical plane overlay graphically representing the plane containing the first measurement point and the second measurement point, the displayed graphical plane overlay transecting the topography of the tissue surface visible on the display, and graphically depicting a measurement pathway where the plane transects the tissue surface,
estimate or determine a distance between the first measurement point and the second measurement point along the measurement pathway, and
generate output communicating the distance to the user.