US 12,290,319 B2
Methods for controlling cooperative surgical instruments
Frederick E. Shelton, IV, Hillsboro, OH (US); Charles J. Scheib, Loveland, OH (US); and Jason L. Harris, Lebanon, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Oct. 5, 2021, as Appl. No. 17/450,025.
Claims priority of provisional application 63/249,881, filed on Sep. 29, 2021.
Prior Publication US 2023/0096268 A1, Mar. 30, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/04 (2006.01); A61B 1/05 (2006.01); A61B 1/31 (2006.01); A61B 1/313 (2006.01); A61B 17/32 (2006.01); A61B 17/34 (2006.01); G16H 20/40 (2018.01); G16H 30/20 (2018.01); G16H 40/63 (2018.01); A61B 17/068 (2006.01); A61B 17/115 (2006.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 1/000094 (2022.02); A61B 1/000095 (2022.02); A61B 1/005 (2013.01); A61B 1/044 (2022.02); A61B 1/05 (2013.01); A61B 1/31 (2013.01); A61B 1/313 (2013.01); A61B 17/320016 (2013.01); A61B 17/3423 (2013.01); G16H 20/40 (2018.01); G16H 30/20 (2018.01); G16H 40/63 (2018.01); A61B 1/3132 (2013.01); A61B 17/068 (2013.01); A61B 17/115 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2065 (2016.02); A61B 34/30 (2016.02); A61B 2034/302 (2016.02)] 17 Claims
OG exemplary drawing
 
1. A method, comprising:
receiving, by a controller, from a first image sensor of a first endoscope, first image data characterizing a first image of a first surgical instrument disposed within a thoracic body cavity of a patient and configured to operate on a first surface of a tissue located within the patient, the first endoscope having a first magnet coupled thereto;
receiving, by the controller, from a second image sensor of a second endoscope, second image data characterizing a second image of a second surgical instrument disposed within an abdominal body cavity of the patient, and to operate on a second surface of the tissue, the second surface oriented differently from the first surface, the second surgical instrument outside of a field of view of the first endoscope and the first surgical instrument outside of a field of view of the second endoscope, the second endoscope having a magnetic sensor coupled thereto;
receiving, by the controller, from a third image sensor of a third endoscope, third image data, the third endoscope having a second magnet coupled thereto;
determining, by the controller, based on the received first image data, a first location of the first surgical instrument;
determining, based on the received second image data, a second location of the second surgical instrument relative to the first location of the first surgical instrument;
receiving, by the controller, data gathered by the magnetic sensor that is indicative of positions of the first and second magnets relative to the second endoscope;
compiling, by the controller and using the received data gathered by the magnetic sensor, an augmented composite image including the first and second images; and
coordinating, by the controller, cooperative treatment between the first and second surgical instruments to achieve a common surgical purpose on the tissue, wherein coordinating the cooperative treatment includes:
applying, to the first surgical instrument, a first threshold limit characterizing a maximum amount of force or range of motion that can be applied by the first surgical instrument in any given direction relative to the tissue, and
applying, to the second surgical instrument, a second threshold limit characterizing a maximum amount of force or range of motion that can be applied by the second surgical instrument in any given direction relative to the tissue.