US 12,318,064 B2
Thoracic imaging, distance measuring, surgical awareness, and notification system and method
John W. Komp, Dillon, CO (US); Joe D. Sartor, Longmont, CO (US); and Irena Cantrall, Boulder, CO (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Apr. 3, 2023, as Appl. No. 18/130,361.
Application 18/130,361 is a division of application No. 16/682,566, filed on Nov. 13, 2019, granted, now 11,617,493.
Claims priority of provisional application 62/782,683, filed on Dec. 20, 2018.
Claims priority of provisional application 62/779,229, filed on Dec. 13, 2018.
Claims priority of provisional application 62/779,242, filed on Dec. 13, 2018.
Prior Publication US 2023/0233059 A1, Jul. 27, 2023
Int. Cl. A61B 1/00 (2006.01); A61B 1/04 (2006.01); A61B 1/06 (2006.01); A61B 17/04 (2006.01); A61B 34/20 (2016.01); A61B 17/00 (2006.01)
CPC A61B 1/000094 (2022.02) [A61B 1/00194 (2022.02); A61B 1/046 (2022.02); A61B 1/06 (2013.01); A61B 1/0605 (2022.02); A61B 1/0655 (2022.02); A61B 17/0482 (2013.01); A61B 17/0491 (2013.01); A61B 34/20 (2016.02); A61B 2017/00128 (2013.01); A61B 2017/00809 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02)] 12 Claims
OG exemplary drawing
 
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.