US 12,029,510 B2
Determining positions and conditions of tools of a robotic surgical system utilizing computer vision
William J. Peine, Ashland, MA (US); Meir Rosenberg, Newton, MA (US); and Dwight Meglan, Westwood, MA (US)
Assigned to COVIDIEN LP, Mansfield, MA (US)
Appl. No. 16/960,788
Filed by Covidien LP, Mansfield, MA (US)
PCT Filed Jan. 9, 2019, PCT No. PCT/US2019/012847
§ 371(c)(1), (2) Date Jul. 8, 2020,
PCT Pub. No. WO2019/139949, PCT Pub. Date Jul. 18, 2019.
Claims priority of provisional application 62/615,590, filed on Jan. 10, 2018.
Prior Publication US 2021/0059775 A1, Mar. 4, 2021
Int. Cl. A61B 34/32 (2016.01); A61B 17/04 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 17/068 (2006.01); A61B 17/29 (2006.01); A61B 17/295 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/32 (2016.02) [A61B 17/0469 (2013.01); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 17/068 (2013.01); A61B 17/29 (2013.01); A61B 17/295 (2013.01); A61B 2034/2065 (2016.02); A61B 2034/258 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A method of controlling a function of a tool of a surgical system, the method comprising:
capturing images of a surgical site with an imaging device;
determining a distance of the tool within the surgical site relative to targeted tissue;
enabling activation of a function of the tool when the tool is within a predetermined distance from the targeted tissue;
activating the function of the tool to manipulate tissue with the tool in response to a control signal; and
disabling activation of the function of the tool when the tool is beyond the predetermined distance from the targeted tissue.