US 12,376,883 B2
Uterine manipulator control with presentation of critical structures
Charles J. Scheib, Loveland, OH (US); Matthew Vargas, San Francisco, CA (US); and Clinton Denlinger, Cincinnati, OH (US)
Assigned to CILAG GMBH INTERNATIONAL, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Sep. 8, 2021, as Appl. No. 17/468,772.
Prior Publication US 2023/0075988 A1, Mar. 9, 2023
Int. Cl. A61B 17/42 (2006.01); A61B 1/00 (2006.01); A61B 1/303 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61G 13/10 (2006.01); A61B 17/00 (2006.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61M 25/10 (2013.01)
CPC A61B 17/4241 (2013.01) [A61B 1/00045 (2013.01); A61B 1/00087 (2013.01); A61B 1/00149 (2013.01); A61B 1/303 (2013.01); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61G 13/10 (2013.01); A61B 2017/00199 (2013.01); A61B 2017/4216 (2013.01); A61B 2017/4225 (2013.01); A61B 2034/2065 (2016.02); A61B 2034/252 (2016.02); A61B 2034/302 (2016.02); A61B 2034/303 (2016.02); A61B 90/361 (2016.02); A61B 2090/365 (2016.02); A61M 25/10 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A system, comprising:
(a) a uterine manipulator having a shaft, the shaft being configured to pass through a cervix of a patient and enter a uterus of the patient;
(b) a robotic arm, the uterine manipulator being coupled with the robotic arm, the robotic arm being operable to drive movement of the uterine manipulator;
(c) an imaging instrument operable to provide an image of an exterior of the uterus of the patient; and
(d) a console including a display screen, the console being configured to:
(i) provide a view from the imaging instrument of the exterior of the uterus of the patient, on the display screen, and
(ii) provide an indicator on the view from the imaging instrument, on the display screen, the indicator indicating a location of a predefined anatomical structure, the indicator being provided as an overlay on the predefined anatomical structure; the console being configured to automatically identifying the location of the predefined anatomical structure in the view from the imaging instrument using optical sensing; the optical sensing including one or more of indocyanine green (ICG) fluorescence imaging, multispectral imaging, hyperspectral imaging, photoacoustic imaging, or ultrasonic imaging.