US 12,376,910 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. 17/450,020.
Claims priority of provisional application 63/249,870, filed on Sep. 29, 2021.
Prior Publication US 2023/0100698 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 1/313 (2006.01); A61B 5/00 (2006.01); A61B 5/06 (2006.01); A61B 17/00 (2006.01); A61B 17/11 (2006.01); A61B 17/115 (2006.01); A61B 34/30 (2016.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01)
CPC A61B 34/20 (2016.02) [A61B 1/00006 (2013.01); A61B 1/000095 (2022.02); A61B 1/005 (2013.01); A61B 1/044 (2022.02); A61B 1/3132 (2013.01); A61B 5/0075 (2013.01); A61B 5/0084 (2013.01); A61B 5/065 (2013.01); A61B 5/6835 (2013.01); A61B 17/1114 (2013.01); G16H 20/40 (2018.01); G16H 40/63 (2018.01); A61B 2017/00876 (2013.01); A61B 2017/1139 (2013.01); A61B 17/115 (2013.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/302 (2016.02)] 20 Claims
OG exemplary drawing
 
15. A surgical system, comprising:
a first surgical instrument;
a second surgical instrument; and
a controller, wherein the controller is configured to:
determine a location of the first surgical instrument within a first portion of a body cavity of a patient, wherein the first surgical instrument has a first portion of a surgical implant releasably engaged thereon, the location of the first surgical instrument is based on image data gathered by a first image sensor coupled to a distal end of a first endoscope, and the image data gathered by the first image sensor characterizes the first portion of the body cavity;
determine a location of the second surgical instrument within a second portion of the body cavity relative to the first surgical instrument, wherein the second surgical instrument has a second portion of the surgical implant releasably engaged thereon, the location of the second surgical instrument is based on image data gathered by a second image sensor coupled to a distal end of a second endoscope, and the image data gathered by the second image sensor characterizes the second portion of the body cavity;
determine at least one of a thickness of a tissue wall between the location of the first surgical instrument an the location of the second surgical instrument, a stiffness of the tissue wall between the location of the first surgical instrument an the location of the second surgical instrument, or a tissue composition of the tissue wall between the location of the first surgical instrument an the location of the second surgical instrument; and
determine a placement location of the first portion of the surgical implant in the tissue wall and a placement location of the second portion of the surgical implant in the tissue wall based on at least one of the thickness of the tissue wall between the location of the first surgical instrument and the location of the second surgical instrument, the stiffness of the tissue wall between the location of the first surgical instrument and the location of the second surgical instrument, or the tissue composition of the tissue wall between the location of the first surgical instrument and the location of the second surgical instrument; wherein:
the first surgical instrument is outside of a field of view of the second image sensor,
the second surgical instrument is outside of a field of view of the first image sensor, and
the second portion of the body cavity is different than the first portion of the body cavity.