US 12,075,984 B2
Stereoscopic endoscope with critical structure depth estimation
Robert M. Trusty, Cincinnati, OH (US); and Dillon C. Karg, San Jose, CA (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jul. 14, 2021, as Appl. No. 17/375,333.
Prior Publication US 2023/0020780 A1, Jan. 19, 2023
Int. Cl. A61B 1/313 (2006.01); A61B 1/00 (2006.01); A61B 1/05 (2006.01); A61B 1/06 (2006.01)
CPC A61B 1/313 (2013.01) [A61B 1/0005 (2013.01); A61B 1/05 (2013.01); A61B 1/0627 (2022.02); A61B 1/0655 (2022.02)] 20 Claims
OG exemplary drawing
 
1. A surgical visualization system comprising:
(a) an endoscope comprising:
(i) a shaft comprising a distal end, wherein the distal end is configured to be inserted into a cavity of a patient, and
(ii) a camera positioned at the distal end of the shaft for visualizing a first structure below a tissue surface within the cavity when the distal end is inserted into the cavity, wherein the camera defines a line of sight, wherein the camera is configured to be swept over the first structure about a pivot point; and
(b) a processor in operative communication with the camera of the endoscope, wherein the processor is configured to:
(i) monitor a plurality of sweep parameters when the camera is swept over the first structure about the pivot point, and
(ii) estimate a depth of the first structure below the tissue surface based on the monitored plurality of sweep parameters,
wherein the plurality of sweep parameters includes a first distance between the distal end and the tissue surface,
wherein the plurality of sweep parameters further includes a second distance between the distal end and the pivot point.