US 12,092,738 B2
Surgical visualization system for generating and updating a three-dimensional digital representation from structured light imaging data
Charles J. Scheib, Loveland, OH (US)
Assigned to Cilag GmbH International, Zug (CC)
Filed by Cilag GmbH International, Zug (CH)
Filed on Sep. 11, 2018, as Appl. No. 16/128,195.
Claims priority of provisional application 62/698,625, filed on Jul. 16, 2018.
Prior Publication US 2020/0015907 A1, Jan. 16, 2020
Int. Cl. A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/04 (2006.01); A61B 1/045 (2006.01); A61B 1/05 (2006.01); A61B 1/06 (2006.01); A61B 1/07 (2006.01); A61B 1/313 (2006.01); A61B 5/00 (2006.01); A61B 17/00 (2006.01); A61B 17/02 (2006.01); A61B 17/04 (2006.01); A61B 17/06 (2006.01); A61B 17/062 (2006.01); A61B 17/064 (2006.01); A61B 17/11 (2006.01); A61B 17/115 (2006.01); A61B 17/34 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 90/00 (2016.01); A61B 90/13 (2016.01); A61B 90/30 (2016.01); A61B 90/35 (2016.01); G01S 17/36 (2006.01); G02F 1/13 (2006.01); G06T 1/00 (2006.01); A61B 34/10 (2016.01)
CPC G01S 17/36 (2013.01) [A61B 1/00006 (2013.01); A61B 1/000094 (2022.02); A61B 1/00013 (2013.01); A61B 1/00043 (2013.01); A61B 1/00045 (2013.01); A61B 1/00096 (2013.01); A61B 1/00149 (2013.01); A61B 1/00194 (2022.02); A61B 1/009 (2022.02); A61B 1/04 (2013.01); A61B 1/045 (2013.01); A61B 1/046 (2022.02); A61B 1/05 (2013.01); A61B 1/051 (2013.01); A61B 1/06 (2013.01); A61B 1/0605 (2022.02); A61B 1/0607 (2013.01); A61B 1/063 (2013.01); A61B 1/0638 (2013.01); A61B 1/0661 (2013.01); A61B 1/07 (2013.01); A61B 1/3132 (2013.01); A61B 5/0036 (2018.08); A61B 5/0086 (2013.01); A61B 5/0095 (2013.01); A61B 17/00234 (2013.01); A61B 17/0218 (2013.01); A61B 17/0469 (2013.01); A61B 17/0482 (2013.01); A61B 17/0483 (2013.01); A61B 17/06066 (2013.01); A61B 17/062 (2013.01); A61B 17/064 (2013.01); A61B 17/1114 (2013.01); A61B 17/1155 (2013.01); A61B 17/3423 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/32 (2016.02); A61B 34/73 (2016.02); A61B 90/03 (2016.02); A61B 90/13 (2016.02); A61B 90/30 (2016.02); A61B 90/35 (2016.02); A61B 90/36 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); G02F 1/1326 (2013.01); G06T 1/0007 (2013.01); A61B 1/00009 (2013.01); A61B 1/0676 (2013.01); A61B 2017/00061 (2013.01); A61B 2017/00119 (2013.01); A61B 2017/00367 (2013.01); A61B 2017/00477 (2013.01); A61B 2017/00876 (2013.01); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2063 (2016.02); A61B 2034/2065 (2016.02); A61B 34/25 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2090/061 (2016.02); A61B 2090/064 (2016.02); A61B 2090/306 (2016.02); A61B 2090/367 (2016.02); A61B 2090/373 (2016.02); A61B 2090/374 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/378 (2016.02); A61B 2505/05 (2013.01); A61B 2560/0462 (2013.01); A61B 2576/00 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A surgical visualization system, comprising:
a control circuit configured to:
receive first imaging data indicative of a surface of an anatomical structure and an embedded structure within the anatomical structure from a first source;
receive second imaging data indicative of the surface of the anatomical structure from a structured light source, wherein the surface of the anatomical structure is positioned between the embedded structure and the structured light source;
generate a three-dimensional digital representation of the anatomical structure from the second imaging data;
align the first imaging data indicative of the surface of the anatomical structure with the three-dimensional digital representation;
register the first imaging data indicative of the embedded structure with the three-dimensional digital representation;
determine a distance from the registered embedded structure to a robotic tool in real time, wherein the robotic tool is located outside the surface of the anatomical structure, and wherein the distance is from the robotic tool through the surface of the anatomical structure to the registered embedded structure;
receive third imaging data indicative of the surface of the anatomical structure in a subsequent state from the structured light source;
update the three-dimensional digital representation of the anatomical structure from the third imaging data; and
update the position of the embedded structure within the anatomical structure based on the updated three-dimensional representation of the anatomical structure and the registration of the first imaging data with the three-dimensional digital representation.