US 12,102,392 B2
Methods and systems 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
Filed by Cilag GmbH International, Zug (CH)
Filed on Oct. 22, 2021, as Appl. No. 17/451,948.
Claims priority of provisional application 63/249,870, filed on Sep. 29, 2021.
Prior Publication US 2023/0096691 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); G16H 20/40 (2018.01); G16H 40/63 (2018.01); A61B 17/115 (2006.01); A61B 34/30 (2016.01)
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)] 18 Claims
OG exemplary drawing
 
1. A system, comprising:
a first surgical instrument configured to be inserted into a first portion of a body cavity and to operate on a first surgical treatment site located within the body cavity of a patient;
a second surgical instrument configured to be inserted into a second portion of the body cavity and to operate on a second surgical treatment site located within the body cavity, the second portion of the body cavity being different than the first portion of the body cavity, and the second surgical treatment site being different than the first treatment tissue site;
a first flexible endoscope having a first image sensor and configured to be positioned in the first portion of the body cavity such that the second surgical instrument is not within a field of view of the first image sensor;
a second flexible endoscope having a second image sensor and configured to be positioned in the second portion of the body cavity such that the first surgical instrument is not within a field of view of the second image sensor; and
a controller configured to, with the second surgical instrument being in the body cavity and not being within the field of view of the first image sensor and with the first surgical instrument being in the body cavity and not being within the field of view of the second image sensor, receive image data characterizing images gathered by each of the first and second image sensors and thereby allow the controller to determine a first location of the first surgical instrument and a second location of the second surgical instrument, determine a distance and orientation of the first surgical instrument relative to the second surgical instrument, and cause movement of at least one of the first and second surgical instruments in the body cavity based on the determined distance and orientation;
wherein the controller is configured to electromagnetically track locations of the first flexible endoscope and the second flexible endoscope in a global coordinate system;
the image data includes first time-of-flight measurements from the first image sensor to the first surgical treatment site and second time-of-flight measurements from the second image sensor to the second surgical treatment site; and
the controller is configured to determine the distance and orientation of the first surgical instrument relative to the second surgical instrument using the locations of the first flexible endoscope and the second flexible endoscope in the global coordinate system and on the first and second time-of-flight measurements.