US 11,779,418 B2
System and apparatus for positioning an instrument in a body cavity for performing a surgical procedure
Perry A. Genova, Chapel Hill, NC (US); and David McNally, Salt Lake City, UT (US)
Assigned to Titan Medical Inc., Toronto (CA)
Filed by Titan Medical Inc., Toronto (CA)
Filed on Apr. 12, 2021, as Appl. No. 17/227,617.
Application 17/227,617 is a continuation of application No. 16/273,442, filed on Feb. 12, 2019, granted, now 11,000,339.
Application 16/273,442 is a continuation of application No. 16/053,232, filed on Aug. 2, 2018, granted, now 10,245,113, issued on Apr. 2, 2019.
Application 16/053,232 is a continuation of application No. 15/961,507, filed on Apr. 24, 2018, granted, now 10,058,396, issued on Aug. 28, 2018.
Prior Publication US 2021/0228295 A1, Jul. 29, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. G06K 9/00 (2022.01); A61B 34/37 (2016.01); G06T 7/70 (2017.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61B 1/00 (2006.01); A61B 1/313 (2006.01); A61B 34/00 (2016.01); A61B 17/02 (2006.01); G06T 7/73 (2017.01); A61B 34/30 (2016.01); A61B 34/10 (2016.01); A61B 90/30 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 1/0005 (2013.01); A61B 1/000094 (2022.02); A61B 1/000096 (2022.02); A61B 1/00149 (2013.01); A61B 1/313 (2013.01); A61B 17/02 (2013.01); A61B 34/20 (2016.02); A61B 34/74 (2016.02); A61B 90/37 (2016.02); G06T 7/70 (2017.01); G06T 7/73 (2017.01); A61B 34/10 (2016.02); A61B 34/25 (2016.02); A61B 90/03 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/302 (2016.02); A61B 2090/306 (2016.02); A61B 2090/309 (2016.02); A61B 2090/371 (2016.02); G06T 2207/10021 (2013.01); G06T 2207/30004 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A method of assisting positioning of an instrument in a body cavity of a patient using a robotic surgery system, the robotic surgery system being controlled by a processor, the method comprising, by the processor:
receiving body cavity image data representing an interior view of the body cavity, the body cavity image data being captured by a camera inserted into the body cavity, the camera being detached from the robotic surgery system to facilitate positioning of the camera by hand to receive a desired interior view of the body cavity, and a position of the camera being adjusted responsive to connecting the camera to the robotic surgery system;
generating one or more display signals being configured to display a view of the interior view of the body cavity, the view being at least partially based on the body cavity image data;
determining an instrument envelope identifying a workable volume of the instrument, the workable volume comprising a range of motion of the instrument within the body cavity;
generating an envelope overlay image, the envelope overlay image being configured to represent the instrument envelope; and
causing a display to display the view and the envelope overlay image.