US 12,144,561 B2
Methods and systems for controlling cooperative surgical instruments with variable surgical site access trajectories
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. 22, 2021, as Appl. No. 17/451,954.
Claims priority of provisional application 63/249,881, filed on Sep. 29, 2021.
Prior Publication US 2023/0099189 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 1/05 (2006.01); A61B 1/31 (2006.01); A61B 1/313 (2006.01); A61B 17/32 (2006.01); A61B 17/34 (2006.01); G16H 20/40 (2018.01); G16H 30/20 (2018.01); G16H 40/63 (2018.01); A61B 17/068 (2006.01); A61B 17/115 (2006.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 1/000094 (2022.02); A61B 1/000095 (2022.02); A61B 1/005 (2013.01); A61B 1/044 (2022.02); A61B 1/05 (2013.01); A61B 1/31 (2013.01); A61B 1/313 (2013.01); A61B 17/320016 (2013.01); A61B 17/3423 (2013.01); G16H 20/40 (2018.01); G16H 30/20 (2018.01); G16H 40/63 (2018.01); A61B 1/3132 (2013.01); A61B 17/068 (2013.01); A61B 17/115 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2065 (2016.02); A61B 34/30 (2016.02); A61B 2034/302 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A system, comprising:
a first surgical instrument configured to be inserted into a first body cavity of a patient and to operate on a first surface of a tissue located within the patient;
a second surgical instrument configured to be inserted into a second body cavity of the patient and to operate on a second surface of the tissue, the second surface oriented differently from the first surface;
a first endoscope having a first image sensor configured to acquire a first image of the first surgical instrument within the first body cavity and positioned such that the second surgical instrument is not within a field of view of the first image sensor;
a second endoscope having a second image sensor configured to acquire a second image of the second surgical instrument within the second body cavity and positioned such that the first surgical instrument is not within a field of view of the second image sensor, the second body cavity being distinct from the first body cavity; and
a controller configured to receive the first and second images, to determine a first location of the first surgical instrument based on the received first image, to determine a second location of the second surgical instrument based on the received second image, and to coordinate cooperative treatment between the first and second surgical instruments based on the determined first and second locations such that the first and second surgical instruments, with one of the first and second surgical instruments located within a tissue lumen adjacent a hole formed in a sidewall of the tissue lumen and the other of the first and second surgical instruments being located outside the tissue lumen and adjacent the hole, cooperate to deliver a bioabsorbable adjunct into the hole so as to allow the bioabsorbable adjunct to be fixed in place within the hole.