US 12,478,363 B2
Surgical systems with intraluminal and extraluminal cooperative instruments
Alexander Tarek Hassan, Ann Arbor, MI (US); Travis Michael Schuh, Los Altos, CA (US); Charles J. Scheib, Loveland, OH (US); and Frederick E. Shelton, IV, Hillsboro, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Oct. 4, 2021, as Appl. No. 17/493,535.
Claims priority of provisional application 63/249,980, filed on Sep. 29, 2021.
Prior Publication US 2023/0101757 A1, Mar. 30, 2023
Int. Cl. G06T 7/00 (2017.01); A61B 1/00 (2006.01); A61B 1/313 (2006.01); A61B 17/00 (2006.01); A61B 17/02 (2006.01); A61B 17/12 (2006.01); A61B 17/34 (2006.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01); G06T 7/73 (2017.01); H04N 13/111 (2018.01); H04N 13/156 (2018.01); A61B 5/00 (2006.01)
CPC A61B 17/0218 (2013.01) [A61B 1/00004 (2013.01); A61B 1/00006 (2013.01); A61B 1/00009 (2013.01); A61B 1/000095 (2022.02); A61B 1/00045 (2013.01); A61B 1/00048 (2013.01); A61B 1/0005 (2013.01); A61B 1/3132 (2013.01); A61B 17/00234 (2013.01); A61B 17/12099 (2013.01); A61B 17/12104 (2013.01); A61B 17/12136 (2013.01); A61B 17/3421 (2013.01); A61B 17/3474 (2013.01); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 90/06 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 90/39 (2016.02); A61B 90/50 (2016.02); G06T 7/74 (2017.01); H04N 13/111 (2018.05); H04N 13/156 (2018.05); A61B 5/0075 (2013.01); A61B 2017/00022 (2013.01); A61B 2017/00057 (2013.01); A61B 2017/00061 (2013.01); A61B 2017/00075 (2013.01); A61B 2017/00199 (2013.01); A61B 2017/00292 (2013.01); A61B 2017/00809 (2013.01); A61B 2017/00818 (2013.01); A61B 2017/3419 (2013.01); A61B 2017/3484 (2013.01); A61B 2034/2055 (2016.02); A61B 2034/2057 (2016.02); A61B 2034/301 (2016.02); A61B 2090/064 (2016.02); A61B 2090/3937 (2016.02); A61B 2090/3945 (2016.02); G06T 2207/10068 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
a controller configured to:
receive first image data comprising a first scene within a field of view of a first scope device, wherein the first scene comprises a target tissue in an intraluminal anatomical space;
receive second image data comprising a second scene within a field of view of a second scope device, wherein the second scene comprises a portion of the first scope device in the intraluminal anatomical space;
determine, based on the first and second image data, a distance from the first scope device to the second scope device;
determine, based on the distance and the first and second image data, a position of the second scope device relative to the target tissue;
generate a third scene based on a merged image of a portion of the first scene and a portion of the second scene, wherein the third scene comprises a representative depiction of a portion of the second scope device in an extraluminal anatomical space based on the determined position of the second scope device relative to the target tissue; and
provide the third scene comprising the merged image to a display.