Method and system for providing surgical site measurement
Inventors
Hufford, Kevin Andrew • Nir, Tal • ALPERT, Lior • Wiezman, Gal • Maret, Alexander John • Nathan, Mohan
Assignees
Karl Storz SE and Co KG • Asensus Surgical Europe SARL Luxembourg
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Publication Number
US-12283062-B2
Publication Date
2025-04-22
Expiration Date
Abstract
A system for measuring distances within a surgical site includes a camera positionable to capture 3D image data corresponding to a treatment site. Using the image data, the system determines the relative 3D positions of identified measurement points at the treatment site captured in the images, and it estimates or determines the distance between the measurement points. Output is generated communicating the measured distances to the user. The measurement taken follows the 3D topography of the tissue positioned between the measurement points.
Core Innovation
A system for measuring distances within a surgical site captures real time 3D images corresponding to a treatment site in a body cavity. The treatment site includes a tissue surface having a topography, and the display shows the real time 3D images with the tissue surface and topography visible. The system estimates or determines distances that account for tissue topography by graphically representing measurement pathways over the tissue surface.
The system uses computer vision analysis to identify a predetermined portion of a first surgical instrument positioned in the body cavity and determine a 3D position of the predetermined portion. A first overlay is displayed in known proximity to the predetermined part and moves on the display to track movement of the predetermined part, where a 3D position of the first overlay comprises a first measurement point. The system determines a 3D position of a second measurement point in the treatment site captured in the images, and receives user input to instruct the system to display a plane containing the first measurement point and the second measurement point.
The system displays a graphical plane overlay over the real time 3D images, representing the plane containing the first and second measurement points. The graphical plane overlay transects the topography of the tissue surface visible on the display and graphically depicts a measurement pathway where the plane transects the tissue surface. The system estimates or determines a distance between the first measurement point and the second measurement point along the measurement pathway and generates output communicating the distance to the user.
Claims Coverage
The provided independent claim covers an end-to-end surgical-site distance measuring system with instrument tracking, user-defined plane placement, topography-transecting graphical overlays, and distance output. Dependent refinements in the provided content further specify geodesic/topography-following distance behavior and user-controlled rotation of the plane overlay.
Real time 3D surgical-site imaging with tissue topography
A camera positionable in a body cavity captures real time 3D images corresponding to a treatment site, where the treatment site includes a tissue surface having a topography, and a display presents the real time 3D images with the tissue surface and topography visible.
Computer-vision instrument tracking to define a first measurement point
The system identifies, using computer vision analysis of the images, a predetermined portion of a first surgical instrument positioned in the body cavity at the treatment site and determines a 3D position of the predetermined portion.
Moving overlay tracking with the first overlay as a measurement point
The system displays a first overlay in known proximity to the predetermined part of the first surgical instrument such that the first overlay moves to track movement of the predetermined part, wherein a 3D position of the first overlay comprises a first measurement point.
Second measurement point placement using image-captured 3D position
The system determines a 3D position of a second measurement point in the treatment site captured in the images.
User-instructed plane containing both measurement points
While displaying the first overlay, the system receives user input instructing the system to display a plane containing the first measurement point and the second measurement point.
Graphical plane overlay that transects tissue topography and depicts a measurement pathway
The system displays a graphical plane overlay over the real time 3D images representing the plane containing the first and second measurement points, transecting the topography of the tissue surface visible on the display and graphically depicting a measurement pathway where the plane transects the tissue surface.
Topography-based distance estimation and output
The system estimates or determines a distance between the first measurement point and the second measurement point along the measurement pathway and generates output communicating the distance to the user.
Across the independent claim, the inventive concept combines real time 3D imaging of a surgical treatment site, computer vision identification and 3D position determination of a tracked instrument portion, a moving overlay that defines a first measurement point, user input to place a plane through two measurement points, a graphical plane overlay that transects tissue topography and depicts a measurement pathway, and estimation or determination of distance along that pathway with output to the user. Dependent refinements in the provided content further specify geodesic/topography-following distance and user-controlled rotation of the plane overlay.
Stated Advantages
Communicating the estimated or determined distance to the user.
Documented Applications
Measuring distances within a surgical site during a treatment site procedure using real time 3D imaging and overlays to visualize and compute a topography-transecting measurement pathway.
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