Method and system for color based indication of suture strain
Inventors
Meglan, Dwight • Pati, Manish • Cecil, Cameron K.
Assignees
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Publication Number
US-12453548-B2
Publication Date
2025-10-28
Expiration Date
Abstract
Methods and systems for providing a visual indication of suture strain include detecting a force applied to the suture; obtaining an image including the suture; identifying, based on at least one of an algorithm to convert a plurality of forces to a plurality of colors or in a table that associates a plurality of colors to a plurality of forces, respectively, a color associated with the force applied to the suture; generating an augmented version of the image; and displaying the augmented version of the image, where the identified color is used to represent at least a portion of the suture.
Core Innovation
The invention relates to a method for visual indication of suture strain during minimally invasive surgery. A force applied to a suture is detected by a laparoscopic instrument configured to place the suture, an image including the suture is obtained, and a color associated with the detected force is identified based on an algorithm converting forces to colors and/or based on a table associating colors with forces.
An augmented version of the image is generated wherein the identified color is used to represent and overlay at least a portion of the suture. The augmented version of the image is displayed, including displaying a legend indicating how the color corresponds to force. In related embodiments, the augmented display includes an overlaid visual indicator with arrows indicating whether the detected force should be increased, decreased, or held at a current level.
In robotic and laparoscopic surgery system embodiments, a processor and memory execute instructions to detect a force applied to a suture, identify a color associated with the detected force using a color-to-force table, generate an augmented version of an endoscope image, and display the augmented version. The invention further encompasses detecting the force using sensors in a surgical instrument, detecting the force using torque sensors in an instrument drive unit, or detecting/estimating the force during suture tensioning based on the geometry of a tool and the suture.
Claims Coverage
The document includes three independent claims. Across these claims, the inventive features consistently combine detecting a force applied to a suture, mapping the force to a color via an algorithm or table, generating an augmented version of an image with the identified color representing the suture, and displaying the augmented image with an indicated relationship between color and force.
Detecting force applied to a suture during suture placement
Detecting a force applied to a suture by a laparoscopic instrument configured to place the suture.
Identifying a color associated with detected force
Identifying a color associated with the force applied to the suture based on at least one of an algorithm to convert a plurality of forces to a plurality of colors or a table that associates a plurality of colors to a plurality of forces, respectively.
Generating an augmented image with color overlay on the suture
Generating an augmented version of the image wherein the identified color is used to represent and overlay at least a portion of the suture.
Displaying augmented image with a legend mapping color to force
Displaying the augmented version of the image including displaying a legend indicating how color corresponds to force.
Robotic surgery system with endoscope image augmentation and arrow-based force status
A robotic surgery system including a plurality of robotic arms configured to place a suture, an endoscope configured to view placement of the suture and communicate an image of the suture to a display, a processor, and a memory coupled to the processor, the memory storing instructions which, when executed by the processor, cause the robotic surgery system to detect a force applied to the suture, identify in a table that associates a plurality of colors to a plurality of forces a color associated with the force applied to the suture, generate an augmented version of the image wherein the identified color is used to represent at least a portion of the suture, and display the augmented version of the image, including a visual indicator having arrows overlaid on top of the suture that indicate whether the detected force applied to the suture should be increased, decreased, or held at a current level.
Laparoscopic surgery system with color-mapped augmented endoscope image
A laparoscopic surgery system comprising a plurality of laparoscopic instruments configured to place a suture, an endoscope configured to view placement of the suture and communicate an image of the suture to a display, a processor, and memory coupled to the processor, the memory storing instructions which, when executed by the processor, cause the laparoscopic surgery system to detect a force applied to the suture, identify in a table that associates a plurality of colors to a plurality of forces a color associated with the force applied to the suture, generate an augmented version of the image wherein the identified color is used to represent at least a portion of the suture, and display the augmented version of the image.
Across the independent claims, the core claimed coverage is a color-based visual indication of suture strain or force by detecting force applied to a suture, mapping the detected force to a color using an algorithm and/or a color-to-force table, generating an augmented image where the identified color represents or overlays the suture, and displaying the augmented image. The robotic system claim further requires arrow-based overlaid visual indicators indicating increase, decrease, or hold, while the method claim additionally requires displaying a legend indicating how color corresponds to force.
Stated Advantages
Not explicitly described in patent.
Documented Applications
Not explicitly described in patent.
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