VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY
First Claim
1. A method for measuring tissue, the method comprising:
- acquiring an image of the tissue so as to generate corresponding image data;
indicating a first tissue location with a first robotic tool;
superimposing a first graphical indicator on the image of the tissue at the first location; and
generating a measurement between the first graphical indicator and a second tissue location using the image data.
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Accused Products
Abstract
Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.
148 Citations
27 Claims
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1. A method for measuring tissue, the method comprising:
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acquiring an image of the tissue so as to generate corresponding image data; indicating a first tissue location with a first robotic tool; superimposing a first graphical indicator on the image of the tissue at the first location; and generating a measurement between the first graphical indicator and a second tissue location using the image data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A robotic system for measuring tissue, the system comprising:
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an image capture device orientable toward a surgical site, the image capture device in use generating image data corresponding to an image of the tissue at the surgical site; a display coupled to the image capture device so as to show the image to a system user; a first robotic tool; an input for designating tissue locations indicated by the first tool; a processor coupling the input to the display so as to superimpose a first graphical indicator on the image of the tissue at a first designated tissue location, and so as to determine a measurement between the first graphical indicator and a second tissue location using the image data. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26)
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27. A robotic system for measuring physiologically moving tissue, the system comprising:
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a stereoscopic image capture device orientable toward a surgical site, the image capture device in use generating video image data corresponding to an image of the tissue at the surgical site; a display coupled to the image capture device so as to show the image to a system user; an input for designating tissue locations; a processor coupling the input to the display so as to position a three dimensional graphical indicator superimposed on a frozen stereoscopic image of the tissue when a first tissue location has been designated, and so as to determine a measurement between the graphical indicator and the first tissue location.
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Specification