EP-4739248-A1 - DETERMINATION OF A CURVILINEAR DISTANCE WITHIN A SUBJECT

Abstract

An illustrative dynamic measurement system may be configured to determine, based on positions of instruments within a scene, positions of points on anatomy in the scene, determine distance values representative of physical distances between sequential points, and determine a cumulative measurement value representative of a distance along the anatomy between the points. The cumulative measurement value may dynamically update as points are determined within the scene.

Inventors

• LAMBA, GAURAV
• LEE, KENNETH K.

Assignees

• Intuitive Surgical Operations, Inc.

Dates

Publication Date

20260513

Application Date

20240703

Claims (20)

1. 1. A computer-assisted medical system comprising: a first repositionable manipulator arm coupled to a first instrument and configured to move the first instrument relative to an anatomy within a scene being imaged by an imaging device; a second repositionable manipulator arm coupled to a second instrument and configured to move the second instrument relative to the anatomy within the scene; and a computing device configured to perform a set of processes comprising: determining, based on a position of the first instrument within the scene, a position of a first point on the anatomy; determining, based on a position of the second instrument within the scene, a position of a second point on the anatomy; determining, based on the position of the first point and the position of the second point, a first distance value representative of a physical distance between the first point and the second point; identifying, based on an updated position of the second instrument, a position of a third point on the anatomy; determining, based on the position of the third point, a second distance value representative of a physical distance between the third point and the second point; and determining, based on the first and second distance values, a cumulative measurement value representative of a distance along the anatomy between the first, second, and third points.
2. 2. The computer-assisted medical system of claim 1 , further comprising determining the positions of the first and second instruments based on at least one of kinematics data associated with the first and second instruments, a simultaneous localization and mapping heuristic, a depth map of the scene, or a machine learning algorithm.
3. 3. The computer-assisted medical system of claim 1 , further comprising tracking one or more of the first, second, or third points relative to the anatomy using a simultaneous localization and mapping heuristic, wherein the determining of at least one of the first or second distance values is further based on the tracking.
4. 4. The computer-assisted medical system of claim 1 , wherein the determining the position of a select one or both of the first point or the second point is further based on a user input.
5. 5. The computer-assisted medical system of claim 1 , wherein the determining the position of the second point is performed prior to, subsequent to, or concurrently with the determining the position of the first point.
6. 6. The computer-assisted medical system of claim 1 , wherein the computing device is further configured to instruct a display device to display a plurality of visual markers within a display of the scene, wherein each visual marker of the plurality of visual markers is representative of a location of a select one of the first point, the second point, or the third point on the anatomy.
7. 7. The computer-assisted medical system of claim 6, wherein the computing device is further configured to instruct the display device to display a virtual overlay between sequential visual markers of the plurality of visual markers within the display of the scene, wherein the virtual overlay is representative of a distance between the sequential visual markers.
8. 8. The computer-assisted medical system of claim 1 , wherein the computing device is further configured to instruct a display device to display a virtual overlay along a centerline of the anatomy within a display of the scene.
9. 9. The computer-assisted medical system of claim 1 , wherein the computing device is further configured to instruct a display device to display the first and second distance values.
10. 10. The computer-assisted medical system of claim 1 , wherein the determining the first and second distance values include detecting when the first instrument and the second instrument are holding a portion of the anatomy between the first instrument and the second instrument.
11. 11. The computer-assisted medical system of claim 10, wherein the determining the first and second distance values is based on detecting that the portion of the anatomy is straightened between the first instrument and the second instrument within a threshold amount.
12. 12. The computer-assisted medical system of claim 11 , wherein the computing device is further configured to instruct a display device to display a visual overlay between the first instrument and the second instrument within a display of the scene, the visual overlay indicative of a straightness of the portion of the anatomy between the first instrument and the second instrument.
13. 13. The computer-assisted medical system of claim 12, wherein the visual overlay is dynamically updated as one or both of the first instrument or the second instrument move within the scene.
14. 14. The computer-assisted medical system of claim 10, wherein the determining the first and second distance values include generating segments along the anatomy between sequential points and calculating a sum of distances of the segments.
15. 15. The computer-assisted medical system of claim 14, wherein the distances of the segments are adjustable based on user input.
16. 16. The computer-assisted medical system of claim 10, wherein the determining the first and second distance values include generating contours along the anatomy between sequential points and determining distances associated with the contours.
17. 17. The computer-assisted medical system of claim 10, wherein the first instrument and the second instrument are positioned to hold the portion of the anatomy such that the portion of the anatomy between the first instrument and the second instrument is visible within the scene.
18. 18. The computer-assisted medical system of claim 1 , wherein the computing device is further configured to instruct a display device to display a visual depth indicator within a display of the scene, the visual depth indicator indicative of a depth of the first and second instruments within a field of view of the imaging device.
19. 19. The computer-assisted medical system of claim 18, wherein the visual depth indicator is dynamically updated as one or both of the first instrument or the second instrument move within the scene.
20. 20. The computer-assisted medical system of claim 18, wherein the visual depth indicator includes a three-dimensional shape extending between the first instrument and the second instrument.

Description

DETERMINATION OF A CURVILINEAR DISTANCE WITHIN A SUBJECT RELATED APPLICATIONS [0001] This application claims priority to U.S. Provisional Patent Application No. 63/525,297, filed July 6, 2023, the contents of which is hereby incorporated by reference in its entirety. BACKGROUND INFORMATION [0002] During a medical procedure, such as a procedure that utilizes a computer- assisted medical system, an imaging device may be used to provide (e.g., to a surgeon) images of internal anatomy within a subject. In some scenarios, it may be desirable to measure various distances associated with the internal anatomy for the procedure. For example, it may be desirable to measure a size of a bowel during certain bariatric and/or colorectal procedures. [0003] Unfortunately, direct physical access to the internal anatomy may not be available (e.g., during a minimally invasive medical procedure). Moreover, the anatomy may be curved and/or folded in some portions, which may render measurements associated with anatomy difficult and/or time-consuming. SUMMARY [0004] The following description presents a simplified summary of one or more aspects of the systems and methods described herein. This summary is not an extensive overview of all contemplated aspects and is intended to neither identify key or critical elements of all aspects nor delineate the scope of any or all aspects. Its purpose is to present one or more aspects of the systems and methods described herein as a prelude to the detailed description that is presented below. [0005] An illustrative computer-assisted medical system includes a first repositionable manipulator arm coupled to a first instrument and configured to move the first instrument relative to an anatomy within a scene being imaged by an imaging device and a second repositionable manipulator arm coupled to a second instrument and configured to move the second instrument relative to the anatomy within the scene. The system further includes a computing device configured to perform a set of processes comprising: determining, based on a position of the first instrument within the scene, a position of a first point on the anatomy; determining, based on a position of the second instrument within the scene, a position of a second point on the anatomy; determining, based on the position of the first point and the position of the second point, a first distance value representative of a physical distance between the first point and the second point; identifying, based on an updated position of the second instrument, a position of a third point on the anatomy; determining, based on the position of the third point, a second distance value representative of a physical distance between the third point and the second point; and determining, based on the first and second distance values, a cumulative measurement value representative of a distance along the anatomy between the first, second, and third points. [0006] An illustrative method includes determining, by a cumulative measurement system and based on a position of a first instrument within a scene, a position of a first point on an anatomy; determining, by the cumulative measurement system and based on a position of a second instrument within the scene, a position of a second point on the anatomy; determining, by the cumulative measurement system and based on the position of the first point and the position of the second point, a first distance value representative of a physical distance between the first point and the second point; identifying, by the cumulative measurement system and based on an updated position of the second instrument, a position of a third point on the anatomy; determining, by the cumulative measurement system and based on the position of the third point, a second distance value representative of a physical distance between the third point and the second point; and determining, by the cumulative measurement system and based on the first and second distance values, a cumulative measurement value representative of a distance along the anatomy between the first, second, and third points. [0007] An illustrative non-transitory computer-readable medium may store instructions that, when executed, direct a processor of a computing device to perform a process comprising: determining, based on a position of a first instrument within a scene, a position of a first point on an anatomy; determining, based on a position of a second instrument within the scene, a position of a second point on the anatomy; determining, based on the position of the first point and the position of the second point, a first distance value representative of a physical distance between the first point and the second point; identifying, based on an updated position of the second instrument, a position of a third point on the anatomy; determining, based on the position of the third point, a second distance value representative of a physical distance between the third point and the