# US 10,245,113 B1 · System and apparatus for positioning an instrument in a body cavity for performing a surgical procedure > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,245,113 B1 - Document ID: US10245113B1 - Status: Granted - Kind: B1 - Application number: 16/053,232 - Filed: 2018-08-02 - Granted: 2019-04-02 - Earliest claimed: 2018-04-24 - Assignees: Titan Medical Inc. - Applicants: Titan Medical Inc. - Inventors: Perry A. Genova; David McNally - Web page: https://patentgrep.com/patent/US10245113B1 ## CPC - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 1/000094: {extracting biological structures} - A61B 1/000096: {using artificial intelligence} - A61B 1/0005: {combining images e.g. side-by-side, superimposed or tiled} - A61B 1/00149: {using articulated arms} - A61B 1/313: for introducing through surgical openings, e.g. laparoscopes - A61B 17/02: for holding wounds open, e.g. retractors; Tractors - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/74: {Manipulators with manual electric input means} - A61B 90/37: {Surgical systems with images on a monitor during operation} - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06T 7/73: using feature-based methods - A61B 34/10: Computer-aided planning, simulation or modelling of surgical operations - A61B 34/25: {User interfaces for surgical systems} - A61B 90/03: {Automatic limiting or abutting means, e.g. for safety} - A61B 2034/2057: {Details of tracking cameras} - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2090/306: {using optical fibres} - A61B 2090/309: {using white LEDs} - A61B 2090/371: {with simultaneous use of two cameras} - G06T 2207/10021: Stereoscopic video; Stereoscopic image sequence - G06T 2207/30004: Biomedical image processing - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract Methods and systems for insertion of an instrument into a body cavity of an animal for performing a surgical procedure using a processor circuit controlled robotic surgery system are disclosed. In some embodiments, a method involves receiving body cavity image data representing an interior view of the body cavity captured by a camera inserted into the body cavity, determining, by the processor circuit, instrument parameters associated with physical extents of the instrument to be inserted, determining, by the processor circuit, an instrument envelope identifying a region through which the instrument is capable of moving in the body cavity, and generating, by the processor circuit, display signals operable to display a composite view of the interior of the body cavity on a display, the composite view being based on the body cavity image data and including an envelope overlay image generated to represent the instrument envelope. ## Claims ### Claim 1 A method for controlling positioning of an instrument in a body cavity of a patient for performing a surgical procedure using a robotic surgery system, the robotic surgery system being controlled by a processor, the method comprising, by the processor: receiving body cavity image data representing an interior view of the body cavity, the body cavity image data being captured by a camera inserted into the body cavity; determining at least one instrument parameter associated with physical extents of the instrument; determining an instrument envelope based on the at least one instrument parameter, the instrument envelope identifying a region in which the instrument is capable of being positioned; generating display signals configured to display a composite view of the interior of the body cavity on a display associated with the robotic surgery system, the composite view being based on the body cavity image data; and causing display of the composite view. ### Claim 2 (depends on 1) The method of claim 1, wherein receiving the body cavity image data comprises receiving body cavity image data including three-dimensional spatial information from at least one of: a stereoscopic camera including a pair of image sensors, each image sensor configured to capture an image of the interior of the body cavity from a different perspective to facilitate determination of the three-dimensional spatial information; a time of flight camera configured to generate image data including the three-dimensional spatial information; or the camera in combination with a structured light source configured to illuminate the interior of the body cavity to facilitate determination of the three-dimensional spatial information, and wherein the method further comprises processing the body cavity image data to determine a three-dimensional instrument envelope. ### Claim 3 (depends on 1) The method of claim 1, wherein determining the instrument envelope is further based on processing the body cavity image to determine the instrument envelope based on determining an anticipated location and orientation for the instrument relative to the camera. ### Claim 4 (depends on 3) The method of claim 3, wherein the camera is coupled to a first manipulator and the instrument is coupled to a second manipulator, the first and second manipulators associated with the robotic surgery system, and wherein the method further comprises determining a spatial disposition of the camera and determining the anticipated location and orientation for the instrument by receiving kinematic information associated with the first and second manipulators and determining the anticipated location and orientation for the instrument as offsets from the respective orientations and locations of the first and second manipulators. ### Claim 5 (depends on 4) The method of claim 4, wherein the at least one instrument parameter provides information for determining a possible physical extent of the instrument in the body cavity. ### Claim 6 (depends on 1) The method of claim 1, wherein the camera is initially detached from the robotic surgery system facilitating positioning of the camera by hand to receive a desired interior view of the body cavity based on the composite view, and wherein the method further comprises connecting the camera to the robotic surgery system once the positioning is completed to facilitate further positioning of the camera by the processor. ### Claim 7 (depends on 6) The method of claim 6, wherein the composite view includes an envelope overlay image generated to represent the instrument envelope, and wherein the method further comprises causing discontinuing display of the envelope overlay image following actual positioning of the instrument in the body cavity. ### Claim 8 (depends on 1) The method of claim 1, further comprising processing the body cavity image data to identify anatomical features in the image data, and wherein the composite view further includes an anatomical overlay image generated to identify at least one anatomical feature within the body cavity. ### Claim 9 (depends on 8) The method of claim 8, wherein the anatomical overlay image comprises a highlighted region within the body cavity image identifying the at least one anatomical feature. ### Claim 10 (depends on 8) The method of claim 8, further comprising determining a region of potential encroachment between the instrument envelope and at least some of the identified anatomical features and generating an alert in response to identifying the region of potential encroachment. ### Claim 11 (depends on 10) The method of claim 10, wherein the alert comprises a warning overlay image configured to be displayed as part of the composite image. ### Claim 12 (depends on 10) The method of claim 10, wherein the camera is coupled to a drive unit configured to move the camera within the body cavity, and wherein the method further comprises inhibiting further movement of the drive unit in response to the alert. ### Claim 13 A robotic surgery system comprising: a camera configured to be inserted and positioned in a body cavity of a patient to capture body cavity image data representing an interior view of the body cavity; an instrument configured to be inserted into and perform a surgical procedure within the body cavity when received in the body cavity; a processor configured to control the robotic surgery system, the processor further configured to: receive the body cavity image data; determine at least one instrument parameter associated with physical extents of the instrument to be inserted into the body cavity; determine an instrument envelope based on the at least one instrument parameter, the instrument envelope identifying a region in which the instrument is capable of being positioned; generate display data configured to cause a display to display a composite view of the interior of the body cavity, the composite view being based on the body cavity image data; and the display configured to receive the display data and to display the composite view based on the display data. ### Claim 14 (depends on 13) The system of claim 13, wherein the processor is further configured to receive the body cavity image data including three-dimensional spatial information from at least one of: a stereoscopic camera including a pair of image sensors, each image sensor configured to capture an image of the interior of the body cavity from a different perspective to facilitate determination of the three-dimensional spatial information; a time of flight camera configured to generate image data including the three-dimensional spatial information; or the camera in combination with a structured light source configured to illuminate the interior of the body cavity to facilitate determination of the three-dimensional spatial information, and wherein the processor is further configured to process the body cavity image data to determine a three-dimensional instrument envelope. ### Claim 15 (depends on 14) The system of claim 14, wherein the processor is configured to determine the instrument envelope based on determining an anticipated location and orientation for the instrument relative to the camera, and wherein the camera is configured to be coupled to a first manipulator and the instrument is configured to be coupled to a second manipulator, the first and second manipulators associated with the robotic surgery system, and wherein the processor is further configured to determine a spatial disposition of the camera and determine the anticipated location and orientation for the instrument based on received kinematic information associated with the first and second manipulators and to determine the anticipated location and orientation for the instrument as offsets from the respective orientations and locations of the first and second manipulators. ### Claim 16 (depends on 15) The system of claim 15, wherein the at least one instrument parameter provides information for determining a possible physical extent of the instrument in the body cavity. ### Claim 17 (depends on 13) The system of claim 13, wherein the robotic surgery system is configured to permit the camera to be initially detached from the system facilitating positioning of the camera by hand to receive a desired interior view of the body cavity based on the composite view, and wherein the system is further configured to facilitate connecting the camera to the robotic surgery system once the positioning is completed to facilitate further positioning of the camera by the processor. ### Claim 18 (depends on 13) The system of claim 13, wherein the composite view includes an envelope overlay image generated to represent the instrument envelope, and wherein the processor is configured to cause the display to discontinue display of the envelope overlay image following actual insertion of the instrument into the body cavity. ### Claim 19 (depends on 13) The system of claim 13, wherein the processor is further configured to process the body cavity image data to identify anatomical features in the image data and wherein the composite view further includes an anatomical overlay image generated to identify at least one anatomical feature within the body cavity. ### Claim 20 (depends on 19) The system of claim 19, wherein the anatomical overlay image comprises a highlighted region within the body cavity image identifying the at least one anatomical feature. ### Claim 21 (depends on 19) The system of claim 19, wherein the processor is further configured to determine a region of potential encroachment between the instrument envelope and at least some of the identified anatomical features and to generate an alert in response to identifying the region of potential encroachment. ### Claim 22 (depends on 21) The system of claim 21, wherein the alert comprises a warning overlay image configured to be displayed as part of the composite image. ### Claim 23 (depends on 21) The system of claim 21, wherein the camera is configured to be coupled to a drive unit configured to move the camera within the body cavity, and wherein the processor is further configured to inhibit further movement of the drive unit in response to the alert.