# US 10,478,162 B2 · Systems and methods for display of pathological data in an image guided procedure > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,478,162 B2 - Document ID: US10478162B2 - Status: Granted - Kind: B2 - Application number: 15/505,865 - Filed: 2015-08-20 - Published: 2017-10-05 - Granted: 2019-11-19 - Earliest claimed: 2014-08-23 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Federico Barbagli; Christopher R. Carlson - Web page: https://patentgrep.com/patent/US10478162B2 ## CPC - A61B 10/04: Endoscopic instruments, e.g. catheter-type instruments - A61B 1/01: Guiding arrangements therefore - A61B 10/0233: {Pointed or sharp biopsy instruments} - A61B 10/06: Biopsy forceps {, e.g. with cup-shaped jaws} - A61B 17/00234: {for minimally invasive surgery (A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence)} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/35: for telesurgery - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/74: {Manipulators with manual electric input means} - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - A61B 90/37: {Surgical systems with images on a monitor during operation} - A61B 18/00: Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body (eye surgery A61F9/007; ear surgery A61F11/00) - A61B 2010/045: {Needles (pointed biopsy devices with vacuum aspiration A61B10/0283)} - A61B 2017/00203: {with speech control or speech recognition} - A61B 2017/00207: {with hand gesture control or hand gesture recognition} - A61B 2017/003: {Steerable} - A61B 2034/2051: {Electromagnetic tracking systems} - A61B 2034/2053: {Tracking an applied voltage gradient} - A61B 2034/2055: {Optical tracking systems} - A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings} - A61B 2034/2063: {Acoustic tracking systems, e.g. using ultrasound} - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2034/256: {having a database of accessory information, e.g. including context sensitive help or scientific articles} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2034/741: {Glove like input devices, e.g. "data gloves"} - A61B 2034/742: {Joysticks} - A61B 2090/364: {Correlation of different images or relation of image positions in respect to the body} - A61B 2090/365: {augmented reality, i.e. correlating a live optical image with another image} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A method comprising: displaying, in a first region of a display screen, an image of a patient anatomy for guiding a medical instrument to a deployment location during a medical procedure; and recording a plurality of sample identifiers. Each sample identifier is associated with a corresponding tissue sample of a plurality of tissue samples. The method further includes recording a plurality of location stamps. Each location stamp indicates a location in the patient anatomy of a corresponding tissue sample of the plurality of tissue samples. The method further includes: receiving tissue sample pathology information for each tissue sample in the plurality of tissue samples; and displaying, in a table in a second region of the display screen, the plurality of sample identifiers, the plurality of location stamps, and the tissue sample pathology information for each tissue sample during the medical procedure. ## Claims ### Claim 1 A method comprising: displaying, in a first region of a display screen, an image of a patient anatomy for guiding a medical instrument to a deployment location during a medical procedure; recording a plurality of sample identifiers, wherein each sample identifier of the plurality of sample identifiers is associated with a corresponding tissue sample of a plurality of tissue samples; recording a plurality of location stamps, wherein each location stamp of the plurality of location stamps indicates a location in the patient anatomy of a corresponding tissue sample of the plurality of tissue samples; receiving tissue sample pathology information for each tissue sample in the plurality of tissue samples; and displaying, in a table in a second region of the display screen, the plurality of sample identifiers, the plurality of location stamps, and the tissue sample pathology information for each tissue sample during the medical procedure. ### Claim 2 (depends on 1) The method of claim 1 further comprising: receiving a first tissue sample of the plurality of tissue samples from the patient anatomy into the medical instrument. ### Claim 3 (depends on 1) The method of claim 1, wherein the image of the patient anatomy is captured by the medical instrument, and wherein the displaying of the tissue sample pathology information occurs while at least a portion of the medical instrument is contained within the patient anatomy. ### Claim 4 (depends on 1) The method of claim 1 wherein the image of the patient anatomy is a pre-operative image of the patient anatomy. ### Claim 5 (depends on 1) The method of claim 1 further comprising displaying, in the image of the patient anatomy, a first location stamp of the plurality of location stamps, wherein the first location stamp is displayed at a first tissue sample site. ### Claim 6 (depends on 1) The method of claim 1 wherein the tissue sample pathology information for a first tissue sample of the plurality of tissue samples includes a digital image of at least a portion of the first tissue sample obtained from a digital microscope. ### Claim 7 (depends on 1) The method of claim 1 wherein the tissue sample pathology information for a first tissue sample of the plurality of tissue samples includes an analysis of the first tissue sample. ### Claim 8 (depends on 1) The method of claim 1 wherein the image of the patient anatomy is a three-dimensional model of the patient anatomy. ### Claim 9 (depends on 1) The method of claim 1 further comprising performing a pathology analysis of a first tissue sample of the plurality of tissue samples. ### Claim 10 A system comprising: a medical instrument including a movable portion that is controlled using a computer system, the computer system including a processor and a memory, wherein the memory includes machine readable instructions that, when executed by the processor, cause the system to: display, in a first region of a display screen, an image of a patient anatomy for guiding the medical instrument to a deployment location during a medical procedure; record a plurality of sample identifiers, wherein each sample identifier of the plurality of sample identifiers is associated with a corresponding tissue sample of a plurality of tissue samples; record a plurality of location stamps, wherein each location stamp of the plurality of location stamps indicates a location in the patient anatomy of a corresponding tissue sample of the plurality of tissue samples; receive tissue sample pathology information for each tissue sample in the plurality of tissue samples; and display, in a table in a second region of the display screen, the plurality of sample identifiers, the plurality of location stamps, and the tissue sample pathology information for each tissue sample during the medical procedure. ### Claim 11 (depends on 10) The system of claim 10 wherein the memory further comprises machine readable instructions that, when executed by the processor, cause the system to receive a first tissue sample of the plurality of tissue samples from the patient anatomy into the medical instrument. ### Claim 12 (depends on 10) The system of claim 10 wherein the medical instrument includes an image capture system for capturing the image of the patient anatomy, and wherein displaying the plurality of sample identifiers with the tissue sample pathology information during the medical procedure comprises displaying the plurality of sample identifiers with the tissue sample pathology information while at least a portion of the medical instrument is contained within the patient anatomy. ### Claim 13 (depends on 10) The system of claim 10 wherein the image of the patient anatomy is a pre-operative image of the patient anatomy. ### Claim 14 (depends on 10) The system of claim 10 wherein the memory further comprises machine readable instructions that, when executed by the processor, cause the system to display, in the image of the patient anatomy, a first location stamp of the plurality of location stamps, wherein the first location stamp is displayed at a first tissue sample site. ### Claim 15 (depends on 10) The system of claim 10 wherein the tissue sample pathology information for a first tissue sample of the plurality of tissue samples includes a digital image of at least a portion of the first tissue sample obtained from a digital microscope. ### Claim 16 (depends on 10) The system of claim 10 wherein the tissue sample pathology information for a first tissue sample of the plurality of tissue samples includes a pathology analysis of the first tissue sample. ### Claim 17 (depends on 10) The system of claim 10 wherein the image of the patient anatomy is a three-dimensional model of the patient anatomy. ### Claim 18 (depends on 10) The system of claim 10 wherein the memory further comprises machine readable instructions that, when executed by the processor, cause the system to perform a pathology analysis of a first tissue sample of the plurality of tissue samples. ### Claim 19 (depends on 1) The method of claim 1, wherein the image of the patient anatomy is a virtual image of the patient anatomy from a perspective of a distal end of the medical instrument, and wherein a first sample identifier of the plurality of sample identifiers is displayed with the virtual image of the patient anatomy. ### Claim 20 (depends on 1) The method of claim 1, further comprising: recording a plurality of time stamps, each time stamp of the plurality of time stamps associated with a corresponding location stamp of the plurality of location stamps; and displaying the plurality of time stamps in the table, wherein the plurality of sample identifiers, the plurality of location stamps, the plurality of time stamps, and the tissue sample pathology information for each tissue sample is displayed in chronological order in the table. ### Claim 21 (depends on 1) The method of claim 1 further comprising displaying, in the image of the patient anatomy, each location stamp of the plurality of location stamps. ### Claim 22 (depends on 21) The method of claim 21, wherein each location stamp is displayed at a tissue sample site for each tissue sample of the plurality of tissue samples, wherein each tissue sample site corresponds to a respective location stamp of the plurality of location stamps. ### Claim 23 (depends on 5) The method of claim 5, further comprising: receiving a user input selecting the first location stamp; and based on the received user input, displaying tissue sample pathology information for a first tissue sample of the plurality of tissue samples, the first tissue sample corresponding to the first tissue sample site. ### Claim 24 (depends on 10) The system of claim 10 wherein the memory further comprises machine readable instructions that, when executed by the processor, cause the system to: record a plurality of time stamps, each time stamp of the plurality of time stamps associated with a corresponding location stamp of the plurality of location stamps; and display the plurality of time stamps in the table, wherein the plurality of sample identifiers, the plurality of location stamps, the plurality of time stamps, and the tissue sample pathology information for each tissue sample is displayed in chronological order in the table. ### Claim 25 (depends on 10) The system of claim 10 wherein the memory further comprises machine readable instructions that, when executed by the processor, cause the system to display, in the image of the patient anatomy, each location stamp of the plurality of location stamps. ### Claim 26 (depends on 14) The system of claim 14 wherein the memory further comprises machine readable instructions that, when executed by the processor, cause the system to: receive a user input selecting the first location stamp; and based on the received user input, display tissue sample pathology information for a first tissue sample of the plurality of tissue samples, the first tissue sample corresponding to the first tissue sample site.