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US 10,881,268 B2Granted
Device to set and retrieve a reference point during a surgical procedure
Assigneeavateramedical GmbH
InventorMarcel Seeber
Life of this patent
Estimating the term…
Abstract
A device to set and retrieve a reference point during a surgical procedure. The device (12) has an endoscope (312) which captures several images successively as an image sequence and generates image data corresponding to the image sequence, which data are then processed and output on at least one display unit (44). A control unit (40) determines the first position of a first point at a first point in time, a second position of a second point at a second point in time, and a first distance vector between the first position and the second position. The positions are determined via the kinematic chain of a manipulator arm (16a,16b).
Claims18
A device to set and retrieve a reference point during a surgical procedure, comprising:
- an endoscope (312) which captures several images successively as an image sequence and generates image data corresponding to the images, wherein at least one control unit (40) processes the image data and outputs images (1200, 1300, 1400) corresponding to the image data on at least one display unit (44),
- wherein the control unit (40) determines the position of a point of the optical axis of the endoscope (312) or of an axis parallel to the optical axis (316) of the endoscope (312) in an object plane (304b), or the position of a point of the optical axis of the endoscope (312) or of the axis parallel to the optical axis (316) of the endoscope (312) at a distance to the object plane (304b), or the position of a line segment on the optical axis (316) of the endoscope (312) or on an axis parallel to the optical axis (316) of the endoscope (312) with a point (303b) in the object plane (304b) at a first point in time as a first position, the first position being settable by a user input via a user interface as a first reference point (1220),
- wherein the control unit (40) determines the position of a point of the optical axis (316) of the endoscope (312) or of the axis parallel to the optical axis (316) of the endoscope (312) in the object plane (304b), or the position of a point of the optical axis (316) of the endoscope (312) or of the axis parallel to the optical axis (316) of the endoscope (312) at the distance to the object plane (304b), or the position of the line segment on the optical axis (316) of the endoscope (312) or on the axis parallel to the optical axis (316) of the endoscope (312) at a second point in time as a second position (303b),
- wherein the control unit (40) determines a first distance vector between the first position (1220) and the second position (303b),
- wherein the control unit (40) outputs on the display unit (44) an information (1450, 1560) based on the first distance vector together with an image (1400) captured at or after the second point in time;
- and
- wherein the control unit (40) determines the positions each time via the kinematic chain of a manipulator arm (16b) of a surgical robot system (10) connected to the endoscope (312) or via the kinematic chain of a manipulator arm (16a) of the surgical robot system (10) connected to a surgical instrument (308, 310).
4 more elements
A device to set and retrieve a reference point during a surgical procedure, comprising:
- an endoscope (312) which captures several images successively as an image sequence and generates image data corresponding to the images, wherein at least one control unit (40) processes the image data and outputs images (1200, 1300, 1400) corresponding to the image data on at least one display unit (44),
- wherein the control unit (40) determines the position of a point of the optical axis of the endoscope (312) or of an axis parallel to the optical axis (316) of the endoscope (312) in an object plane (304b), or the position of a point of the optical axis of the endoscope (312) or of the axis parallel to the optical axis (316) of the endoscope (312) at a distance to the object plane (304b), or the position of a line segment on the optical axis (316) of the endoscope (312) or on an axis parallel to the optical axis (316) of the endoscope (312) with a point (303b) in the object plane (304b) at a first point in time as a first position, the first position being settable by a user input via a user interface as a first reference point (1220),
- wherein the control unit (40) determines the position of a point of the optical axis (316) of the endoscope (312) or of the axis parallel to the optical axis (316) of the endoscope (312) in the object plane (304b), or the position of a point of the optical axis (316) of the endoscope (312) or of the axis parallel to the optical axis (316) of the endoscope (312) at the distance to the object plane (304b), or the position of the line segment on the optical axis (316) of the endoscope (312) or on the axis parallel to the optical axis (316) of the endoscope (312) at a second point in time as a second position (303b),
- wherein the control unit (40) determines a first distance vector between the first position (1220) and the second position (303b),
- wherein the control unit (40) outputs on the display unit (44) an information (1450, 1560) based on the first distance vector together with an image (1400) captured at or after the second point in time;
- and
- wherein the control unit (40) captures an image detail of the surrounding of the determined first position when capturing the first position (1220) and, for retrieving the first position (1220), compares it in a further image (1400) captured after determining
- the first position (1220) with at least an image detail of the further image.
5 more elements
Dependencies are inferred from the claim text.