Image-based system for estimating surgical contact force

A computer-implemented method for estimating contact force on an anatomical structure during a surgical procedure, the method including:

• receiving, from at least one intracorporeal camera in an operating room, intracavitary image data of a surgical procedure;
• analyzing the received intracavitary image data to determine an identity of an anatomical structure and to determine a condition of the anatomical structure as reflected in the intracavitary image data;
• selecting a contact force threshold associated with the anatomical structure, the selected contact force threshold being based on the determined condition of the anatomical structure;
• receiving an indication of actual contact force on the anatomical structure;
• comparing the indication of actual contact force with the selected contact force threshold;
• and
• outputting a notification based on a determination that the indication of actual contact force exceeds the selected contact force threshold.

A system for estimating contact force on an anatomical structure during a surgical procedure, the system including:

• at least one processor configured to:
• receive, from at least one intracorporeal camera in an operating room, intracavitary image data of a surgical procedure;
• analyze the received intracavitary image data to determine an identity of an anatomical structure and to determine a condition of the anatomical structure as reflected in the intracavitary image data;
• select a contact force threshold associated with the anatomical structure, the selected contact force threshold being based on the determined condition of the anatomical structure;
• receive an indication of actual contact force on the anatomical structure;
• compare the indication of actual contact force with the selected contact force threshold;
• and
• output a notification based on a determination that the indication of actual contact force exceeds the selected contact force threshold.