# US 11,908,146 B2 · System and method for determining, adjusting, and managing resection margin about a subject tissue > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,908,146 B2 - Document ID: US11908146B2 - Status: Granted - Kind: B2 - Application number: 17/215,212 - Filed: 2021-03-29 - Published: 2021-07-15 - Granted: 2024-02-20 - Earliest claimed: 2019-12-30 - Assignees: Cilag GmbH International - Applicants: Cilag GmbH International - Inventors: Frederick E. Shelton, IV; Jason L. Harris; Kevin M. Fiebig; Daniel J. Mumaw - Web page: https://patentgrep.com/patent/US11908146B2 ## CPC - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - A61B 1/00006: {of control signals} - A61B 1/00194: {adapted for three-dimensional imaging} - A61B 1/05: characterised by the image sensor, e.g. camera, being in the distal end portion - A61B 1/0605: {for spatially modulated illumination} - A61B 1/0638: {providing two or more wavelengths} - A61B 34/25: {User interfaces for surgical systems} - A61B 90/36: {Image-producing devices or illumination devices not otherwise provided for} - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 90/37: {Surgical systems with images on a monitor during operation} - A61B 1/000094: {extracting biological structures} - A61B 1/00055: {for alerting the user} - A61B 1/00193: {adapted for stereoscopic vision} - A61B 1/043: {for fluorescence imaging} - A61B 5/0075: {by spectroscopy, i.e. measuring spectra, e.g. Raman spectroscopy, infrared absorption spectroscopy (A61B5/0071 takes precedence)} - A61B 5/0086: {using infrared radiation} - A61B 5/1079: {using optical or photographic means} - A61B 5/742: {using visual displays (displays for heart-related electrical signals, e.g. ECG, A61B5/339)} - A61B 17/320068: {using mechanical vibrations, e.g. ultrasonic (A61B17/22012 takes precedence; dental tooth drilling devices operated by vibration A61C3/03; removing intra-ocular material using mechanical vibrations A61F9/00745)} - A61B 18/1445: {at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod} - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 2034/2065: {Tracking using image or pattern recognition} - A61B 2090/08021: {of the patient or his organs} - A61B 2090/0807: {Indication means} - A61B 2090/304: {using chemi-luminescent materials} - 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 2090/371: {with simultaneous use of two cameras} - A61B 2090/373: {using light, e.g. by using optical scanners} - A61B 2090/3941: {Photoluminescent markers} - A61B 2218/008: for smoke evacuation - G06T 2207/10024: Color image - G06T 2207/10068: Endoscopic image - G06T 2207/10152: Varying illumination - G06T 2207/30101: Blood vessel; Artery; Vein; Vascular - G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture - G16H 40/20: for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms - G16H 50/50: for simulation or modelling of medical disorders - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA ## Abstract A surgical visualization system that can include a structured light emitter, a spectral light emitter, an image sensor, and a control circuit is disclosed herein. The structured light emitter can emit a structured pattern of electromagnetic radiation onto an anatomical structure. The spectral light emitter can emit electromagnetic radiation including a plurality of wavelengths. At least one of the wavelengths can penetrate a portion of the anatomical structure and reflect off a subject tissue. The image sensor can detect the structured pattern of electromagnetic radiation reflected off the anatomical structure and the at least one wavelength reflected off the subject tissue. The control circuit can receive signals from the image sensor, construct a model of the anatomical structure, detect a location of the subject tissue, and determine a margin about the subject tissue, based on at least one signal received from the image sensor. ## Claims ### Claim 1 A surgical system, comprising: a display; a visualization system configured to scan the anatomy of a patient, comprising: a structured light emitter configured to emit a structured pattern of electromagnetic radiation onto an anatomical structure; a spectral light emitter configured to emit electromagnetic radiation comprising a plurality of wavelengths, wherein at least one wavelength of the plurality of wavelengths is selected to penetrate a portion of the anatomical structure and reflect off a subject tissue; and an image sensor configured to detect the structured pattern of electromagnetic radiation reflected off the anatomical structure and the at least one wavelength reflected off the subject tissue; and a surgical hub operably coupled to the visualization system and the display, wherein the surgical hub comprises a processor and a memory communicatively coupled to the processor, wherein the memory stores instructions executable by the processor to: generate visualization data based on the scanned anatomy; identify anatomical organs of the patient based on the generated visualization data; generate virtual 3D constructs of the anatomical organs based on the generated visualization data; display the virtual 3D constructs of the anatomical organs on the display; identify anatomical structures based on the generated visualization data; generate virtual 3D constructs of the anatomical structures based on the generated visualization data; display the virtual 3D constructs of the anatomical structures on the display; and overlay a surgical procedure plan on the display. ### Claim 2 (depends on 1) The surgical system of claim 1, wherein the surgical procedure plan comprises a resection margin surrounding tissue to be resected. ### Claim 3 (depends on 1) The surgical system of claim 1, wherein the surgical procedure plan comprises a user selected resection path. ### Claim 4 (depends on 1) The surgical system of claim 1, wherein the surgical procedure plan comprises a system proposed resection path. ### Claim 5 (depends on 1) The surgical system of claim 1, wherein the memory stores further instructions executable by the processor to: designate each of the generated virtual 3D constructs of the anatomical structures a color; and display each of the virtual 3D constructs of the anatomical structures with their respective color. ### Claim 6 (depends on 5) The surgical system of claim 5, wherein the display comprises an information index configured to depict information associated with each of the respective colors of the generated virtual 3D constructs. ### Claim 7 (depends on 1) The surgical system of claim 1, wherein the visualization system is configured to pre-operatively scan the patient, and wherein the memory stores further instructions executable by the processor to generate the visualization data based on the pre-operative scan. ### Claim 8 A surgical system, comprising: a display; a visualization system configured to scan the anatomy of a patient, comprising: a structured light emitter configured to emit a structured pattern of electromagnetic radiation onto an anatomical structure; a spectral light emitter configured to emit electromagnetic radiation comprising a plurality of wavelengths, wherein at least one wavelength of the plurality of wavelengths is selected to penetrate a portion of the anatomical structure and reflect off a subject tissue; and an image sensor configured to detect the structured pattern of electromagnetic radiation reflected off the anatomical structure and the at least one wavelength reflected off the subject tissue; and a surgical hub operably coupled to the visualization system and the display, wherein the surgical hub comprises a control system, configured to: generate visualization data based on the scanned anatomy; identify anatomical organs of the patient based on the generated visualization data; generate virtual 3D constructs of the anatomical organs based on the generated visualization data; display the virtual 3D constructs of the anatomical organs on the display; identify anatomical structures based on the generated visualization data; generate virtual 3D constructs of the anatomical structures based on the generated visualization data; display the virtual 3D constructs of the anatomical structures on the display; and overlay a resection path on the display. ### Claim 9 (depends on 8) The surgical system of claim 8, wherein the resection path comprises a resection margin surrounding tissue to be resected. ### Claim 10 (depends on 8) The surgical system of claim 8, wherein the resection path comprises a user selected resection path. ### Claim 11 (depends on 8) The surgical system of claim 8, wherein the resection path comprises a system proposed resection path. ### Claim 12 (depends on 8) The surgical system of claim 8, wherein the control system is further configured to: designate each of the generated virtual 3D constructs of the anatomical structures a color; and display each of the virtual 3D constructs of the anatomical structures with their respective color. ### Claim 13 (depends on 12) The surgical system of claim 12, wherein the display comprises an information index configured to depict information associated with each of the respective colors of the generated virtual 3D constructs. ### Claim 14 (depends on 8) The surgical system of claim 8, wherein the visualization system is configured to pre-operatively scan the patient, and wherein the control system is configured to generate the visualization data based on the pre-operative scan. ### Claim 15 A surgical system, comprising: a display; a visualization system configured to scan the anatomy of a patient, comprising: a structured light emitter configured to emit a structured pattern of electromagnetic radiation onto an anatomical structure; a spectral light emitter configured to emit electromagnetic radiation comprising a plurality of wavelengths, wherein at least one wavelength of the plurality of wavelengths is selected to penetrate a portion of the anatomical structure and reflect off a subject tissue; and an image sensor configured to detect the structured pattern of electromagnetic radiation reflected off the anatomical structure and the at least one wavelength reflected off the subject tissue; and a surgical hub operably coupled to the visualization system and the display, wherein the surgical hub comprises a control system, configured to: generate visualization data based, at least in part, on pre-operative scans of the anatomy of the patient; identify anatomical organs of the patient based on the generated visualization data; generate virtual 3D constructs of the anatomical organs based on the generated visualization data; display the virtual 3D constructs of the anatomical organs on the display; identify anatomical structures based on the generated visualization data; generate virtual 3D constructs of the anatomical structures based on the generated visualization data; display the virtual 3D constructs of the anatomical structures on the display; and overlay a resection path on the display. ### Claim 16 (depends on 15) The surgical system of claim 15, wherein the resection path comprises a resection margin surrounding tissue to be resected. ### Claim 17 (depends on 15) The surgical system of claim 15, wherein the resection path comprises a user selected resection path. ### Claim 18 (depends on 15) The surgical system of claim 15, wherein the resection path comprises a system proposed resection path. ### Claim 19 (depends on 15) The surgical system of claim 15, wherein the control system is further configured to: designate each of the generated virtual 3D constructs of the anatomical structures a color; and display each of the virtual 3D constructs of the anatomical structures with their respective color. ### Claim 20 (depends on 19) The surgical system of claim 19, wherein the display comprises an information index configured to depict information associated with each of the respective colors of the generated virtual 3D constructs.