Instrument path guidance using visualization and fluorescence

Abstract

In a surgical method using a robotic system, a distal end of a robotically controlled surgical instrument is positioned in a patient body cavity. Operation of the instrument is controlled in response to input provided by a surgeon at an input device. An image of the interior of the body cavity is captured for display on a display. A boundary in the body cavity is identified using the image processing software by distinguishing between different colors on the image. In response to identification of the boundary, at least one of the following modes of operation is performed: providing a haptic contract at the surgeon console constraining movement of the surgical instrument to maintain the instrument along the boundary; preventing activation of an electrosurgical function of the instrument except with the instrument is within a defined distance from the boundary; allowing activation of an electrosurgical function of the instrument only when the instrument is positioned along the boundary

Dependencies are inferred from the claim text.