logo

For the Inventor, By the Inventor

The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11937771 B1

PDFFull Text
Date of Patent:
Mar. 26, 2024

Filed:

Sep. 14, 2021

Articulated structured light based-laparoscope

Applicant:

Asensus Surgical Us, Inc., Durham, NC (US);

Inventors:

Tal Nir, Haifa, IL;

Motti Frimer, Zichron Yaakov, IL;

Gal Atarot, Kfar Saba, IL;

Assignee:

Asensus Surgical Europe S.à.R.L., Lugano, CH;

Attorney:
Primary Examiner:

Nasim N Nirjhar

Int. Cl.
CPC ...
A61B 1/00 (2006.01); A61B 1/005 (2006.01); A61B 1/008 (2006.01); A61B 1/04 (2006.01); A61B 1/05 (2006.01); A61B 1/06 (2006.01); A61B 1/313 (2006.01); A61B 18/22 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); G06T 7/33 (2017.01); G06T 15/20 (2011.01); H04N 23/50 (2023.01); H04N 23/56 (2023.01);
U.S. Cl.
CPC ...
A61B 1/00042 (2022.02); A61B 1/00006 (2013.01); A61B 1/000096 (2022.02); A61B 1/00045 (2013.01); A61B 1/00194 (2022.02); A61B 1/008 (2013.01); A61B 1/009 (2022.02); A61B 1/042 (2013.01); A61B 1/05 (2013.01); A61B 1/0605 (2022.02); A61B 1/0676 (2013.01); A61B 1/313 (2013.01); A61B 1/3132 (2013.01); A61B 18/22 (2013.01); A61B 34/20 (2016.02); G06T 7/337 (2017.01); G06T 15/205 (2013.01); H04N 23/56 (2023.01); A61B 1/00 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/301 (2016.02); A61B 2034/742 (2016.02); A61B 2090/367 (2016.02); A61B 2090/373 (2016.02); G06T 2207/10021 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/10104 (2013.01); G06T 2207/10136 (2013.01); H04N 23/555 (2023.01);
Abstract

In a method of using a structured-light based system, real-time 2D images of a portion of a field of view are captured using an endoscope. A portion of an object in the field of view is illuminated with a structured light pattern, and light reflected from the field of view is detected. From the reflected light, a 3D image of the field of view is constructed, and 3D locations of points on a surface of the object are determined. The real time 3D spatial position of the endoscope and/or a surgical tool is determined. If a distance between the surface the endoscope and/or surgical tool, as determined using the 3D spatial position, falls below a predetermined distance, an alert is generated to notify a user.

Find Patent Forward Citations

Loading…