Anatomical measurement in a surgical system
For anatomy measurement in a surgical system, a machine-learned model is used to determine the location or length. For example, in RYGB, the machine-learned model indicates how much of the bowel has been pulled or run. As another RYGB example, the machine-learned model indicates a length along the bowel to a current location. In yet another RYGB example, the machine-learned model indicates a location for incision based on a desired length. Using an image or images, such as a video stream from an endoscope, the artificial intelligence provides the measurement, avoiding running with estimated steps size or use an inserted ruler.
1 . A method for loop measurement for a surgical system, the method comprising:
capturing a video stream from an endoscope held by a first robotic arm of a surgical robotic system, the video captured intra-operatively during minimally invasive surgery where the surgical robotic system pulls a biliary loop or an alimentary loop with a surgical tool connected to a second robotic arm;
measuring, by a machine-learned model in response to input of the video stream, a length along the biliary loop or the alimentary loop from a start location to a grasp point of the surgical tool held by the second robotic arm, the machine-learned model configured to output the length in response to the input of the video stream to the machine-learned model;
displaying the length or a location based on the length during the minimally invasive surgery.
2 . The method of claim 1 wherein measuring comprises outputting the length along the biliary loop or alimentary loop at which a surgical instrument is located, the length output by the machine-learned model.
3 . The method of claim 1 wherein measuring comprises outputting the length as a position along the biliary loop or alimentary loop for operating on the biliary loop or alimentary loop.
4 . The method of claim 1 wherein capturing comprises capturing by the endoscope as the endoscope is moved by a surgical robotic system.
5 . The method of claim 1 wherein capturing comprises capturing by the endoscope as the endoscope is moved manually by a physician.
6 . The method of claim 1 wherein displaying comprises displaying the length as a measurement of a distance along the biliary loop or the alimentary loop from the start location to the grasp point.
7 . The method of claim 1 wherein displaying comprises displaying the location for operating on tissue, the location determined from the length along the biliary loop or the alimentary loop.
8 . A surgical system for measurement during surgery, the surgical system comprising:
a medical imager configured to capture an image of anatomy during surgery for the anatomy;
an image processor configured to determine, by a machine-learned model in response to input of the image, a distance along the anatomy from a start location to a surgical tool grasp location, the machine-learned model configured by training where the training data includes ground truth measurements from an inserted tape measure and/or an optical sensor, the machine-learned model configured to output the distance; and
a display configured to display a location of the anatomy during the surgery based on the distance determined by the machine-learned model.
9 . The surgical system of claim 8 wherein the medical imager comprises an endoscope, further comprising a first robotic arm configured to move the endoscope within a patient where the image is from within the patient.
10 . The surgical system of claim 9 further comprising a second robotic arm configured to pull the anatomy with the endoscope positioned outside the anatomy, wherein the distance comprises an amount of the anatomy pulled by the second robotic arm.
11 . The surgical system of claim 8 wherein the surgery comprises gastric bypass surgery, and wherein the distance comprises a distance along a biliary or alimentary loop.
12 . The surgical system of claim 8 wherein the location comprises a location of a surgical tool with the distance being along the anatomy to the surgical tool as the surgical tool grasps the anatomy.
13 . The surgical system of claim 8 wherein the location comprises the location for surgery on the anatomy.
14 . The surgical system of claim 8 wherein the display is configured to display the location on the image.
15 . The surgical system of claim 8 wherein the display is configured to display the location on a pre-operative image.