Surgical tool including a black polymer distal portion having transverse planar surfaces with laser-marked fiducial markers

1 . A surgical tool for an endoscopic procedure comprising:

a proximal portion comprising a shaft; and

a black polymer distal portion mounted to a distal end of the shaft such that the black polymer distal portion extends distally of the shaft, the black polymer distal portion configured for at least partial insertion in a surgical cavity of a patient during the endoscopic procedure, the black polymer distal portion comprising a plurality of planar surfaces comprising a plurality of laser-marked fiducial markers for detection by an endoscopic imaging system,

wherein the black polymer distal portion comprises a first portion extending along a longitudinal axis and a second portion that extends transversely to the longitudinal axis, wherein the first portion comprises a first planar surface of the plurality of planar surfaces and the second portion comprises a second planar surface of the plurality of planar surfaces, the first and second portions having fixed positions with respect to each other and being positioned and oriented such that the first and second planar surfaces are capable of being shown in a common endoscopic image.

2 . The surgical tool of claim 1 , wherein the plurality of laser-marked fiducial markers comprise lighter regions and darker regions, the lighter regions having been laser marked, the darker regions not having been laser marked.

3 . The surgical tool of claim 2 , wherein a width of at least one darker region is the same as a width of at least one lighter region.

4 . The surgical tool of claim 1 , wherein the black polymer distal portion comprises: (a) Delrin, Radel, Acrylonitrile Butadiene Styrene (ABS), an acetal copolymer, or nylon; and

(b) a carbon colorant.

5 . The surgical tool of claim 1 , wherein the plurality of laser-marked fiducial markers were laser marked with a laser having a wavelength less than or equal to 2,100 nm.

6 . A method of endoscopic imaging comprising, at a computing system:

receiving at least one endoscopic image that captures a surgical tool positioned in a surgical cavity, the surgical tool comprising a shaft, and a black polymer distal portion mounted to a distal end of the shaft such that the black polymer distal portion extends distally of the shaft, the black polymer distal portion comprising a plurality of planar surfaces comprising a plurality of laser-marked fiducial markers, wherein the black polymer distal portion comprises a first portion extending along a longitudinal axis and a second portion that extends transversely to the longitudinal axis, wherein the first portion comprises a first planar surface of the plurality of planar surfaces and the second portion comprises a second planar surface of the plurality of planar surfaces, the first and second portions having fixed positions with respect to each other and being positioned and oriented such that the first and second planar surfaces are capable of being shown in a common endoscopic image;

detecting in the at least one endoscopic image at least one laser-marked fiducial marker of the plurality of laser-marked fiducial markers; and

determining a position of at least a portion of the surgical tool in the surgical cavity based on the at least one laser-marked fiducial marker.

7 . The method of claim 6 , wherein the at least one laser-marked fiducial marker comprises a laser marked perimeter and determining the position of the at least a portion of the surgical tool comprises determining a location of at least one corner of the laser marked perimeter.

8 . The method of claim 6 , wherein the at least one laser-marked fiducial marker comprises lighter regions and darker regions, the lighter regions having been laser marked, the darker regions not having been laser marked, and wherein a width of at least one darker region is the same as a width of at least one lighter region.

9 . The method of claim 6 , wherein a size of the at least one laser-marked fiducial marker is less than 3 mm×3 mm.

10 . The method of claim 6 , wherein the at least one laser-marked fiducial marker is an ArUco marker.

11 . The method of claim 6 , wherein the plurality of laser-marked fiducial markers comprises a first fiducial marker that is oriented transversely relative to a second fiducial marker.

12 . The method of claim 6 , wherein the black polymer distal portion comprises Delrin, Radel, Acrylonitrile Butadiene Styrene (ABS), an acetal copolymer, or nylon.

13 . The method of claim 6 , wherein the black polymer distal portion comprises a carbon colorant.

14 . The method of claim 6 , wherein the surgical tool is a pointer tool.

15 . The method of claim 6 , wherein the at least one laser-marked fiducial marker was laser marked with a laser having a wavelength less than or equal to 2,100 nm.

16 . A system comprising one or more processors, memory, and one or more programs stored in the memory for execution by the one or more processors to cause the system to:

receive at least one endoscopic image that captures a surgical tool positioned in a surgical cavity, the surgical tool comprising a shaft, and a black polymer distal portion mounted to a distal end of the shaft such that the black polymer distal portion extends distally of the shaft, the black polymer distal portion comprising a plurality of planar surfaces comprising a plurality of laser-marked fiducial markers, wherein the black polymer distal portion comprises a first portion extending along a longitudinal axis and a second portion that extends transversely to the longitudinal axis, wherein the first portion comprises a first planar surface of the plurality of planar surfaces and the second portion comprises a second planar surface of the plurality of planar surfaces, the first and second portions having fixed positions with respect to each other and being positioned and oriented such that the first and second planar surfaces are capable of being shown in a common endoscopic image;

detect in the at least one endoscopic image at least one laser-marked fiducial marker of the plurality of laser-marked fiducial markers; and

determine a position of at least a portion of the surgical tool in the surgical cavity based on the at least one laser-marked fiducial marker.

17 . The system of claim 16 , wherein the at least one laser-marked fiducial marker was laser marked with a laser having a wavelength less than or equal to 2,100 nm.

18 . The surgical tool of claim 1 , wherein the black polymer distal portion comprises black Delrin.

19 . The surgical tool of claim 1 , wherein the plurality of laser-marked fiducial markers were marked via a laser scan speed of 800-1,200 mm/s.

20 . The surgical tool of claim 1 , wherein the plurality of laser-marked fiducial markers were marked via a laser pulse frequency of 35-45 kHz.

21 . The surgical tool of claim 1 , wherein the shaft is made from a different material than the black polymer distal portion.