Providing surgical assistance via automatic tracking and visual feedback during surgery
A system and method for providing visual assistance to a practitioner during a medical suturing procedure. Real time images of the suture site are captured and displayed on an image display. The images are analyzed in real time to detect the suture needle, suture penetration sites, relevant tissue, adjacent tissue edges or other features of interest in the visual images. Based on the orientation of, or relationship between, the detected features of interest, overlays are generated and displayed on the image display to inform the user about the suturing task that is underway, such as the anticipated needle path, the suture spacing, or the separation between sutures and adjacent tissue edges.
1 . A medical treatment method comprising the steps of
positioning a suturing instrument at a treatment site in a body cavity, wherein the suture instrument has a proximal part with a first longitudinal axis and a distal part with a second longitudinal axis, jaws on the distal part, and a suture needle having a suture thereon grasped by the jaws, the suture needle having a needle tip;
moving the suturing instrument to an articulated position such that the first longitudinal axis and the second longitudinal axis are not axially aligned;
capturing a digital image of the treatment site such that the digital image includes the distal part of the suturing instrument in the articulated position and the suture needle;
displaying the digital image on an image display;
performing computer vision analysis of the digital image, and based on the computer vision analysis, recognizing the suture needle and the distal part of the suturing instrument in the digital image;
based on the computer vision analysis, determining (i) a position and orientation of the second longitudinal axis, and (ii) an orientation of the suture needle in the jaws;
displaying an axis overlay on the digital image displayed on the image display, the axis overlay representing the position and orientation of the second longitudinal axis;
based on the position and orientation of the second longitudinal axis and the orientation of the suture needle in the jaws, determining a pathway along which the needle tip will travel if the distal part of the suturing instrument is axially rotated about the second longitudinal axis;
displaying a pathway overlay on the digital image displayed on the image display, the pathway overlay depicting a curved pathway from the needle tip towards the tissue along which the needle tip will travel if the distal part with the suture needle grasped by the jaws is rotated about the second longitudinal axis.
2 . The method of claim 1 , further including the steps of:
determining a predicted exit point for the needle with respect to the tissue based on geometry of the needle and position and orientation of the needle at the treatment site; and
displaying an exit point overlay on the digital image displayed on the image display, the exit point overlay representing the exit point.
3 . The method of claim 1 , further comprising:
receiving input identifying a location of a tissue edge at the treatment site, the tissue edge being an edge to be approximated with another edge in a suturing operation;
receiving input identifying a location of a suture placed in tissue at the treatment site;
based on computer vision analysis of the digital image, measuring a distance between the tissue edge and the suture location;
determining whether the distance is below a pre-determined minimum suture-to-edge distance;
if the distance is below the predetermined minimum suture-to-edge distance, displaying a first overlay type on the display of the image on the image display;
if the distance is not below the predetermined minimum suture-to-edge distance, displaying a second overlay type on the display of the image on the image display, the second overlay type having a different visual appearance than the first overlay type.
4 . The method of claim 1 , wherein the suturing instrument is an articulating suturing instrument.
5 . The method of claim 1 , wherein the suture needle is a curved suture needle.
6 . The method of claim 4 , wherein the suturing instrument is an articulating needle holder.
7 . The method of claim 5 , wherein the suture needle is a curved suture needle.
8 . The method of claim 1 , wherein the method further includes, based on the computer vision analysis, determining the geometry of the suture needle, and determining the pathway along which the needle tip will travel is determined based on the determined geometry.