Patent ID: 11903561
Assignee: IEMIS (HK) LIMITED
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A

Claim 0:
1. A surgical system for performing an endoscopic retrograde cholangiopancreatography (ERCP) cannulation, the surgical system comprising:
a main assembly, the main assembly including:
a main body for inserting into a cavity of a patient;
an inertial measurement unit (IMU) subsystem housed in the main body, the IMU subsystem configured to provide real-time IMU information, including real-time 3-dimensional position information of the main assembly, wherein the real-time 3-dimensional position information of the main assembly is generated by the IMU subsystem based on real-time orientation information and real-time acceleration information;
an image capturing subsystem housed in the main body, the image capturing subsystem configured to capture real-time images; and
a scope head assembly housed in the main body, the scope head assembly having a proximal end and a distal end, the scope head assembly configured to selectively extend the distal end of the scope head assembly outwardly from the main body, wherein at least a portion of the scope head assembly is configured to selectively bend in a plurality of directions; and

a processor, the processor configured to:
receive the real-time dimensional position information of the main assembly from the IMU subsystem;
receive the real-time images from the image capturing subsystem;
determine whether or not the received images include the distal end of the scope head assembly;
responsive to a determination that the received images include the distal end of the scope head assembly:
identify the distal end of the scope head assembly in the obtained images; and
generate, based on the received real-time 3-dimensional position information of the main assembly, real-time 3-dimensional positions of the distal end of the scope head assembly;

determine whether or not the received images include a cannulation target;
responsive to a determination that the received images include the cannulation target:
identify the cannulation target in the received images; and
generate, based on the real-time 3-dimensional position information of the main assembly and the received images, real-time 3-dimensional positions of the cannulation target;

responsive to a determination that the received images include the distal end of the scope head assembly and the cannulation target:
predict, based on the 3-dimensional position of the distal end of the scope head assembly and the 3-dimensional position of the cannulation target, one or more real-time trajectory paths for the identified distal end of the scope head assembly to cannulate the identified cannulation target.