公开(公告)号：US20220007925A1

公开(公告)日：2022-01-13

申请号：US17294195

申请日：2019-11-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Curtis W. Stith ,  Jeffrey M. DiCarlo ,  Changmeng Liu

IPC: A61B1/05 ,  A61B1/04 ,  A61B1/00 ,  A61B1/06

Abstract: A two-by-two pixel array within an image sensor includes a first pixel, a second pixel, a third pixel, and a fourth pixel. A red filter covers the first pixel, a first blue filter covers the second pixel, a second blue filter covers the third pixel, and a green filter covers the fourth pixel. The red filter is configured to allow the first pixel to collect a red component of visible light and prevent the first pixel from collecting blue and green components of the visible light. The first and second blue filters are configured to allow the second and third pixels to each collect the blue component and prevent the second and third pixels from collecting the red and green components. The green filter is configured to allow the fourth pixel to collect the green component and prevent the fourth pixel from collecting the red and blue components.

公开(公告)号：US20250040786A1

公开(公告)日：2025-02-06

申请号：US18882529

申请日：2024-09-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew J. Hazelton ,  Teresa G. Gadda ,  Changmeng Liu

IPC: A61B1/00 ,  A61B17/00 ,  A61B34/00 ,  A61B34/20

Abstract: An apparatus comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the apparatus to capture, via an image sensor of a tool installed at least partially within a catheter, a first image within a lumen of the catheter. The first image comprises a plurality of pixels. The instructions further cause the apparatus to identify a first subset of the pixels comprising a viewable feature, and a second subset of the pixels comprising a background color. The instructions further cause the apparatus to adjust the second subset to a neutral color, create a modified image by filtering the pixels to remove the second subset, determine an angular orientation of the viewable feature in the modified image, and determine a rotational offset of the tool relative to the catheter based on the angular orientation of the viewable feature.

公开(公告)号：US12161286B2

公开(公告)日：2024-12-10

申请号：US17258705

申请日：2019-07-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Andrew J. Hazelton ,  Teresa G. Gadda ,  Changmeng Liu

IPC: A61B34/20 ,  A61B1/00 ,  A61B17/00 ,  A61B34/00

Abstract: A system comprises a tool and a catheter sized to receive the tool. The system also comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to receive, via an image sensor of the tool, a plurality of images from within a lumen of the catheter. Each image comprises a plurality of pixels. For each image, a subset of the plurality of pixels associated with a viewable feature is identified. For each image, a likely orientation for the viewable feature is determined based on the identified subset of the plurality of pixels. A composite orientation for the viewable feature is determined based on a combination of the likely orientations of the viewable feature for each image. A rotational offset of the tool relative to the catheter is determined based on the determined composite orientation.

公开(公告)号：US12035997B2

公开(公告)日：2024-07-16

申请号：US17294195

申请日：2019-11-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Curtis W. Stith ,  Jeffrey M. DiCarlo ,  Changmeng Liu

IPC: A61B5/00 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06

CPC classification number: A61B5/0071 ,  A61B1/000096 ,  A61B1/043 ,  A61B1/05 ,  A61B1/0638 ,  A61B1/0646

Abstract: A two-by-two pixel array within an image sensor includes a first pixel, a second pixel, a third pixel, and a fourth pixel. A red filter covers the first pixel, a first blue filter covers the second pixel, a second blue filter covers the third pixel, and a green filter covers the fourth pixel. The red filter is configured to allow the first pixel to collect a red component of visible light and prevent the first pixel from collecting blue and green components of the visible light. The first and second blue filters are configured to allow the second and third pixels to each collect the blue component and prevent the second and third pixels from collecting the red and green components. The green filter is configured to allow the fourth pixel to collect the green component and prevent the fourth pixel from collecting the red and blue components.

公开(公告)号：US20240315562A1

公开(公告)日：2024-09-26

申请号：US18680295

申请日：2024-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Curtis W. Stith ,  Jeffrey M. DiCarlo ,  Changmeng Liu

IPC: A61B5/00 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06

CPC classification number: A61B5/0071 ,  A61B1/000096 ,  A61B1/043 ,  A61B1/05 ,  A61B1/0638 ,  A61B1/0646

Abstract: An illustrative system includes an image sensor comprising a first pixel, a second pixel, a third pixel, and a fourth pixel. The system further includes a pixel-level broadband infrared cutoff filter that covers the second pixel and that is configured to prevent the second pixel from collecting infrared light having wavelengths included in a first range of wavelengths. The first, third, and fourth pixels are not covered by pixel-level broadband infrared cutoff filters configured to prevent the first, third, and fourth pixels from collecting infrared light having wavelengths included in the first range of wavelengths.

公开(公告)号：US20240188795A1

公开(公告)日：2024-06-13

申请号：US18286873

申请日：2022-04-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Changmeng Liu ,  Yu-tai Ray Chen ,  Adam Begley ,  Dominique D. Brichard ,  Andrew J. Hazelton

IPC: A61B1/00 ,  A61B1/045 ,  A61B1/06 ,  H04N23/60 ,  H04N25/673 ,  H04N25/677

CPC classification number: A61B1/000095 ,  A61B1/00114 ,  A61B1/045 ,  A61B1/0655 ,  H04N23/64 ,  H04N25/673 ,  H04N25/677

Abstract: Systems and methods for reducing noise in a computer-assisted medical system are described herein. In certain illustrative examples, a system may direct an imaging device to capture one or more pseudo dark frame images of an environment of the imaging device. The system may determine a noise pattern within the set of one or more pseudo dark frame images associated with a coupling of the imaging device and an image processing system. They system may process, based on the noise pattern, additional images captured by the imaging device.