公开(公告)号：US12045318B2

公开(公告)日：2024-07-23

申请号：US17293004

申请日：2019-11-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Geoffrey A. Richmond ,  Siddarth Sen

IPC: G06V10/82 ,  G06F18/20 ,  G06F18/21 ,  G06F18/214 ,  G06F18/24 ,  G06N3/04

CPC classification number: G06F18/285 ,  G06F18/214 ,  G06F18/2163 ,  G06F18/24 ,  G06N3/04 ,  G06V10/82 ,  G06V2201/031

Abstract: An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and multiple sets of weights, to differently configure the CNN based upon different camera image training data; and a display screen configured to display the two-dimensional (2D) arrangements of classified pixels and the anatomical object classifications.

公开(公告)号：US20220175473A1

公开(公告)日：2022-06-09

申请号：US17600061

申请日：2020-03-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Heath Feather ,  Rohitkumar Godhani ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Adam T. Schmidt ,  Siddarth Sen

IPC: A61B34/30 ,  G06T7/50 ,  G06T7/70

Abstract: An exemplary processing system of a computer-assisted surgical system identifies an object in a surgical space, accesses a model of the object, identifies a pose of the object in the surgical space, aligns the model with the pose of the object to define depth data for the model in the surgical space, and generates a depth map in the surgical space for at least a portion of the object based on the depth data for the model. Corresponding systems and methods are also described.

公开(公告)号：US20250090241A1

公开(公告)日：2025-03-20

申请号：US18896529

申请日：2024-09-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Siddarth Sen ,  Brian D. Hoffman ,  Geoffrey A. Richmond

IPC: A61B34/20 ,  A61B34/00 ,  G06N3/047

Abstract: An exemplary surgical instrument tracking system includes at least one physical computing device that determines, based on endoscopic imagery of a surgical area and using a trained neural network, an observation for an object of interest depicted in the endoscopic imagery, associates, based on a probabilistic framework and kinematics of a robotically-manipulated surgical instrument located at the surgical area, the observation for the object of interest to the robotically-manipulated surgical instrument, and determines a physical position of the robotically-manipulated surgical instrument at the surgical area based on the kinematics of the robotically-manipulated surgical instrument and the observation associated with the robotically-manipulated surgical instrument.

公开(公告)号：US20240338421A1

公开(公告)日：2024-10-10

申请号：US18748918

申请日：2024-06-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Geoffrey A. Richmond ,  Siddarth Sen

IPC: G06F18/20 ,  G06F18/21 ,  G06F18/214 ,  G06F18/24 ,  G06N3/04 ,  G06V10/82

CPC classification number: G06F18/285 ,  G06F18/214 ,  G06F18/2163 ,  G06F18/24 ,  G06N3/04 ,  G06V10/82 ,  G06V2201/031

Abstract: An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and multiple sets of weights, to differently configure the CNN based upon different camera image training data; and a display screen configured to display the two-dimensional (2D) arrangements of classified pixels and the anatomical object classifications.

公开(公告)号：US12108992B2

公开(公告)日：2024-10-08

申请号：US17264257

申请日：2019-07-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Siddarth Sen ,  Brian D. Hoffman ,  Geoffrey A. Richmond

IPC: A61B34/20 ,  A61B34/00 ,  G06N3/047

CPC classification number: A61B34/20 ,  A61B34/70 ,  G06N3/047 ,  A61B2034/2065

Abstract: An exemplary surgical instrument tracking system includes at least one physical computing device that determines, based on endoscopic imagery of a surgical area and using a trained neural network, an observation for an object of interest depicted in the endoscopic imagery, associates, based on a probabilistic framework and kinematics of a robotically-manipulated surgical instrument located at the surgical area, the observation for the object of interest to the robotically-manipulated surgical instrument, and determines a physical position of the robotically-manipulated surgical instrument at the surgical area based on the kinematics of the robotically-manipulated surgical instrument and the observation associated with the robotically-manipulated surgical instrument.

公开(公告)号：US20210406596A1

公开(公告)日：2021-12-30

申请号：US17293004

申请日：2019-11-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Geoffrey A. Richmond ,  Siddarth Sen

IPC: G06K9/62 ,  G06N3/04

Abstract: An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an N anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and multiple sets of N weights, to differently configure the CNN based upon different camera image training data; and a display screen configured to display the two-dimensional (2D) arrangements of classified pixels and the anatomical object classifications.

公开(公告)号：US20210290317A1

公开(公告)日：2021-09-23

申请号：US17264257

申请日：2019-07-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Siddarth Sen ,  Brian D. Hoffman ,  Geoffrey A. Richmond

IPC: A61B34/20 ,  A61B34/00 ,  G06N3/04

Abstract: An exemplary surgical instrument tracking system includes at least one physical computing device that determines, based on endoscopic imagery of a surgical area and using a trained neural network, an observation for an object of interest depicted in the endoscopic imagery, associates, based on a probabilistic framework and kinematics of a robotically-manipulated surgical instrument located at the surgical area, the observation for the object of interest to the robotically-manipulated surgical instrument, and determines a physical position of the robotically-manipulated surgical instrument at the surgical area based on the kinematics of the robotically-manipulated surgical instrument and the observation associated with the robotically-manipulated surgical instrument.