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1.发明授权Augmented stereoscopic visualization for a surgical robot using a captured fluorescence image and captured stereoscopic visible images 有权使用捕获的荧光图像和捕获的立体可见图像的外科机器人的增强的立体可视化公开(公告)号：US08228368B2
公开(公告)日：2012-07-24
申请号：US12164976
申请日：2008-06-30
申请人： Wenyi Zhao , Catherine J. Mohr , Christopher J. Hasser , Brian D. Hoffman , John D. Stern , Tao Zhao
发明人： Wenyi Zhao , Catherine J. Mohr , Christopher J. Hasser , Brian D. Hoffman , John D. Stern , Tao Zhao
IPC分类号： H04N13/00
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： An illumination channel, a stereoscopic optical channel and another optical channel are held and positioned by a robotic surgical system. A first capture unit captures a stereoscopic visible image from the first light from the stereoscopic optical channel while a second capture unit captures a fluorescence image from the second light from the other optical channel. An intelligent image processing system receives the captured stereoscopic visible image and the captured fluorescence image and generates a stereoscopic pair of fluorescence images. An augmented stereoscopic display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of the stereoscopic visible image and the stereoscopic pair of fluorescence images.
摘要翻译： 照明通道，立体光学通道和另一个光学通道由机器人手术系统保持和定位。 第一捕获单元从来自立体光学信道的第一光捕获立体可视图像，而第二捕获单元从来自另一光信道的第二光捕获荧光图像。 智能图像处理系统接收捕获的立体可视图像和捕获的荧光图像并产生立体对的荧光图像。 增强立体显示系统输出包括立体可视图像和立体视觉对荧光图像的混合的三维呈现的实时立体图像。
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公开(公告)号：US08169468B2
公开(公告)日：2012-05-01
申请号：US12164363
申请日：2008-06-30
申请人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
发明人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： A robotic surgical system positions and holds an endoscope. A visible imaging system is coupled to the endoscope. The visible imaging system captures a visible image of tissue. An alternate imaging system is also coupled to the endoscope. The alternate imaging system captures a fluorescence image of at least a portion of the tissue. A stereoscopic video display system is coupled to the visible imaging system and to the alternate imaging system. The stereoscopic video display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of a fluorescence image associated with the captured fluorescence image, and the visible image.
摘要翻译： 机器人手术系统定位并保持内窥镜。 可见成像系统连接到内窥镜。 可见成像系统捕获组织的可见图像。 替代的成像系统也耦合到内窥镜。 替代成像系统捕获组织的至少一部分的荧光图像。 立体视频显示系统耦合到可见成像系统和替代成像系统。 立体视频显示系统输出包括与所捕获的荧光图像相关联的荧光图像的混合物和可见图像的三维呈现的实时立体图像。
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公开(公告)号：US20090268015A1
公开(公告)日：2009-10-29
申请号：US12164363
申请日：2008-06-30
申请人： David D. Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
发明人： David D. Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： A robotic surgical system positions and holds an endoscope. A visible imaging system is coupled to the endoscope. The visible imaging system captures a visible image of tissue. An alternate imaging system is also coupled to the endoscope. The alternate imaging system captures a fluorescence image of at least a portion of the tissue. A stereoscopic video display system is coupled to the visible imaging system and to the alternate imaging system. The stereoscopic video display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of a fluorescence image associated with the captured fluorescence image, and the visible image.
摘要翻译： 机器人手术系统定位并保持内窥镜。 可见成像系统连接到内窥镜。 可见成像系统捕获组织的可见图像。 替代的成像系统也耦合到内窥镜。 替代成像系统捕获组织的至少一部分的荧光图像。 立体视频显示系统耦合到可见成像系统和替代成像系统。 立体视频显示系统输出包括与所捕获的荧光图像相关联的荧光图像的混合物和可见图像的三维呈现的实时立体图像。
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4.发明申请AUGMENTED STEREOSCOPIC VISUALIZATION FOR A SURGICAL ROBOT USING A CAPTURED FLUORESCENCE IMAGE AND CAPTURED STEREOSCOPIC VISIBLE IMAGES 有权使用捕获的荧光图像和捕获的立体视觉图像的手术机器人的增强的立体视觉化公开(公告)号：US20090268010A1
公开(公告)日：2009-10-29
申请号：US12164976
申请日：2008-06-30
申请人： Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Catherine J. Mohr , John D. Stern , Tao Zhao
发明人： Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Catherine J. Mohr , John D. Stern , Tao Zhao
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： An illumination channel, a stereoscopic optical channel and another optical channel are held and positioned by a robotic surgical system. A first capture unit captures a stereoscopic visible image from the first light from the stereoscopic optical channel while a second capture unit captures a fluorescence image from the second light from the other optical channel. An intelligent image processing system receives the captured stereoscopic visible image and the captured fluorescence image and generates a stereoscopic pair of fluorescence images. An augmented stereoscopic display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of the stereoscopic visible image and the stereoscopic pair of fluorescence images.
摘要翻译： 照明通道，立体光学通道和另一个光学通道由机器人手术系统保持和定位。 第一捕获单元从来自立体光学信道的第一光捕获立体可视图像，而第二捕获单元从来自另一光信道的第二光捕获荧光图像。 智能图像处理系统接收捕获的立体可视图像和捕获的荧光图像并产生立体对的荧光图像。 增强立体显示系统输出包括立体可视图像和立体视觉对荧光图像的混合的三维呈现的实时立体图像。
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5.发明申请AUGMENTED STEREOSCOPIC VISUALIZATION FOR A SURGICAL ROBOT USING TIME DUPLEXING 有权使用时间双工的外科手术机构的增强立体视觉公开(公告)号：US20090270678A1
公开(公告)日：2009-10-29
申请号：US12165189
申请日：2008-06-30
申请人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Ian McDowall , Catherine J. Mohr , John D. Stern
发明人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Ian McDowall , Catherine J. Mohr , John D. Stern
IPC分类号： A61B1/04
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： An endoscope with a stereoscopic optical channel is again held and positioned by a robotic surgical system. A capture unit captures (1) at a first time, a first image from light from the channel; and (2) at a second time different from the first time, a second image from the light. Only one of the first image and the second image includes a combination of a fluorescence image and a visible image. The other of the first image and the second image is a visible image. An intelligent image processing system generates an artificial fluorescence image using the captured fluorescence image. An augmented stereoscopic display system outputs an augmented stereoscopic image of at least a portion of the tissue comprising the artificial fluorescence image.
摘要翻译： 具有立体光学通道的内窥镜再次由机器人手术系统保持和定位。 捕获单元在第一次捕获（1），来自通道的光的第一图像; 和（2）不同于第一次的第二时间，来自光的第二图像。 第一图像和第二图像中只有一个包括荧光图像和可视图像的组合。 第一个图像和第二个图像中的另一个是可见图像。 智能图像处理系统使用捕获的荧光图像生成人造荧光图像。 增强立体显示系统输出包含人造荧光图像的组织的至少一部分的增强立体图像。
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6.发明授权Augmented stereoscopic visualization for a surgical robot using time duplexing 有权使用时间双工的外科手术机器人的增强立体可视化公开(公告)号：US08167793B2
公开(公告)日：2012-05-01
申请号：US12165189
申请日：2008-06-30
申请人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Ian McDowall , Catherine J. Mohr , John D. Stern
发明人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Ian McDowall , Catherine J. Mohr , John D. Stern
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： An endoscope with a stereoscopic optical channel is again held and positioned by a robotic surgical system. A capture unit captures (1) at a first time, a first image from light from the channel; and (2) at a second time different from the first time, a second image from the light. Only one of the first image and the second image includes a combination of a fluorescence image and a visible image. The other of the first image and the second image is a visible image. An intelligent image processing system generates an artificial fluorescence image using the captured fluorescence image. An augmented stereoscopic display system outputs an augmented stereoscopic image of at least a portion of the tissue comprising the artificial fluorescence image.
摘要翻译： 具有立体光学通道的内窥镜再次由机器人手术系统保持和定位。 捕获单元在第一次捕获（1），来自通道的光的第一图像; 和（2）不同于第一次的第二时间，来自光的第二图像。 第一图像和第二图像中只有一个包括荧光图像和可视图像的组合。 第一个图像和第二个图像中的另一个是可见图像。 智能图像处理系统使用捕获的荧光图像生成人造荧光图像。 增强立体显示系统输出包含人造荧光图像的组织的至少一部分的增强立体图像。
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7.发明授权Augmented stereoscopic visualization for a surgical robot using a camera unit with a modified prism 有权使用具有改良棱镜的相机单元的外科手术机器人的增强立体可视化公开(公告)号：US08803955B2
公开(公告)日：2014-08-12
申请号：US12165121
申请日：2008-06-30
申请人： David Scott , Wenyi Zhao , Brian D. Hoffman , Ian McDowell , Catherine J. Mohr , John D. Stern
发明人： David Scott , Wenyi Zhao , Brian D. Hoffman , Ian McDowell , Catherine J. Mohr , John D. Stern
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A first capture unit captures: a visible first color component of a visible left image combined with a fluorescence left image from first light from one channel in the endoscope; a visible second color component of the visible left image from the first light; and a visible third color component of the visible left image from the first light. A second capture unit captures: a visible first color component of a visible right image combined with a fluorescence right image from second light from the other channel in the endoscope; a visible second color component of the visible right image from the second light; and a visible third color component of the visible right image from the second light. An augmented stereoscopic outputs a real-time stereoscopic image including a three-dimensional presentation including the visible left and right images and the fluorescence left and right images.
摘要翻译： 具有立体光学通道的内窥镜由机器人手术系统保持和定位。 第一捕获单元捕获：与来自内窥镜中的一个通道的第一光的荧光左图像结合的可见左图像的可见第一颜色分量; 来自第一光的可见的左图像的可见的第二颜色分量; 以及来自第一光的可见的左图像的可见第三颜色分量。 第二捕获单元从内窥镜中的来自另一个通道的第二光捕获与可见光右图像的可见第一颜色分量和荧光右图像的组合; 来自第二光的可见右图像的可见第二颜色分量; 以及来自第二光的可见右图像的可见第三颜色分量。 增强立体输出包括包括可见的左右图像和荧光左右图像的三维呈现的实时立体图像。
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8.发明申请AUGMENTED STEREOSCOPIC VISUALIZATION FOR A SURGICAL ROBOT USING A CAMERA UNIT WITH A MODIFIED PRISM 有权使用修改后的PRISM的相机单元的手术机器人的增强的立体视觉化公开(公告)号：US20090268011A1
公开(公告)日：2009-10-29
申请号：US12165121
申请日：2008-06-30
申请人： David Scott , Wenyi Zhao , Brian D. Hoffman , Ian McDowell , Catherine J. Mohr , John D. Stern
发明人： David Scott , Wenyi Zhao , Brian D. Hoffman , Ian McDowell , Catherine J. Mohr , John D. Stern
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A first capture unit captures: a visible first color component of a visible left image combined with a fluorescence left image from first light from one channel in the endoscope; a visible second color component of the visible left image from the first light; and a visible third color component of the visible left image from the first light. A second capture unit captures: a visible first color component of a visible right image combined with a fluorescence right image from second light from the other channel in the endoscope; a visible second color component of the visible right image from the second light; and a visible third color component of the visible right image from the second light. An augmented stereoscopic outputs a real-time stereoscopic image including a three-dimensional presentation including the visible left and right images and the fluorescence left and right images.
摘要翻译： 具有立体光学通道的内窥镜由机器人手术系统保持和定位。 第一捕获单元捕获：与来自内窥镜中的一个通道的第一光的荧光左图像结合的可见左图像的可见第一颜色分量; 来自第一光的可见的左图像的可见的第二颜色分量; 以及来自第一光的可见的左图像的可见第三颜色分量。 第二捕获单元从内窥镜中的来自另一个通道的第二光捕获与可见光右图像的可见第一颜色分量和荧光右图像的组合; 来自第二光的可见右图像的可见第二颜色分量; 以及来自第二光的可见右图像的可见第三颜色分量。 增强立体输出包括包括可见的左右图像和荧光左右图像的三维呈现的实时立体图像。
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9.发明申请AUGMENTED STEREOSCOPIC VISUALIZATION FOR A SURGICAL ROBOT USING A CAPTURED VISIBLE IMAGE COMBINED WITH A FLUORESCENCE IMAGE AND A CAPTURED VISIBLE IMAGE 有权使用与荧光图像和捕获的可见图像组合的捕获的可见图像的手术机器人的增强的立体视觉化公开(公告)号：US20090268012A1
公开(公告)日：2009-10-29
申请号：US12165194
申请日：2008-06-30
申请人： David Scott , Wenyi Zhao , Brian D. Hoffman , John D. Stern , Tao Zhao
发明人： David Scott , Wenyi Zhao , Brian D. Hoffman , John D. Stern , Tao Zhao
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image and (2) a visible second image combined with a fluorescence second image from the light. An intelligent image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence second image and generates at least one fluorescence image of a stereoscopic pair of fluorescence images and a visible second image. An augmented stereoscopic display system outputs a real-time stereoscopic image including a three-dimensional presentation including in one eye, a blend of the at least one fluorescence image of a stereoscopic pair of fluorescence images and one of the visible first and second images; and in the other eye, the other of the visible first and second images.
摘要翻译： 具有立体光学通道的内窥镜由机器人手术系统保持和定位。 捕获单元捕获（1）可见的第一图像和（2）与来自光的荧光第二图像组合的可见第二图像。 智能图像处理系统接收（1）可见第一图像和（2）与荧光第二图像组合的可见第二图像，并产生立体对荧光图像和可见第二图像的至少一个荧光图像。 增强立体显示系统输出包括在一只眼睛中的三维呈现的实时立体图像，立体对荧光图像对的至少一个荧光图像与可见第一和第二图像之一的混合; 在另一只眼睛中，可见的第一和第二图像中的另一个。
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10.发明授权Augmented stereoscopic visualization for a surgical robot using a captured visible image combined with a fluorescence image and a captured visible image 有权使用与荧光图像和捕获的可视图像组合的捕获的可见图像的外科手术机器人的增强的立体可视化公开(公告)号：US08810631B2
公开(公告)日：2014-08-19
申请号：US12165194
申请日：2008-06-30
申请人： David Scott , Wenyi Zhao , Brian D. Hoffman , John D. Stern , Tao Zhao
发明人： David Scott , Wenyi Zhao , Brian D. Hoffman , John D. Stern , Tao Zhao
IPC分类号： A61B1/04
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image and (2) a visible second image combined with a fluorescence second image from the light. An intelligent image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence second image and generates at least one fluorescence image of a stereoscopic pair of fluorescence images and a visible second image. An augmented stereoscopic display system outputs a real-time stereoscopic image including a three-dimensional presentation including in one eye, a blend of the at least one fluorescence image of a stereoscopic pair of fluorescence images and one of the visible first and second images; and in the other eye, the other of the visible first and second images.
摘要翻译： 具有立体光学通道的内窥镜由机器人手术系统保持和定位。 捕获单元捕获（1）可见的第一图像和（2）与来自光的荧光第二图像组合的可见第二图像。 智能图像处理系统接收（1）可见第一图像和（2）与荧光第二图像组合的可见第二图像，并产生立体对荧光图像和可见第二图像的至少一个荧光图像。 增强立体显示系统输出包括在一只眼睛中的三维呈现的实时立体图像，立体对荧光图像对的至少一个荧光图像与可见第一和第二图像之一的混合; 在另一只眼睛中，可见的第一和第二图像中的另一个。
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