公开(公告)号：US10733703B2

公开(公告)日：2020-08-04

申请号：US16239489

申请日：2019-01-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao

IPC: H04N9/45 ,  H04N9/64 ,  G06T5/00 ,  G06T3/40 ,  H04N9/04 ,  H04N5/225

Abstract: An exemplary demosaicing method includes a demosaic module receiving a frame of raw pixels, generating vertical and horizontal estimated color pixel values for missing color pixel values using information from the frame of raw pixels, generating vertical and horizontal color difference signals using information from the frame of raw pixels and the vertical and horizontal estimated color pixel values, and creating a full resolution frame of pixels using information from the frame of raw pixels and color difference signals selected from the vertical and horizontal color difference signals. The full resolution frame of pixels may include one captured color pixel value and two reconstructed color pixel values for each location in the full resolution frame of pixels and may be sent to a display unit for display.

公开(公告)号：US10507066B2

公开(公告)日：2019-12-17

申请号：US13768062

申请日：2013-02-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Simon P. DiMaio ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.

公开(公告)号：US20190139190A1

公开(公告)日：2019-05-09

申请号：US16239489

申请日：2019-01-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao

IPC: G06T3/40 ,  H04N9/04

Abstract: An exemplary demosaicing method includes a demosaic module receiving a frame of raw pixels, generating vertical and horizontal estimated color pixel values for missing color pixel values using information from the frame of raw pixels, generating vertical and horizontal color difference signals using information from the frame of raw pixels and the vertical and horizontal estimated color pixel values, and creating a full resolution frame of pixels using information from the frame of raw pixels and color difference signals selected from the vertical and horizontal color difference signals. The full resolution frame of pixels may include one captured color pixel value and two reconstructed color pixel values for each location in the full resolution frame of pixels and may be sent to a display unit for display.

公开(公告)号：US10282881B2

公开(公告)日：2019-05-07

申请号：US15946408

申请日：2018-04-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: G06T11/60 ,  B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G05B19/42 ,  G06T11/40 ,  A61B34/00 ,  A61B34/20

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

公开(公告)号：US20190098282A1

公开(公告)日：2019-03-28

申请号：US16202211

申请日：2018-11-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Catherine J. Mohr ,  Simon P. DiMaio

IPC: H04N13/128

Abstract: A stereo imaging system comprises a stereoscopic camera having left and right image capturing elements for capturing stereo images; a stereo viewer; and a processor configured to modify the stereo images prior to being displayed on the stereo viewer so that a disparity between corresponding points of the stereo images is adjusted as a function of a depth value within a region of interest in the stereo images after the depth value reaches a target depth value.

公开(公告)号：US20190052862A1

公开(公告)日：2019-02-14

申请号：US16162742

申请日：2018-10-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Wenyi Zhao ,  David D. Scott

IPC: H04N13/246 ,  G01D1/00 ,  H04N13/239 ,  G06T7/80 ,  G01D15/00 ,  G06K9/46

Abstract: The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data.

公开(公告)号：US20190047154A1

公开(公告)日：2019-02-14

申请号：US16161204

申请日：2018-10-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: B25J9/16 ,  G05B19/42 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G06F19/00 ,  A61B34/20

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

公开(公告)号：US09987751B2

公开(公告)日：2018-06-05

申请号：US15178858

申请日：2016-06-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Craig R. Gerbi ,  Theodore W. Rogers ,  Wenyi Zhao

IPC: G06K9/00 ,  B25J9/16

CPC classification number: B25J9/1697

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.

公开(公告)号：US09948852B2

公开(公告)日：2018-04-17

申请号：US14210986

申请日：2014-03-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul E. Lilagan ,  Wenyi Zhao

IPC: H04N5/232 ,  H04N5/235 ,  H04N5/238 ,  H04N13/02 ,  A61B1/00 ,  A61B90/00

CPC classification number: H04N5/23216 ,  A61B1/00006 ,  A61B1/00188 ,  A61B1/00193 ,  A61B90/361 ,  H04N5/23212 ,  H04N5/23293 ,  H04N5/2353 ,  H04N5/238 ,  H04N13/0296 ,  H04N13/204 ,  H04N13/296

Abstract: An imaging system comprises an image capturing device, a viewer, a control element, and a processor. The control element controls or adjusts an image characteristic of one of the image capturing device and the viewer. The processor is programmed to determine a depth value relative to the image capturing device, determine a desirable adjustment to the control element by using the determined depth value, and control adjustment of the control element to assist manual adjustment of the control element to the desirable adjustment. The processor may also be programmed to determine whether the adjustment of the control element is to be automatically or manually adjusted and control adjustment of the control element automatically to the desirable adjustment if the control element is to be automatically adjusted.

公开(公告)号：US09877633B2

公开(公告)日：2018-01-30

申请号：US13947626

申请日：2013-07-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Catherine J. Mohr ,  Jonathan M. Sorger

IPC: A61B1/00 ,  A61B5/02 ,  A61B1/04 ,  A61B5/026 ,  A61B5/00 ,  G06T7/00 ,  G06T7/11 ,  G06T7/269 ,  A61B17/00 ,  A61B90/00 ,  A61B34/30

CPC classification number: A61B1/00009 ,  A61B1/00039 ,  A61B1/00045 ,  A61B1/00149 ,  A61B1/00193 ,  A61B1/04 ,  A61B1/043 ,  A61B5/0059 ,  A61B5/02028 ,  A61B5/02042 ,  A61B5/0261 ,  A61B5/742 ,  A61B5/743 ,  A61B34/30 ,  A61B90/36 ,  A61B2017/00119 ,  G06T7/0016 ,  G06T7/11 ,  G06T7/269 ,  G06T2207/10024 ,  G06T2207/30096

Abstract: A bleeding detection unit in a surgical system processes information in an acquired scene before that scene is presented on a display unit in the operating room. For example, the bleeding detection unit analyzes the pixel data in the acquired scene and determines whether there are one or more initial sites of blood in the scene. Upon detection of an initial site of blood, the region is identified by an initial site icon in the scene displayed on the display unit. In one aspect, the processing is done in real-time which means that there is no substantial delay in presenting the acquired scene to the surgeon.