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公开(公告)号：US20210145249A1
公开(公告)日：2021-05-20
申请号：US17158976
申请日：2021-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Jeffrey DiCarlo , Stephen J. Blumenkranz , Brian D. Hoffman , Geoff Richmond , Tao Zhao
Abstract: An apparatus may configure an illuminator to illuminate a scene with non-white light and control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light. The apparatus may adjust a signal of a color channel of the camera in the frame of the scene based on the non-white light.
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公开(公告)号：US10932649B2
公开(公告)日：2021-03-02
申请号：US16682940
申请日：2019-11-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Jeffrey DiCarlo , Stephen J. Blumenkranz , Brian D. Hoffman , Geoff Richmond , Tao Zhao
IPC: H04N9/47 , A61B1/00 , A61B1/06 , A61B90/30 , A61B34/35 , A61B90/00 , G06T7/90 , H04N5/235 , H04N9/04 , A61B34/30
Abstract: A system may control an illuminator to illuminate a surgical site with non-white light and control a camera to capture light reflected from the surgical site. The camera may separate the captured light into a plurality of color components. The plurality of color components may be captured by the camera as a plurality of sets of pixels of a frame in a video stream, and each set of the plurality of sets of pixels may be in a different color channel of the camera. The system may further control, based on color component characteristics of the light captured by the camera, the illuminator to configure the non-white light such that each color channel of the camera has an about equal response to the light captured by the camera for a subsequently captured frame in the video stream.
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公开(公告)号：US20210000546A1
公开(公告)日：2021-01-07
申请号：US16910818
申请日：2020-06-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Maria Prisco , Guanghua G. Zhang , Rajesh Kumar
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined. using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, of external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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104.发明授权公开(公告)号：US10772701B2
公开(公告)日：2020-09-15
申请号：US16116296
申请日：2018-08-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Ian E. McDowall , Brian D. Hoffman , Theodore W. Rogers
Abstract: A teleoperated surgical system is provided that comprises a support arm; a surgical instrument, moveably mounted to the support arm, including a housing a proximal end portion and a distal end portion and having an end effector at the distal end portion thereof; an actuator to impart movement to the surgical instrument; an optical fiber, including a proximal end portion and a distal end portion, mounted to the surgical instrument to emit first light from its distal end at the distal end portion of the surgical instrument; and a light source disposed to impart the first light to the proximal end of the optical fiber at a first angle within an acceptance angle of the optical fiber.
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公开(公告)号：US10737394B2
公开(公告)日：2020-08-11
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
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.
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Patent Agency Ranking
106.发明授权公开(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
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.
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公开(公告)号：US10432921B2
公开(公告)日：2019-10-01
申请号：US16034004
申请日：2018-07-12
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , Christopher J. Hasser , William C. Nowlin
IPC: H04N13/366 , H04N13/156 , H04N13/296 , H04N13/383 , A61B1/00 , A61B34/30 , A61B34/37 , A61B90/00 , A61B1/04 , A61B17/00
Abstract: In one embodiment, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.
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108.发明申请公开(公告)号：US20190247131A1
公开(公告)日：2019-08-15
申请号：US16396125
申请日：2019-04-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brian D. Hoffman , David Q. Larkin , Giuseppe Maria Prisco , Guanghua G. Zhang , Rajesh Kumar
CPC classification number: A61B34/20 , A61B1/00193 , A61B1/04 , A61B1/3132 , A61B5/06 , A61B5/061 , A61B5/062 , A61B5/725 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/39 , A61B2034/102 , A61B2034/2065 , A61B2090/0818 , A61B2090/364
Abstract: Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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公开(公告)号：US20190192233A1
公开(公告)日：2019-06-27
申请号：US16292213
申请日：2019-03-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Patrick O'Grady , Tao Zhao , Christopher R. Burns , Jason Hemphill , Brian D. Hoffman , Simon P. Dimaio , Rodney Vance
IPC: A61B34/20 , A61B34/30 , A61B34/37 , A61B90/90 , A61B90/98 , A61B34/35 , A61B34/00 , A61B90/96 , A61G13/00
CPC classification number: A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/90 , A61B90/96 , A61B90/98 , A61B2034/2051 , A61B2034/2057 , A61B2034/2068 , A61B2090/3983 , A61G13/00 , A61G2205/10 , A61G2205/60
Abstract: Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween.
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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.
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