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公开(公告)号：US20170301068A1
公开(公告)日：2017-10-19
申请号：US15595656
申请日：2017-05-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Simon P. DiMaio , David D. Scott
CPC classification number: G06T5/003 , G06T5/10 , G06T2207/10024 , G06T2207/20016 , G06T2207/20212
Abstract: Provided are a system and method for image sharpening is provided that involves capturing an image, and then decomposing the image into a plurality of image-representation components, such as RGB components for example. Each image-representation component is transformed to obtain an unsharpened multi-resolution representation for each image-representation component. A multi-resolution representation includes a plurality of transformation level representations. Sharpness information is transported from an unsharpened transformation level representation of a first one of the image-representation components to a transformation level representation of an unsharpened multi-resolution representation of a second one of the image-representation components to create a sharpened multi-resolution representation of the second one of the image-representation components. The sharpened multi-resolution representation of the second one of the image-representation components is then transformed to obtain a sharpened image. The improved and sharpened image may then be displayed.
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公开(公告)号：US20170282372A1
公开(公告)日：2017-10-05
申请号：US15629533
申请日：2017-06-21
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
CPC classification number: B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2059 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
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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103.发明申请GEOMETRICALLY APPROPRIATE TOOL SELECTION ASSISTANCE FOR DETERMINED WORK SITE DIMENSIONS 审中-公开用于确定工作站尺寸的几何适当的工具选择辅助公开(公告)号：US20160279801A1
公开(公告)日：2016-09-29
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: 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.
Abstract translation: 机器人系统包括处理器，该处理器被编程以确定并使得工作现场中的用户指定点的工作现场测量被图形显示，以向用户提供几何适当的工具选择帮助。 处理器还被编程为确定在工作现场使用的多种几何形状的多个工具中的最佳的一个工具，并且使至少最佳工具的图形表示与工作现场测量一起显示。
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104.发明授权公开(公告)号：US09402690B2
公开(公告)日：2016-08-02
申请号：US14450251
申请日：2014-08-03
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Tao Zhao , Simon Di Maio , Brian D. Hoffman
CPC classification number: A61B34/25 , A61B34/20 , A61B2034/2057 , A61B2034/2065 , A61B2090/371 , A61B2090/373 , G06T7/593 , G06T11/00 , G06T2207/10068 , G06T2207/20096 , G06T2207/20101 , G06T2207/30004 , H04N13/10 , H04N13/20 , H04N13/30 , H04N2013/0092
Abstract: An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.
Abstract translation: 一种装置被配置为实时地向外科医生示出3-D的远程化。 监视器被显示为立体图像对的一侧，使得监视器可以在一侧用输入装置绘制远距离信号线。 识别兴趣点以匹配立体图像对的另一侧。 响应于所识别的兴趣点，区域和特征被识别并用于将感兴趣点与另一侧匹配。 区域可用于匹配兴趣点。 第一图像的特征可以匹配第二图像，并且用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 限制可用于评估匹配的兴趣点，例如排除不良点。
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105.发明授权Geometrically appropriate tool selection assistance for determined work site dimensions 有权确定工作现场尺寸的几何适当的工具选择帮助公开(公告)号：US09375844B2
公开(公告)日：2016-06-28
申请号：US14210881
申请日：2014-03-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Craig R. Gerbi , Theodore W. Rogers , Wenyi Zhao
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.
Abstract translation: 机器人系统包括处理器，该处理器被编程以确定并使得工作现场中的用户指定点的工作现场测量被图形显示，以向用户提供几何适当的工具选择帮助。 处理器还被编程为确定在工作现场使用的多种几何形状的多个工具中的最佳的一个工具，并且使至少最佳工具的图形表示与工作现场测量一起显示。
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Patent Agency Ranking
公开(公告)号：US20150005622A1
公开(公告)日：2015-01-01
申请号：US14314161
申请日：2014-06-25
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Christopher J. Hasser , William C. Nowlin , Brian D. Hoffman
CPC classification number: A61B5/061 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B1/3132 , A61B5/1076 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/061 , A61B2090/364 , A61B2090/3983 , B25J9/1656 , B25J9/1689 , B25J13/089 , B25J15/0019 , G06F19/3418 , G06F19/3481 , G06K9/00624 , G06K9/3241 , G06K2209/057 , G06T7/246 , G06T2207/10021 , G06T2207/10068 , G06T2207/30004 , G06T2207/30241 , G09B23/28
Abstract: In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.
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107.发明申请ROBOTIC SYSTEM PROVIDING USER SELECTABLE ACTIONS ASSOCIATED WITH GAZE TRACKING 审中-公开提供与GAZE跟踪相关的用户可选择操作的机器人系统公开(公告)号：US20140282196A1
公开(公告)日：2014-09-18
申请号：US14210840
申请日：2014-03-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Christopher J. Hasser , Brandon D. Itkowitz , Paul E. Lilagan , David D. Scott , Paul W. Mohr , Simon P. DiMaio , David W. Robinson , Tao Zhao
IPC: G06F3/01 , G06F3/0484 , G06F3/0482
Abstract: A robotic system provides user selectable actions associated with gaze tracking according to user interface types. User initiated correction and/or recalibration of the gaze tracking may be performed during the processing of individual of the user selectable actions.
Abstract translation: 机器人系统根据用户界面类型提供与凝视跟踪相关联的用户可选择的动作。 注视跟踪的用户发起的校正和/或重新校准可以在用户可选动作的个体的处理期间执行。
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108.发明申请STEREO IMAGING SYSTEM WITH AUTOMATIC DISPARITY ADJUSTMENT FOR DISPLAYING CLOSE RANGE OBJECTS 审中-公开具有自动差异调整功能的立体成像系统，用于显示关闭范围对象公开(公告)号：US20140111623A1
公开(公告)日：2014-04-24
申请号：US14053021
申请日：2013-10-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Catherine J. Mohr , Simon P. DiMaio
IPC: H04N13/02
CPC classification number: H04N13/128 , H04N13/239
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.
Abstract translation: 立体成像系统包括具有用于捕获立体图像的左和右图像捕获元件的立体相机; 立体声观看者 以及处理器，被配置为在立体观看者显示之前修改立体图像，使得立体图像的对应点之间的差异作为深度值之后的立体图像中的感兴趣区域内的深度值的函数进行调整 达到目标深度值。
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公开(公告)号：US08706301B2
公开(公告)日：2014-04-22
申请号：US13736720
申请日：2013-01-08
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Tao Zhao , David Q. Larkin
CPC classification number: A61B34/30 , A61B34/37 , A61B34/76 , A61B2034/102 , A61B2090/064 , B25J9/1689 , G05B2219/40144
Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.
Abstract translation: 用于为机器人手术系统提供力信息的方法和系统。 该方法包括存储用于末端执行器的第一位置的第一运动位置信息和第一实际位置信息; 将所述末端执行器经由所述机器人手术系统从所述第一位置移动到第二位置; 存储用于所述第二位置的第二运动位置信息和第二实际位置信息; 并且利用第一实际位置信息，第二实际位置信息，第一运动位置信息和第二运动位置信息，提供关于在第二位置处施加到末端执行器的力的力信息。 通过将末端执行器的估计位置无重力地叠加在末端执行器的实际位置的图像上也提供视力反馈。 类似地，可以显示组织弹性视觉显示。
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110.发明申请公开(公告)号：US20140058564A1
公开(公告)日：2014-02-27
申请号：US14066823
申请日：2013-10-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Tao Zhao , David Q. Larkin
CPC classification number: B25J9/1633 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B2034/102 , A61B2090/065 , A61B2090/365 , B25J9/1697 , Y10S901/47
Abstract: Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.
Abstract translation: 用于在机器人手术系统中提供力信息的视觉表示的方法和系统。 确定手术末端执行器的真实位置。 还确定了如果对端部执行器没有施加力的手术末端执行器的突出位置。 表示实际和投影位置的图像叠加在显示器上。 两个图像之间的偏移提供了施加到末端执行器或支撑末端执行器的运动链的力的视觉指示。 此外，确定并显示组织变形信息。
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