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

IPC: G06T15/00 ,  A61B6/00 ,  A61B19/00 ,  G06T7/00 ,  G06T11/00 ,  H04N13/00 ,  H04N13/02 ,  H04N13/04

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。

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

IPC: A61B5/06 ,  A61B19/00 ,  G06K9/00 ,  A61B5/107

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.

公开(公告)号：US20140323803A1

公开(公告)日：2014-10-30

申请号：US14330339

申请日：2014-07-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  William C. Nowlin

IPC: A61B19/00 ,  A61B1/045

CPC classification number: A61B1/045 ,  A61B34/25 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B34/74 ,  A61B90/361 ,  A61B2017/00199 ,  A61B2017/00216 ,  A61B2017/00477 ,  A61B2090/372

Abstract: In one embodiment of the invention, a method for controlling a robotic surgical tool is disclosed. The method for controlling a robotic surgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.

Abstract translation: 在本发明的一个实施例中，公开了一种用于控制机器人手术工具的方法。 用于控制机器人手术工具的方法包括移动显示机器人外科手术工具的图像的监视器; 感测显示器的运动; 并且将感测到的监视器的运动转换成机器人手术工具的运动。