公开(公告)号：US20200228783A1

公开(公告)日：2020-07-16

申请号：US16826890

申请日：2020-03-23

Applicant: Intuitive Surgical Operations, Inc.

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

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

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：US20200214664A1

公开(公告)日：2020-07-09

申请号：US16792697

申请日：2020-02-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Dorin Panescu

IPC: A61B8/12 ,  A61B8/00 ,  A61B34/10 ,  A61B8/08 ,  A61B10/04 ,  A61B17/00

Abstract: A method of deploying an interventional instrument is performed by a processing system. The method comprises receiving an image of an anatomic structure from an imaging probe. The image has an image frame of reference. The imaging probe is extendable distally beyond a distal end of a guide catheter. The distal end of the guide catheter has a catheter frame of reference. The method further includes receiving location data associated with a target structure identified in the image. The received location data is in the image frame of reference. The method further comprises transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference.

公开(公告)号：US10675098B2

公开(公告)日：2020-06-09

申请号：US15699858

申请日：2017-09-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Wenyi Zhao ,  William C. Nowlin

IPC: A61B5/05 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/94 ,  A61B90/00 ,  A61B34/10

Abstract: The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located references features. In some embodiments, a medical system includes a tool having a distal end that is insertable into a patient body, an image capture device insertable into the patient body so that the image capture device captures an image of at least a portion of a two-dimensional marker at least partially surrounding a portion of the tool, and a processor coupled to the image capture device and configured to determine a pose of the tool by processing the image.

公开(公告)号：US20200093357A1

公开(公告)日：2020-03-26

申请号：US16697586

申请日：2019-11-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David D. Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: A61B1/04 ,  A61B1/00 ,  H04N13/207 ,  A61B1/06 ,  A61B5/00 ,  A61B1/05 ,  A61B90/00 ,  A61B34/30

Abstract: An exemplary method includes an image processing system Receiving a first frame captured at a first time from light received by an endoscope, the first frame including a first visible image, the first visible image comprising a first plurality of visible color components; receiving a second frame captured at a second time different from the first time from light received from the endoscope, the second frame including a combination image, the combination image being a combination of a second visible image and a first fluorescence image; creating a second fluorescence image, the second fluorescence image comprising artifacts from the first frame and the second frame; creating a third fluorescence image based on the second fluorescence image; and generating, based on the third fluorescence image, an image including an artificial fluorescence image for display by a display system.

公开(公告)号：US20200043207A1

公开(公告)日：2020-02-06

申请号：US16528493

申请日：2019-07-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Pechin Chien Pau Lo ,  Jun Ma ,  Tao Zhao

IPC: G06T11/20 ,  G06T7/11 ,  G06T7/143

Abstract: A method of building an anatomical branch model comprises receiving anatomical image data comprising a plurality of graphical units associated with an anatomical structure and determining a plurality of parent segments and child segments to include a plurality of linked graphical units from the plurality of graphical units. The method also comprises determining a set of relationships between the parent segments and the child segments and generating an image of the anatomical branch model based on the determined set of relationships between the parent segments and the child segments.

公开(公告)号：US10524644B2

公开(公告)日：2020-01-07

申请号：US15704479

申请日：2017-09-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David D. Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: A61B1/04 ,  H04N13/207 ,  A61B1/00 ,  A61B1/06 ,  A61B5/00 ,  A61B1/05 ,  A61B90/00 ,  A61B34/30 ,  G01N21/64 ,  A61B90/30 ,  A61B34/37

Abstract: An endoscope with an optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image at a first time and (2) a visible second image combined with a fluorescence image at a second time. An image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence image and generates at least one fluorescence image. A display system outputs an output image including an artificial fluorescence image.

公开(公告)号：US10506914B2

公开(公告)日：2019-12-17

申请号：US15126978

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jeffrey DiCarlo ,  Tao Zhao ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond

IPC: H04N9/47 ,  A61B1/00 ,  A61B1/06 ,  A61B90/30 ,  A61B34/35 ,  A61B90/00 ,  G06T7/90 ,  H04N5/235 ,  H04N9/04 ,  A61B34/30

Abstract: Non-white light from an endoscope (201) of a teleoperated surgical system (200) is used to illuminate a surgical site (203). A camera (220L) captures an image of the surgical site, and the image is displayed on a monitor (251). The non-white light illumination minimizes noise in the images of the surgical site presented on the monitor relative to images captured using white light illumination and displayed on the monitor.

公开(公告)号：US20190350659A1

公开(公告)日：2019-11-21

申请号：US16349073

申请日：2017-12-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC,

Inventor： Bai Wang ,  Tao Zhao

IPC: A61B34/20 ,  A61B34/00 ,  A61B34/35 ,  A61B34/10

Abstract: Medical imaging systems and methods are provided herein that provide for navigation and procedure planning without segmentation. A method comprises receiving, by a medical imaging system having at least one processing device, three-dimensional image data of a patient anatomy. The method also comprises filtering the three-dimensional data to display a portion of the three-dimensional image data that is associated with the patient anatomy and receiving, at the processing device, input from an operator input device. The input comprises navigational directions for virtual movement within a space defined by the three-dimensional image data. The method also includes tracking the virtual movement and generating a first model of the patient anatomy based on the tracked virtual movement.

公开(公告)号：US20190213770A1

公开(公告)日：2019-07-11

申请号：US16351444

申请日：2019-03-12

Applicant: Intuitive Surgical Operations, Inc.

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

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

CPC classification number: G06T11/60 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06T11/40 ,  Y02P90/265

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：US20180240237A1

公开(公告)日：2018-08-23

申请号：US15752154

申请日：2016-08-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Caitlin Q. Donhowe ,  Vincent Duindam ,  Timothy D. Soper ,  Tao Zhao

IPC: G06T7/00 ,  A61B1/00 ,  A61B34/35 ,  A61M25/01 ,  G06T7/33 ,  A61B34/10

CPC classification number: G06T7/0014 ,  A61B1/0016 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B2017/00699 ,  A61B2017/00809 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2061 ,  A61B2034/301 ,  A61B2090/0811 ,  A61B2090/3937 ,  A61M25/01 ,  G06T7/344 ,  G06T2207/10016 ,  G06T2207/10068 ,  G06T2207/30061

Abstract: A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches and displayed on a display.