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公开(公告)号：US10008017B2
公开(公告)日：2018-06-26
申请号：US13768047
申请日：2013-02-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon P. DiMaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Brian David Hoffman , Wenyi Zhao
IPC: G06T11/60 , G06T11/40 , B25J9/16 , G05B19/42 , A61B90/00 , A61B34/30 , A61B34/37 , A61B34/20 , A61B34/00
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.
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公开(公告)号：US20180082114A1
公开(公告)日：2018-03-22
申请号：US15825358
申请日：2017-11-29
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
CPC classification number: G06K9/00375 , G06T19/006 , G06T2207/20112
Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.
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公开(公告)号：US20180071033A1
公开(公告)日：2018-03-15
申请号：US15699858
申请日：2017-09-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Wenyi Zhao , William C. Nowlin
IPC: A61B34/20
CPC classification number: A61B34/20 , A61B34/30 , A61B34/37 , A61B90/94 , A61B2034/102 , A61B2034/2065 , A61B2090/371 , A61B2090/3983
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, an associated medical system includes a tool having a distal end that is insertable into a patient body, a stereo image capture device insertable into the patient body so that the stereo image capture device captures a stereo image of at least a portion of the 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 stereo image. Associated methods and tools are also provided.
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184.发明申请公开(公告)号：US20180014895A1
公开(公告)日：2018-01-18
申请号：US15719275
申请日：2017-09-28
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Giuseppe Maria Prisco , John R. Steger , David Q. Larkin
IPC: B25J9/16
CPC classification number: A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , B25J9/1689 , B25J9/1697
Abstract: A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform.
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公开(公告)号：US09775499B2
公开(公告)日：2017-10-03
申请号：US14332684
申请日：2014-07-16
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David Scott , Wenyi Zhao , Brian D. Hoffman , John D. Stern , Tao Zhao
IPC: A61B1/04 , A61B1/06 , A61B1/00 , A61B1/313 , A61B5/00 , H04N13/02 , A61B1/05 , A61B90/30 , A61B34/37 , G01N21/64 , A61B34/30 , A61B90/00
CPC classification number: A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
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 from the light 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.
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Patent Agency Ranking
186.发明申请公开(公告)号：US20170189118A1
公开(公告)日：2017-07-06
申请号：US15116115
申请日：2015-02-03
Applicant: Intuitive Surgical Operations Inc.
Inventor： Prashant Chopra , Vincent Duindam , Tao Zhao , Lei Xu
CPC classification number: A61B34/10 , A61B34/20 , A61B34/30 , A61B2034/105 , A61B2034/107 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , G06T19/20 , G06T2210/41 , G06T2219/2021
Abstract: A method of modeling anatomic deformation comprises receiving a reference three dimensional model of a branched anatomical formation in a reference state. The method further comprises applying a three dimensional deformation field to the reference three dimensional model to create a deformed three dimensional model of a deformed state of the branched anatomical formation and dynamically displaying an image of the deformed three dimensional model of the deformed state of the branched anatomical formation.
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公开(公告)号：US20140235943A1
公开(公告)日：2014-08-21
申请号：US14181024
申请日：2014-02-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Michael Paris , Lucas Gordon , Tao Zhao , Carol Reiley
Abstract: An anatomical probe system comprises an elongated flexible body and an elongated probe extending within the flexible body. The probe has a distal end and includes an outer wall defining a channel. The probe also includes an access port in the outer wall in communication with the channel. The access port is spaced proximally of the distal end.
Abstract translation: 解剖探针系统包括细长柔性体和在柔性体内延伸的细长探针。 探头具有远端并且包括限定通道的外壁。 探头还包括与通道连通的外壁中的进入口。 进入口在远端的近侧间隔开。
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公开(公告)号：US20140188440A1
公开(公告)日：2014-07-03
申请号：US14144232
申请日：2013-12-30
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Caitlin Q. Donhowe , Prashant Chopra , Carol Reiley , Tao Zhao , Dorin Panescu
CPC classification number: A61B8/12 , A61B5/0066 , A61B5/065 , A61B8/0841 , A61B8/085 , A61B8/4245 , A61B8/4263 , A61B10/04 , A61B17/00234 , A61B34/10 , A61B2034/102 , A61B2034/107 , A61B2034/2051 , A61B2090/364
Abstract: A method of planning a procedure to deploy an interventional instrument comprises receiving a model of an anatomic structure. The anatomic structure includes a plurality of passageways. The method further includes identifying a target structure in the model and receiving information about an operational capability of the interventional instrument within the plurality of passageways. The method further comprises identifying a planned deployment location for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the operational capability of the interventional instrument.
Abstract translation: 规划展开介入器械的程序的方法包括接收解剖结构的模型。 解剖结构包括多个通道。 该方法还包括识别模型中的目标结构并且接收关于多个通道内介入器具的操作能力的信息。 该方法还包括识别用于定位介入器械的远侧尖端的计划部署位置，以基于介入器械的操作能力来执行目标结构上的过程。
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189.发明申请公开(公告)号：US20140055489A1
公开(公告)日：2014-02-27
申请号：US13768047
申请日：2013-02-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon P. DiMaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Brian David Hoffman , Wenyi Zhao
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
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.
Abstract translation: 操作人员远程控制工具，在工作现场的对象上执行过程，同时在显示器上查看工作现场的实时图像。 工具信息通过在工具上呈现工具信息而在工具上当前的注视区域中提供工具信息，以便不模糊由工具在工作时被处理的对象，也不需要使用者在观察工具时重新聚焦 信息和立体声查看器上的工具图像。
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公开(公告)号：US12251170B2
公开(公告)日：2025-03-18
申请号：US17942777
申请日：2022-09-12
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Wenyi Zhao , William C. Nowlin
Abstract: A system may comprise a tool including at least one reference feature. a processor, and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to receive image data including an image of the tool and the at least one reference feature, determine a pose of the tool from the image data, and modify the image data to visually decrement a portion of the image data corresponding to the at least one reference feature.
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