公开(公告)号：US20220409324A1

公开(公告)日：2022-12-29

申请号：US17781315

申请日：2020-12-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pourya Shirazian ,  Mahdi Azizian ,  Daniel Proksch

IPC: A61B90/30

Abstract: An exemplary system is configured to detect user input directing a telestration element to be drawn within an image depicting a surface within a scene; render, based on depth data representative of a depth map for the scene and within a three dimensional (3D) image depicting the surface within the scene, the telestration element; record a 3D position within the scene at which the telestration element is rendered within the 3D image; detect a telestration termination event that removes the telestration element from being rendered within the 3D image; and indicate, subsequent to the telestration termination event, an option to again render the telestration element at the 3D position.

公开(公告)号：US20220218435A1

公开(公告)日：2022-07-14

申请号：US17615001

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Pourya Shirazian ,  Mahdi Azizian ,  A. Jonathan McLeod ,  Daniel Proksch

IPC: A61B90/00 ,  G06T15/20 ,  A61B34/00

Abstract: An exemplary system accesses imagery of a surgical space captured by different imaging modalities and, based on the accessed imagery, generates composite imagery that includes integrated representations of the surgical space as captured by the different imaging modalities. An exemplary composite image includes a representation of the surgical space as captured by a first imaging modality augmented with an integrated representation of the surgical space as captured by a second imaging modality. The integrated representation of the surgical space as captured by the second imaging modality may be selectively movable and may be generated based on first imagery of the surgical space captured by the first imaging modality and second imagery of the surgical space captured by the second imaging modality in a manner that provides a visually realistic appearance of depth.

公开(公告)号：US20220215539A1

公开(公告)日：2022-07-07

申请号：US17612973

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel Proksch ,  Mahdi Azizian ,  A. Jonathan McLeod ,  Pourya Shirazian

IPC: G06T7/00 ,  G06V10/26 ,  G06V10/10 ,  G06V10/25 ,  G06T7/11 ,  A61B90/00

Abstract: A composite medical imaging system may direct a display device to display an image captured by an imaging device and showing a view of a surgical area and display an augmentation region within the image and that shows supplemental content. The view of the surgical area shows surface anatomy located at the surgical area and an object located at the surgical area. The augmentation region creates an occlusion over at least a portion of the view of the surgical area. The system may detect an overlap in the image between at least a portion of the object and at least a portion of the augmentation region. In response to the detection of the overlap, the system may adjust the image to decrease an extent of the occlusion within the overlap by the augmentation region.

公开(公告)号：US12285153B2

公开(公告)日：2025-04-29

申请号：US17928493

申请日：2021-05-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel Proksch ,  Mahdi Azizian ,  Pourya Shirazian

IPC: A61B1/00 ,  G06T7/70 ,  G06T11/00

Abstract: An illustrative system may be configured to obtain a visual image of an anatomical scene that includes an imaging probe and to augment the visual image with a synthetic element that indicates, within the visual image, an area of the anatomical scene being imaged by the imaging probe. The synthetic element may include spatial markers. The visualization system may be further configured to direct a display device to display the augmented image. The visualization system may be further configured to direct the display device to display, at a position outside of the synthetic element, a probe image captured by the imaging probe.

公开(公告)号：US12226072B2

公开(公告)日：2025-02-18

申请号：US17638322

申请日：2020-08-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： A. Jonathan McLeod ,  Mahdi Azizian ,  Daniel Proksch ,  Pourya Shirazian

IPC: A61B34/10 ,  A61B1/00 ,  A61B34/20 ,  G06T7/00 ,  A61B6/02

Abstract: An exemplary image registration system identifies a subsurface structure at a surgical site based on subsurface imaging data from a subsurface image scan at the surgical site. The image registration system uses the identified subsurface structure at the surgical site for a registration of endoscopic imaging data from an endoscopic imaging modality with additional imaging data from an additional imaging modality. Corresponding systems and methods are also disclosed.

公开(公告)号：US20250054147A1

公开(公告)日：2025-02-13

申请号：US18930167

申请日：2024-10-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Daniel Proksch ,  Mahdi Azizian ,  A. Jonathan McLeod ,  Pourya Shirazian

IPC: G06T7/00 ,  A61B90/00 ,  G06T7/11 ,  G06V10/10 ,  G06V10/25 ,  G06V10/26

Abstract: A first display image includes a first captured image captured by an imaging device and showing a first view of a surgical area, which shows surface anatomy located at the surgical area and an object located at the surgical area, and an augmentation region. The augmentation region occludes at least a portion of the first view. Subsequent to capture of the first captured image, the system detects an overlap between the object and the augmentation region and determines whether the overlap is due to motion of the object. The system directs the display device to display a second display image including a second captured image captured by the imaging device. Inclusion of the augmentation region in the second display image and/or an extent of the occlusion within the overlap in the second display image is based on the determination whether the overlap is due to motion of the object.

公开(公告)号：US20230145531A1

公开(公告)日：2023-05-11

申请号：US17912784

申请日：2021-03-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： A. Jonathan McLeod ,  Maximilian H. Allan ,  Mahdi Azizian ,  Daniel Proksch ,  Pourya Shirazian

IPC: G06T7/33

CPC classification number: G06T7/33 ,  G06T2207/30004 ,  G06T2207/10068

Abstract: An exemplary image management system accesses semantic information regarding an anatomical object in a surgical space and registers, based at least in part on the semantic information regarding the anatomical object, a first dataset of a first visual representation of the surgical space with a second dataset of a second visual representation of the surgical space.

公开(公告)号：US20220361952A1

公开(公告)日：2022-11-17

申请号：US17762518

申请日：2020-10-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Azad Shademan ,  Mahdi Azizian ,  Daniel Proksch ,  Pourya Shirazian

IPC: A61B34/10 ,  A61B34/32 ,  A61B34/00 ,  A61B5/107 ,  G06T7/50 ,  G06T7/11 ,  G06T19/00 ,  G06T19/20 ,  G16H20/40

Abstract: An exemplary system is configured to obtain anatomical characteristic data representative of a characteristic associated with an anatomical surface to be covered by a physical medical element, the anatomical surface within an internal space of a patient and determine, based on the anatomical characteristic data, a placement guidance parameter set. The placement guidance parameter set may include one or more parameters configured to guide a placement of the physical medical element on the anatomical surface with one or more surgical instruments controlled by a computer-assisted surgical system.

公开(公告)号：US20220175346A1

公开(公告)日：2022-06-09

申请号：US17611602

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： A. Jonathan McLeod ,  Mahdi Azizian ,  Daniel Proksch ,  Azad Shademan ,  Pourya Shirazian

IPC: A61B8/00 ,  A61B8/08 ,  A61B8/12

Abstract: A contact detection system is configured to classify each pixel in a plurality of pixels included in an ultrasound image captured by an ultrasound probe located within a patient as either showing tissue or showing non-tissue; determine an average pixel classification representative of a number of pixels classified as showing tissue compared to a number of pixels classified as showing non-tissue; determine, if the average pixel classification is above a first contact state threshold, that the ultrasound probe is in a first contact state that indicates that the ultrasound probe is in operative physical contact with the tissue; and determine, if the average pixel classification is below a second contact state threshold lower than the first contact state threshold, that the ultrasound probe is in a second contact state that indicates that the ultrasound probe is not in operative physical contact with the tissue.

公开(公告)号：US20210304512A1

公开(公告)日：2021-09-30

申请号：US17266304

申请日：2019-07-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Pourya Shirazian ,  Mahdi Azizian ,  Daniel Proksch

IPC: G06T19/00 ,  A61B90/00 ,  G06T19/20 ,  G06T17/20

Abstract: Technology described herein can be embodied in a method of providing visual feedback during surgery. The method includes obtaining a set of vectors representing a model of an anatomical organ, the set produced from a representation of the organ as imaged under one or more imaging modalities. The method includes obtaining a set of pixel positions of a display device, wherein the pixel positions correspond to a view of the organ. The method further includes generating, using at least a portion of the set of vectors, multiple fragment-vectors for each pixel position in the set of pixel positions, the multiple fragment-vectors each representing a corresponding portion of the organ along a line-of-sight through the organ, and generating a pixel value for each pixel position in the set of pixel positions, and presenting, on the display device, an augmented image of the view of the organ using the generated pixel values.