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公开(公告)号：US10932649B2
公开(公告)日：2021-03-02
申请号：US16682940
申请日：2019-11-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Jeffrey DiCarlo , Stephen J. Blumenkranz , Brian D. Hoffman , Geoff Richmond , Tao Zhao
IPC: H04N9/47 , A61B1/00 , A61B1/06 , A61B90/30 , A61B34/35 , A61B90/00 , G06T7/90 , H04N5/235 , H04N9/04 , A61B34/30
Abstract: A system may control an illuminator to illuminate a surgical site with non-white light and control a camera to capture light reflected from the surgical site. The camera may separate the captured light into a plurality of color components. The plurality of color components may be captured by the camera as a plurality of sets of pixels of a frame in a video stream, and each set of the plurality of sets of pixels may be in a different color channel of the camera. The system may further control, based on color component characteristics of the light captured by the camera, the illuminator to configure the non-white light such that each color channel of the camera has an about equal response to the light captured by the camera for a subsequently captured frame in the video stream.
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公开(公告)号：US20140046341A1
公开(公告)日：2014-02-13
申请号：US13961737
申请日：2013-08-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Jeffrey DiCarlo
CPC classification number: H04N5/2353 , A61B1/00006 , A61B1/045 , A61B34/30 , A61B90/361 , H04N5/2351 , H04N2005/2255
Abstract: A camera system that can be utilized in robotic surgery is presented. In particular, a method of setting a light level in a camera in a robotic system includes determining a location of at least one instrument end effectors within a field-of-view of the camera; determining a region-of-interest in the field-of-view based on the location of the at least one instrument tip; gathering luminance statistics in the region-of-interest; computing a luminance value from the luminance statistics; and adjusting an exposure in response to a comparison of the luminance value with a target luminance value.
Abstract translation: 提出了可用于机器人手术的相机系统。 特别地，在机器人系统中设置照相机中的光级的方法包括确定至少一个仪器末端执行器在照相机的视野内的位置; 基于所述至少一个仪器尖端的位置来确定所述视野中的感兴趣区域; 收集兴趣区的亮度统计数据; 根据亮度统计计算亮度值; 以及响应于亮度值与目标亮度值的比较来调整曝光。
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Patent Agency Ranking
公开(公告)号：US11759093B2
公开(公告)日：2023-09-19
申请号：US17158976
申请日：2021-01-26
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Jeffrey DiCarlo , Stephen J. Blumenkranz , Brian D. Hoffman , Geoff Richmond , Tao Zhao
IPC: A61B1/00 , A61B1/06 , A61B90/30 , H04N23/10 , H04N23/72 , A61B34/35 , A61B90/00 , G06T7/90 , A61B34/30
CPC classification number: A61B1/000095 , A61B1/00193 , A61B1/0638 , A61B1/0655 , A61B34/35 , A61B90/30 , A61B90/37 , G06T7/90 , H04N23/10 , H04N23/72 , A61B34/30 , A61B2090/371 , G06T2207/30004
Abstract: An apparatus may configure an illuminator to illuminate a scene with non-white light and control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light. The apparatus may adjust a signal of a color channel of the camera in the frame of the scene based on the non-white light.
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公开(公告)号：US20200077870A1
公开(公告)日：2020-03-12
申请号：US16682940
申请日：2019-11-13
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Jeffrey DiCarlo , Stephen J. Blumenkranz , Brian D. Hoffman , Geoff Richmond , Tao Zhao
Abstract: A system may control an illuminator to illuminate a surgical site with non-white light and control a camera to capture light reflected from the surgical site. The camera may separate the captured light into a plurality of color components. The plurality of color components may be captured by the camera as a plurality of sets of pixels of a frame in a video stream, and each set of the plurality of sets of pixels may be in a different color channel of the camera. The system may further control, based on color component characteristics of the light captured by the camera, the illuminator to configure the non-white light such that each color channel of the camera has an about equal response to the light captured by the camera for a subsequently captured frame in the video stream.
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公开(公告)号：US09844313B2
公开(公告)日：2017-12-19
申请号：US14189425
申请日：2014-02-25
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Jeffrey DiCarlo , David D. Scott , Wenyi Zhao
IPC: H04N9/73 , H04N3/14 , H04N5/335 , H04N9/04 , G06K9/36 , A61B1/00 , G06T3/40 , A61B1/04 , H04N9/07 , H04N9/09 , H04N13/02
CPC classification number: A61B1/0005 , A61B1/04 , G06T3/4015 , H04N9/045 , H04N9/07 , H04N9/09 , H04N13/257 , H04N2209/046
Abstract: In one embodiment of the invention, an apparatus is disclosed including an image sensor, a color filter array, and an image processor. The image sensor has an active area with a matrix of camera pixels. The color filter array is in optical alignment over the matrix of the camera pixels. The color filter array assigns alternating single colors to each camera pixel. The image processor receives the camera pixels and includes a correlation detector to detect spatial correlation of color information between pairs of colors in the pixel data captured by the camera pixels. The correlation detector further controls demosaicing of the camera pixels into full color pixels with improved resolution. The apparatus may further include demosaicing logic to demosaic the camera pixels into the full color pixels with improved resolution in response to the spatial correlation of the color information between pairs of colors.
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公开(公告)号：US20160227129A1
公开(公告)日：2016-08-04
申请号：US15008215
申请日：2016-01-27
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Jeffrey DiCarlo , Ian E. McDowall
CPC classification number: H04N5/265 , A61B1/00006 , A61B1/00009 , A61B1/0005 , A61B1/00193 , A61B1/043 , A61B1/05 , A61B1/06 , A61B1/0638 , A61B1/0646 , G06T3/4015 , H04N5/2256 , H04N5/2257 , H04N5/2258 , H04N9/045 , H04N13/257 , H04N2005/2255
Abstract: Mixed mode imaging is implemented using a single-chip image capture sensor with a color filter array. The single-chip image capture sensor captures a frame including a first set of pixel data and a second set of pixel data. The first set of pixel data includes a first combined scene, and the second set of pixel data includes a second combined scene. The first combined scene is a first weighted combination of a fluorescence scene component and a visible scene component due to the leakage of a color filter array. The second combined scene includes a second weighted combination of the fluorescence scene component and the visible scene component. Two display scene components are extracted from the captured pixel data in the frame and presented on a display unit.
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公开(公告)号：US09258549B2
公开(公告)日：2016-02-09
申请号：US13893550
申请日：2013-05-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Jeffrey DiCarlo , Ian E. McDowall , Wenyi Zhao
CPC classification number: H04N5/265 , A61B1/00006 , A61B1/00009 , A61B1/0005 , A61B1/00193 , A61B1/043 , A61B1/05 , A61B1/06 , A61B1/0638 , A61B1/0646 , G06T3/4015 , H04N5/2256 , H04N5/2257 , H04N5/2258 , H04N9/045 , H04N13/257 , H04N2005/2255
Abstract: Mixed mode imaging is implemented using a single-chip image capture sensor with a color filter array. The single-chip image capture sensor captures a frame including a first set of pixel data and a second set of pixel data. The first set of pixel data includes a first combined scene, and the second set of pixel data includes a second combined scene. The first combined scene is a first weighted combination of a fluorescence scene component and a visible scene component due to the leakage of a color filter array. The second combined scene includes a second weighted combination of the fluorescence scene component and the visible scene component. Two display scene components are extracted from the captured pixel data in the frame and presented on a display unit.
Abstract translation: 使用具有滤色器阵列的单片图像捕获传感器来实现混合模式成像。 单片图像捕获传感器捕获包括第一组像素数据和第二组像素数据的帧。 第一组像素数据包括第一组合场景，并且第二组像素数据包括第二组合场景。 第一组合场景是由于滤色器阵列的泄漏而引起的荧光场景分量和可见场景分量的第一加权组合。 第二组合场景包括荧光场景分量和可见场景分量的第二加权组合。 从帧中捕获的像素数据中提取两个显示场景分量，并将其呈现在显示单元上。
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