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11.发明授权Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information 有权用于机器人仪器工具跟踪的方法和系统，具有运动学信息和图像信息的自适应融合公开(公告)号：US08108072B2
公开(公告)日：2012-01-31
申请号：US11865014
申请日：2007-09-30
CPC分类号： G06K9/3216 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/3612 , A61B2090/371 , A61B2090/3784 , A61B2090/3937 , G05B2219/40557 , G05B2219/45117 , G06K2009/3225 , G06K2209/057
摘要： In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical system with a tool tracking sub-system. The tool tracking sub-system receives raw kinematics information and video image information of the robotic instrument to generate corrected kinematics information for the robotic instrument by adaptively fusing the raw kinematics information and the video image information together.
摘要翻译： 在本发明的一个实施例中，公开了一种用于跟踪一个或多个机器人装置的机器人系统的方法。 该方法包括在摄像机的视野内产生机器人仪器的运动学信息; 拍摄相机视野中的图像信息; 并将运动学信息和图像信息自适应地融合在一起，以确定机器人仪器的姿势信息。 另外公开了具有工具跟踪子系统的机器人医疗系统。 工具跟踪子系统通过将原始运动学信息和视频图像信息自适应地融合在一起，接收机器人仪器的原始运动学信息和视频图像信息，以生成机器人仪器的校正运动学信息。
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12.发明申请Methods of Locating and Tracking Robotic Instruments in Robotic Surgical Systems 有权在机器人手术系统中定位和跟踪机器人仪器的方法公开(公告)号：US20120020547A1
公开(公告)日：2012-01-26
申请号：US13249821
申请日：2011-09-30
IPC分类号： G06K9/00
CPC分类号： 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 , G06F19/00 , G06F19/3418 , G06F19/3481 , G06K9/00624 , G06K9/3241 , G06K2209/057 , G06T7/246 , G06T2207/10021 , G06T2207/10068 , G06T2207/30004 , G06T2207/30241 , G09B23/28
摘要： 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.
摘要翻译： 在本发明的一个实施例中，公开了一种在机器人视野中定位机器人仪器的方法。 该方法包括在摄像机的视野中捕获顺序图像。 顺序图像在连续视图之间相关。 该方法还包括接收运动学基准以提供机器人仪器的近似位置，然后响应于机器人仪器的大致位置来分析顺序图像。 公开了一种用于机器人系统的附加方法。 还公开了一种用于指示工具进入相机视场的方法。
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公开(公告)号：US20110264112A1
公开(公告)日：2011-10-27
申请号：US13175590
申请日：2011-07-01
IPC分类号： A61B19/00
CPC分类号： A61B34/35 , A61B34/30 , A61B34/37 , A61B34/71 , A61B34/77 , A61B90/361 , A61B90/37 , A61B2034/301 , A61B2034/302 , A61B2034/305 , A61B2090/065 , B25J3/00 , B25J9/1682 , B25J9/1689 , G05B2219/39135 , G05B2219/39212 , G05B2219/39322 , G05B2219/40184 , G05B2219/45117
摘要： Telerobotic, telesurgical, and/or surgical robotic devices, systems, and methods employ surgical robotic linkages that may have more degrees of freedom than an associated surgical end effector n space. A processor can calculate a tool motion that includes pivoting of the tool about an aperture site. Linkages movable along a range of configurations for a given end effector position may be driven toward configurations which inhibit collisions. Refined robotic linkages and method for their use are also provided.
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公开(公告)号：US20110050852A1
公开(公告)日：2011-03-03
申请号：US12941038
申请日：2010-11-06
申请人： Ben Lamprecht , William C. Nowlin , John D. Stern
发明人： Ben Lamprecht , William C. Nowlin , John D. Stern
IPC分类号： H04N13/00
CPC分类号： A61B1/3132 , A61B1/00193 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2034/305 , A61B2090/371
摘要： In one embodiment of the invention, a robotic surgical system includes a master control console having a stereo viewer to view stereo images; a surgical manipulator having a stereo endoscopic camera coupled to a robotic arm to generate the stereo images of a surgical site; a stereo telestration device coupled between the stereo endoscopic camera and the stereo viewer to mix telestration graphics and the stereo images of the surgical site together for viewing by the stereo viewer; and a telestration generator coupled to the stereo telestration device to generate the telestration graphics for overlay on the stereo images of the surgical site.
摘要翻译： 在本发明的一个实施例中，机器人手术系统包括具有用于观看立体图像的立体观看者的主控制台; 外科手术器具有耦合到机器人臂的立体声内窥镜照相机以产生手术部位的立体图像; 耦合在立体声内窥镜相机和立体观看器之间的立体远距离放置装置，以将远程图像和外科手术部位的立体图像混合在一起，以便立体观看者观看; 以及耦合到立体远距离设备的远程发生发生器，以产生用于覆盖在手术部位的立体图像上的远程化图形。
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公开(公告)号：US07865266B2
公开(公告)日：2011-01-04
申请号：US10424536
申请日：2003-04-24
申请人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
发明人： Frederic H. Moll , David J. Rosa , Andris D. Ramans , Steven J. Blumenkranz , Gary S. Guthart , Gunter D. Niemeyer , William C. Nowlin , J. Kenneth Salisbury, Jr. , Michael J. Tierney
CPC分类号： A61B19/2203 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B90/361 , A61B2017/00199 , A61B2034/305 , A61B2034/742 , A61B2090/506 , G06F19/00 , G09B23/285
摘要： Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.
摘要翻译： 改进的机器人手术系统，装置和方法包括可选择地可关联的主/从对，通常具有比外科医生的两只手同时移动的更多的操纵臂。 四个操纵臂可以支撑图像捕获装置，左手组织操作工具，右手组织操作工具和第四手术器械，特别是用于稳定，缩回，换刀或受益于间歇运动的其他功能。 四个或更多个臂可以顺序地由左和右主输入控制装置控制。 第四臂可以用于支持另一图像捕获装置，并且可以在操作者和助手之间来回传送一些或所有臂的控制。 可以耦合两个或更多个具有主控制器和从动操纵器的机器人系统，以实现两个或多个操作者之间的协作手术。
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公开(公告)号：US20090245600A1
公开(公告)日：2009-10-01
申请号：US12058663
申请日：2008-03-28
CPC分类号： H04N13/366 , A61B1/00039 , A61B1/00193 , A61B1/042 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , A61B2017/00477 , A61B2090/371 , H04N13/156 , H04N13/296 , H04N13/383
摘要： In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.
摘要翻译： 在本发明的一个实施例中，公开了一种用于数字视频的数字变焦和平移系统，包括用于捕获数字视频图像的图像采集装置; 图像缓冲器，用于存储一个或多个数字视频图像帧作为源像素; 具有显示图像的第一像素的显示装置; 接受包括源矩形的用户输入的用户界面以选择数字视频图像的帧内的源像素，用于选择显示设备内的目标像素以显示图像的目的地矩形，以及数字视频图像内的感兴趣区域以显示 在目的地矩形; 以及数字映射和滤波装置，用于响应于用户输入选择性地将来自图像缓冲器的感兴趣区域中的源像素和滤波器映射并显示到显示装置的目标像素中。
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公开(公告)号：US20090088897A1
公开(公告)日：2009-04-02
申请号：US11865014
申请日：2007-09-30
CPC分类号： G06K9/3216 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/3612 , A61B2090/371 , A61B2090/3784 , A61B2090/3937 , G05B2219/40557 , G05B2219/45117 , G06K2009/3225 , G06K2209/057
摘要： In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical system with a tool tracking sub-system. The tool tracking sub-system receives raw kinematics information and video image information of the robotic instrument to generate corrected kinematics information for the robotic instrument by adaptively fusing the raw kinematics information and the video image information together.
摘要翻译： 在本发明的一个实施例中，公开了一种用于跟踪一个或多个机器人装置的机器人系统的方法。 该方法包括在摄像机的视野内产生机器人仪器的运动学信息; 拍摄相机视野中的图像信息; 并将运动学信息和图像信息自适应地融合在一起，以确定机器人仪器的姿势信息。 另外公开了具有工具跟踪子系统的机器人医疗系统。 工具跟踪子系统通过将原始运动学信息和视频图像信息自适应地融合在一起，接收机器人仪器的原始运动学信息和视频图像信息，以生成机器人仪器的校正运动学信息。
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18.发明申请METHODS OF LOCATING AND TRACKING ROBOTIC INSTRUMENTS IN ROBOTIC SURGICAL SYSTEMS 有权定位和跟踪机器人手术系统中的机器人仪器的方法公开(公告)号：US20090088773A1
公开(公告)日：2009-04-02
申请号：US11865015
申请日：2007-09-30
IPC分类号： A61B17/00
CPC分类号： G06K9/3241 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/371 , G06K2209/057
摘要： 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.
摘要翻译： 在本发明的一个实施例中，公开了一种在机器人视野中定位机器人仪器的方法。 该方法包括在摄像机的视野中捕获顺序图像。 顺序图像在连续视图之间相关。 该方法还包括接收运动学基准以提供机器人仪器的大致位置，然后响应于机器人仪器的大致位置来分析顺序图像。 公开了一种用于机器人系统的附加方法。 还公开了一种用于指示工具进入相机视场的方法。
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公开(公告)号：US07155315B2
公开(公告)日：2006-12-26
申请号：US11299393
申请日：2005-12-12
申请人： Gunter D. Niemeyer , Gary S. Guthart , William C. Nowlin , Nitish Swarup , Gregory K Toth , Robert G. Younge
发明人： Gunter D. Niemeyer , Gary S. Guthart , William C. Nowlin , Nitish Swarup , Gregory K Toth , Robert G. Younge
IPC分类号： G06F19/00
CPC分类号： A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/77 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/064 , A61B2090/506
摘要： Enhanced telepresence and telesurgery systems automatically update coordinate transformations so as to retain alignment between movement of an input device and movement of an end effector as displayed adjacent the input device. A processor maps a controller workspace with an end effector workspace, and effects movement of the end effector in response to the movement of the input device. This allows the use of kinematically dissimilar master and slave linkages. Gripping an input member near a gimbal point and appropriate input member to end effector mapping points enhance the operator's control. Dexterity is enhanced by accurately tracking orientational and/or angles of movement, even if linear movement distances of the end effector do not correspond to those of the input device.
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公开(公告)号：US06879880B2
公开(公告)日：2005-04-12
申请号：US10437771
申请日：2003-05-13
申请人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
发明人： William C. Nowlin , Gary S. Guthart , Robert G. Younge , Thomas G. Cooper , Craig Gerbi , Steven J. Blumenkranz , Dean F. Hoornaert
CPC分类号： A61B34/76 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361 , A61B2017/00477 , A61B2034/305 , A61B2090/506 , B25J9/1689 , G05B2219/36455 , G05B2219/37396 , G05B2219/40146 , G05B2219/45169 , G06F19/00 , G16H50/50
摘要： Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
摘要翻译： 手术机器人和其他远程呈现系统具有增强的手柄致动，用于操纵具有小尺寸的组织和物体。 使用主/从系统，其中当夹持构件接近关闭构造时，错误信号或增益被人为改变。
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