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    TARGETS, FIXTURES, AND WORKFLOWS FOR CALIBRATING AN ENDOSCOPIC CAMERA
    242.
    发明申请
    TARGETS, FIXTURES, AND WORKFLOWS FOR CALIBRATING AN ENDOSCOPIC CAMERA 审中-公开

    公开(公告)号：US20190052862A1

    公开(公告)日：2019-02-14

    申请号：US16162742

    申请日：2018-10-17

    Applicant: Intuitive Surgical Operations, Inc.

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

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

    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.

    SYSTEMS AND METHODS FOR DEFORMATION COMPENSATION USING SHAPE SENSING
    245.
    发明申请
    SYSTEMS AND METHODS FOR DEFORMATION COMPENSATION USING SHAPE SENSING 审中-公开

    公开(公告)号：US20190008413A1

    公开(公告)日：2019-01-10

    申请号：US16114456

    申请日：2018-08-28

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

    IPC: A61B5/06 ,  G06F19/00 ,  A61B34/30 ,  A61B5/00 ,  A61B34/20 ,  A61B34/10 ,  A61B17/00

    Abstract: A medical system comprises a surgical device including a tracking system. The medical system also includes a memory storing anatomical data describing a patient anatomy. The medical system also includes a processor configured for generating a first model, that includes a set of anatomical passageways including a first proximal branch connected to a first distal branch, from the stored anatomical data describing the patient anatomy. The processor is also configured for determining, by the tracking system, a shape of an elongate flexible body of the surgical device positioned within the first proximal branch and the first distal branch of the set of anatomical passageways. The processor is also configured for computing, based on the determined shape of the elongate flexible body, a total set of forces acting on the set of anatomical passageways in response to the surgical device positioned within the first proximal branch and the first distal branch. The processor is also configured for deforming the first model into a second model of the anatomical passageways by adjusting at least one joint between branches in the set of anatomical passageways in the first model based on the total set of forces computed, to thereby change a pose of at least one branch through which the surgical device extends and at least one additional branch through which the surgical device does not extend.

    Three-dimensional target devices, assemblies and methods for calibrating an endoscopic camera
    248.
    发明授权
    Three-dimensional target devices, assemblies and methods for calibrating an endoscopic camera 有权

    公开(公告)号：US09770157B2

    公开(公告)日：2017-09-26

    申请号：US14563558

    申请日：2014-12-08

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tyler J. Morrissette ,  Tao Zhao ,  Joseph P. Orban, III ,  Brian David Hoffman

    IPC: A61B1/04 ,  A61B1/00

    CPC classification number: A61B1/00057 ,  A61B1/00193

    Abstract: The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions.

    THREE-DIMENSIONAL TARGET DEVICES, ASSEMBLIES AND METHODS FOR CALIBRATING AN ENDOSCOPIC CAMERA
    250.
    发明申请
    THREE-DIMENSIONAL TARGET DEVICES, ASSEMBLIES AND METHODS FOR CALIBRATING AN ENDOSCOPIC CAMERA 审中-公开

    公开(公告)号：US20170127912A9

    公开(公告)日：2017-05-11

    申请号：US14563558

    申请日：2014-12-08

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Tyler J. Morrissette ,  Tao Zhao ,  Joseph P. Orban, III ,  Brian David Hoffman

    IPC: A61B1/00

    CPC classification number: A61B1/00057 ,  A61B1/00193

    Abstract: The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions.

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