公开(公告)号：US09789608B2

公开(公告)日：2017-10-17

申请号：US12415354

申请日：2009-03-31

Applicant: Brandon D. Itkowitz ,  Daniel J. Halabe ,  Tao Zhao ,  Simon Dimaio ,  Christopher J. Hasser ,  Catherine J. Mohr ,  Paul W. Mohr ,  David Q. Larkin ,  Wenyi Zhao ,  Brian D. Hoffman

Inventor： Brandon D. Itkowitz ,  Daniel J. Halabe ,  Tao Zhao ,  Simon Dimaio ,  Christopher J. Hasser ,  Catherine J. Mohr ,  Paul W. Mohr ,  David Q. Larkin ,  Wenyi Zhao ,  Brian D. Hoffman

IPC: A61B17/00 ,  B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  A61B34/00

CPC classification number: B25J9/1697 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1689 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06F19/00

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

公开(公告)号：US09772343B2

公开(公告)日：2017-09-26

申请号：US14241891

申请日：2011-09-15

Applicant: Tao Wang ,  Tao Zhao

Inventor： Tao Wang ,  Tao Zhao

IPC: G01P1/02 ,  G01P15/08 ,  G01C19/56 ,  G01P1/00 ,  F16F15/00 ,  G01C21/16 ,  B64D45/00 ,  G01C25/00 ,  G01C19/16 ,  G01C19/5628 ,  G01C19/5663 ,  G01C19/5769 ,  G01C19/5783

CPC classification number: G01P1/003 ,  B64C2201/14 ,  B64D45/00 ,  F16F7/104 ,  F16F15/00 ,  G01C19/16 ,  G01C19/56 ,  G01C19/5628 ,  G01C19/5663 ,  G01C19/5769 ,  G01C19/5783 ,  G01C21/16 ,  G01C25/00 ,  G01P1/023 ,  G01P15/08 ,  G01P15/0802

Abstract: The present disclosure relates to an inertia measurement module for an unmanned aircraft, which comprises a housing assembly, a sensing assembly and a vibration damper. The vibration damper comprises a first vibration-attenuation cushion; and the sensing assembly comprises a first circuit board, a second circuit board and a flexible signal line for connecting the first circuit board and the second circuit board. An inertia sensor is fixed on the second circuit board, and the first circuit board is fixed on the housing assembly. The inertia measurement module further comprises a weight block, and the second circuit board, the weight block, the first vibration-attenuation cushion and the first circuit board are bonded together. The present disclosure greatly reduces the influence of the operational vibration frequency of the unmanned aircraft on the inertia sensor and improves the measurement stability of the inertia sensor.

公开(公告)号：US09134150B2

公开(公告)日：2015-09-15

申请号：US13535011

申请日：2012-06-27

Applicant: Tao Zhao ,  Weny Zhao ,  David D. Scott

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

IPC: A62B1/04 ,  G01D15/00 ,  G01D1/00 ,  H04N13/02

CPC classification number: G06T7/002 ,  G01D1/00 ,  G01D15/00 ,  G06K9/4671 ,  G06T7/85 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10068 ,  G06T2207/10148 ,  G06T2207/20056 ,  G06T2207/30204 ,  H04N13/239 ,  H04N13/246

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 on 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.

Abstract translation: 本公开涉及用于诸如内窥镜成像系统的成像系统的校准组件和方法。 校准组件包括：用于约束与内窥镜成像系统接合的界面; 将所述界面与所述成像系统的视场相耦合的目标，所述目标包括具有包括识别特征的校准特征的多个标记; 以及处理器，被配置为从所述识别特征分别识别来自所述成像系统和所述目标之间的第一和第二相对空间布置的第一和第二图像，来自所述识别特征的至少一些标记，以及使用所识别的标记和校准特征位置 图像生成校准数据。

公开(公告)号：US08712151B2

公开(公告)日：2014-04-29

申请号：US13026740

申请日：2011-02-14

Applicant: Wenyi Zhao ,  Simon P. DiMaio ,  Catherine J. Mohr ,  David D. Scott ,  Tao Zhao

Inventor： Wenyi Zhao ,  Simon P. DiMaio ,  Catherine J. Mohr ,  David D. Scott ,  Tao Zhao

IPC: G06K9/00

CPC classification number: G06T5/008 ,  A61B34/30 ,  A61B2090/371 ,  G06T2207/10024 ,  H04N1/6027

Abstract: A local contrast enhancement method transforms a first plurality of color components of a first visual color image into a modified brightness component by using a first transformation. The first plurality of color components are in a first color space. The modified brightness component is a brightness component of a second color space. The second color space also includes a plurality of chromatic components. The method transforms all the color components of the first color space into the chromatic components of the second color space. The method then transforms the modified brightness component and the chromatic components of the second color space into a plurality of new color components, in the first color space, of a second visual color image. The method transmits the plurality of new color components to a device such as a display device. The second visual color image has enhanced contrast in comparison to the first visual color image.

Abstract translation: 局部对比度增强方法通过使用第一变换将第一视觉彩色图像的第一多个颜色分量变换成修改的亮度分量。 第一多个颜色分量在第一颜色空间中。 修正的亮度分量是第二颜色空间的亮度分量。 第二颜色空间还包括多个有色成分。 该方法将第一颜色空间的所有颜色分量变换为第二颜色空间的色彩分量。 该方法然后将修改的亮度分量和第二颜色空间的色彩分量转换为第二视觉彩色图像的第一颜色空间中的多个新颜色分量。 该方法将多个新颜色分量发送到诸如显示设备的设备。 与第一视觉彩色图像相比，第二视觉彩色图像具有增强的对比度。

公开(公告)号：US08682489B2

公开(公告)日：2014-03-25

申请号：US12887091

申请日：2010-09-21

Applicant: Brandon D. Itkowitz ,  Simon P. DiMaio ,  Tao Zhao ,  Karlin Y. Bark

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Tao Zhao ,  Karlin Y. Bark

IPC: G05B15/00

CPC classification number: B25J13/02 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/74 ,  A61B2017/00207 ,  A61B2034/741 ,  B25J9/1689 ,  G05B19/427

Abstract: In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

Abstract translation: 在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。 基于人手部分的位置生成系统控制参数。 使用系统控制参数控制微创手术系统的操作。 因此，微创手术系统包括手跟踪系统。 手跟踪系统跟踪人手部分的位置。 耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且基于系统控制参数向微创手术系统注入命令。

公开(公告)号：US08223193B2

公开(公告)日：2012-07-17

申请号：US12415377

申请日：2009-03-31

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

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

IPC: H04N13/00 ,  H04N15/00 ,  A61B1/04

CPC classification number: G06T7/002 ,  G01D1/00 ,  G01D15/00 ,  G06K9/4671 ,  G06T7/85 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10068 ,  G06T2207/10148 ,  G06T2207/20056 ,  G06T2207/30204 ,  H04N13/239 ,  H04N13/246

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.

Abstract translation: 本公开涉及用于诸如内窥镜成像系统的成像系统的校准组件和方法。 校准组件包括：用于约束与内窥镜成像系统接合的界面; 与所述界面耦合以便在所述成像系统的视野范围内的目标，所述目标包括具有包括识别特征的校准特征的多个标记; 以及处理器，被配置为从所述识别特征分别识别来自所述成像系统和所述目标之间的第一和第二相对空间布置的第一和第二图像，来自所述识别特征的至少一些标记，以及使用所识别的标记和校准特征位置 图像生成校准数据。

公开(公告)号：US20120129537A1

公开(公告)日：2012-05-24

申请号：US13373652

申请日：2011-11-23

Applicant: Guanghai Liu ,  Junwei Ren ,  Hong Wang ,  Tao Zhao

Inventor： Guanghai Liu ,  Junwei Ren ,  Hong Wang ,  Tao Zhao

IPC: H04W36/30 ,  H04W36/08

CPC classification number: H04W36/04 ,  H04W36/0083 ,  H04W36/00837

Abstract: A method handsoff a terminal to a femtocell in a wireless communication system. The method includes, upon generation of a request for handoff to the femtocell, selecting, by a second server, at least one femtocells located within a predetermined distance from a source base station as candidate femtocells for the handoff, according to a request of a first server which functions as a femtocell gateway, receiving, by the first server, a response message comprising information of the candidate femtocells from the second server, sending, by the first server, a message requesting measurement of a reverse signal strength of a terminal under the handoff to the candidate femtocells, determining, by the first server, a destination femtocell for the handoff among the candidate femtocells based on the measurement result reported from the candidate femtocells, and executing a handoff procedure to the destination femtocell from the source base station.

Abstract translation: 在无线通信系统中将终端切换到毫微微小区的方法。 该方法包括：在产生对毫微微小区的切换请求时，根据第一服务器的请求，由第二服务器选择位于距离源基站预定距离内的至少一个毫微微小区，作为用于切换的候选毫微微小区 服务器，其用作毫微微小区网关，由第一服务器接收包括来自第二服务器的候选毫微微小区的信息的响应消息，由第一服务器发送请求测量终端下的终端的反向信号强度的消息 切换到所述候选毫微微小区，由所述第一服务器基于从所述候选毫微微小区报告的测量结果，确定所述候选毫微微小区中的切换的目的地毫微微小区，以及从所述源基站执行到所述目的地毫微微小区的切换过程。

公开(公告)号：US20110174359A1

公开(公告)日：2011-07-21

申请号：US13006225

申请日：2011-01-13

Applicant: ESMOND GOEI ,  TAO ZHAO ,  YEN CHIN

Inventor： ESMOND GOEI ,  TAO ZHAO ,  YEN CHIN

IPC: H01L31/052 ,  H01L31/00

CPC classification number: H01L31/0547 ,  F24S20/20 ,  F24S23/31 ,  F24S23/71 ,  F24S23/79 ,  F24S25/10 ,  F24S30/452 ,  F24S30/455 ,  F24S30/48 ,  F24S40/85 ,  F24S50/20 ,  F24S80/50 ,  F24S2030/18 ,  H02S20/32 ,  Y02E10/41 ,  Y02E10/42 ,  Y02E10/47 ,  Y02E10/52

Abstract: A solar energy receiver array comprises a plurality of solar energy receivers arranged in an X by Y array. A protected housing includes a plurality of sides defining an opening therein. The plurality of solar energy receivers are arranged in the X by Y array may be lowered into the opening within the protective housing to protect the plurality of solar energy receivers arranged in the X by Y array from external winds.

Abstract translation: 太阳能接收器阵列包括以X×Y阵列排列的多个太阳能接收器。 受保护的壳体包括在其中限定开口的多个侧面。 多个太阳能接收器被布置在X×Y阵列中可以降低到保护壳体内的开口中，以保护由Y阵列排列在X中的多个太阳能接收器免受外界风。

公开(公告)号：US07929017B2

公开(公告)日：2011-04-19

申请号：US11192682

申请日：2005-07-28

Applicant: Manoj Aggarwal ,  Harpreet Sawhney ,  Keith Hanna ,  Rakesh Kumar ,  Tao Zhao ,  David R. Patterson ,  David Kalokitis

Inventor： Manoj Aggarwal ,  Harpreet Sawhney ,  Keith Hanna ,  Rakesh Kumar ,  Tao Zhao ,  David R. Patterson ,  David Kalokitis

IPC: H04N5/225

CPC classification number: G01S5/16 ,  G01S3/7864 ,  G01S5/0294 ,  G01S13/767 ,  G06K9/00295 ,  G06K9/00335 ,  G06K9/32 ,  G06K9/6289 ,  G06T7/97 ,  G07C9/00087 ,  G07C9/00111 ,  G08B13/19604 ,  G08B13/19608 ,  G08B13/19641 ,  G08B13/19673 ,  G08B13/19691 ,  G08B13/19697 ,  G08B13/2462 ,  H04N13/243 ,  H04N13/368 ,  H04N2013/0085

Abstract: A unified approach, a fusion technique, a space-time constraint, a methodology, and system architecture are provided. The unified approach is to fuse the outputs of monocular and stereo video trackers, RFID and localization systems and biometric identification systems. The fusion technique is provided that is based on the transformation of the sensory information from heterogeneous sources into a common coordinate system with rigorous uncertainties analysis to account for various sensor noises and ambiguities. The space-time constraint is used to fuse different sensor using the location and velocity information. Advantages include the ability to continuously track multiple humans with their identities in a large area. The methodology is general so that other sensors can be incorporated into the system. The system architecture is provided for the underlying real-time processing of the sensors.

Abstract translation: 提供统一的方法，融合技术，时空约束，方法论和系统架构。 统一的方法是融合单眼和立体视频跟踪器，RFID和定位系统以及生物识别系统的输出。 提供了融合技术，其基于将异构源的感官信息转换成具有严格的不确定性分析的公共坐标系，以解决各种传感器噪声和模糊性。 时空约束用于使用位置和速度信息来融合不同的传感器。 优点包括在大面积上持续跟踪多个人的身份的能力。 该方法是一般的，以便其他传感器可以并入系统。 系统架构提供用于底层实时处理传感器。

公开(公告)号：US20100169815A1

公开(公告)日：2010-07-01

申请号：US12428142

申请日：2009-04-22

Applicant: Wenyi Zhao ,  Tao Zhao ,  David Q. Larkin

Inventor： Wenyi Zhao ,  Tao Zhao ,  David Q. Larkin

IPC: A61B19/00 ,  G06F3/048

CPC classification number: B25J9/1633 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/102 ,  A61B2090/065 ,  A61B2090/365 ,  B25J9/1697 ,  Y10S901/47

Abstract: Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.

Abstract translation: 用于在机器人手术系统中提供力信息的视觉表示的方法和系统。 确定手术末端执行器的真实位置。 还确定了如果对端部执行器没有施加力的手术末端执行器的突出位置。 表示实际和投影位置的图像叠加在显示器上。 两个图像之间的偏移提供了施加到末端执行器或支撑末端执行器的运动链的力的视觉指示。 此外，确定并显示组织变形信息。