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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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公开(公告)号：US20150042775A1
公开(公告)日：2015-02-12
申请号：US14451621
申请日：2014-08-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao
CPC classification number: G06T3/4015 , A61B2576/00 , H04N9/045 , H04N2005/2255
Abstract: An efficient demosaicing method includes reconstructing missing green pixels after estimating green-red color difference signals and green-blue color difference signals that are used in the reconstruction, and then constructing missing red and blue pixels using the color difference signals. This method creates a full resolution frame of red, green and blue pixels. The full resolution frame of pixels is sent to a display unit for display. In an efficient demosaicing process that includes local contrast enhancement, image contrast is enhanced to build and boost a brightness component from the green pixels, and to build chromatic components from all of the red, green, and blue pixels. Color difference signals are used in place of the red and blue pixels in building the chromatic components.
Abstract translation: 有效的去马赛克方法包括在估计重建中使用的绿 - 红色差信号和绿 - 蓝色差信号之后重建丢失的绿色像素，然后使用色差信号构建丢失的红色和蓝色像素。 此方法创建一个红色，绿色和蓝色像素的全分辨率帧。 像素的全分辨率帧被发送到显示单元以进行显示。 在包括局部对比度增强的有效的去马赛克过程中，图像对比度得到增强，从绿色像素构建和提升亮度分量，并从所有红色，绿色和蓝色像素构建色彩分量。 使用色差信号来代替构建彩色分量的红色和蓝色像素。
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公开(公告)号：US20240007762A1
公开(公告)日：2024-01-04
申请号：US18369304
申请日：2023-09-18
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Jeffrey M. DiCarlo , Ian E. McDowall
IPC: H04N25/13 , H04N13/257 , A61B1/00 , A61B1/04 , A61B1/05 , A61B1/06 , H04N23/10 , H04N23/45 , H04N23/56 , H04N23/57 , G06T3/40 , H04N5/265
CPC classification number: H04N25/134 , H04N13/257 , A61B1/00009 , A61B1/00193 , A61B1/043 , A61B1/05 , A61B1/06 , A61B1/0638 , H04N23/10 , H04N23/45 , H04N23/56 , H04N23/57 , A61B1/00006 , A61B1/0005 , A61B1/0646 , G06T3/4015 , H04N5/265 , H04N23/555
Abstract: An example method includes causing an illuminator to simultaneously illuminate tissue with a first visible color illumination component, a second visible color illumination component, and a fluorescence excitation illumination component; and causing a display unit to display, based on the illumination, a display scene that includes: a reduced color scene component corresponding to the first and second visible color illumination components, and a highlighted scene component corresponding to the fluorescence excitation illumination component.
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公开(公告)号：US11638999B2
公开(公告)日：2023-05-02
申请号：US16932373
申请日：2020-07-17
Applicant: Intuitive Surgical Operations, Inc
Inventor： Brandon D. Itkowitz , Simon P. DiMaio , Daniel J. Halabe , Christopher J. Hasser , Brian D. Hoffman , David Q. Larkin , Catherine J. Mohr , Paul W. Mohr , Tao Zhao , Wenyi Zhao
Abstract: A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.
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公开(公告)号：US11290637B2
公开(公告)日：2022-03-29
申请号：US16910941
申请日：2020-06-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul E. Lilagan , Wenyi Zhao
IPC: H04N5/232 , A61B1/00 , A61B90/00 , H04N5/235 , H04N13/204 , H04N5/238 , H04N13/296
Abstract: A method performed by a processor comprises determining a depth value of a target area relative to the image capturing device. The method also includes determining an adjustment to the brightness control so that a brightness level of images captured by the image capturing device is lowered if the depth value of the target area relative to the image capturing device is less than a threshold depth value. The method also includes determining whether an adjustment of the brightness control is to be automatically or manually adjusted. If the adjustment of the brightness control is to be manually adjusted, the processor over-rides manual control of the brightness control if an operator of the brightness control is causing the brightness level of images not to be lowered if the depth value of the target area relative to the image capturing device is less than the threshold depth value.
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Patent Agency Ranking
公开(公告)号：US11252395B2
公开(公告)日：2022-02-15
申请号：US16826890
申请日：2020-03-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Wenyi Zhao , David D. Scott
IPC: H04N13/246 , G06T7/80 , G06K9/46 , G01D1/00 , G01D15/00 , H04N13/239
Abstract: A calibration target comprises a target pattern plane having a planar surface and a plurality of markers disposed on the planar surface. An optical axis of the imaging system is at a first angle with respect to the planar surface of the target pattern plane when the calibration target is being used to calibrate the imaging system. The plurality of markers is pre-warped in size and aspect ratio using a set of trigonometric functions that use the first angle and a distance from the imaging system to the marker, so that each of the plurality of markers appears a substantially same size as all others of the plurality of markers when viewed by the imaging system at the first angle. The plurality of markers includes a plurality of localizer features that have known relative positions on the target pattern plane and are used to determine an orientation for each marker.
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公开(公告)号：US20200322526A1
公开(公告)日：2020-10-08
申请号：US16910941
申请日：2020-06-24
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul E. Lilagan , Wenyi Zhao
Abstract: An imaging system comprises an image capturing device, a viewer, a control element, and a processor. The control element controls or adjusts an image characteristic of one of the image capturing device and the viewer. The processor is programmed to determine a depth value relative to the image capturing device, determine a desirable adjustment to the control element by using the determined depth value, and control adjustment of the control element to assist manual adjustment of the control element to the desirable adjustment. The processor may also be programmed to determine whether the adjustment of the control element is to be automatically or manually adjusted and control adjustment of the control element automatically to the desirable adjustment if the control element is to be automatically adjusted.
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公开(公告)号：US10772482B2
公开(公告)日：2020-09-15
申请号：US15863651
申请日：2018-01-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Wenyi Zhao , Catherine J. Mohr , Jonathan M. Sorger
IPC: A61B1/00 , A61B5/02 , A61B1/04 , A61B5/026 , A61B5/00 , G06T7/11 , G06T7/269 , G06T7/00 , A61B1/06 , A61B1/07 , A61B90/00 , A61B17/00 , A61B34/30
Abstract: A bleeding detection unit in a surgical system processes information in an acquired scene before that scene is presented on a display unit in the operating room. For example, the bleeding detection unit analyzes the pixel data in the acquired scene and determines whether there are one or more initial sites of blood in the scene. Upon detection of an initial site of blood, the region is identified by an initial site icon in the scene displayed on the display unit. In one aspect, the processing is done in real-time which means that there is no substantial delay in presenting the acquired scene to the surgeon.
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公开(公告)号：US20200228783A1
公开(公告)日：2020-07-16
申请号：US16826890
申请日：2020-03-23
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Tao Zhao , Wenyi Zhao , David D. Scott
IPC: H04N13/246 , G01D1/00 , G06T7/80 , G01D15/00 , G06K9/46 , H04N13/239
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.
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公开(公告)号：US10675098B2
公开(公告)日：2020-06-09
申请号：US15699858
申请日：2017-09-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Tao Zhao , Wenyi Zhao , William C. Nowlin
Abstract: The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located references features. In some embodiments, a medical system includes a tool having a distal end that is insertable into a patient body, an image capture device insertable into the patient body so that the image capture device captures an image of at least a portion of a two-dimensional marker at least partially surrounding a portion of the tool, and a processor coupled to the image capture device and configured to determine a pose of the tool by processing the image.
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