公开(公告)号：US20200093357A1

公开(公告)日：2020-03-26

申请号：US16697586

申请日：2019-11-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David D. Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: A61B1/04 ,  A61B1/00 ,  H04N13/207 ,  A61B1/06 ,  A61B5/00 ,  A61B1/05 ,  A61B90/00 ,  A61B34/30

Abstract: An exemplary method includes an image processing system Receiving a first frame captured at a first time from light received by an endoscope, the first frame including a first visible image, the first visible image comprising a first plurality of visible color components; receiving a second frame captured at a second time different from the first time from light received from the endoscope, the second frame including a combination image, the combination image being a combination of a second visible image and a first fluorescence image; creating a second fluorescence image, the second fluorescence image comprising artifacts from the first frame and the second frame; creating a third fluorescence image based on the second fluorescence image; and generating, based on the third fluorescence image, an image including an artificial fluorescence image for display by a display system.

公开(公告)号：US10531017B2

公开(公告)日：2020-01-07

申请号：US16264650

申请日：2019-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Jeffrey M. DiCarlo ,  Ian E. McDowall

IPC: H04N13/00 ,  H04N5/265 ,  H04N13/257 ,  H04N9/04 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  G06T3/40 ,  H04N5/225

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.

公开(公告)号：US10524644B2

公开(公告)日：2020-01-07

申请号：US15704479

申请日：2017-09-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David D. Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: A61B1/04 ,  H04N13/207 ,  A61B1/00 ,  A61B1/06 ,  A61B5/00 ,  A61B1/05 ,  A61B90/00 ,  A61B34/30 ,  G01N21/64 ,  A61B90/30 ,  A61B34/37

Abstract: An endoscope with an optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image at a first time and (2) a visible second image combined with a fluorescence image at a second time. An image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence image and generates at least one fluorescence image. A display system outputs an output image including an artificial fluorescence image.

公开(公告)号：US20190213770A1

公开(公告)日：2019-07-11

申请号：US16351444

申请日：2019-03-12

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G06T11/60 ,  B25J9/16 ,  G06T11/40 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00 ,  G05B19/42

CPC classification number: G06T11/60 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06T11/40 ,  Y02P90/265

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

公开(公告)号：US20190166316A1

公开(公告)日：2019-05-30

申请号：US16264650

申请日：2019-01-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Jeffrey M. DiCarlo ,  Ian E. McDowall

IPC: H04N5/265 ,  A61B1/00 ,  H04N13/257 ,  A61B1/04 ,  A61B1/06 ,  H04N5/225 ,  A61B1/05 ,  G06T3/40 ,  H04N9/04

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.

公开(公告)号：US10237497B2

公开(公告)日：2019-03-19

申请号：US15965017

申请日：2018-04-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Jeffrey M. DiCarlo ,  Ian E. McDowall

IPC: H04N5/265 ,  H04N13/257 ,  H04N9/04 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  G06T3/40 ,  H04N5/225

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.

公开(公告)号：US20180250828A1

公开(公告)日：2018-09-06

申请号：US15972643

申请日：2018-05-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Craig R. Gerbi ,  Theodore W. Rogers ,  Wenyi Zhao

IPC: B25J9/16

CPC classification number: B25J9/1697

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.

公开(公告)号：US20180225855A1

公开(公告)日：2018-08-09

申请号：US15946408

申请日：2018-04-05

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

IPC: G06T11/60 ,  B25J9/16 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  G05B19/42 ,  G06T11/40 ,  A61B34/00 ,  A61B34/20

CPC classification number: G06T11/60 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06T11/40 ,  Y02P90/265

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

公开(公告)号：US10008017B2

公开(公告)日：2018-06-26

申请号：US13768047

申请日：2013-02-15

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G06T11/60 ,  G06T11/40 ,  B25J9/16 ,  G05B19/42 ,  A61B90/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/20 ,  A61B34/00

CPC classification number: G06T11/60 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06T11/40 ,  Y02P90/265

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

公开(公告)号：US20180071033A1

公开(公告)日：2018-03-15

申请号：US15699858

申请日：2017-09-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  Wenyi Zhao ,  William C. Nowlin

IPC: A61B34/20

CPC classification number: A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/94 ,  A61B2034/102 ,  A61B2034/2065 ,  A61B2090/371 ,  A61B2090/3983

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, an associated medical system includes a tool having a distal end that is insertable into a patient body, a stereo image capture device insertable into the patient body so that the stereo image capture device captures a stereo image of at least a portion of the 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 stereo image. Associated methods and tools are also provided.