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    METHOD AND SYSTEM OF HAND SEGMENTATION AND OVERLAY USING DEPTH DATA
    61.
    发明申请
    METHOD AND SYSTEM OF HAND SEGMENTATION AND OVERLAY USING DEPTH DATA 审中-公开

    公开(公告)号：US20190354754A1

    公开(公告)日：2019-11-21

    申请号：US16527413

    申请日：2019-07-31

    Applicant: Intuitive Surgical Operations, Inc.

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

    IPC: G06K9/00 ,  G06T19/00

    Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.

    Method and system of hand segmentation and overlay using depth data
    62.
    发明授权
    Method and system of hand segmentation and overlay using depth data 有权

    公开(公告)号：US10410050B2

    公开(公告)日：2019-09-10

    申请号：US15825358

    申请日：2017-11-29

    Applicant: Intuitive Surgical Operations, Inc.

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

    IPC: G06K9/00 ,  G06T19/00

    Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.

    Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument
    64.
    发明授权
    Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument 有权
    用于远程操作的微创外科手术器械的对准的棘轮

    公开(公告)号：US09579164B2

    公开(公告)日：2017-02-28

    申请号：US14996073

    申请日：2016-01-14

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Gunter D. Niemeyer ,  David S. Mintz

    IPC: G05B15/00 ,  B25J9/16 ,  B25J3/00

    CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

    Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

    Abstract translation: 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。

    RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY-INVASIVE SURGICAL INSTRUMENT
    65.
    发明申请
    RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY-INVASIVE SURGICAL INSTRUMENT 审中-公开
    用于远程微型外科手术仪器的主对齐

    公开(公告)号：US20150066053A1

    公开(公告)日：2015-03-05

    申请号：US14534526

    申请日：2014-11-06

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  William C. Nowlin ,  Günter D. Niemeyer ,  David S. Mintz

    IPC: A61B19/00 ,  B25J9/16

    CPC classification number: A61B34/37 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B90/10 ,  A61B2017/00725 ,  A61B2034/305 ,  B25J3/00 ,  B25J9/1669 ,  B25J9/1689 ,  G05B2219/45117 ,  Y10S901/27 ,  Y10S901/41

    Abstract: A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.

    Abstract translation: 微创手术系统包括具有从动手术器械尖端和主把手的从动手术器械。 从属外科器械尖端具有在公共参考系中的对准，并且联接到从动手术器械的主把手具有在公共参照系中的对准。 在通用参考系中的对准误差是从动外科器械尖端的对准与主把手对准之间的对准差异。 棘轮系统（i）联接到主把手以接收主握柄的对准并（ii）联接到从动手术器械，以通过连续减小对准误差来控制从动装置的运动，如主掌握移动，而没有 从动手术器械尖端的自主运动和主手柄的自主运动。

    GEOMETRICALLY APPROPRIATE TOOL SELECTION ASSISTANCE FOR DETERMINED WORK SITE DIMENSIONS
    66.
    发明申请
    GEOMETRICALLY APPROPRIATE TOOL SELECTION ASSISTANCE FOR DETERMINED WORK SITE DIMENSIONS 有权
    用于确定工作站尺寸的几何适当的工具选择辅助

    公开(公告)号：US20140277736A1

    公开(公告)日：2014-09-18

    申请号：US14210881

    申请日：2014-03-14

    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.

    Abstract translation: 机器人系统包括处理器，该处理器被编程以确定并使得工作现场中的用户指定点的工作现场测量被图形显示，以向用户提供几何适当的工具选择帮助。 处理器还被编程为确定在工作现场使用的多种几何形状的多个工具中的最佳的一个工具，并且使至少最佳工具的图形表示与工作现场测量一起显示。

    Systems and methods for region-based presentation of augmented content
    68.
    发明授权
    Systems and methods for region-based presentation of augmented content 有权

    公开(公告)号：US12211154B2

    公开(公告)日：2025-01-28

    申请号：US17919927

    申请日：2021-05-10

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Simon P. DiMaio ,  Brandon D. Itkowitz ,  Terrence B. McKenna, III ,  Govinda Payyavula

    IPC: G06T19/00 ,  G06F3/01 ,  G06F3/14 ,  G06T19/20 ,  G06V10/25 ,  G06V10/74 ,  G06V20/40

    Abstract: A region-based augmentation system is configured to determine that a viewpoint of a user of a display device is directed within an anchor region of a physical world containing the user. In response, the system directs the display device to present augmented content in an evident manner. The evident manner comprises anchoring the augmented content relative to the viewpoint, such that the augmented content follows the viewpoint as the user moves the viewpoint within the anchor region. The system further determines that the viewpoint is directed outside of the anchor region by the user. In response, the system directs the display device to present the augmented content in a less evident manner. The presenting of the augmented content in the less evident manner comprises presenting the augmented content less visibly than the evident manner and/or unanchoring the augmented content relative to the viewpoint. Corresponding methods and systems are also disclosed.

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