公开(公告)号：US12002208B2

公开(公告)日：2024-06-04

申请号：US17311300

申请日：2019-12-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jeffrey M. DiCarlo ,  Ian E. McDowall

IPC: G06T7/00 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B90/00

CPC classification number: G06T7/0014 ,  A61B1/000096 ,  A61B1/0005 ,  A61B1/00055 ,  A61B1/043 ,  A61B1/05 ,  A61B90/37 ,  G06T2207/10064 ,  G06T2207/10068

Abstract: Technology described herein can be embodied in a method that includes obtaining, using an endoscopic camera, a plurality of images of the surgical scene, each image in the plurality of images being obtained under illumination by electromagnetic radiation in a corresponding wavelength range. The corresponding wavelength ranges are selected in accordance with a set of chromophores present in the surgical scene, and any two of the corresponding wavelength ranges partially non-overlapping. The method also includes determining, based on the plurality of images, a concentration of each of one or more chromophores in the set at various portions of the surgical scene, and generating, by one or more processing devices, based on information about the concentration of each of the one or more chromophores, a representation of the surgical scene. The method further includes presenting the representation of the surgical scene on an output device associated with the surgical device.

公开(公告)号：US11980347B2

公开(公告)日：2024-05-14

申请号：US17311304

申请日：2019-12-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jeffrey M. DiCarlo ,  Max J. Trejo

IPC: A61B1/04 ,  A61B1/00 ,  A61B1/05 ,  A61B1/06 ,  A61B1/313 ,  G06T7/00

CPC classification number: A61B1/043 ,  A61B1/000094 ,  A61B1/00045 ,  A61B1/046 ,  A61B1/05 ,  A61B1/0638 ,  A61B1/0646 ,  A61B1/3132 ,  G06T7/0014 ,  G06T2207/10152

Abstract: The technology described herein can be embodied in a method that includes receiving data representing information captured using a first sensor and a second sensor of a multi-sensor camera. The sensors are configured to capture a surgical scene illuminated by a light source configured to emit wavelengths in the visible spectrum corresponding to sensing capabilities of the first and second sensors, respectively. The method also includes receiving data representing information captured using a third sensor of the multi-sensor camera, the third sensor configured to capture the surgical scene as illuminated by a near-infrared light source, and generating a first visual representation of the surgical scene based on the data representing the information captured using the first and second sensors. The first visual representation is combined with the information captured using the third sensor to generate a second visual representation, and the second visual representation is presented on a display device.

公开(公告)号：US20230325984A1

公开(公告)日：2023-10-12

申请号：US18203789

申请日：2023-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Max J. Trejo ,  Jeffrey M. DiCarlo

IPC: G06T5/00 ,  G06T5/10 ,  G06T5/20

CPC classification number: G06T5/002 ,  G06T5/10 ,  G06T5/20 ,  G06T2207/20012 ,  G06T2207/20028 ,  G06T2207/20182

Abstract: An example method includes determining an estimated pixel noise parameter based on a signal level of a first pixel of the first frame of pixel data; determining a difference between the signal level of the first pixel and at least a signal level of a second pixel; obtaining a filtered pixel based at least in part on a comparison of the difference to the estimated pixel noise parameter; and outputting the filtered pixel to an output frame of filtered pixel data.

公开(公告)号：US11778340B2

公开(公告)日：2023-10-03

申请号：US17829000

申请日：2022-05-31

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: H04N13/257 ,  H04N25/13 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  H04N23/10 ,  H04N23/45 ,  H04N23/56 ,  H04N23/57 ,  G06T3/40 ,  H04N5/265 ,  H04N23/50

CPC classification number: H04N25/134 ,  A61B1/0005 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00193 ,  A61B1/043 ,  A61B1/05 ,  A61B1/06 ,  A61B1/0638 ,  A61B1/0646 ,  G06T3/4015 ,  H04N5/265 ,  H04N13/257 ,  H04N23/10 ,  H04N23/45 ,  H04N23/56 ,  H04N23/57 ,  H04N23/555

Abstract: An example method includes receiving a single frame comprising a first set of pixel data that includes a fluorescence scene component and a second set of pixel data that includes a combination of a visible color component scene and the fluorescence scene component; and generating, based on the first set of pixel data that includes the fluorescence scene component and the second set of pixel data that includes the combination of the visible color component scene and the fluorescence scene component, a display scene.

公开(公告)号：US20230255443A1

公开(公告)日：2023-08-17

申请号：US18014467

申请日：2021-07-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Zhen He ,  Jeffrey M. DiCarlo

IPC: A61B1/00 ,  A61B1/045 ,  A61B34/30 ,  H04N23/71 ,  H04N23/73 ,  H04N23/76 ,  H04N9/77

CPC classification number: A61B1/000094 ,  A61B1/00149 ,  A61B1/045 ,  A61B34/30 ,  H04N23/71 ,  H04N23/73 ,  H04N23/76 ,  H04N9/77 ,  A61B2034/2065

Abstract: An illustrative apparatus may identify, in an image frame captured by an image capture system, an object region corresponding to a depiction of an object portrayed in the image frame. The apparatus may determine a frame auto-exposure value for the image frame by discounting the object region in the image frame. Based on the frame auto-exposure value, the apparatus may update one or more auto-exposure parameters for use by the image capture system to capture an additional image frame. Corresponding apparatuses, systems, and methods for managing auto-exposure of image frames are also disclosed.

公开(公告)号：US20220280042A1

公开(公告)日：2022-09-08

申请号：US17635988

申请日：2020-08-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Alexander L. Antaris ,  Jeffrey M. DiCarlo ,  Ian E. McDowall ,  Jonathan M. Sorger

IPC: A61B5/00 ,  A61B34/00 ,  A61B90/00

Abstract: An exemplary fluorescence imaging control system may direct, during a surgical procedure performed with a computer-assisted surgical system, an illumination source included in the computer-assisted surgical system to illuminate a scene associated with the surgical procedure with fluorescence excitation illumination configured to excite a fluorophore present at the scene and direct an imaging device included in the computer-assisted surgical system to detect, during the surgical procedure, fluorescence emitted by the fluorophore in response to excitation of the fluorophore by the fluorescence excitation illumination. The fluorescence imaging control system may determine, based on the detected fluorescence, a lifetime of the fluorescence and determine, based on the determined lifetime of the fluorescence, an identity of the fluorophore. The fluorescence imaging control system may configure, during the surgical procedure and based on the determined identity of the fluorophore, operation of the computer-assisted surgical system.

公开(公告)号：US20220095903A1

公开(公告)日：2022-03-31

申请号：US17424113

申请日：2020-01-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ian E. McDowall ,  Alexander L. Antaris ,  Jeffrey M. DiCarlo

IPC: A61B1/04 ,  A61B1/00 ,  A61B1/06

Abstract: A system directs an imaging device to continuously capture visible light and fluorescence illumination from a surgical area. The system generates a visible light image stream based on the captured visible light and a fluorescence image stream based on the captured fluorescence illumination. The system operates in a first display mode by directing a display device to display a first video stream based on a first set of at least one of the visible light image stream and the fluorescence image stream. In response to detecting an event that occurs within the surgical area, the system switches from operating in the first display mode to operating in a second display mode by directing the display device to display a second video stream based on a second set of at least one of the visible light image stream and the fluorescence image stream, the first Instructions set being different than the second set.

公开(公告)号：US20210264570A1

公开(公告)日：2021-08-26

申请号：US17236765

申请日：2021-04-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Max J. Trejo ,  Jeffrey M. DiCarlo

IPC: G06T5/00 ,  G06T5/10 ,  G06T5/20

Abstract: A system includes an image sensor, an imaging pipeline, and a display device. The image sensor is configured to capture a first frame of pixel data. The imaging pipeline is coupled to the image sensor to receive the first frame of pixel data. The imaging pipeline includes an adaptive noise filter. The adaptive noise filter is configured to filter a pixel based on noise in the pixel. The imaging pipeline is configured to output a second frame of pixel data. The second frame of pixel data includes pixels filtered by the adaptive noise filter. The display device is coupled to the imaging pipeline to receive the second frame of pixel data. The display device is configured to display the second frame of pixel data.

公开(公告)号：US10588711B2

公开(公告)日：2020-03-17

申请号：US15536210

申请日：2015-12-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey M. DiCarlo ,  Ian E. McDowall ,  Jonathan M. Sorger

IPC: A61B90/00 ,  A61B34/30 ,  A61B1/00 ,  A61B6/00 ,  A61B90/30

Abstract: Selective reflection of light by ureters and by tissue around the ureters is used to safely and efficiently image the ureters. In one aspect, a plurality of surgical site scenes is captured. Each of the plurality of surgical site scenes is captured from reflected light having a different light spectrum. The plurality of captured surgical site scenes is analyzed to identify ureter tissue in the captured surgical site scenes. A surgical site scene is displayed on a display device. The displayed surgical site scene has ureter tissue artificially highlighted.

公开(公告)号：US20180249089A1

公开(公告)日：2018-08-30

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 ,  A61B1/00

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.