公开(公告)号：US10089724B2

公开(公告)日：2018-10-02

申请号：US15595656

申请日：2017-05-15

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Simon P. DiMaio ,  David D. Scott

IPC: G06T5/00 ,  G06T5/10

Abstract: Provided are a system and method for image sharpening is provided that involves capturing an image, and then decomposing the image into a plurality of image-representation components, such as RGB components for example. Each image-representation component is transformed to obtain an unsharpened multi-resolution representation for each image-representation component. A multi-resolution representation includes a plurality of transformation level representations. Sharpness information is transported from an unsharpened transformation level representation of a first one of the image-representation components to a transformation level representation of an unsharpened multi-resolution representation of a second one of the image-representation components to create a sharpened multi-resolution representation of the second one of the image-representation components. The sharpened multi-resolution representation of the second one of the image-representation components is then transformed to obtain a sharpened image. The improved and sharpened image may then be displayed.

公开(公告)号：US20180000329A1

公开(公告)日：2018-01-04

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 ,  A61B34/30 ,  A61B34/37 ,  A61B90/30 ,  A61B5/00 ,  A61B1/313 ,  A61B1/06 ,  A61B1/05 ,  A61B1/00 ,  H04N13/02 ,  A61B90/00 ,  G01N21/64

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：US20150077519A1

公开(公告)日：2015-03-19

申请号：US14332684

申请日：2014-07-16

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: H04N13/00 ,  A61B1/00 ,  H04N9/67 ,  A61B1/04 ,  H04N13/02 ,  H04N9/09

CPC classification number: A61B1/043 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/00149 ,  A61B1/00186 ,  A61B1/00193 ,  A61B1/05 ,  A61B1/063 ,  A61B1/0638 ,  A61B1/313 ,  A61B5/0071 ,  A61B5/0075 ,  A61B5/0084 ,  A61B34/30 ,  A61B34/37 ,  A61B90/30 ,  A61B90/361 ,  A61B2034/301 ,  A61B2090/364 ,  G01N21/6456 ,  H04N13/0239 ,  H04N13/207 ,  H04N13/239

Abstract: An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image and (2) a visible second image combined with a fluorescence second image from the light. An intelligent image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence second image and generates at least one fluorescence image of a stereoscopic pair of fluorescence images and a visible second image. An augmented stereoscopic display system outputs a real-time stereoscopic image including a three-dimensional presentation including in one eye, a blend of the at least one fluorescence image of a stereoscopic pair of fluorescence images and one of the visible first and second images; and in the other eye, the other of the visible first and second images.

Abstract translation: 具有立体光学通道的内窥镜由机器人手术系统保持和定位。 捕获单元捕获（1）可见的第一图像和（2）与来自光的荧光第二图像组合的可见第二图像。 智能图像处理系统接收（1）可见第一图像和（2）与荧光第二图像组合的可见第二图像，并产生立体对荧光图像和可见第二图像的至少一个荧光图像。 增强立体显示系统输出包括在一只眼睛中的三维呈现的实时立体图像，立体对荧光图像对的至少一个荧光图像与可见第一和第二图像之一的混合; 在另一只眼睛中，可见的第一和第二图像中的另一个。

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。

公开(公告)号：US20140267626A1

公开(公告)日：2014-09-18

申请号：US14210986

申请日：2014-03-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul E. Lilagan ,  Wenyi Zhao

IPC: H04N5/232 ,  H04N5/235 ,  H04N13/02

CPC classification number: H04N5/23216 ,  A61B1/00006 ,  A61B1/00188 ,  A61B1/00193 ,  A61B90/361 ,  H04N5/23212 ,  H04N5/23293 ,  H04N5/2353 ,  H04N5/238 ,  H04N13/0296 ,  H04N13/204 ,  H04N13/296

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.

Abstract translation: 成像系统包括图像捕获装置，观察者，控制元件和处理器。 控制元件控制或调整图像拍摄装置和观看者之一的图像特性。 处理器被编程为确定相对于图像捕获装置的深度值，通过使用所确定的深度值来确定对控制元件的期望调整，以及控制元件的控制调整以辅助将控制元件的手动调整到期望的调整 。 也可以对处理器进行编程，以确定控制元件的调整是自动还是手动调节，并且如果要自动调节控制元件，则控制元件自动调节到期望的调整。

公开(公告)号：US20140232824A1

公开(公告)日：2014-08-21

申请号：US13768062

申请日：2013-02-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Simon P. DiMaio ,  Brian D. Hoffman ,  Brandon D. Itkowitz ,  Paul W. Mohr ,  David W. Robinson ,  Tao Zhao ,  Wenyi Zhao

IPC: H04N13/00

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B90/361

Abstract: An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.

Abstract translation: 操作员远程控制工具，在工作现场的对象上执行过程，同时在显示器上查看对象，工具和工作现场的实时图像。 工具信息是通过过滤一部分实时图像来增强或降级的，以指示工具的状态并在显示器上显示经滤波的图像。

公开(公告)号：US20140176680A1

公开(公告)日：2014-06-26

申请号：US14189425

申请日：2014-02-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey DiCarlo ,  David D. Scott ,  Wenyi Zhao

IPC: A61B1/00 ,  A61B1/04 ,  H04N13/02 ,  H04N9/07 ,  H04N9/09

CPC classification number: A61B1/0005 ,  A61B1/04 ,  G06T3/4015 ,  H04N9/045 ,  H04N9/07 ,  H04N9/09 ,  H04N13/257 ,  H04N2209/046

Abstract: In one embodiment of the invention, an apparatus is disclosed including an image sensor, a color filter array, and an image processor. The image sensor has an active area with a matrix of camera pixels. The color filter array is in optical alignment over the matrix of the camera pixels. The color filter array assigns alternating single colors to each camera pixel. The image processor receives the camera pixels and includes a correlation detector to detect spatial correlation of color information between pairs of colors in the pixel data captured by the camera pixels. The correlation detector further controls demosaicing of the camera pixels into full color pixels with improved resolution. The apparatus may further include demosaicing logic to demosaic the camera pixels into the full color pixels with improved resolution in response to the spatial correlation of the color information between pairs of colors.

Abstract translation: 在本发明的一个实施例中，公开了一种包括图像传感器，滤色器阵列和图像处理器的装置。 图像传感器具有具有相机像素矩阵的有效区域。 滤色器阵列在照相机像素的矩阵上是光学对准的。 滤色器阵列为每个相机像素分配交替的单一颜色。 图像处理器接收相机像素并且包括相关检测器，以检测由相机像素捕获的像素数据中的颜色对之间的颜色信息的空间相关性。 相关检测器进一步控制摄像机像素以分辨率提高的全彩色像素的去马赛克。 该装置可以进一步包括去马赛克逻辑，以响应于颜色对之间的颜色信息的空间相关性而将相机像素去镶嵌成全色像素，具有改进的分辨率。

公开(公告)号：US20130300836A1

公开(公告)日：2013-11-14

申请号：US13893536

申请日：2013-05-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: H04N13/02

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：US20130166070A1

公开(公告)日：2013-06-27

申请号：US13736720

申请日：2013-01-08

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: G01L5/22

CPC classification number: A61B34/30 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/102 ,  A61B2090/064 ,  B25J9/1689 ,  G05B2219/40144

Abstract: Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.

Abstract translation: 用于为机器人手术系统提供力信息的方法和系统。 该方法包括存储用于末端执行器的第一位置的第一运动位置信息和第一实际位置信息; 将所述末端执行器经由所述机器人手术系统从所述第一位置移动到第二位置; 存储用于所述第二位置的第二运动位置信息和第二实际位置信息; 并且利用第一实际位置信息，第二实际位置信息，第一运动位置信息和第二运动位置信息，提供关于在第二位置处施加到末端执行器的力的力信息。 通过将末端执行器的估计位置无重力地叠加在末端执行器的实际位置的图像上也提供视力反馈。 类似地，可以显示组织弹性视觉显示。

公开(公告)号：US12251170B2

公开(公告)日：2025-03-18

申请号：US17942777

申请日：2022-09-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B8/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/94 ,  A61B34/10 ,  A61B90/00

Abstract: A system may comprise a tool including at least one reference feature. a processor, and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, may cause the system to receive image data including an image of the tool and the at least one reference feature, determine a pose of the tool from the image data, and modify the image data to visually decrement a portion of the image data corresponding to the at least one reference feature.