公开(公告)号：US20190197650A1

公开(公告)日：2019-06-27

申请号：US13578355

申请日：2011-06-11

Applicant: Tao Zhao ,  John C. Weast ,  Brett P. Wang

Inventor： Tao Zhao ,  John C. Weast ,  Brett P. Wang

IPC: G06T1/20 ,  G06F9/451 ,  G06F9/48

Abstract: Systems and methods for determining a foreground application and at least one background application from multiple graphics applications executing within an execution environment are disclosed. Pixel data rendered by the foreground application may be displayed in the execution environment while a rendering thread of the background application may be paused.

公开(公告)号：US10085671B2

公开(公告)日：2018-10-02

申请号：US13893008

申请日：2013-05-13

Applicant: Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

Inventor： Vincent Duindam ,  Prashant Chopra ,  Tao Zhao

IPC: A61B34/10 ,  A61B5/06 ,  A61B5/00 ,  G06F19/00 ,  A61B17/00 ,  A61B34/30 ,  A61B34/20

Abstract: A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

公开(公告)号：US09858475B2

公开(公告)日：2018-01-02

申请号：US12780557

申请日：2010-05-14

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

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

IPC: G06K9/00 ,  G06T19/00

CPC classification number: G06K9/00375 ,  G06T19/006 ,  G06T2207/20112

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.

公开(公告)号：US08830224B2

公开(公告)日：2014-09-09

申请号：US12465020

申请日：2009-05-13

Applicant: Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Christopher J. Hasser ,  Brian E. Miller ,  Catherine J. Mohr ,  Myrian J. Curet ,  Tao Zhao ,  Simon Di Maio ,  Brian D. Hoffman

Inventor： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Christopher J. Hasser ,  Brian E. Miller ,  Catherine J. Mohr ,  Myrian J. Curet ,  Tao Zhao ,  Simon Di Maio ,  Brian D. Hoffman

IPC: G06T15/00 ,  G06K9/68

CPC classification number: A61B34/25 ,  A61B34/20 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2090/371 ,  A61B2090/373 ,  G06T7/593 ,  G06T11/00 ,  G06T2207/10068 ,  G06T2207/20096 ,  G06T2207/20101 ,  G06T2207/30004 ,  H04N13/10 ,  H04N13/20 ,  H04N13/30 ,  H04N2013/0092

Abstract: An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.

Abstract translation: 一种装置被配置为实时地向外科医生示出3-D的远程化。 监视器被显示为立体图像对的一侧，使得监视器可以在一侧用输入装置绘制远距离信号线。 识别兴趣点以匹配立体图像对的另一侧。 响应于所识别的兴趣点，区域和特征被识别并用于将感兴趣点与另一侧匹配。 区域可用于匹配兴趣点。 第一图像的特征可以匹配第二图像，并且用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 限制可用于评估匹配的兴趣点，例如排除不良点。

公开(公告)号：US08594841B2

公开(公告)日：2013-11-26

申请号：US12428142

申请日：2009-04-22

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

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

IPC: G06F19/00

CPC classification number: B25J9/1633 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/76 ,  A61B2034/102 ,  A61B2090/065 ,  A61B2090/365 ,  B25J9/1697 ,  Y10S901/47

Abstract: Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.

Abstract translation: 用于在机器人手术系统中提供力信息的视觉表示的方法和系统。 确定手术末端执行器的真实位置。 还确定了如果对端部执行器没有施加力的手术末端执行器的突出位置。 表示实际和投影位置的图像叠加在显示器上。 两个图像之间的偏移提供了施加到末端执行器或支撑末端执行器的运动链的力的视觉指示。 此外，确定并显示组织变形信息。

公开(公告)号：US20130303892A1

公开(公告)日：2013-11-14

申请号：US13892974

申请日：2013-05-13

Applicant: Tao Zhao ,  Prashant Chopra ,  Vincent Duindam ,  Dorin Panescu ,  Lei Fan

Inventor： Tao Zhao ,  Prashant Chopra ,  Vincent Duindam ,  Dorin Panescu ,  Lei Fan

IPC: A61B5/06

CPC classification number: A61B5/061 ,  A61B5/065 ,  A61B5/7425 ,  A61B34/20 ,  A61B2034/2051 ,  G06F19/00

Abstract: A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.

Abstract translation: 跟踪医疗器械的方法包括接收解剖通道形成的模型并接收用于医疗器械的一组有序传感器记录。 该组有序传感器记录提供医疗仪器的路径历史。 该方法还包括基于路径历史记录医疗器械与解剖通道形成的模型。

公开(公告)号：US08520027B2

公开(公告)日：2013-08-27

申请号：US12780568

申请日：2010-05-14

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

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

IPC: G06T19/00

CPC classification number: G06T15/503 ,  G06T2210/41

Abstract: In a minimally invasive surgical system, a plurality of video images is acquired. Each video image includes images of the surgeon's hand(s), and of a master manipulator. The images of the surgeon's hand(s) and the master manipulator are segmented from the video image. The segmented images are combined with an acquired surgical site image. The combined image is displayed to the person at the surgeon's console so that the console functions as a see-through console.

Abstract translation: 在微创手术系统中，获取多个视频图像。 每个视频图像包括外科医生的手的图像和主操纵器的图像。 从视频图像分割外科医生的手和主操纵器的图像。 分割图像与获取的手术部位图像组合。 组合的图像显示给外科医生的控制台上的人员，以便控制台作为透明控制台。

公开(公告)号：US20130187931A1

公开(公告)日：2013-07-25

申请号：US13000356

申请日：2010-10-05

Applicant: Tao Zhao ,  Brett Wang ,  John Weast

Inventor： Tao Zhao ,  Brett Wang ,  John Weast

IPC: G06F9/30

CPC classification number: G06F9/3004 ,  G06F8/38

Abstract: In an environment with multiple graphics software application framework, a rending application programming interface (API) agent is provided in a rendering API library. The rendering API agent is to find surface information on memory surfaces corresponding to rendering surfaces of the rendering API library and relationship information between the memory surfaces and a process of the redering API application. The rendering API agent is to communicate with a global scene graph library (GSGL) to send the surface information and the relationship information to the GSGL. Binding may be used to transform the memory surfaces to desired rendering API surfaces based on the surface information in GSGL. A user experience application is to manipulate the translated rendering API surfaces to create user experience.

Abstract translation: 在具有多个图形软件应用程序框架的环境中，渲染API库中提供了一个渲染应用程序编程接口（API）代理。 渲染API代理是在存储器表面上找到与渲染API库的渲染表面相对应的表面信息以及存储器表面之间的关系信息以及烙印API应用程序的过程。 渲染API代理与全局场景图库（GSGL）通信，将表面信息和关系信息发送到GSGL。 基于GSGL中的表面信息，可以使用绑定将存储器表面转换为所需的渲染API表面。 用户体验应用程序是操纵翻译的渲染API表面以创建用户体验。

公开(公告)号：US08228368B2

公开(公告)日：2012-07-24

申请号：US12164976

申请日：2008-06-30

Applicant: Wenyi Zhao ,  Catherine J. Mohr ,  Christopher J. Hasser ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

Inventor： Wenyi Zhao ,  Catherine J. Mohr ,  Christopher J. Hasser ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: H04N13/00

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 illumination channel, a stereoscopic optical channel and another optical channel are held and positioned by a robotic surgical system. A first capture unit captures a stereoscopic visible image from the first light from the stereoscopic optical channel while a second capture unit captures a fluorescence image from the second light from the other optical channel. An intelligent image processing system receives the captured stereoscopic visible image and the captured fluorescence image and generates a stereoscopic pair of fluorescence images. An augmented stereoscopic display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of the stereoscopic visible image and the stereoscopic pair of fluorescence images.

Abstract translation: 照明通道，立体光学通道和另一个光学通道由机器人手术系统保持和定位。 第一捕获单元从来自立体光学信道的第一光捕获立体可视图像，而第二捕获单元从来自另一光信道的第二光捕获荧光图像。 智能图像处理系统接收捕获的立体可视图像和捕获的荧光图像并产生立体对的荧光图像。 增强立体显示系统输出包括立体可视图像和立体视觉对荧光图像的混合的三维呈现的实时立体图像。

公开(公告)号：US08184880B2

公开(公告)日：2012-05-22

申请号：US12465029

申请日：2009-05-13

Applicant: Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Di Maio

Inventor： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Di Maio

IPC: G06T7/00

CPC classification number: G06K9/6211 ,  G06T7/33

Abstract: Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.

Abstract translation: 系统，方法和设备用于匹配图像。 识别来自第一图像的兴趣点以匹配第二图像。 响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。 当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。 第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 约束可用于评估匹配的兴趣点，例如排除不良点。