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公开(公告)号：US09789608B2
公开(公告)日：2017-10-17
申请号：US12415354
申请日：2009-03-31
申请人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon Dimaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Wenyi Zhao , Brian D. Hoffman
发明人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon Dimaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Wenyi Zhao , Brian D. Hoffman
IPC分类号： A61B17/00 , B25J9/16 , G05B19/42 , A61B90/00 , A61B34/30 , A61B34/37 , A61B34/20 , A61B34/00
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
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公开(公告)号：US20090192524A1
公开(公告)日：2009-07-30
申请号：US12415354
申请日：2009-03-31
申请人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon Dimaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Wenyi Zhao , Brian D. Hoffman
发明人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon Dimaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Wenyi Zhao , Brian D. Hoffman
IPC分类号： A61B19/00
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
摘要翻译： 用于在机器人系统的用户界面上显示的机器人工具的合成表示。 合成表示可以用于显示图像捕获装置相对于机器人的视图体积的位置。 合成表示还可以用于找到在视野之外的工具，以显示工具的运动限制的范围，远程地传达关于机器人的信息以及检测碰撞。
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公开(公告)号：US09155592B2
公开(公告)日：2015-10-13
申请号：US12485545
申请日：2009-06-16
申请人： Brandon D. Itkowitz , Tao Zhao , Simon Dimaio , Wenyi Zhao , Christopher J. Hasser , Myriam J. Curet , Catherine J. Mohr , Hubert Stein
发明人： Brandon D. Itkowitz , Tao Zhao , Simon Dimaio , Wenyi Zhao , Christopher J. Hasser , Myriam J. Curet , Catherine J. Mohr , Hubert Stein
IPC分类号： A61B5/103 , A61B5/117 , G06F19/00 , A61B19/00 , A61B18/14 , A61B17/28 , A61B8/08 , A61B17/00 , A61B8/00 , A61B5/107
CPC分类号： A61B19/2203 , A61B5/1072 , A61B8/4209 , A61B8/483 , A61B17/00234 , A61B17/282 , A61B18/1482 , A61B34/25 , A61B34/30 , A61B2017/00477 , A61B2034/105 , A61B2090/061
摘要： Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.
摘要翻译： 用于远程外科手术和其他应用的机器人和/或测量装置，系统和方法使用可操作地耦合到工具的输入装置，以允许系统用户操纵被测量的组织和其他结构。 该系统可以利用来自立体图像的三维位置信息。 可以在三维中指定两个或更多个离散点，以沿着直线或弯曲结构，面积测量，体积测量等提供累积长度。 离散点可以通过单个外科手术工具或通过分离两个或更多个手术工具的距离来识别，用户可选地通过行走一对工具“移交”来测量比立体图像捕获装置的视野更长的结构 - 手“沿结构。 通过允许系统用户在指定组织位置的同时与组织交互，并且通过使用成像数据来确定测量，可以提高测量精度和测量容易度。
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公开(公告)号：US09492240B2
公开(公告)日：2016-11-15
申请号：US12485503
申请日：2009-06-16
申请人： Brandon D. Itkowitz , Tao Zhao , Simon Di Maio , Wenyi Zhao , Christopher J. Hasser , Myrian J. Curet , Catherine J. Mohr , Hubert Stein
发明人： Brandon D. Itkowitz , Tao Zhao , Simon Di Maio , Wenyi Zhao , Christopher J. Hasser , Myrian J. Curet , Catherine J. Mohr , Hubert Stein
CPC分类号： A61B90/06 , A61B1/00193 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/2065 , A61B2090/061
摘要： Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.
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公开(公告)号：US20130107207A1
公开(公告)日：2013-05-02
申请号：US13662653
申请日：2012-10-29
申请人： Wenyi Zhao , Brandon D. Itkowitz
发明人： Wenyi Zhao , Brandon D. Itkowitz
IPC分类号： A61B3/14
CPC分类号： H04N13/383 , A61B3/0058 , A61B3/113 , G06K9/00604
摘要： Stereo gaze tracking estimates a 3-D gaze point by projecting determined right and left eye gaze points on left and right stereo images. The determined right and left eye gaze points are based on one or more tracked eye gaze points, estimates for non-tracked eye gaze points based upon the tracked gaze points and image matching in the left and right stereo images, and confidence scores indicative of the reliability of the tracked gaze points and/or the image matching.
摘要翻译： 立体声凝视跟踪通过在左右立体图像上投影确定的左右眼凝视点来估计3D视线点。 所确定的右眼和左眼凝视点基于一个或多个跟踪眼睛凝视点，基于跟踪的注视点和左和右立体图像中的图像匹配的非跟踪眼睛凝视点的估计，以及表示 跟踪目标点的可靠性和/或图像匹配。
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6.发明授权Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument 有权用于远程手术的微创外科手术器械的对准的棘轮公开(公告)号：US08423186B2
公开(公告)日：2013-04-16
申请号：US12495213
申请日：2009-06-30
IPC分类号： G05B19/18
CPC分类号： 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
摘要： 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.
摘要翻译： 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。
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7.发明申请公开(公告)号：US20100332031A1
公开(公告)日：2010-12-30
申请号：US12495213
申请日：2009-06-30
IPC分类号： G06F19/00
CPC分类号： 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
摘要： 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.
摘要翻译： 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。
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8.发明授权公开(公告)号：US08682489B2
公开(公告)日：2014-03-25
申请号：US12887091
申请日：2010-09-21
申请人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao , Karlin Y. Bark
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao , Karlin Y. Bark
IPC分类号： G05B15/00
CPC分类号： B25J13/02 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/74 , A61B2017/00207 , A61B2034/741 , B25J9/1689 , G05B19/427
摘要： In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.
摘要翻译： 在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。 基于人手部分的位置生成系统控制参数。 使用系统控制参数控制微创手术系统的操作。 因此，微创手术系统包括手跟踪系统。 手跟踪系统跟踪人手部分的位置。 耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且基于系统控制参数向微创手术系统注入命令。
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公开(公告)号：US09858475B2
公开(公告)日：2018-01-02
申请号：US12780557
申请日：2010-05-14
申请人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
CPC分类号： G06K9/00375 , G06T19/006 , G06T2207/20112
摘要： 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.
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公开(公告)号：US08520027B2
公开(公告)日：2013-08-27
申请号：US12780568
申请日：2010-05-14
申请人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
IPC分类号： G06T19/00
CPC分类号： G06T15/503 , G06T2210/41
摘要： 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.
摘要翻译： 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。
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