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公开(公告)号：US11712312B2
公开(公告)日：2023-08-01
申请号：US17477846
申请日：2021-09-17
发明人： David Q. Larkin , David C. Shafer
IPC分类号： B25J18/06 , A61B34/30 , A61B34/20 , A61B34/00 , A61B90/30 , A61B34/37 , B25J9/16 , B25J19/02 , A61B17/00 , A61B17/29 , A61B90/00 , A61B17/04
CPC分类号： A61B34/30 , A61B34/20 , A61B34/37 , A61B34/71 , A61B90/30 , B25J9/1635 , B25J18/06 , B25J19/025 , A61B90/361 , A61B2017/00057 , A61B2017/00477 , A61B2017/0477 , A61B2017/2906 , A61B2034/2048 , A61B2034/2059 , A61B2034/2061 , A61B2034/2065 , A61B2034/305 , A61B2090/3614 , Y10S901/09 , Y10S901/28 , Y10S901/46 , Y10S901/47 , Y10T29/49826 , Y10T74/20305
摘要： A method for determining a shape of a lumen in an anatomical structure comprises reading information from a plurality of strain sensors disposed substantially along a length of a flexible medical device when the flexible medical device is positioned in the lumen. When the flexible medical device is positioned in the lumen, the flexible medical device conforms to the shape of the lumen. The method further comprises computationally determining, by a processing system, the shape of the lumen based on the information from the plurality of strain sensors.
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公开(公告)号：US10682046B2
公开(公告)日：2020-06-16
申请号：US15953517
申请日：2018-04-16
IPC分类号： A61B1/06 , H04N13/204 , G02B23/24 , A61B1/00 , A61B1/045 , A61B1/313 , G02B13/00 , H04N5/225 , A61B1/05 , A61B34/37 , A61B90/00 , A61B90/50 , A61B34/30 , H04N13/20
摘要： In one embodiment, a minimally invasive surgical system includes a patient side manipulator, a hermetically sealed endoscopic camera instrument, a vision cart, and a monitor. The patient side manipulator has a robotic arm. The endoscopic camera instrument has a housing at a proximal end to couple to the robotic arm. The endoscopic camera instrument further has a hermetically sealed camera sensor at a distal end, a shaft coupled to the housing, and a wristed joint coupled between the shaft and the camera sensor. The vision cart has a camera control unit coupled in communication with the hermetically sealed camera sensor to capture the images of the surgical site. The monitor is coupled in communication with the camera control unit to display the captured images of the surgical site.
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公开(公告)号：US09962069B2
公开(公告)日：2018-05-08
申请号：US15394703
申请日：2016-12-29
CPC分类号： A61B1/06 , A61B1/00 , A61B1/00009 , A61B1/00096 , A61B1/00105 , A61B1/0011 , A61B1/00114 , A61B1/00124 , A61B1/00149 , A61B1/00165 , A61B1/00167 , A61B1/00193 , A61B1/045 , A61B1/051 , A61B1/0684 , A61B1/313 , A61B1/3132 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/50 , A61B2034/302 , G02B13/00 , G02B13/0015 , G02B23/24 , G02B23/2415 , G02B23/2476 , H04N5/225 , H04N5/2254 , H04N13/20 , H04N13/204 , H04N2005/2255
摘要： In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.
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4.发明申请STEREO CAMERA FOR HERMETICALLY SEALED ENDOSCOPE 审中-公开STEREO CAMERA FOR HERMETICALY SEALED ENDOSCOPE公开(公告)号：US20150190037A1
公开(公告)日：2015-07-09
申请号：US14662083
申请日：2015-03-18
CPC分类号： A61B1/06 , A61B1/00 , A61B1/00009 , A61B1/00096 , A61B1/00105 , A61B1/0011 , A61B1/00114 , A61B1/00124 , A61B1/00149 , A61B1/00165 , A61B1/00167 , A61B1/00193 , A61B1/045 , A61B1/051 , A61B1/0684 , A61B1/313 , A61B1/3132 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/50 , A61B2034/302 , G02B13/00 , G02B13/0015 , G02B23/24 , G02B23/2415 , G02B23/2476 , H04N5/225 , H04N5/2254 , H04N13/20 , H04N13/204 , H04N2005/2255
摘要： In one embodiment, an endoscopic camera for a robotic surgical system includes a stereo camera module mounted to a robotic arm of a patient side cart. The optical and electro-optic components of the camera module are hermetically sealed within a first housing. Signals from an electro-optic component travel through traces in a ceramic substrate forming one side of the hermetically sealed first housing. A second housing surrounds the first housing and optical fibers are dispersed between the housings to provide lighting in a body cavity. The camera module may be sterilized by an autoclave.
摘要翻译： 在一个实施例中，用于机器人手术系统的内窥镜照相机包括安装到患者侧推车的机器人臂的立体摄像机模块。 相机模块的光学和电光元件被密封在第一壳体内。 来自电光部件的信号通过形成密封的第一壳体的一侧的陶瓷基板中的迹线。 第二壳体围绕第一壳体并且光纤分散在壳体之间以在体腔中提供照明。 相机模块可以通过高压灭菌器灭菌。
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公开(公告)号：US12023006B2
公开(公告)日：2024-07-02
申请号：US17751227
申请日：2022-05-23
发明人： David C. Shafer , Dennis C. Leiner
CPC分类号： A61B1/00193 , A61B1/00045 , A61B1/00194 , G02B23/2415 , A61B1/000095 , A61B1/00096 , A61B1/044 , A61B1/05 , G02B5/045
摘要： A stereoscopic endoscope comprises a first lens train; a second lens train; a prism; and a continuous image sensor surface. The first lens train directs light along a first path through the first lens train and the prism to be incident on a first region of the continuous image sensor, and the second lens train directs light along a second path through the second lens train and the prism to be incident on a second region of the continuous image sensor.
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公开(公告)号：US11039738B2
公开(公告)日：2021-06-22
申请号：US16872171
申请日：2020-05-11
IPC分类号： A61B1/06 , H04N13/204 , G02B23/24 , A61B1/00 , A61B1/045 , A61B1/313 , G02B13/00 , H04N5/225 , A61B1/05 , A61B34/37 , A61B90/00 , A61B90/50 , A61B34/30 , H04N13/20
摘要： In one embodiment, a method for a stereo endoscope includes receiving electromagnetic radiation through an inner protective window; focusing the electromagnetic radiation with a left optical component toward a left pixel array of a stereo image sensor along an optical axis of the left optical component parallel with but offset from a center axis of the left pixel array; and focusing the electromagnetic radiation with a right optical component toward a right pixel array of the stereo image sensor along an optical axis of the right optical component parallel with but offset from a center axis of the right pixel array. The left pixel array and the right pixel array are offset from the center optical axis of the stereo endoscope to provide stereo image convergence.
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公开(公告)号：US20200268239A1
公开(公告)日：2020-08-27
申请号：US16872171
申请日：2020-05-11
IPC分类号： A61B1/06 , H04N13/204 , G02B23/24 , A61B1/00 , A61B1/045 , A61B1/313 , G02B13/00 , H04N5/225 , A61B1/05
摘要： In one embodiment, a method for a stereo endoscope includes receiving electromagnetic radiation through an inner protective window; focusing the electromagnetic radiation with a left optical component toward a left pixel array of a stereo image sensor along an optical axis of the left optical component parallel with but offset from a center axis of the left pixel array; and focusing the electromagnetic radiation with a right optical component toward a right pixel array of the stereo image sensor along an optical axis of the right optical component parallel with but offset from a center axis of the right pixel array. The left pixel array and the right pixel array are offset from the center optical axis of the stereo endoscope to provide stereo image convergence.
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公开(公告)号：US20180228351A1
公开(公告)日：2018-08-16
申请号：US15953517
申请日：2018-04-16
CPC分类号： A61B1/06 , A61B1/00 , A61B1/00009 , A61B1/00096 , A61B1/00105 , A61B1/0011 , A61B1/00114 , A61B1/00124 , A61B1/00149 , A61B1/00165 , A61B1/00167 , A61B1/00193 , A61B1/045 , A61B1/051 , A61B1/0684 , A61B1/313 , A61B1/3132 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/50 , A61B2034/302 , G02B13/00 , G02B13/0015 , G02B23/24 , G02B23/2415 , G02B23/2476 , H04N5/225 , H04N5/2254 , H04N13/20 , H04N13/204 , H04N2005/2255
摘要： In one embodiment, a minimally invasive surgical system includes a patient side manipulator, a hermetically sealed endoscopic camera instrument, a vision cart, and a monitor. The patient side manipulator has a robotic arm. The endoscopic camera instrument has a housing at a proximal end to couple to the robotic arm. The endoscopic camera instrument further has a hermetically sealed camera sensor at a distal end, a shaft coupled to the housing, and a wristed joint coupled between the shaft and the camera sensor. The vision cart has a camera control unit coupled in communication with the hermetically sealed camera sensor to capture the images of the surgical site. The monitor is coupled in communication with the camera control unit to display the captured images of the surgical site.
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公开(公告)号：US11716455B2
公开(公告)日：2023-08-01
申请号：US17322855
申请日：2021-05-17
IPC分类号： A61B1/06 , H04N13/204 , G02B23/24 , A61B1/00 , A61B1/045 , A61B1/313 , G02B13/00 , H04N5/225 , A61B1/05 , A61B34/37 , A61B90/00 , A61B90/50 , A61B34/30 , H04N13/20 , H04N23/55 , H04N23/00 , H04N23/50
CPC分类号： H04N13/20 , A61B1/00009 , A61B1/0011 , A61B1/00096 , A61B1/00105 , A61B1/00114 , A61B1/00124 , A61B1/00149 , A61B1/00165 , A61B1/00167 , A61B1/00193 , A61B1/045 , A61B1/051 , A61B1/0684 , A61B1/313 , A61B1/3132 , G02B13/0015 , G02B23/2415 , G02B23/2476 , H04N13/204 , H04N23/55 , A61B1/00 , A61B1/06 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/50 , A61B2034/302 , G02B13/00 , G02B23/24 , H04N23/00 , H04N23/555
摘要： In one embodiment, a method for a stereo endoscope includes receiving electromagnetic radiation through an inner protective window; focusing the electromagnetic radiation with a left optical component toward a left pixel array of a stereo image sensor along an optical axis of the left optical component parallel with but offset from a center axis of the left pixel array; and focusing the electromagnetic radiation with a right optical component toward a right pixel array of the stereo image sensor along an optical axis of the right optical component parallel with but offset from a center axis of the right pixel array. The left pixel array and the right pixel array are offset from the center optical axis of the stereo endoscope to provide stereo image convergence.
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公开(公告)号：US11671581B2
公开(公告)日：2023-06-06
申请号：US17276061
申请日：2019-09-17
IPC分类号： H04N13/296 , H04N13/257 , H04N9/04 , H04N13/239 , H04N5/235 , H04N9/09
CPC分类号： H04N13/296 , H04N5/2353 , H04N9/0451 , H04N9/04559 , H04N9/09 , H04N13/239 , H04N13/257
摘要： A stereoscopic image capture device includes a first image sensor, a second image sensor, a first frame timer, and a second frame timer. The first and second frame timers are different frame timers. The first image sensor includes a first plurality of rows of pixels. The second image sensor includes a second plurality of rows of pixels. The first and second image sensors can be separate devices or different areas of a sensor region in an integrated circuit. The first frame timer is coupled to the first image sensor to provide image capture timing signals to the first image sensor. The second frame timer coupled to the second image sensor to provide image capture timing signals to the second image sensor.
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