公开(公告)号：US11977678B2

公开(公告)日：2024-05-07

申请号：US18311107

申请日：2023-05-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Wenyi Zhao ,  Christopher J. Hasser ,  Brandon D. Itkowitz ,  Paul E. Lilagan ,  David D. Scott ,  Simon P. DiMaio ,  David W. Robinson ,  Tao Zhao

IPC: G06F3/01 ,  G06F3/04815

CPC classification number: G06F3/013 ,  G06F3/04815

Abstract: A medical robotic system includes a viewer for displaying an image of a work site, a gaze tracker for tracking a gaze point of a user on the viewer, and a processor. The processor is configured to: draw an area or volume defining shape, overlaid on the image of the work site, in a position determined by the gaze tracker; assign a fixed virtual constraint to the shape and constrain movement of a robotic tool according to the fixed virtual constraint; receive a user selected action command selecting an image of patient anatomy; and superimpose the selected image of the patient anatomy over the image of the work site within the shape. The selected image of the patient anatomy is registered to the image of the work site.

公开(公告)号：US10134133B2

公开(公告)日：2018-11-20

申请号：US14828781

申请日：2015-08-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Tao Zhao ,  Wenyi Zhao ,  David D. Scott

IPC: G06T7/00 ,  H04N13/246 ,  G01D1/00 ,  G01D15/00 ,  G06K9/46 ,  G06T7/80

Abstract: The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data.

公开(公告)号：US09844313B2

公开(公告)日：2017-12-19

申请号：US14189425

申请日：2014-02-25

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: H04N9/73 ,  H04N3/14 ,  H04N5/335 ,  H04N9/04 ,  G06K9/36 ,  A61B1/00 ,  G06T3/40 ,  A61B1/04 ,  H04N9/07 ,  H04N9/09 ,  H04N13/02

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.

公开(公告)号：US09565997B2

公开(公告)日：2017-02-14

申请号：US15018867

申请日：2016-02-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David D. Scott ,  David C. Shafer ,  Dominique Brichard ,  Peter M. Herzlinger

IPC: A61B19/00 ,  A61B1/313 ,  G02B23/24 ,  A61B1/045 ,  A61B1/06 ,  G02B13/00 ,  H04N13/02 ,  A61B1/05 ,  A61B1/00 ,  H04N5/225

CPC classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US09271633B2

公开(公告)日：2016-03-01

申请号：US14662083

申请日：2015-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David D. Scott ,  David C. Shafer ,  Dominique Brichard ,  Peter M. Herzlinger

IPC: A61B1/00 ,  G02B23/24 ,  A61B1/045 ,  A61B1/06 ,  A61B1/313 ,  G02B13/00 ,  H04N13/02 ,  A61B19/00 ,  H04N5/225

CPC classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20160048953A1

公开(公告)日：2016-02-18

申请号：US14828781

申请日：2015-08-18

Applicant: Intuitive Surgical Operations, Inc

Inventor： Tao Zhao ,  Wenyi Zhao ,  David D. Scott

IPC: G06T7/00 ,  G06K9/46 ,  H04N13/02

CPC classification number: H04N13/246 ,  G01D1/00 ,  G01D15/00 ,  G06K9/4671 ,  G06T7/85 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10068 ,  G06T2207/10148 ,  G06T2207/20056 ,  G06T2207/30204 ,  H04N13/239

Abstract: The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data.

Abstract translation: 本公开涉及用于诸如内窥镜成像系统的成像系统的校准组件和方法。 校准组件包括：用于约束与内窥镜成像系统接合的界面; 与所述界面耦合以便在所述成像系统的视野范围内的目标，所述目标包括具有包括识别特征的校准特征的多个标记; 以及处理器，被配置为从所述识别特征分别识别来自所述成像系统和所述目标之间的第一和第二相对空间布置的第一和第二图像，来自所述识别特征的至少一些标记，以及使用所识别的标记和校准特征位置 图像生成校准数据。

公开(公告)号：US11039738B2

公开(公告)日：2021-06-22

申请号：US16872171

申请日：2020-05-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David D. Scott ,  David C. Shafer ,  Dominique Brichard ,  Peter M. Herzlinger

IPC: 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

Abstract: 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.

公开(公告)号：US20200268239A1

公开(公告)日：2020-08-27

申请号：US16872171

申请日：2020-05-11

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David D. Scott ,  David C. Shafer ,  Dominique Brichard ,  Peter M. Herzlinger

IPC: A61B1/06 ,  H04N13/204 ,  G02B23/24 ,  A61B1/00 ,  A61B1/045 ,  A61B1/313 ,  G02B13/00 ,  H04N5/225 ,  A61B1/05

Abstract: 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.

公开(公告)号：US20180228351A1

公开(公告)日：2018-08-16

申请号：US15953517

申请日：2018-04-16

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David D. Scott ,  David C. Shafer ,  Dominique Brichard ,  Peter M. Herzlinger

IPC: A61B1/06 ,  A61B1/045 ,  G02B13/00 ,  G02B23/24 ,  H04N13/20 ,  A61B1/313 ,  H04N5/225

CPC classification number: 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

Abstract: 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.

公开(公告)号：US11284803B2

公开(公告)日：2022-03-29

申请号：US14080384

申请日：2013-11-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dominique Brichard ,  Peter M. Herzlinger ,  David D. Scott ,  Klaus Zietlow

IPC: A61B5/02 ,  A61B1/00 ,  A61B5/00 ,  A61B34/30

Abstract: An endoscopic system can include an endoscope shaft having a proximal end and a distal end, and an electrically active sensor system including at least one sensor mounted proximate the distal end and positioned to sense at least one characteristic of an environment in which the distal end is located. The capacitance of the sensor system relative to earth ground maintains current leakage to a level that meets a cardiac float rating.