公开(公告)号：US20170112354A1

公开(公告)日：2017-04-27

申请号：US15126978

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jeffrey DiCarlo ,  Tao Zhao ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond

IPC: A61B1/00 ,  A61B34/35 ,  H04N5/235 ,  H04N9/04 ,  G06T7/90 ,  A61B1/06 ,  A61B90/00

CPC classification number: A61B1/00009 ,  A61B1/00193 ,  A61B1/0638 ,  A61B34/30 ,  A61B34/35 ,  A61B90/30 ,  A61B90/37 ,  A61B2090/371 ,  G06T7/90 ,  G06T2207/30004 ,  H04N5/2352 ,  H04N9/04

Abstract: Non-white light from an endoscope (201) of a teleoperated surgical system (200) is used to illuminate a surgical site (203). A camera (220L) captures an image of the surgical site, and the image is displayed on a monitor (251). The non-white light illumination minimizes noise in the images of the surgical site presented on the monitor relative to images captured using white light illumination and displayed on the monitor.

公开(公告)号：US11331156B2

公开(公告)日：2022-05-17

申请号：US16687549

申请日：2019-11-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Geoff Richmond ,  Brian D. Hoffman ,  Jeffrey M. DiCarlo

IPC: A61B1/00 ,  A61B1/045 ,  A61B1/06 ,  A61B34/30 ,  A61B90/30 ,  A61B90/00

Abstract: A system includes a controller communicatively coupled to an illuminator and to a camera configured to capture a scene including tissue. The controller may change the output optical power of the illuminator from a first output optical power to a second output optical power so that a subsequently captured frame is captured by the camera from reflected light, the reflected light being light from the illuminator having the second output optical power prior to being reflected. The controller may determine that an endoscope contacted the tissue if the change of the output optical power of the illuminator results in a change of a reflected luminance that is less than a predetermined threshold, the change of the reflected luminance being a change from a first reflected luminance for the first output optical power to a second reflected luminance for the second output optical power.

公开(公告)号：US10506914B2

公开(公告)日：2019-12-17

申请号：US15126978

申请日：2015-03-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jeffrey DiCarlo ,  Tao Zhao ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond

IPC: H04N9/47 ,  A61B1/00 ,  A61B1/06 ,  A61B90/30 ,  A61B34/35 ,  A61B90/00 ,  G06T7/90 ,  H04N5/235 ,  H04N9/04 ,  A61B34/30

Abstract: Non-white light from an endoscope (201) of a teleoperated surgical system (200) is used to illuminate a surgical site (203). A camera (220L) captures an image of the surgical site, and the image is displayed on a monitor (251). The non-white light illumination minimizes noise in the images of the surgical site presented on the monitor relative to images captured using white light illumination and displayed on the monitor.

公开(公告)号：US20230371783A1

公开(公告)日：2023-11-23

申请号：US18230310

申请日：2023-08-04

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey DiCarlo ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond ,  Tao Zhao

IPC: A61B1/00 ,  A61B1/06 ,  A61B90/30 ,  H04N23/10 ,  H04N23/72 ,  A61B34/35 ,  A61B90/00 ,  G06T7/90

CPC classification number: A61B1/000095 ,  A61B1/00193 ,  A61B1/0638 ,  A61B90/30 ,  A61B1/0655 ,  H04N23/10 ,  H04N23/72 ,  A61B34/35 ,  A61B90/37 ,  G06T7/90 ,  A61B2090/371 ,  A61B34/30

Abstract: An apparatus may configure an illuminator to illuminate a scene with non-white light. The illuminator includes a plurality of color component illumination sources. The non-white light is light other than white light and is generated by a combination of light output by the plurality of color component illumination sources. The apparatus may also control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light and adjust pixel values of a color channel of the camera in the frame of the scene to decrease noise of the color channel in the frame of the scene.

公开(公告)号：US20210145249A1

公开(公告)日：2021-05-20

申请号：US17158976

申请日：2021-01-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey DiCarlo ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond ,  Tao Zhao

IPC: A61B1/00 ,  A61B1/06 ,  A61B90/30 ,  A61B34/35 ,  A61B90/00 ,  G06T7/90 ,  H04N5/235 ,  H04N9/04

Abstract: An apparatus may configure an illuminator to illuminate a scene with non-white light and control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light. The apparatus may adjust a signal of a color channel of the camera in the frame of the scene based on the non-white light.

公开(公告)号：US10932649B2

公开(公告)日：2021-03-02

申请号：US16682940

申请日：2019-11-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey DiCarlo ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond ,  Tao Zhao

IPC: H04N9/47 ,  A61B1/00 ,  A61B1/06 ,  A61B90/30 ,  A61B34/35 ,  A61B90/00 ,  G06T7/90 ,  H04N5/235 ,  H04N9/04 ,  A61B34/30

Abstract: A system may control an illuminator to illuminate a surgical site with non-white light and control a camera to capture light reflected from the surgical site. The camera may separate the captured light into a plurality of color components. The plurality of color components may be captured by the camera as a plurality of sets of pixels of a frame in a video stream, and each set of the plurality of sets of pixels may be in a different color channel of the camera. The system may further control, based on color component characteristics of the light captured by the camera, the illuminator to configure the non-white light such that each color channel of the camera has an about equal response to the light captured by the camera for a subsequently captured frame in the video stream.

公开(公告)号：US11759093B2

公开(公告)日：2023-09-19

申请号：US17158976

申请日：2021-01-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey DiCarlo ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond ,  Tao Zhao

IPC: A61B1/00 ,  A61B1/06 ,  A61B90/30 ,  H04N23/10 ,  H04N23/72 ,  A61B34/35 ,  A61B90/00 ,  G06T7/90 ,  A61B34/30

CPC classification number: A61B1/000095 ,  A61B1/00193 ,  A61B1/0638 ,  A61B1/0655 ,  A61B34/35 ,  A61B90/30 ,  A61B90/37 ,  G06T7/90 ,  H04N23/10 ,  H04N23/72 ,  A61B34/30 ,  A61B2090/371 ,  G06T2207/30004

Abstract: An apparatus may configure an illuminator to illuminate a scene with non-white light and control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light. The apparatus may adjust a signal of a color channel of the camera in the frame of the scene based on the non-white light.

公开(公告)号：US20220218424A1

公开(公告)日：2022-07-14

申请号：US17709001

申请日：2022-03-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Geoff Richmond ,  Brian D. Hoffman ,  Jeffrey M. DiCarlo

IPC: A61B34/30 ,  A61B1/00 ,  A61B1/045 ,  A61B90/30 ,  A61B1/06

Abstract: A system determines that a change in luminance of captured frames of a scene in response to a change in illumination brightness of the scene is less than a threshold value and commands, based on the determination that the change in luminance of the captured frames of the scene is less than the threshold value, attenuation of the illumination brightness of the scene.

公开(公告)号：US20200078108A1

公开(公告)日：2020-03-12

申请号：US16687549

申请日：2019-11-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Geoff Richmond ,  Brian D. Hoffman ,  Jeffrey M. DiCarlo

IPC: A61B34/30 ,  A61B1/00 ,  A61B90/30 ,  A61B1/045 ,  A61B1/06

Abstract: A system includes a controller communicatively coupled to an illuminator and to a camera configured to capture a scene including tissue. The controller may change the output optical power of the illuminator from a first output optical power to a second output optical power so that a subsequently captured frame is captured by the camera from reflected light, the reflected light being light from the illuminator having the second output optical power prior to being reflected. The controller may determine that an endoscope contacted the tissue if the change of the output optical power of the illuminator results in a change of a reflected luminance that is less than a predetermined threshold, the change of the reflected luminance being a change from a first reflected luminance for the first output optical power to a second reflected luminance for the second output optical power.

公开(公告)号：US20200077870A1

公开(公告)日：2020-03-12

申请号：US16682940

申请日：2019-11-13

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey DiCarlo ,  Stephen J. Blumenkranz ,  Brian D. Hoffman ,  Geoff Richmond ,  Tao Zhao

IPC: A61B1/00 ,  H04N9/04 ,  H04N5/235 ,  G06T7/90 ,  A61B90/00 ,  A61B34/35 ,  A61B1/06 ,  A61B90/30

Abstract: A system may control an illuminator to illuminate a surgical site with non-white light and control a camera to capture light reflected from the surgical site. The camera may separate the captured light into a plurality of color components. The plurality of color components may be captured by the camera as a plurality of sets of pixels of a frame in a video stream, and each set of the plurality of sets of pixels may be in a different color channel of the camera. The system may further control, based on color component characteristics of the light captured by the camera, the illuminator to configure the non-white light such that each color channel of the camera has an about equal response to the light captured by the camera for a subsequently captured frame in the video stream.