公开(公告)号：US20240037721A1

公开(公告)日：2024-02-01

申请号：US18377519

申请日：2023-10-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Geoffrey A. Richmond ,  Brian D. Hoffman

IPC: G06T5/00 ,  G06T7/55

CPC classification number: G06T5/009 ,  G06T7/55

Abstract: A system may access an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The system may also access a depth map of the operational scene. Based on the image and the depth map, the system may generate a processed image depicting the operational scene as being illuminated by a virtual light source that is to be simulated to be illuminating the operational scene and may provide the processed image for presentation on a display screen. Corresponding systems and methods are also disclosed.

公开(公告)号：US11816818B2

公开(公告)日：2023-11-14

申请号：US17953993

申请日：2022-09-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Geoffrey A. Richmond ,  Brian D. Hoffman

IPC: G06T5/00 ,  G06T7/55

CPC classification number: G06T5/009 ,  G06T7/55

Abstract: A system may access an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The system may also access a depth map of the operational scene that includes depth data corresponding to each pixel in the image. Based on the depth map, the system may determine a far-range lighting coefficient for each pixel in the image based on a relationship between the corresponding depth data included in the depth map for that respective pixel and a target distance to a virtual light source that is to be simulated to be illuminating the operational scene. Based on the image and these far-range lighting coefficients, the system may generate a processed image depicting the operational scene as being illuminated by the virtual light source and may provide the processed image for presentation on a display screen. Corresponding systems and methods are also disclosed.

公开(公告)号：US12243204B2

公开(公告)日：2025-03-04

申请号：US18377519

申请日：2023-10-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Geoffrey A. Richmond ,  Brian D. Hoffman

IPC: G06T5/92 ,  G06T7/55

Abstract: A system may access an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The system may also access a depth map of the operational scene. Based on the image and the depth map, the system may generate a processed image depicting the operational scene as being illuminated by a virtual light source that is to be simulated to be illuminating the operational scene and may provide the processed image for presentation on a display screen. Corresponding systems and methods are also disclosed.

公开(公告)号：US12045318B2

公开(公告)日：2024-07-23

申请号：US17293004

申请日：2019-11-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Geoffrey A. Richmond ,  Siddarth Sen

IPC: G06V10/82 ,  G06F18/20 ,  G06F18/21 ,  G06F18/214 ,  G06F18/24 ,  G06N3/04

CPC classification number: G06F18/285 ,  G06F18/214 ,  G06F18/2163 ,  G06F18/24 ,  G06N3/04 ,  G06V10/82 ,  G06V2201/031

Abstract: An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and multiple sets of weights, to differently configure the CNN based upon different camera image training data; and a display screen configured to display the two-dimensional (2D) arrangements of classified pixels and the anatomical object classifications.

公开(公告)号：US20210407053A1

公开(公告)日：2021-12-30

申请号：US17294528

申请日：2019-11-18

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Geoffrey A. Richmond ,  Brian D. Hoffman

IPC: G06T5/00 ,  G06T7/55

Abstract: A lighting emulation system accesses an image that is captured by an imaging device and that depicts an operational scene illuminated by close-range light. The lighting emulation system accesses a depth map of the operational scene that includes depth data corresponding to each pixel in the image. Based on the depth map, the lighting emulation system determines a far-range lighting coefficient for each pixel in the image. Specifically, the far-range lighting coefficient for each respective pixel is determined based on the corresponding depth data included in the depth map for that respective pixel. Based on the image and the far-range lighting coefficient for each pixel in the image, the lighting emulation system generates a processed image depicting the operational scene as illuminated by far-range lighting, and provides the processed image for presentation on a display screen.

公开(公告)号：US12108992B2

公开(公告)日：2024-10-08

申请号：US17264257

申请日：2019-07-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Siddarth Sen ,  Brian D. Hoffman ,  Geoffrey A. Richmond

IPC: A61B34/20 ,  A61B34/00 ,  G06N3/047

CPC classification number: A61B34/20 ,  A61B34/70 ,  G06N3/047 ,  A61B2034/2065

Abstract: An exemplary surgical instrument tracking system includes at least one physical computing device that determines, based on endoscopic imagery of a surgical area and using a trained neural network, an observation for an object of interest depicted in the endoscopic imagery, associates, based on a probabilistic framework and kinematics of a robotically-manipulated surgical instrument located at the surgical area, the observation for the object of interest to the robotically-manipulated surgical instrument, and determines a physical position of the robotically-manipulated surgical instrument at the surgical area based on the kinematics of the robotically-manipulated surgical instrument and the observation associated with the robotically-manipulated surgical instrument.

公开(公告)号：US20210406596A1

公开(公告)日：2021-12-30

申请号：US17293004

申请日：2019-11-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Geoffrey A. Richmond ,  Siddarth Sen

IPC: G06K9/62 ,  G06N3/04

Abstract: An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an N anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and multiple sets of N weights, to differently configure the CNN based upon different camera image training data; and a display screen configured to display the two-dimensional (2D) arrangements of classified pixels and the anatomical object classifications.

公开(公告)号：US20210290317A1

公开(公告)日：2021-09-23

申请号：US17264257

申请日：2019-07-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Siddarth Sen ,  Brian D. Hoffman ,  Geoffrey A. Richmond

IPC: A61B34/20 ,  A61B34/00 ,  G06N3/04

Abstract: An exemplary surgical instrument tracking system includes at least one physical computing device that determines, based on endoscopic imagery of a surgical area and using a trained neural network, an observation for an object of interest depicted in the endoscopic imagery, associates, based on a probabilistic framework and kinematics of a robotically-manipulated surgical instrument located at the surgical area, the observation for the object of interest to the robotically-manipulated surgical instrument, and determines a physical position of the robotically-manipulated surgical instrument at the surgical area based on the kinematics of the robotically-manipulated surgical instrument and the observation associated with the robotically-manipulated surgical instrument.

公开(公告)号：US20250090241A1

公开(公告)日：2025-03-20

申请号：US18896529

申请日：2024-09-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Siddarth Sen ,  Brian D. Hoffman ,  Geoffrey A. Richmond

IPC: A61B34/20 ,  A61B34/00 ,  G06N3/047

Abstract: An exemplary surgical instrument tracking system includes at least one physical computing device that determines, based on endoscopic imagery of a surgical area and using a trained neural network, an observation for an object of interest depicted in the endoscopic imagery, associates, based on a probabilistic framework and kinematics of a robotically-manipulated surgical instrument located at the surgical area, the observation for the object of interest to the robotically-manipulated surgical instrument, and determines a physical position of the robotically-manipulated surgical instrument at the surgical area based on the kinematics of the robotically-manipulated surgical instrument and the observation associated with the robotically-manipulated surgical instrument.

公开(公告)号：US20240338421A1

公开(公告)日：2024-10-10

申请号：US18748918

申请日：2024-06-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian D. Hoffman ,  Geoffrey A. Richmond ,  Siddarth Sen

IPC: G06F18/20 ,  G06F18/21 ,  G06F18/214 ,  G06F18/24 ,  G06N3/04 ,  G06V10/82

CPC classification number: G06F18/285 ,  G06F18/214 ,  G06F18/2163 ,  G06F18/24 ,  G06N3/04 ,  G06V10/82 ,  G06V2201/031

Abstract: An imaging system is provided for pixel-level segmentation of images comprising: a camera to capture images of an anatomical object and to represent the images in two-dimensional (2D) arrangements of pixels; one or more processors and a non-transitory computer readable medium with information including: CNN instructions to cause the one or more processors to implement a CNN configured to associate anatomical object classifications with pixels of the 2D arrangements of pixels; and multiple sets of weights, to differently configure the CNN based upon different camera image training data; and a display screen configured to display the two-dimensional (2D) arrangements of classified pixels and the anatomical object classifications.