公开(公告)号：US20240390104A1

公开(公告)日：2024-11-28

申请号：US18736170

申请日：2024-06-06

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey M. DiCarlo ,  Ian E. McDowall ,  Jonathan M. Sorger

IPC: A61B90/00 ,  A61B1/00 ,  A61B6/40 ,  A61B34/30 ,  A61B90/30

Abstract: An illustrative surgical system may access a plurality of images captured outside a structure within a patient; detect a difference between spectral reflectances of scenes captured in the plurality of images; and identify, based on the detected difference between the spectral reflectances of the scenes captured in the plurality of images, pixels in at least one of the plurality of images that correspond to structure tissue of the structure.

公开(公告)号：US20240315562A1

公开(公告)日：2024-09-26

申请号：US18680295

申请日：2024-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Curtis W. Stith ,  Jeffrey M. DiCarlo ,  Changmeng Liu

IPC: A61B5/00 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06

CPC classification number: A61B5/0071 ,  A61B1/000096 ,  A61B1/043 ,  A61B1/05 ,  A61B1/0638 ,  A61B1/0646

Abstract: An illustrative system includes an image sensor comprising a first pixel, a second pixel, a third pixel, and a fourth pixel. The system further includes a pixel-level broadband infrared cutoff filter that covers the second pixel and that is configured to prevent the second pixel from collecting infrared light having wavelengths included in a first range of wavelengths. The first, third, and fourth pixels are not covered by pixel-level broadband infrared cutoff filters configured to prevent the first, third, and fourth pixels from collecting infrared light having wavelengths included in the first range of wavelengths.

公开(公告)号：US20240281975A1

公开(公告)日：2024-08-22

申请号：US18650707

申请日：2024-04-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Jeffrey M. DiCarlo ,  Ian E. McDowall

IPC: G06T7/00 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B90/00

CPC classification number: G06T7/0014 ,  A61B1/000096 ,  A61B1/0005 ,  A61B1/00055 ,  A61B1/043 ,  A61B1/05 ,  A61B90/37 ,  G06T2207/10064 ,  G06T2207/10068

Abstract: Technology described herein can be embodied in a method that includes obtaining, using an imaging device, a plurality of images of a surgical scene, each image in the plurality of images being obtained under illumination by electromagnetic radiation in one of a plurality of wavelength ranges. The plurality of wavelength ranges are at least partially non-overlapping. The method also includes identifying a set of pixel values across multiple images in the plurality of images, wherein each pixel value in the set of pixel values is substantially representative of a particular portion of the surgical scene and determining, based on the set of pixel values and a chromophore model, a concentration of a chromophore in the particular portion of the surgical scene, wherein the chromophore model represents relationships between combinations of pixel values and chromophore concentrations.

公开(公告)号：US20240196099A1

公开(公告)日：2024-06-13

申请号：US18584185

申请日：2024-02-22

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Zhen He ,  Jeffrey M. DiCarlo ,  Heath Feather

IPC: H04N23/73 ,  H04N23/62 ,  H04N23/741

CPC classification number: H04N23/73 ,  H04N23/62 ,  H04N23/741

Abstract: An illustrative apparatus may perform gaze-based auto-exposure management of images. For example, the apparatus may determine, for an image captured by an image capture system, auto-exposure-related characteristics of pixel units into which the image is divided. The apparatus may update, based on the auto-exposure-related characteristics determined for the pixel units and on eye tracking data for a viewer viewing the image, one or more auto-exposure parameters for use by the image capture system to capture an additional image within an image sequence. Corresponding apparatuses, systems, and methods for gaze-based auto-exposure management of images are also disclosed.

公开(公告)号：US11936989B2

公开(公告)日：2024-03-19

申请号：US17369688

申请日：2021-07-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Zhen He ,  Jeffrey M. DiCarlo ,  Heath Feather

IPC: H04N23/73 ,  H04N23/62 ,  H04N23/741

CPC classification number: H04N23/73 ,  H04N23/62 ,  H04N23/741

Abstract: An illustrative apparatus may perform gaze-based auto-exposure management of image frames. For example, the apparatus may determine, for an image frame within an image frame sequence captured by an image capture system, auto-exposure values for pixel units into which the image frame is divided. The apparatus may then assign weight values to the pixel units based on a gaze direction of a viewer viewing the image frame sequence. Based on the auto-exposure values determined for the pixel units and the weight values assigned to the pixel units, the apparatus may update one or more auto-exposure parameters for use by the image capture system to capture an additional image frame within the image frame sequence. Corresponding apparatuses, systems, and methods for gaze-based auto-exposure management of image frames are also disclosed.

公开(公告)号：US11911003B2

公开(公告)日：2024-02-27

申请号：US16326804

申请日：2017-09-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Ian E. McDowall ,  Jeffrey M. DiCarlo ,  Brian D. Hoffman ,  William Jason Culman

IPC: A61B1/00 ,  A61B1/04 ,  A61B1/06 ,  A61B5/00 ,  A61B34/00 ,  A61B34/20 ,  A61B34/35 ,  A61B90/00 ,  A61B90/30 ,  G02B27/10 ,  G06V20/20 ,  A61B34/30

CPC classification number: A61B1/00193 ,  A61B1/0005 ,  A61B1/00186 ,  A61B1/04 ,  A61B1/042 ,  A61B1/043 ,  A61B1/0638 ,  A61B5/0075 ,  A61B34/00 ,  A61B34/20 ,  A61B34/35 ,  A61B90/30 ,  A61B90/361 ,  G02B27/1006 ,  G06V20/20 ,  A61B2034/301 ,  A61B2090/371 ,  G06V2201/03

Abstract: A computer-assisted surgical system simultaneously provides visible light and alternate modality images that identify tissue or increase the visual salience of features of clinical interest that a surgeon normally uses when performing a surgical intervention using the computer-assisted surgical system. Hyperspectral light from tissue of interest is used to safely and efficiently image that tissue even though the tissue may be obscured in the normal visible image of the surgical field. The combination of visible and hyperspectral images are analyzed to provide details and information concerning the tissue or other bodily function that were not previously available.

公开(公告)号：US11704774B2

公开(公告)日：2023-07-18

申请号：US17236765

申请日：2021-04-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Max J. Trejo ,  Jeffrey M. DiCarlo

IPC: G06T5/00 ,  G06T5/10 ,  G06T5/20

CPC classification number: G06T5/002 ,  G06T5/10 ,  G06T5/20 ,  G06T2207/20012 ,  G06T2207/20028 ,  G06T2207/20182

Abstract: A system includes an image sensor, an imaging pipeline, and a display device. The image sensor is configured to capture a first frame of pixel data. The imaging pipeline is coupled to the image sensor to receive the first frame of pixel data. The imaging pipeline includes an adaptive noise filter. The adaptive noise filter is configured to filter a pixel based on noise in the pixel. The imaging pipeline is configured to output a second frame of pixel data. The second frame of pixel data includes pixels filtered by the adaptive noise filter. The display device is coupled to the imaging pipeline to receive the second frame of pixel data. The display device is configured to display the second frame of pixel data.

公开(公告)号：US20220294995A1

公开(公告)日：2022-09-15

申请号：US17829000

申请日：2022-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Jeffrey M. DiCarlo ,  Ian E. McDowall

IPC: H04N5/265 ,  H04N13/257 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  H04N9/04 ,  G06T3/40 ,  H04N5/225

Abstract: An example method includes receiving a single frame comprising a first set of pixel data that includes a fluorescence scene component and a second set of pixel data that includes a combination of a visible color component scene and the fluorescence scene component; and generating, based on the first set of pixel data that includes the fluorescence scene component and the second set of pixel data that includes the combination of the visible color component scene and the fluorescence scene component, a display scene.

公开(公告)号：US20220015617A1

公开(公告)日：2022-01-20

申请号：US17311300

申请日：2019-12-04

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Jeffrey M. DiCarlo ,  Ian E. McDowall

IPC: A61B1/06 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B90/00

Abstract: Technology described herein can be embodied in a method that includes obtaining, using an endoscopic camera, a plurality of images of the surgical scene, each image in the plurality of images being obtained under illumination by electromagnetic radiation in a corresponding wavelength range. The corresponding wavelength ranges are selected in accordance with a set of chromophores present in the surgical scene, and any two of the corresponding wavelength ranges partially non-overlapping. The method also includes determining, based on the plurality of images, a concentration of each of one or more chromophores in the set at various portions of the surgical scene, and generating, by one or more processing devices, based on information about the concentration of each of the one or more chromophores, a representation of the surgical scene. The method further includes presenting the representation of the surgical scene on an output device associated with the surgical device.

公开(公告)号：US20220014664A1

公开(公告)日：2022-01-13

申请号：US17369688

申请日：2021-07-07

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Zhen He ,  Jeffrey M. DiCarlo ,  Heath Feather

IPC: H04N5/235 ,  H04N5/232

Abstract: An illustrative apparatus may perform gaze-based auto-exposure management of image frames. For example, the apparatus may determine, for an image frame within an image frame sequence captured by an image capture system, auto-exposure values for pixel units into which the image frame is divided. The apparatus may then assign weight values to the pixel units based on a gaze direction of a viewer viewing the image frame sequence. Based on the auto-exposure values determined for the pixel units and the weight values assigned to the pixel units, the apparatus may update one or more auto-exposure parameters for use by the image capture system to capture an additional image frame within the image frame sequence. Corresponding apparatuses, systems, and methods for gaze-based auto-exposure management of image frames are also disclosed.