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公开(公告)号：US20240298900A1
公开(公告)日：2024-09-12
申请号：US18435905
申请日：2024-02-07
发明人： Mahdi Azizian , Jonathan Sorger
IPC分类号： A61B5/00
CPC分类号： A61B5/0071 , A61B5/0033 , A61B5/7405 , A61B5/742 , A61B2576/00
摘要： A system and method of specular reflection detection and reduction includes a processing unit including one or more processors and an imaging unit coupled to the processing unit. The imaging unit includes one or more first illuminators for providing illumination of a region of interest, one or more first detectors for detecting reflections of the illumination, one or more second illuminators for triggering fluorescing of one or more fluorescent materials in the region of interest, and one or more second detectors for detecting the fluorescing of the fluorescent materials. The processing unit is configured to receive a first image from the first detectors, determine one or more regions of high specular reflection in the first image, mask out the regions of high specular reflection in the first image, and generate a composite image based on the masked first image and the detected fluorescence. The first image includes the detected reflections.
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2.发明公开公开(公告)号：US20240273900A1
公开(公告)日：2024-08-15
申请号：US18568564
申请日：2022-06-24
发明人： Yidan Qin , Maximilian H. Allan , Mahdi Azizian
CPC分类号： G06V20/41 , G06F21/6263 , G06V10/764 , G06V10/96 , G06V20/50 , G06V40/10 , G06V2201/03
摘要： An illustrative image processing system is configured to apply a video stream to a machine learning model, the video stream generated by an imaging device during a medical procedure performed with respect to a patient; classify, based on an output of the machine learning model, an image frame included in the video stream as an ex-body frame that depicts content external to a body of the patient: and apply, based on the classifying the image frame as the ex-body frame, a privacy enhancing operation to the image frame.
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公开(公告)号：US20240245471A1
公开(公告)日：2024-07-25
申请号：US18626742
申请日：2024-04-04
IPC分类号： A61B34/20 , A61B1/00 , A61B10/04 , A61B17/00 , A61B17/29 , A61B17/30 , A61B17/34 , A61B18/00 , A61B34/30 , A61B34/35 , A61B90/00 , A61B90/96
CPC分类号： A61B34/20 , A61B17/3403 , A61B34/35 , A61B90/96 , A61B1/00193 , A61B2010/045 , A61B2017/00477 , A61B2017/00876 , A61B17/29 , A61B2017/306 , A61B2017/3413 , A61B2018/00577 , A61B2034/2055 , A61B2034/2061 , A61B2034/2063 , A61B2034/2065 , A61B2034/2072 , A61B2034/302 , A61B2090/364 , A61B2090/3941 , A61B2090/3945
摘要： A medical imaging system comprises a teleoperated assembly including a medical instrument. The medical imaging system also comprises a first imaging instrument for generating a first image of a field of view of the first imaging instrument and a second imaging instrument for generating a second image. A tracking fixture is engagable along at least a portion of the second imaging instrument. The medical instrument is attachable to the tracking fixture within the field of view of the first imaging instrument.
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公开(公告)号：US11998282B2
公开(公告)日：2024-06-04
申请号：US16470050
申请日：2017-12-15
IPC分类号： A61B34/20 , A61B17/34 , A61B34/35 , A61B90/96 , A61B1/00 , A61B10/04 , A61B17/00 , A61B17/29 , A61B17/30 , A61B18/00 , A61B34/30 , A61B90/00
CPC分类号： A61B34/20 , A61B17/3403 , A61B34/35 , A61B90/96 , A61B1/00193 , A61B2010/045 , A61B2017/00477 , A61B2017/00876 , A61B17/29 , A61B2017/306 , A61B2017/3413 , A61B2018/00577 , A61B2034/2055 , A61B2034/2061 , A61B2034/2063 , A61B2034/2065 , A61B2034/2072 , A61B2034/302 , A61B2090/364 , A61B2090/3941 , A61B2090/3945
摘要： A medical imaging system comprises a teleoperated assembly including a medical instrument, a first imaging instrument, a second imaging instrument, a tracking fixture, and a processor. The first imaging instrument generates a first image of a field of view of the first imaging instrument and the second imaging instrument generates a second image. The tracking fixture is engageable along at least a portion of the second imaging instrument. The tracking fixture includes one or more features. The medical instrument is attachable to an attachment feature of the tracking fixture to maintain a known configuration of the medical instrument relative to the second imaging instrument. The processor is configured to determine a pose of the tracking fixture based on the one or more features of the tracking fixture and the first image.
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公开(公告)号：US11972531B2
公开(公告)日：2024-04-30
申请号：US17846552
申请日：2022-06-22
发明人： Pourya Shirazian , Mahdi Azizian , Daniel Proksch
CPC分类号： G06T19/006 , A61B90/37 , G06T17/20 , G06T19/20 , A61B2090/374 , A61B2090/3762 , G06T2200/24 , G06T2210/41 , G06T2210/62 , G06T2219/2012
摘要： Technology described herein can be embodied in a method of providing visual feedback during surgery. The method includes obtaining a set of vectors representing a model of an anatomical organ, the set produced from a representation of the organ as imaged under one or more imaging modalities. The method includes obtaining a set of pixel positions of a display device, wherein the pixel positions correspond to a view of the organ. The method further includes generating, using at least a portion of the set of vectors, multiple fragment-vectors for each pixel position in the set of pixel positions, the multiple fragment-vectors each representing a corresponding portion of the organ along a line-of-sight through the organ, and generating a pixel value for each pixel position in the set of pixel positions, and presenting, on the display device, an augmented image of the view of the organ using the generated pixel values.
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公开(公告)号：US11937899B2
公开(公告)日：2024-03-26
申请号：US16562121
申请日：2019-09-05
发明人： Mahdi Azizian , Jonathan M. Sorger
IPC分类号： A61B5/00
CPC分类号： A61B5/0071 , A61B5/0033 , A61B5/7405 , A61B5/742 , A61B2576/00
摘要： An imaging system includes an illuminator for providing illumination on a region of interest, one or more first detectors for detecting reflections of the illumination, and a processing unit. The processing unit is configured to: receive a first image containing the region of interest; determine a first region of high specular reflection in the first image based on the reflections of the illumination on the region of interest; mask the first image by substituting a default color designating masking to alert a user to incomplete image information in the first region of high specular reflection to create a masked first image; and generate a composite image based on the masked first image and a fluorescence image of the region of interest.
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公开(公告)号：US20230338111A1
公开(公告)日：2023-10-26
申请号：US18308992
申请日：2023-04-28
CPC分类号： A61B90/50 , A61B90/11 , A61B34/20 , B25J9/1682
摘要： A system and method for an articulated arm based tool guide includes an elongated body having a guide hole, a first joint attached to a first end of the body, a second joint attached to a second end of the body opposite the first end, a first mounting arm coupled to the body using the first joint, and a second mounting arm coupled to the body using the second joint. The first mounting arm is configured to be attached to a first articulated arm of a computer-assisted medical device. The second mounting arm is configured to be attached to a second articulated arm of the computer-assisted medical device. The guide hole is adapted to receive a medical tool and maintain a working end of the medical tool in alignment with the guide. In some embodiments, the first mounting arm includes identifying information identifying the tool guide as a tool guide.
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公开(公告)号：US20230307121A1
公开(公告)日：2023-09-28
申请号：US18325698
申请日：2023-05-30
IPC分类号： G16H40/63 , G05B15/02 , G06F13/37 , A61F2/60 , G16H20/30 , H04L67/104 , G16H20/40 , G16H40/67
CPC分类号： G16H40/63 , A61F2/60 , G05B15/02 , G06F13/37 , G16H20/30 , G16H20/40 , G16H40/67 , H04L67/1046
摘要： A movable table may be configured to support a patient. The movable table may comprise a communication interface configured to communicatively couple with a medical device. The movable table may also comprise one or more processors and a non-transitory machine-readable medium comprising a plurality of instructions which, when executed by the one or more processors, cause the one or more processors to perform operations. The operations may include transmitting, via the communication interface and to the medical device, information relating to a planned motion of the movable table and receiving, via the communication interface and from the medical device, a response to the information relating to the planned motion of the movable table. Based on the response received from the medical device, the operations may include selectively causing performance of the planned motion of the movable table.
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9.发明授权公开(公告)号：US11710561B2
公开(公告)日：2023-07-25
申请号：US17412812
申请日：2021-08-26
IPC分类号： G16H40/63 , G05B15/02 , G06F13/37 , A61F2/60 , G16H20/30 , H04L67/104 , G16H20/40 , G16H40/67
CPC分类号： G16H40/63 , A61F2/60 , G05B15/02 , G06F13/37 , G16H20/30 , G16H20/40 , G16H40/67 , H04L67/1046
摘要： A device comprises one or more movable elements and one or more processors. The device is configured to receive a first movement assignment of a first type, receive tracking data from a motion tracking system configured to monitor a position of personnel in a vicinity of the device, plan a first motion for a first movable element of the one or more movable elements based on the first type of the first movement assignment and the tracking data, and execute the first motion.
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10.发明申请公开(公告)号：US20210391070A1
公开(公告)日：2021-12-16
申请号：US17412812
申请日：2021-08-26
IPC分类号： G16H40/63 , G05B15/02 , G06F13/37 , A61F2/60 , G16H20/30 , H04L29/08 , G16H20/40 , G16H40/67
摘要： A system and method of coordinated motion among heterogeneous devices includes a medical device with one or more movable elements and one or more processors. Any of the processors uses a shared interface to access services. The medical device requests a movement token from a token service through the shared interface, receive the movement token from the token service, exchange configuration data, kinematic data, or planned motion data through the shared interface, plan a first motion for a first movable element of the movable elements based on the movement token and the configuration data, the kinematic data, or the planned motion data, and execute the first motion. In some embodiments, the movement token is selected from a group consisting of an exclusive-motion token, a master follow-me token, a slave follow-me token, a master collision-avoidance token, a slave collision-avoidance token, and a passive collision-avoidance token.
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