公开(公告)号：US12231786B2

公开(公告)日：2025-02-18

申请号：US18369304

申请日：2023-09-18

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: H04N23/10 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  G06T3/4015 ,  H04N5/265 ,  H04N13/257 ,  H04N23/45 ,  H04N23/56 ,  H04N23/57 ,  H04N25/13 ,  H04N23/50

Abstract: An example method includes causing an illuminator to simultaneously illuminate tissue with a first visible color illumination component, a second visible color illumination component, and a fluorescence excitation illumination component; and causing a display unit to display, based on the illumination, a display scene that includes: a reduced color scene component corresponding to the first and second visible color illumination components, and a highlighted scene component corresponding to the fluorescence excitation illumination component.

公开(公告)号：US20240029199A1

公开(公告)日：2024-01-25

申请号：US18376987

申请日：2023-10-05

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao

IPC: G06T3/40 ,  H04N23/84 ,  H04N25/13

CPC classification number: G06T3/4015 ,  H04N23/843 ,  H04N25/134 ,  A61B2576/00 ,  H04N23/555

Abstract: An exemplary method includes receiving a frame of raw pixels captured by an image capture sensor, a particular location in the frame of raw pixels including a captured color pixel value of a first color component of a first color space; generating, for the particular location in the frame of raw pixels, a vertical color difference signal and a horizontal color difference signal using information from the frame of raw pixels; determining that the particular location is missing a color pixel value of a second color component of the first color space; generating a reconstructed color pixel value of the second color component based on the vertical color difference signal and the horizontal color difference signal; and transforming the vertical color difference signal and the horizontal color difference signal into chrominance pixel values in a second color space that is different from the first color space.

公开(公告)号：US11778340B2

公开(公告)日：2023-10-03

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: H04N13/257 ,  H04N25/13 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  H04N23/10 ,  H04N23/45 ,  H04N23/56 ,  H04N23/57 ,  G06T3/40 ,  H04N5/265 ,  H04N23/50

CPC classification number: H04N25/134 ,  A61B1/0005 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/00193 ,  A61B1/043 ,  A61B1/05 ,  A61B1/06 ,  A61B1/0638 ,  A61B1/0646 ,  G06T3/4015 ,  H04N5/265 ,  H04N13/257 ,  H04N23/10 ,  H04N23/45 ,  H04N23/56 ,  H04N23/57 ,  H04N23/555

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：US11558595B2

公开(公告)日：2023-01-17

申请号：US16202211

申请日：2018-11-28

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Wenyi Zhao ,  Catherine J. Mohr ,  Simon P. DiMaio

IPC: H04N13/128 ,  H04N13/239

Abstract: A stereo imaging system comprises a stereoscopic camera having left and right image capturing elements for capturing stereo images; a stereo viewer; and a processor configured to modify the stereo images prior to being displayed on the stereo viewer so that a disparity between corresponding points of the stereo images is adjusted as a function of a depth value within a region of interest in the stereo images after the depth value reaches a target depth value.

公开(公告)号：US11471221B2

公开(公告)日：2022-10-18

申请号：US16859755

申请日：2020-04-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  William C. Nowlin ,  Wenyi Zhao

IPC: A61B5/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/94 ,  A61B90/00 ,  A61B34/10

Abstract: A tool tracking method comprises receiving stereo image data of a tool. The tool includes a tracking marker. The method also comprises receiving first kinematic data for the tool and determining a three-dimensional image-derived pose of the tool from the stereo image data of the tool and the tracking marker. The method also comprises determining a first kinematic pose of the tool from the first kinematic data and determining a pose offset between the image-derived pose of the tool and the first kinematic pose of the tool. The method also comprises determining a corrected first kinematic pose of the tool based on the pose offset and the first kinematic data.

公开(公告)号：US20200305984A1

公开(公告)日：2020-10-01

申请号：US16859755

申请日：2020-04-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Tao Zhao ,  William C. Nowlin ,  Wenyi Zhao

IPC: A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/94

Abstract: A tool tracking method comprises receiving stereo image data of a tool. The tool includes a tracking marker. The method also comprises receiving first kinematic data for the tool and determining a three-dimensional image-derived pose of the tool from the stereo image data of the tool and the tracking marker. The method also comprises determining a first kinematic pose of the tool from the first kinematic data and determining a pose offset between the image-derived pose of the tool and the first kinematic pose of the tool. The method also comprises determining a corrected first kinematic pose of the tool based on the pose offset and the first kinematic data.

公开(公告)号：US20200215696A1

公开(公告)日：2020-07-09

申请号：US16827227

申请日：2020-03-23

Applicant: Intuitive Surgical Operations, Inc

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Craig R. Gerbi ,  Theodore W. Rogers ,  Wenyi Zhao

IPC: B25J9/16

Abstract: A robotic system includes a processor that is programmed to determine and cause work site measurements for user specified points in the work site to be graphically displayed in order to provide geometrically appropriate tool selection assistance to the user. The processor is also programmed to determine an optimal one of a plurality of tools of varying geometries for use at the work site and to cause graphical representations of at least the optimal tool to be displayed along with the work site measurements.

公开(公告)号：US20180249089A1

公开(公告)日：2018-08-30

申请号：US15965017

申请日：2018-04-27

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: H04N5/265 ,  H04N13/257 ,  A61B1/00

CPC classification number: H04N5/265 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/00193 ,  A61B1/043 ,  A61B1/05 ,  A61B1/06 ,  A61B1/0638 ,  A61B1/0646 ,  G06T3/4015 ,  H04N5/2256 ,  H04N5/2257 ,  H04N5/2258 ,  H04N9/045 ,  H04N13/257 ,  H04N2005/2255

Abstract: Mixed mode imaging is implemented using a single-chip image capture sensor with a color filter array. The single-chip image capture sensor captures a frame including a first set of pixel data and a second set of pixel data. The first set of pixel data includes a first combined scene, and the second set of pixel data includes a second combined scene. The first combined scene is a first weighted combination of a fluorescence scene component and a visible scene component due to the leakage of a color filter array. The second combined scene includes a second weighted combination of the fluorescence scene component and the visible scene component. Two display scene components are extracted from the captured pixel data in the frame and presented on a display unit.

公开(公告)号：US09992428B2

公开(公告)日：2018-06-05

申请号：US15008215

申请日：2016-01-27

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: H04N19/00 ,  H04N5/265 ,  H04N13/02 ,  H04N9/04 ,  A61B1/00 ,  A61B1/04 ,  A61B1/05 ,  A61B1/06 ,  G06T3/40 ,  H04N5/225

CPC classification number: H04N5/265 ,  A61B1/00006 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/00193 ,  A61B1/043 ,  A61B1/05 ,  A61B1/06 ,  A61B1/0638 ,  A61B1/0646 ,  G06T3/4015 ,  H04N5/2256 ,  H04N5/2257 ,  H04N5/2258 ,  H04N9/045 ,  H04N13/257 ,  H04N2005/2255

Abstract: Mixed mode imaging is implemented using a single-chip image capture sensor with a color filter array. The single-chip image capture sensor captures a frame including a first set of pixel data and a second set of pixel data. The first set of pixel data includes a first combined scene, and the second set of pixel data includes a second combined scene. The first combined scene is a first weighted combination of a fluorescence scene component and a visible scene component due to the leakage of a color filter array. The second combined scene includes a second weighted combination of the fluorescence scene component and the visible scene component. Two display scene components are extracted from the captured pixel data in the frame and presented on a display unit.

公开(公告)号：US20180126559A9

公开(公告)日：2018-05-10

申请号：US15629533

申请日：2017-06-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brandon D. Itkowitz ,  Simon P. DiMaio ,  Daniel J. Halabe ,  Christopher J. Hasser ,  Brian D. Hoffman ,  David Q. Larkin ,  Catherine J. Mohr ,  Paul W. Mohr ,  Tao Zhao ,  Wenyi Zhao

IPC: B25J9/16 ,  G05B19/42 ,  A61B34/30 ,  A61B34/00 ,  A61B34/37 ,  A61B90/00

CPC classification number: B25J9/1697 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B90/36 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/2059 ,  A61B2034/2061 ,  A61B2090/371 ,  B25J9/1666 ,  B25J9/1671 ,  B25J9/1689 ,  B25J9/1692 ,  G05B19/4202 ,  G05B2219/36432 ,  G05B2219/39083 ,  G05B2219/39096 ,  G05B2219/39449 ,  G05B2219/40607 ,  G05B2219/45117 ,  G05B2219/45123 ,  G06F19/00

Abstract: A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.