公开(公告)号：US20150025392A1

公开(公告)日：2015-01-22

申请号：US14450251

申请日：2014-08-03

申请人： Intuitive Surgical Operations Inc.

发明人： WENYI ZHAO ,  CHENYU WU ,  DAVID HIRVONEN ,  CHRISTOPHER J. HASSER ,  BRIAN E. MILLER ,  CATHERINE J. MOHR ,  TAO ZHAO ,  SIMON DI MAIO ,  BRIAN D. HOFFMAN

IPC分类号： A61B19/00

CPC分类号： A61B34/25 ,  A61B34/20 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2090/371 ,  A61B2090/373 ,  G06T7/593 ,  G06T11/00 ,  G06T2207/10068 ,  G06T2207/20096 ,  G06T2207/20101 ,  G06T2207/30004 ,  H04N13/10 ,  H04N13/20 ,  H04N13/30 ,  H04N2013/0092

摘要： An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.

摘要翻译： 一种装置被配置为实时地向外科医生示出3-D的远程化。 监视器被显示为立体图像对的一侧，使得监视器可以在一侧用输入装置绘制远距离信号线。 识别兴趣点以匹配立体图像对的另一侧。 响应于所识别的兴趣点，区域和特征被识别并用于将感兴趣点与另一侧匹配。 区域可用于匹配兴趣点。 第一图像的特征可以匹配第二图像，并且用于将感兴趣的点与第二图像相匹配，例如当区域的置信度得分低于阈值时。 限制可用于评估匹配的兴趣点，例如排除不良点。

公开(公告)号：US20150157407A1

公开(公告)日：2015-06-11

申请号：US14625036

申请日：2015-02-18

申请人： Intuitive Surgical Operations, Inc.

发明人： CATHERINE J. MOHR

IPC分类号： A61B18/24 ,  A61B19/00

CPC分类号： A61B18/24 ,  A61B17/00491 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/71 ,  A61B2017/00203 ,  A61B2017/00314 ,  A61B2018/00601 ,  A61B2034/301 ,  A61B2034/305 ,  A61B2034/306 ,  A61B2034/741

摘要： A medical device used in a medical robotic system has a conduit and an orientable tip. An optical fiber coupled to a laser source and/or a catheter coupled to one or more biomaterial sources extends through the conduit and tip so that the tip of the medical device may be robotically directed towards a target tissue for laser and/or biomaterial application as part of a medical procedure performed at a surgical site within a patient. A protective sheath covers the fiber as it extends through the conduit and tip. A first coupler adjustably secures at least the sheath to the medical device and a second coupler adjustably secures the fiber to at least the sheath. A similar dual coupler mechanism may be used to secure the sheathed catheter to the medical device.

摘要翻译： 用于医疗机器人系统的医疗装置具有导管和可定向的尖端。 耦合到激光源和/或连接到一个或多个生物材料源的导管的光纤延伸穿过导管和尖端，使得医疗装置的尖端可以机器人地朝向靶组织指向用于激光和/或生物材料应用，如 在病人手术部位进行的医疗手术的一部分。 保护性护套在纤维延伸穿过导管和尖端时覆盖纤维。 第一联接器至少将护套固定到医疗装置上，并且第二联接器可调整地将纤维固定到至少护套。 可以使用类似的双连接器机构将护套导管固定到医疗装置。