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1.发明申请Efficient Vision and Kinematic Data Fusion For Robotic Surgical Instruments and Other Applications 有权机器人手术器械及其他应用的高效视觉和运动学数据融合公开(公告)号：US20100331855A1
公开(公告)日：2010-12-30
申请号：US12495304
申请日：2009-06-30
申请人： Tao Zhao , Wenyi Zhao , Brian David Hoffman , William C. Nowlin , Hua Hui
发明人： Tao Zhao , Wenyi Zhao , Brian David Hoffman , William C. Nowlin , Hua Hui
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B2034/2059 , A61B2034/2065 , A61B2090/3937
摘要： Robotic devices, systems, and methods for use in telesurgical therapies through minimally invasive apertures make use of joint-based data throughout much of the robotic kinematic chain, but selectively rely on information from an image capture device to determine location and orientation along the linkage adjacent a pivotal center at which a shaft of the robotic surgical tool enters the patient. A bias offset may be applied to a pose (including both an orientation and a location) at the pivotal center to enhance accuracy. The bias offset may be applied as a simple rigid transformation from the image-based pivotal center pose to a joint-based pivotal center pose.
摘要翻译： 通过微创孔径用于远程手术治疗的机器人装置，系统和方法通过大部分机器人运动链中的基于联合的数据，但是选择性地依赖来自图像捕获装置的信息来确定沿着连接相邻的位置和取向 机器人手术工具的轴进入患者的枢转中心。 偏移偏移可以应用于枢转中心处的姿势（包括方向和位置），以提高精度。 偏移偏移可以作为从基于图像的枢转中心姿态到基于关节的枢转中心姿态的简单刚性变换来应用。
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2.发明申请APPARATUS FOR AUTOMATED PANNING AND DIGITAL ZOOMING IN ROBOTIC SURGICAL SYSTEMS 有权机器人手术系统中的自动平移和数字变焦装置公开(公告)号：US20120154564A1
公开(公告)日：2012-06-21
申请号：US13408236
申请日：2012-02-29
IPC分类号： H04N7/18
CPC分类号： H04N13/366 , A61B1/00039 , A61B1/00193 , A61B1/042 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , A61B2017/00477 , A61B2090/371 , H04N13/156 , H04N13/296 , H04N13/383
摘要： In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.
摘要翻译： 在本发明的一个实施例中，公开了一种用于数字视频的数字变焦和平移系统，包括用于捕获数字视频图像的图像采集装置; 图像缓冲器，用于存储一个或多个数字视频图像帧作为源像素; 具有显示图像的第一像素的显示装置; 接受包括源矩形的用户输入的用户界面以选择数字视频图像的帧内的源像素，用于选择显示设备内的目标像素以显示图像的目的地矩形，以及数字视频图像内的感兴趣区域以显示 在目的地矩形; 以及数字映射和滤波装置，用于响应于用户输入选择性地将来自图像缓冲器的感兴趣区域中的源像素和滤波器映射并显示到显示装置的目标像素中。
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公开(公告)号：US20090245600A1
公开(公告)日：2009-10-01
申请号：US12058663
申请日：2008-03-28
CPC分类号： H04N13/366 , A61B1/00039 , A61B1/00193 , A61B1/042 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , A61B2017/00477 , A61B2090/371 , H04N13/156 , H04N13/296 , H04N13/383
摘要： In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.
摘要翻译： 在本发明的一个实施例中，公开了一种用于数字视频的数字变焦和平移系统，包括用于捕获数字视频图像的图像采集装置; 图像缓冲器，用于存储一个或多个数字视频图像帧作为源像素; 具有显示图像的第一像素的显示装置; 接受包括源矩形的用户输入的用户界面以选择数字视频图像的帧内的源像素，用于选择显示设备内的目标像素以显示图像的目的地矩形，以及数字视频图像内的感兴趣区域以显示 在目的地矩形; 以及数字映射和滤波装置，用于响应于用户输入选择性地将来自图像缓冲器的感兴趣区域中的源像素和滤波器映射并显示到显示装置的目标像素中。
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4.发明授权Three-dimensional target devices, assemblies and methods for calibrating an endoscopic camera 有权用于校准内窥镜相机的三维目标装置，组件和方法公开(公告)号：US08939894B2
公开(公告)日：2015-01-27
申请号：US13623307
申请日：2012-09-20
CPC分类号： A61B1/00057 , A61B1/00193
摘要： The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions.
摘要翻译： 本公开涉及用于诸如立体内窥镜的成像系统的校准目标装置，组件和方法。 校准组件包括：目标表面在三维上延伸有校准标记和具有接合内窥镜的界面的主体，使得标记在视野内。 第一校准标记沿着目标表面的第一平面延伸，并且第二标记沿着目标表面的第二平面延伸。 相对于通过内窥镜观察的视野，平面是不同的和不对称的。 特别地，三维目标使得能够使用单个图像（或立体内窥镜的一对图像）进行内窥镜校准，以减少校准过程的复杂性，校准时间和错误的机会以及允许在不同焦点的相机的有效校准 职位
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5.发明申请公开(公告)号：US20130085329A1
公开(公告)日：2013-04-04
申请号：US13623307
申请日：2012-09-20
IPC分类号： A61B1/045
CPC分类号： A61B1/00057 , A61B1/00193
摘要： The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions.
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公开(公告)号：US10555775B2
公开(公告)日：2020-02-11
申请号：US11130471
申请日：2005-05-16
IPC分类号： A61B5/06 , A61B1/00 , A61B1/04 , A61B1/313 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/00 , A61B5/00 , A61B34/10
摘要： Methods and system perform tool tracking during minimally invasive robotic surgery. Tool states are determined using triangulation techniques or a Bayesian filter from either or both non-endoscopically derived and endoscopically derived tool state information, or from either or both non-visually derived and visually derived tool state information. The non-endoscopically derived tool state information is derived from sensor data provided either by sensors associated with a mechanism for manipulating the tool, or sensors capable of detecting identifiable signals emanating or reflecting from the tool and indicative of its position, or external cameras viewing an end of the tool extending out of the body. The endoscopically derived tool state information is derived from image data provided by an endoscope inserted in the body so as to view the tool.
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