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41. 发明申请

US20180000329A1 AUGMENTED VISUALIZATION FOR A SURGICAL ROBOT USING A CAPTURED VISIBLE IMAGE COMBINED WITH A FLUORESCENCE IMAGE AND A CAPTURED VISIBLE IMAGE 审中-公开
公开(公告)号：US20180000329A1
公开(公告)日：2018-01-04
申请号：US15704479
申请日：2017-09-14
申请人： Intuitive Surgical Operations, Inc.
发明人： David D. Scott , Wenyi Zhao , Brian D. Hoffman , John D. Stern , Tao Zhao
IPC分类号： A61B1/04 , A61B34/30 , A61B34/37 , A61B90/30 , A61B5/00 , A61B1/313 , A61B1/06 , A61B1/05 , A61B1/00 , H04N13/02 , A61B90/00 , G01N21/64
摘要： An endoscope with an optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image at a first time and (2) a visible second image combined with a fluorescence image at a second time. An image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence image and generates at least one fluorescence image. A display system outputs an output image including an artificial fluorescence image.

42. 发明申请

US20150077519A1 AUGMENTED STEREOSCOPIC VISUALIZATION FOR A SURGICAL ROBOT USING A CAPTURED VISIBLE IMAGE COMBINED WITH A FLUOROESCENCE IMAGE AND A CAPTURED VISIBLE IMAGE 审中-公开
标题翻译：使用与FLUOROESCENCE图像组合的捕获的可见图像和捕获的可见图像的手术机器人的增强的立体视觉化
公开(公告)号：US20150077519A1
公开(公告)日：2015-03-19
申请号：US14332684
申请日：2014-07-16
申请人： Intuitive Surgical Operations, Inc.
发明人： David Scott , Wenyi Zhao , Brian D. Hoffman , John D. Stern , Tao Zhao
IPC分类号： H04N13/00 , A61B1/00 , H04N9/67 , A61B1/04 , H04N13/02 , H04N9/09
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image and (2) a visible second image combined with a fluorescence second image from the light. An intelligent image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence second image and generates at least one fluorescence image of a stereoscopic pair of fluorescence images and a visible second image. An augmented stereoscopic display system outputs a real-time stereoscopic image including a three-dimensional presentation including in one eye, a blend of the at least one fluorescence image of a stereoscopic pair of fluorescence images and one of the visible first and second images; and in the other eye, the other of the visible first and second images.
摘要翻译：具有立体光学通道的内窥镜由机器人手术系统保持和定位。捕获单元捕获（1）可见的第一图像和（2）与来自光的荧光第二图像组合的可见第二图像。智能图像处理系统接收（1）可见第一图像和（2）与荧光第二图像组合的可见第二图像，并产生立体对荧光图像和可见第二图像的至少一个荧光图像。增强立体显示系统输出包括在一只眼睛中的三维呈现的实时立体图像，立体对荧光图像对的至少一个荧光图像与可见第一和第二图像之一的混合; 在另一只眼睛中，可见的第一和第二图像中的另一个。

43. 发明申请

US20140277736A1 GEOMETRICALLY APPROPRIATE TOOL SELECTION ASSISTANCE FOR DETERMINED WORK SITE DIMENSIONS 有权
标题翻译：用于确定工作站尺寸的几何适当的工具选择辅助
公开(公告)号：US20140277736A1
公开(公告)日：2014-09-18
申请号：US14210881
申请日：2014-03-14
申请人： Intuitive Surgical Operations, Inc.
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Craig R. Gerbi , Theodore W. Rogers , Wenyi Zhao
IPC分类号： B25J9/16
CPC分类号： B25J9/1697
摘要： 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.
摘要翻译：机器人系统包括处理器，该处理器被编程以确定并使得工作现场中的用户指定点的工作现场测量被图形显示，以向用户提供几何适当的工具选择帮助。处理器还被编程为确定在工作现场使用的多种几何形状的多个工具中的最佳的一个工具，并且使至少最佳工具的图形表示与工作现场测量一起显示。

44. 发明申请

US20140267626A1 INTELLIGENT MANUAL ADJUSTMENT OF AN IMAGE CONTROL ELEMENT 有权
标题翻译：智能手动调整图像控制元件
公开(公告)号：US20140267626A1
公开(公告)日：2014-09-18
申请号：US14210986
申请日：2014-03-14
申请人： Intuitive Surgical Operations, Inc.
发明人： Paul E. Lilagan , Wenyi Zhao
IPC分类号： H04N5/232 , H04N5/235 , H04N13/02
CPC分类号： H04N5/23216 , A61B1/00006 , A61B1/00188 , A61B1/00193 , A61B90/361 , H04N5/23212 , H04N5/23293 , H04N5/2353 , H04N5/238 , H04N13/0296 , H04N13/204 , H04N13/296
摘要： An imaging system comprises an image capturing device, a viewer, a control element, and a processor. The control element controls or adjusts an image characteristic of one of the image capturing device and the viewer. The processor is programmed to determine a depth value relative to the image capturing device, determine a desirable adjustment to the control element by using the determined depth value, and control adjustment of the control element to assist manual adjustment of the control element to the desirable adjustment. The processor may also be programmed to determine whether the adjustment of the control element is to be automatically or manually adjusted and control adjustment of the control element automatically to the desirable adjustment if the control element is to be automatically adjusted.
摘要翻译：成像系统包括图像捕获装置，观察者，控制元件和处理器。控制元件控制或调整图像拍摄装置和观看者之一的图像特性。处理器被编程为确定相对于图像捕获装置的深度值，通过使用所确定的深度值来确定对控制元件的期望调整，以及控制元件的控制调整以辅助将控制元件的手动调整到期望的调整。也可以对处理器进行编程，以确定控制元件的调整是自动还是手动调节，并且如果要自动调节控制元件，则控制元件自动调节到期望的调整。

45. 发明申请

US20140232824A1 PROVIDING INFORMATION OF TOOLS BY FILTERING IMAGE AREAS ADJACENT TO OR ON DISPLAYED IMAGES OF THE TOOLS 审中-公开
标题翻译：通过扫描图像区域附加或显示工具图像来提供工具信息
公开(公告)号：US20140232824A1
公开(公告)日：2014-08-21
申请号：US13768062
申请日：2013-02-15
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Simon P. DiMaio , Brian D. Hoffman , Brandon D. Itkowitz , Paul W. Mohr , David W. Robinson , Tao Zhao , Wenyi Zhao
IPC分类号： H04N13/00
CPC分类号： A61B34/30 , A61B34/37 , A61B90/361
摘要： An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display.
摘要翻译：操作员远程控制工具，在工作现场的对象上执行过程，同时在显示器上查看对象，工具和工作现场的实时图像。工具信息是通过过滤一部分实时图像来增强或降级的，以指示工具的状态并在显示器上显示经滤波的图像。

46. 发明申请

US20140176680A1 Methods and Apparatus for Demosaicing Images with Highly Correlated Color Channels 审中-公开
标题翻译：用于具有高相关色彩通道的图像去马赛克的方法和装置
公开(公告)号：US20140176680A1
公开(公告)日：2014-06-26
申请号：US14189425
申请日：2014-02-25
申请人： Intuitive Surgical Operations, Inc.
发明人： Jeffrey DiCarlo , David D. Scott , Wenyi Zhao
IPC分类号： A61B1/00 , A61B1/04 , H04N13/02 , H04N9/07 , H04N9/09
CPC分类号： A61B1/0005 , A61B1/04 , G06T3/4015 , H04N9/045 , H04N9/07 , H04N9/09 , H04N13/257 , H04N2209/046
摘要： In one embodiment of the invention, an apparatus is disclosed including an image sensor, a color filter array, and an image processor. The image sensor has an active area with a matrix of camera pixels. The color filter array is in optical alignment over the matrix of the camera pixels. The color filter array assigns alternating single colors to each camera pixel. The image processor receives the camera pixels and includes a correlation detector to detect spatial correlation of color information between pairs of colors in the pixel data captured by the camera pixels. The correlation detector further controls demosaicing of the camera pixels into full color pixels with improved resolution. The apparatus may further include demosaicing logic to demosaic the camera pixels into the full color pixels with improved resolution in response to the spatial correlation of the color information between pairs of colors.
摘要翻译：在本发明的一个实施例中，公开了一种包括图像传感器，滤色器阵列和图像处理器的装置。图像传感器具有具有相机像素矩阵的有效区域。滤色器阵列在照相机像素的矩阵上是光学对准的。滤色器阵列为每个相机像素分配交替的单一颜色。图像处理器接收相机像素并且包括相关检测器，以检测由相机像素捕获的像素数据中的颜色对之间的颜色信息的空间相关性。相关检测器进一步控制摄像机像素以分辨率提高的全彩色像素的去马赛克。该装置可以进一步包括去马赛克逻辑，以响应于颜色对之间的颜色信息的空间相关性而将相机像素去镶嵌成全色像素，具有改进的分辨率。

47. 发明申请

US20130300836A1 SINGLE-CHIP SENSOR MULTI-FUNCTION IMAGING 有权
公开(公告)号：US20130300836A1
公开(公告)日：2013-11-14
申请号：US13893536
申请日：2013-05-14
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Wenyi Zhao , Jeffrey DiCarlo , Ian E. McDowall
IPC分类号： H04N13/02
CPC分类号： 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
摘要： 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.

48. 发明申请

US20130166070A1 OBTAINING FORCE INFORMATION IN A MINIMALLY INVASIVE SURGICAL PROCEDURE 有权
标题翻译：在最小的入组手术程序中获得力量信息
公开(公告)号：US20130166070A1
公开(公告)日：2013-06-27
申请号：US13736720
申请日：2013-01-08
申请人： Intuitive Surgical Operations, Inc.
发明人： Wenyi Zhao , Tao Zhao , David Q. Larkin
IPC分类号： G01L5/22
CPC分类号： A61B34/30 , A61B34/37 , A61B34/76 , A61B2034/102 , A61B2090/064 , B25J9/1689 , G05B2219/40144
摘要： Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.
摘要翻译：用于为机器人手术系统提供力信息的方法和系统。该方法包括存储用于末端执行器的第一位置的第一运动位置信息和第一实际位置信息; 将所述末端执行器经由所述机器人手术系统从所述第一位置移动到第二位置; 存储用于所述第二位置的第二运动位置信息和第二实际位置信息; 并且利用第一实际位置信息，第二实际位置信息，第一运动位置信息和第二运动位置信息，提供关于在第二位置处施加到末端执行器的力的力信息。通过将末端执行器的估计位置无重力地叠加在末端执行器的实际位置的图像上也提供视力反馈。类似地，可以显示组织弹性视觉显示。

49. 发明授权

US11638999B2 Synthetic representation of a surgical robot 有权
公开(公告)号：US11638999B2
公开(公告)日：2023-05-02
申请号：US16932373
申请日：2020-07-17
申请人： Intuitive Surgical Operations, Inc
发明人： 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分类号： A61B34/00 , A61B34/30 , A61B34/37 , A61B34/20 , B25J9/16 , G05B19/42 , A61B90/00
摘要： A system comprises a first robotic arm adapted to support and move a tool and a second robotic arm adapted to support and move a camera. The system also comprises an input device, a display, and a processor. The processor is configured to, in a first mode, command the first robotic arm to move the camera in response to a first input received from the input device to capture an image of the tool and present the image as a displayed image on the display. The processor is configured to, in a second mode, display a synthetic image of the first robotic arm in a boundary area around the captured image on the display, and in response to a second input, change a size of the boundary area relative a size of the displayed image.

50. 发明授权

US11290637B2 Intelligent manual adjustment of an image control element 有权
公开(公告)号：US11290637B2
公开(公告)日：2022-03-29
申请号：US16910941
申请日：2020-06-24
申请人： Intuitive Surgical Operations, Inc.
发明人： Paul E. Lilagan , Wenyi Zhao
IPC分类号： H04N5/232 , A61B1/00 , A61B90/00 , H04N5/235 , H04N13/204 , H04N5/238 , H04N13/296
摘要： A method performed by a processor comprises determining a depth value of a target area relative to the image capturing device. The method also includes determining an adjustment to the brightness control so that a brightness level of images captured by the image capturing device is lowered if the depth value of the target area relative to the image capturing device is less than a threshold depth value. The method also includes determining whether an adjustment of the brightness control is to be automatically or manually adjusted. If the adjustment of the brightness control is to be manually adjusted, the processor over-rides manual control of the brightness control if an operator of the brightness control is causing the brightness level of images not to be lowered if the depth value of the target area relative to the image capturing device is less than the threshold depth value.

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