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1. 发明授权

US09992428B2 Single-chip sensor multi-function imaging 有权
公开(公告)号：US09992428B2
公开(公告)日：2018-06-05
申请号：US15008215
申请日：2016-01-27
申请人： Intuitive Surgical Operations, Inc.
发明人： Wenyi Zhao , Jeffrey DiCarlo , Ian E. McDowall
IPC分类号： H04N19/00 , H04N5/265 , H04N13/02 , H04N9/04 , A61B1/00 , A61B1/04 , A61B1/05 , A61B1/06 , G06T3/40 , H04N5/225
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.

2. 发明授权

US09413976B2 Auto exposure of a camera in a surgical robot 有权
标题翻译：相机在手术机器人中自动曝光
公开(公告)号：US09413976B2
公开(公告)日：2016-08-09
申请号：US13961737
申请日：2013-08-07
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Jeffrey DiCarlo
IPC分类号： H04N5/235 , A61B19/00 , A61B1/045 , A61B1/00 , H04N5/225
CPC分类号： H04N5/2353 , A61B1/00006 , A61B1/045 , A61B34/30 , A61B90/361 , H04N5/2351 , H04N2005/2255
摘要： A camera system that can be utilized in robotic surgery is presented. In particular, a method of setting a light level in a camera in a robotic system includes determining a location of at least one instrument end effectors within a field-of-view of the camera; determining a region-of-interest in the field-of-view based on the location of the at least one instrument tip; gathering luminance statistics in the region-of-interest; computing a luminance value from the luminance statistics; and adjusting an exposure in response to a comparison of the luminance value with a target luminance value.
摘要翻译：提出了可用于机器人手术的相机系统。特别地，在机器人系统中设置照相机中的光级的方法包括确定至少一个仪器末端执行器在照相机的视野内的位置; 基于所述至少一个仪器尖端的位置来确定所述视野中的感兴趣区域; 收集兴趣区的亮度统计数据; 根据亮度统计计算亮度值; 以及响应于亮度值与目标亮度值的比较来调整曝光。

3. 发明申请

US20130300837A1 SINGLE-CHIP SENSOR MULTI-FUNCTION IMAGING 有权
标题翻译：单片传感器多功能成像
公开(公告)号：US20130300837A1
公开(公告)日：2013-11-14
申请号：US13893550
申请日：2013-05-14
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Jeffrey DiCarlo , Ian E. McDowall , Wenyi Zhao
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.
摘要翻译：使用具有滤色器阵列的单片图像捕获传感器来实现混合模式成像。单片图像捕获传感器捕获包括第一组像素数据和第二组像素数据的帧。第一组像素数据包括第一组合场景，并且第二组像素数据包括第二组合场景。第一组合场景是由于滤色器阵列的泄漏而引起的荧光场景分量和可见场景分量的第一加权组合。第二组合场景包括荧光场景分量和可见场景分量的第二加权组合。从帧中捕获的像素数据中提取两个显示场景分量，并将其显示在显示单元上。

4. 发明授权

US10506914B2 Surgical system including a non-white light general illuminator 有权
公开(公告)号：US10506914B2
公开(公告)日：2019-12-17
申请号：US15126978
申请日：2015-03-17
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Jeffrey DiCarlo , Tao Zhao , Stephen J. Blumenkranz , Brian D. Hoffman , Geoff Richmond
IPC分类号： H04N9/47 , A61B1/00 , A61B1/06 , A61B90/30 , A61B34/35 , A61B90/00 , G06T7/90 , H04N5/235 , H04N9/04 , A61B34/30
摘要： Non-white light from an endoscope (201) of a teleoperated surgical system (200) is used to illuminate a surgical site (203). A camera (220L) captures an image of the surgical site, and the image is displayed on a monitor (251). The non-white light illumination minimizes noise in the images of the surgical site presented on the monitor relative to images captured using white light illumination and displayed on the monitor.

5. 发明授权

US09277205B2 Single-chip sensor multi-function imaging 有权
公开(公告)号：US09277205B2
公开(公告)日：2016-03-01
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： H04N13/00 , H04N7/18 , H04N13/02 , H04N9/04 , A61B1/00 , A61B1/04 , A61B1/05 , A61B1/06
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.

6. 发明申请

US20210145249A1 SURGICAL SYSTEM INCLUDING A NON-WHITE LIGHT GENERAL ILLUMINATOR 有权
公开(公告)号：US20210145249A1
公开(公告)日：2021-05-20
申请号：US17158976
申请日：2021-01-26
申请人： Intuitive Surgical Operations, Inc.
发明人： Jeffrey DiCarlo , Stephen J. Blumenkranz , Brian D. Hoffman , Geoff Richmond , Tao Zhao
IPC分类号： A61B1/00 , A61B1/06 , A61B90/30 , A61B34/35 , A61B90/00 , G06T7/90 , H04N5/235 , H04N9/04
摘要： An apparatus may configure an illuminator to illuminate a scene with non-white light and control a camera to capture, in a plurality of color channels of the camera, a frame of the scene illuminated with the non-white light. The apparatus may adjust a signal of a color channel of the camera in the frame of the scene based on the non-white light.

7. 发明授权

US10932649B2 Surgical system including a non-white light general illuminator 有权
公开(公告)号：US10932649B2
公开(公告)日：2021-03-02
申请号：US16682940
申请日：2019-11-13
申请人： Intuitive Surgical Operations, Inc.
发明人： Jeffrey DiCarlo , Stephen J. Blumenkranz , Brian D. Hoffman , Geoff Richmond , Tao Zhao
IPC分类号： H04N9/47 , A61B1/00 , A61B1/06 , A61B90/30 , A61B34/35 , A61B90/00 , G06T7/90 , H04N5/235 , H04N9/04 , A61B34/30
摘要： A system may control an illuminator to illuminate a surgical site with non-white light and control a camera to capture light reflected from the surgical site. The camera may separate the captured light into a plurality of color components. The plurality of color components may be captured by the camera as a plurality of sets of pixels of a frame in a video stream, and each set of the plurality of sets of pixels may be in a different color channel of the camera. The system may further control, based on color component characteristics of the light captured by the camera, the illuminator to configure the non-white light such that each color channel of the camera has an about equal response to the light captured by the camera for a subsequently captured frame in the video stream.

8. 发明申请

US20140046341A1 AUTO EXPOSURE OF A CAMERA IN A SURGICAL ROBOT 有权
标题翻译：手术机器人自动曝光
公开(公告)号：US20140046341A1
公开(公告)日：2014-02-13
申请号：US13961737
申请日：2013-08-07
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Jeffrey DiCarlo
IPC分类号： H04N5/235 , A61B19/00
CPC分类号： H04N5/2353 , A61B1/00006 , A61B1/045 , A61B34/30 , A61B90/361 , H04N5/2351 , H04N2005/2255
摘要： A camera system that can be utilized in robotic surgery is presented. In particular, a method of setting a light level in a camera in a robotic system includes determining a location of at least one instrument end effectors within a field-of-view of the camera; determining a region-of-interest in the field-of-view based on the location of the at least one instrument tip; gathering luminance statistics in the region-of-interest; computing a luminance value from the luminance statistics; and adjusting an exposure in response to a comparison of the luminance value with a target luminance value.
摘要翻译：提出了可用于机器人手术的相机系统。特别地，在机器人系统中设置照相机中的光级的方法包括确定至少一个仪器末端执行器在照相机的视野内的位置; 基于所述至少一个仪器尖端的位置来确定所述视野中的感兴趣区域; 收集兴趣区的亮度统计数据; 根据亮度统计计算亮度值; 以及响应于亮度值与目标亮度值的比较来调整曝光。

9. 发明申请

US20170112354A1 SURGICAL SYSTEM INCLUDING A NON-WHITE LIGHT GENERAL ILLUMINATOR 审中-公开
公开(公告)号：US20170112354A1
公开(公告)日：2017-04-27
申请号：US15126978
申请日：2015-03-17
申请人： INTUITIVE SURGICAL OPERATIONS, INC.
发明人： Jeffrey DiCarlo , Tao Zhao , Stephen J. Blumenkranz , Brian D. Hoffman , Geoff Richmond
IPC分类号： A61B1/00 , A61B34/35 , H04N5/235 , H04N9/04 , G06T7/90 , A61B1/06 , A61B90/00
CPC分类号： A61B1/00009 , A61B1/00193 , A61B1/0638 , A61B34/30 , A61B34/35 , A61B90/30 , A61B90/37 , A61B2090/371 , G06T7/90 , G06T2207/30004 , H04N5/2352 , H04N9/04
摘要： Non-white light from an endoscope (201) of a teleoperated surgical system (200) is used to illuminate a surgical site (203). A camera (220L) captures an image of the surgical site, and the image is displayed on a monitor (251). The non-white light illumination minimizes noise in the images of the surgical site presented on the monitor relative to images captured using white light illumination and displayed on the monitor.

10. 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。

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