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21. 发明授权

US4867595A Coupling method and apparatus for use with robotic devices and the like 失效
标题翻译：用于机器人装置的耦合方法和装置等
公开(公告)号：US4867595A
公开(公告)日：1989-09-19
申请号：US924040
申请日：1986-10-28
申请人： Brian D. Hoffman
发明人： Brian D. Hoffman
IPC分类号： B25J15/04
CPC分类号： B25J15/04 , Y10T403/1616 , Y10T403/593 , Y10T403/608
摘要： The elements making up robotic devices such as the basic robot and driving device, arms, manipulators and the like are coupled together by a novel coupling device, including a coupling device actuator mounted within an element holder for receiving the element and activating the coupling device mounted upon the element typically comprised of a pair of arms spring biased toward a locking position. The element holder is provided with a location for receiving the element and a pair of activating arms which move the locking arms between the locked and unlocked position. The receiving element has a groove for receiving the locking arms and preferably a female socket for receiving a projection on the end of the element having the locking arms. The element to be connected is normally maintained in the holder with the activators energized to retain the locking arms in the open position. The robot is moved to the holder and its element is inserted into the connecting element within the holder. The activating arms are de-energized, releasing the locking arms to enter into the locking groove. The locking arms are retained in this position by biasing springs. The proper orientation of the interconnected elements maybe maintained by the cross-sectional shape of the female socket and cooperating projection, by the arrangement of the locking arm receiving grooves, or both.
摘要翻译：构成机器人装置的元件如基本机器人和驱动装置，臂，操纵器等通过新颖的联接装置联接在一起，该耦合装置包括安装在元件保持器内的联接装置致动器，用于接收元件并启动安装的联接装置在通常由朝向锁定位置偏压的一对臂的弹簧构成的元件上。元件保持器设置有用于接收元件的位置和一对致动臂，其将锁定臂在锁定位置和解锁位置之间移动。接收元件具有用于接收锁定臂的槽，并且优选地具有用于接收具有锁定臂的元件的端部上的突起的阴插座。要连接的元件通常保持在保持器中，激活器被激励以将锁定臂保持在打开位置。机器人被移动到保持器，并且其元件被插入到支架内的连接元件中。激活臂被断电，释放锁定臂进入锁定槽。锁定臂通过偏置弹簧保持在该位置。通过锁定臂接收槽的布置或两者，可以通过母插座和配合突起的横截面形状来保持互连元件的正确取向。

22. 发明授权

US08830224B2 Efficient 3-D telestration for local robotic proctoring 有权
标题翻译：有效的3-D远程监控用于本地机器人监视
公开(公告)号：US08830224B2
公开(公告)日：2014-09-09
申请号：US12465020
申请日：2009-05-13
申请人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myrian J. Curet , Tao Zhao , Simon Di Maio , Brian D. Hoffman
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myrian J. Curet , Tao Zhao , Simon Di Maio , Brian D. Hoffman
IPC分类号： G06T15/00 , G06K9/68
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。

23. 发明授权

US08808164B2 Controlling a robotic surgical tool with a display monitor 有权
标题翻译：用显示屏控制机器人手术工具
公开(公告)号：US08808164B2
公开(公告)日：2014-08-19
申请号：US12058661
申请日：2008-03-28
申请人： Brian D. Hoffman , William C. Nowlin
发明人： Brian D. Hoffman , William C. Nowlin
IPC分类号： A61B1/00 , A61B1/04 , G05B15/00
CPC分类号： A61B1/045 , A61B34/25 , A61B34/30 , A61B34/32 , A61B34/37 , A61B34/74 , A61B90/361 , A61B2017/00199 , A61B2017/00216 , A61B2017/00477 , A61B2090/372
摘要： In one embodiment of the invention, a method for controlling a robotic surgical tool is disclosed. The method for controlling a robotic surgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the monitor into motion of the robotic surgical tool.
摘要翻译：在本发明的一个实施例中，公开了一种用于控制机器人手术工具的方法。用于控制机器人手术工具的方法包括移动显示机器人外科手术工具的图像的监视器; 感测显示器的运动; 并且将感测到的监视器的运动转换成机器人手术工具的运动。

24. 发明授权

US08228368B2 Augmented stereoscopic visualization for a surgical robot using a captured fluorescence image and captured stereoscopic visible images 有权
标题翻译：使用捕获的荧光图像和捕获的立体可见图像的外科机器人的增强的立体可视化
公开(公告)号：US08228368B2
公开(公告)日：2012-07-24
申请号：US12164976
申请日：2008-06-30
申请人： Wenyi Zhao , Catherine J. Mohr , Christopher J. Hasser , Brian D. Hoffman , John D. Stern , Tao Zhao
发明人： Wenyi Zhao , Catherine J. Mohr , Christopher J. Hasser , Brian D. Hoffman , John D. Stern , Tao Zhao
IPC分类号： H04N13/00
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 illumination channel, a stereoscopic optical channel and another optical channel are held and positioned by a robotic surgical system. A first capture unit captures a stereoscopic visible image from the first light from the stereoscopic optical channel while a second capture unit captures a fluorescence image from the second light from the other optical channel. An intelligent image processing system receives the captured stereoscopic visible image and the captured fluorescence image and generates a stereoscopic pair of fluorescence images. An augmented stereoscopic display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of the stereoscopic visible image and the stereoscopic pair of fluorescence images.
摘要翻译：照明通道，立体光学通道和另一个光学通道由机器人手术系统保持和定位。第一捕获单元从来自立体光学信道的第一光捕获立体可视图像，而第二捕获单元从来自另一光信道的第二光捕获荧光图像。智能图像处理系统接收捕获的立体可视图像和捕获的荧光图像并产生立体对的荧光图像。增强立体显示系统输出包括立体可视图像和立体视觉对荧光图像的混合的三维呈现的实时立体图像。

25. 发明授权

US08184880B2 Robust sparse image matching for robotic surgery 有权
标题翻译：用于机器人手术的鲁棒稀疏图像匹配
公开(公告)号：US08184880B2
公开(公告)日：2012-05-22
申请号：US12465029
申请日：2009-05-13
申请人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
IPC分类号： G06T7/00
CPC分类号： G06K9/6211 , G06T7/33
摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译：系统，方法和设备用于匹配图像。识别来自第一图像的兴趣点以匹配第二图像。响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。约束可用于评估匹配的兴趣点，例如排除不良点。

26. 发明申请

US20120002012A1 IMAGING MODE BLOOMING SUPPRESSION 有权
标题翻译：成像模式抑制
公开(公告)号：US20120002012A1
公开(公告)日：2012-01-05
申请号：US12855957
申请日：2010-08-13
申请人： Patrick O'Grady , Ian McDowall , Brian D. Hoffman
发明人： Patrick O'Grady , Ian McDowall , Brian D. Hoffman
IPC分类号： H04N13/00
CPC分类号： H04N5/2354 , A61B1/04 , A61B6/022 , H04N13/239 , H04N13/302 , H04N13/398
摘要： A minimally invasive surgical includes a scene anti-bloom process that allows switching between imaging modes on a stereoscopic display without causing a surgeon to look-away or being momentarily distracted by sudden changes in overall scene luminance. The process receives a switch from a first imaging mode to a second imaging mode. An overall scene luminance of a scene in the first imaging mode is less than an overall scene luminance of a scene in the second imaging mode. The process delays the switch to the second imaging mode until after an illumination output level of a visible illumination source has changed to a higher output level, and then switches to the second imaging mode.
摘要翻译：微创手术包括场景防绽放过程，其允许在立体显示器上的成像模式之间切换，而不会导致外科医生看起来或被总体场景亮度的突然变化暂时分心。该过程接收从第一成像模式到第二成像模式的切换。第一成像模式中的场景的整体场景亮度小于第二摄像模式中的场景的整体场景亮度。该过程将开关延迟到第二成像模式，直到可见光源的照明输出电平已经变为更高的输出电平，然后切换到第二成像模式。

27. 发明申请

US20090268012A1 AUGMENTED STEREOSCOPIC VISUALIZATION FOR A SURGICAL ROBOT USING A CAPTURED VISIBLE IMAGE COMBINED WITH A FLUORESCENCE IMAGE AND A CAPTURED VISIBLE IMAGE 有权
标题翻译：使用与荧光图像和捕获的可见图像组合的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：US20090268012A1
公开(公告)日：2009-10-29
申请号：US12165194
申请日：2008-06-30
申请人： David Scott , Wenyi Zhao , Brian D. Hoffman , John D. Stern , Tao Zhao
发明人： David Scott , Wenyi Zhao , Brian D. Hoffman , John D. Stern , Tao Zhao
IPC分类号： H04N13/04 , H04N7/18 , H04N15/00 , A61B1/04
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。

28. 发明授权

US09729799B2 Imaging mode blooming suppression 有权
公开(公告)号：US09729799B2
公开(公告)日：2017-08-08
申请号：US14659092
申请日：2015-03-16
申请人： Patrick O'Grady , Ian E. McDowall , Brian D. Hoffman
发明人： Patrick O'Grady , Ian E. McDowall , Brian D. Hoffman
IPC分类号： H04N5/235 , A61B1/04 , A61B6/02 , H04N13/02 , H04N13/04
CPC分类号： H04N5/2354 , A61B1/04 , A61B6/022 , H04N13/239 , H04N13/302 , H04N13/398
摘要： A minimally invasive surgical system includes a scene anti-bloom process that allows switching between imaging modes on a stereoscopic display without causing a surgeon to look-away or being momentarily distracted by sudden changes in overall scene luminance. The process receives a switch from a first imaging mode to a second imaging mode. An overall scene luminance of a scene in the first imaging mode is less than an overall scene luminance of a scene in the second imaging mode. The process delays the switch to the second imaging mode until after an illumination output level of a visible illumination source has changed to a higher output level, and then switches to the second imaging mode.

29. 发明授权

US09699445B2 Apparatus for automated panning and digital zooming in robotic surgical systems 有权
公开(公告)号：US09699445B2
公开(公告)日：2017-07-04
申请号：US13408236
申请日：2012-02-29
申请人： Brian D. Hoffman , Christopher J. Hasser , William C. Nowlin
发明人： Brian D. Hoffman , Christopher J. Hasser , William C. Nowlin
IPC分类号： G06K9/36 , H04N13/04 , A61B1/00 , H04N13/00 , H04N13/02 , A61B34/30 , A61B34/37 , A61B1/04 , A61B17/00 , A61B90/00
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 includes 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.

30. 发明授权

US08639000B2 Robust sparse image matching for robotic surgery 有权
标题翻译：用于机器人手术的鲁棒稀疏图像匹配
公开(公告)号：US08639000B2
公开(公告)日：2014-01-28
申请号：US13454297
申请日：2012-04-24
申请人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
IPC分类号： G06T7/00
CPC分类号： G06K9/6211 , G06T7/33
摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译：系统，方法和设备用于匹配图像。识别来自第一图像的兴趣点以匹配第二图像。响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。约束可用于评估匹配的兴趣点，例如排除不良点。

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