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1. 发明申请

US20140253684A1 VISUALIZATION OF REGISTERED SUBSURFACE ANATOMY 审中-公开
标题翻译：注册登记的解剖学的可视化
公开(公告)号：US20140253684A1
公开(公告)日：2014-09-11
申请号：US13822135
申请日：2011-05-05
申请人： Rajesh Kumar , Russell H. Taylor , Thiusius Rajeeth Savarimuthu , Brian Minnillo , Hiep Thieu Nguyen
发明人： Rajesh Kumar , Russell H. Taylor , Thiusius Rajeeth Savarimuthu , Brian Minnillo , Hiep Thieu Nguyen
IPC分类号： H04N5/33 , A61B1/05
CPC分类号： H04N5/33 , A61B1/00009 , A61B1/05 , A61B1/3132 , A61B34/30 , A61B90/36 , A61B2090/363 , A61B2090/365 , A61B2090/367 , A61B2090/371 , A61B2090/3735
摘要： A system and method for visualization of subsurface anatomy includes obtaining a first image from a first camera and a second image from a second camera or a second channel of the first camera, where the first and second images contain shared anatomical structures. The second camera and the second channel of the first camera are capable of imaging anatomy beneath the surface in ultra-violet, visual, or infra-red spectrum. A data processor is configured for computing registration of the first image to the second image to provide visualization of subsurface anatomy during surgical procedures. A visual interface displays the registered visualization of the first and second images. The system and method are particularly useful for imaging during minimally invasive surgery, such as robotic surgery.
摘要翻译：一种用于地下解剖学可视化的系统和方法包括从第一相机获得第一图像和从第一相机或第二相机的第二通道获取第二图像，其中第一和第二图像包含共享的解剖结构。第二台摄像机和第二台摄像机的第二个通道能够以紫外，视觉或红外光谱的形式在表面下方的解剖学成像。数据处理器被配置为用于计算第一图像的注册到第二图像，以在外科手术过程中提供地下解剖学的可视化。可视界面显示第一和第二图像的注册的可视化。该系统和方法对于在微创手术（例如机器人手术）中的成像特别有用。

2. 发明授权

US09814392B2 Visual tracking and annotaton of clinically important anatomical landmarks for surgical interventions 有权
公开(公告)号：US09814392B2
公开(公告)日：2017-11-14
申请号：US13505058
申请日：2010-11-01
申请人： Marcin A. Balicki , Russell H. Taylor , Gregory D. Hager , Peter L. Gehlbach , James T. Handa , Rajesh Kumar
发明人： Marcin A. Balicki , Russell H. Taylor , Gregory D. Hager , Peter L. Gehlbach , James T. Handa , Rajesh Kumar
IPC分类号： A61B5/00 , A61B3/10 , A61B34/20 , A61B3/12 , A61B8/08 , A61B3/13 , A61B90/00 , A61B5/06 , A61B5/107 , G06F17/24 , A61F9/007 , G02B21/00
CPC分类号： A61B5/0066 , A61B3/102 , A61B3/1225 , A61B3/13 , A61B5/0084 , A61B5/061 , A61B5/1076 , A61B5/743 , A61B5/7475 , A61B8/5261 , A61B90/37 , A61B2034/2065 , A61B2090/3614 , A61B2090/3735 , A61B2560/0295 , A61F9/007 , G02B21/0012 , G06F17/241 , G06T7/33
摘要： A visual tracking and annotation system for surgical intervention includes an image acquisition and display system arranged to obtain image streams of a surgical region of interest and of a surgical instrument proximate the surgical region of interest and to display acquired images to a user; a tracking system configured to track the surgical instrument relative to the surgical region of interest; a data storage system in communication with the image acquisition and display system and the tracking system; and a data processing system in communication with the data storage system, the image acquisition and display system and the tracking system. The data processing system is configured to annotate images displayed to the user in response to an input signal from the user.

3. 发明申请

US20130253313A1 AUTOFOCUSING ENDOSCOPE AND SYSTEM 审中-公开
标题翻译：自动注射内镜和系统
公开(公告)号：US20130253313A1
公开(公告)日：2013-09-26
申请号：US13813896
申请日：2011-08-02
申请人： Jin Kang , Marcin Arkadiusz Balicki , Rajesh Kumar , Russell H. Taylor
发明人： Jin Kang , Marcin Arkadiusz Balicki , Rajesh Kumar , Russell H. Taylor
IPC分类号： A61B1/00 , A61B3/10 , A61B1/07
CPC分类号： A61B1/00188 , A61B1/00004 , A61B1/00165 , A61B1/00172 , A61B1/0669 , A61B1/07 , A61B1/313 , A61B3/102 , A61B3/1225 , A61F9/007
摘要： An autofocusing endoscope includes an objective lens, a relay optical system arranged to relay an image between the objective lens and a proximal end of the autofocusing endoscope, an optical fiber arranged with a distal end proximate the objective lens, a light source arranged to couple light into the optical fiber, an optical detection system arranged to receive and detect light from the optical fiber, and a data processor constructed to communicate with the optical detection system while in operation. The data processor is configured to determine a distance of a surface to be imaged through the objective lens and provide instructions for adjusting a focus of the autofocusing endoscope of the surface.
摘要翻译：一种自动对焦内窥镜，包括：物镜;中继光学系统，被配置为中继所述物镜与所述自聚焦内窥镜的近端之间的图像，配置有靠近所述物镜的远端的光纤;光源，光纤检测系统被布置成接收和检测来自光纤的光;以及数据处理器，被构造成在操作中与光学检测系统进行通信。数据处理器被配置为确定要通过物镜成像的表面的距离，并提供用于调整表面的自动聚焦内窥镜的焦点的指令。

4. 发明申请

US20120226150A1 VISUAL TRACKING AND ANNOTATON OF CLINICALLY IMPORTANT ANATOMICAL LANDMARKS FOR SURGICAL INTERVENTIONS 有权
标题翻译：临床上重要的解剖学手段的视觉跟踪和手术
公开(公告)号：US20120226150A1
公开(公告)日：2012-09-06
申请号：US13505058
申请日：2010-11-01
申请人： Marcin A. Balicki , Russell H. Taylor , Gregory D. Hager , Peter L. Gehlbach , James Handa , Rajesh Kumar
发明人： Marcin A. Balicki , Russell H. Taylor , Gregory D. Hager , Peter L. Gehlbach , James Handa , Rajesh Kumar
IPC分类号： A61B6/02 , A61B8/13 , A61B5/103 , A61B6/00
CPC分类号： A61B5/0066 , A61B3/102 , A61B3/1225 , A61B3/13 , A61B5/0084 , A61B5/061 , A61B5/1076 , A61B5/743 , A61B5/7475 , A61B8/5261 , A61B90/37 , A61B2034/2065 , A61B2090/3614 , A61B2090/3735 , A61B2560/0295 , A61F9/007 , G02B21/0012 , G06F17/241 , G06T7/33
摘要： A visual tracking and annotation system for surgical intervention includes an image acquisition and display system arranged to obtain image streams of a surgical region of interest and of a surgical instrument proximate the surgical region of interest and to display acquired images to a user; a tracking system configured to track the surgical instrument relative to the surgical region of interest; a data storage system in communication with the image acquisition and display system and the tracking system; and a data processing system in communication with the data storage system, the image acquisition and display system and the tracking system. The data processing system is configured to annotate images displayed to the user in response to an input signal from the user.
摘要翻译：用于外科手术的视觉跟踪和注释系统包括图像获取和显示系统，其被布置成获得感兴趣的外科手术区域的图像流和靠近感兴趣的手术区域的外科器械，并将获取的图像显示给使用者; 跟踪系统，被配置为相对于感兴趣的手术区域跟踪外科器械; 与图像采集和显示系统和跟踪系统通信的数据存储系统; 以及与数据存储系统，图像采集和显示系统以及跟踪系统通信的数据处理系统。数据处理系统被配置为响应于来自用户的输入信号来注释显示给用户的图像。

5. 发明申请

US20160143509A1 SYSTEM FOR STEREO RECONSTRUCTION FROM MONOSCOPIC ENDOSCOPE IMAGES 审中-公开
标题翻译：用于立体重建单纯性内窥镜图像的系统
公开(公告)号：US20160143509A1
公开(公告)日：2016-05-26
申请号：US14548948
申请日：2014-11-20
申请人： Kevin C. Olds , Tae Soo Kim , Russell H. Taylor , Austin Reiter
发明人： Kevin C. Olds , Tae Soo Kim , Russell H. Taylor , Austin Reiter
IPC分类号： A61B1/00 , A61B1/07 , A61B1/06 , A61B1/05 , A61B1/012
CPC分类号： A61B1/00009 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/0684 , A61B1/07
摘要： According to some embodiments of the present invention, a system for stereo reconstruction from a monoscopic endoscope is provided. The monoscopic endoscope comprising an image pick-up element at a distal end thereof and a working channel defined by a body of the monoscopic endoscope. The working channel provides a port at the distal end of the monoscopic endoscope. The system for stereo reconstruction comprises a light patterning component configured to be disposed within the working channel of the monoscopic endoscope such that a light emitting end of the light patterning component will be fixed with a defined relative distance from the distal end of the image pick-up element. The system for stereo reconstruction also includes a data processor adapted to be in communication with the image pick-up element. The light patterning component forms a pattern of light that is projected onto a region of interest. The data processor is configured to receive an image signal of the region of interest that includes the pattern, and determine a distance from the endoscope to the region of interest based on the image signal and based on the defined relative distance between the light emitting end of the light patterning component and the distal end of the image pick-up element.
摘要翻译：根据本发明的一些实施例，提供了一种用于从单视镜内窥镜立体重建的系统。该单视镜内窥镜包括其远端处的摄像元件和由单视镜内窥镜的主体限定的工作通道。工作通道在单镜内窥镜的远端提供一个端口。用于立体重建的系统包括：光图案形成部件，被配置为设置在单视野内窥镜的工作通道内，使得光图案形成部件的发光端以与图像拾取器的远端限定的相对距离固定， up元素。用于立体声重建的系统还包括适于与图像拾取元件通信的数据处理器。光图案形成部件形成投射到感兴趣区域上的光图案。数据处理器被配置为接收包括图案的感兴趣区域的图像信号，并且基于图像信号确定从内窥镜到感兴趣区域的距离，并且基于图像信号的发光端之间的限定的相对距离光图案形成部件和图像拾取元件的远端。

6. 发明申请

US20110125165A1 SYSTEM AND METHOD FOR MACRO-MICRO DISTAL DEXTERITY ENHANCEMENT IN MICRO-SURGERY OF THE EYE 审中-公开
标题翻译：眼科微手术中微距离增强增敏系统及方法
公开(公告)号：US20110125165A1
公开(公告)日：2011-05-26
申请号：US12992519
申请日：2009-05-18
申请人： Nabil Simaan , Russell H. Taylor , James T. Handa
发明人： Nabil Simaan , Russell H. Taylor , James T. Handa
IPC分类号： A61B19/00 , B23P11/00
CPC分类号： A61F9/007 , A61B34/30 , A61B34/35 , A61B34/72 , A61B2034/305 , A61F9/0017 , Y10T29/49826
摘要： A system for operating within an interior region of the eye, or other organ, includes a delivery channel having a proximal portion located exterior to the eye and a distal portion positionable within the interior region of the eye, wherein the distal portion of the delivery channel defines an outer diameter that is smaller than or equal to about 18 gauge, and a micro-robot extendable from the distal portion of the delivery channel, wherein the micro-robot is remotely operable to change shape within the interior region of the eye.
摘要翻译：用于在眼睛或其他器官的内部区域内操作的系统包括具有位于眼睛外部的近端部分和位于眼睛的内部区域内的远端部分的输送通道，其中输送通道的远端部分限定小于或等于约18规格的外径，以及从所述输送通道的远端部分可延伸的微机器人，其中所述微机器人可远程操作以改变所述眼睛内部区域内的形状。

7. 发明申请

US20110106102A1 Surgical Instrument and Systems with Integrated Optical Sensor 审中-公开
标题翻译：具有集成光学传感器的手术仪器和系统
公开(公告)号：US20110106102A1
公开(公告)日：2011-05-05
申请号：US12917168
申请日：2010-11-01
申请人： Marcin A. Balicki , Russell H. Taylor , Jin U. Kang , Peter L. Gehlbach , James T. Handa , Jaeho Han
发明人： Marcin A. Balicki , Russell H. Taylor , Jin U. Kang , Peter L. Gehlbach , James T. Handa , Jaeho Han
IPC分类号： A61F9/007 , A61B19/00 , A61B17/00
CPC分类号： A61F9/00727 , A61B3/1005 , A61B3/102 , A61B3/1225 , A61B34/30 , A61B34/75 , A61B34/76 , A61B90/361 , A61B2090/061 , A61B2090/3735
摘要： A surgical instrument has a surgical tool that has a proximal end and a distal end, and an optical sensor that has at least a portion attached to the surgical tool. The surgical tool has a portion that is suitable to provide a reference portion of the surgical tool, and the optical sensor has an end fixed relative to the reference portion of the surgical tool such that the reference portion of the surgical tool can be detected along with tissue that is proximate or in contact with the distal end of the surgical tool while in use.
摘要翻译：手术器械具有外科手术工具，其具有近端和远端，以及具有至少一部分附接到外科手术工具的光学传感器。手术工具具有适于提供手术工具的参考部分的部分，并且光学传感器具有相对于外科手术工具的参考部分固定的端部，使得可以检测外科手术工具的参考部分以及在使用中接近或与外科手术工具的远端接触的组织。

8. 发明申请

US20090171271A1 Active Cannula for Bio-Sensing and Surgical Intervention 有权
标题翻译：活动插管生物传感和手术干预
公开(公告)号：US20090171271A1
公开(公告)日：2009-07-02
申请号：US12084979
申请日：2006-11-15
申请人： Robert James Webster , Allison M. Okamura , Noah J. Cowan , Russell H. Taylor
发明人： Robert James Webster , Allison M. Okamura , Noah J. Cowan , Russell H. Taylor
IPC分类号： A61M5/00
CPC分类号： A61M25/0108 , A61B1/0055 , A61B17/3417 , A61B17/3421 , A61B17/3478 , A61B2017/003 , A61B2017/00331 , A61B2017/00398 , A61B2017/00809 , A61B2034/301 , A61M25/0127 , A61M25/0152 , A61M2025/0161
摘要： Disclosed is a surgical needle, or active cannula, that is capable of following a complex path through cavities and tissue within a patient's anatomy. The needle has a plurality of overlapping flexible tubes, each of which has a pre-formed curvature and a pre-determined flexibility. Each of the plurality of flexible tubes is selected based on their respective pre-formed curvature and flexibility so that a given overlap configuration causes the combination of overlapping flexible tubes to form a predetermined shape that substantially matches a desired path through the anatomy. By individually controlling the translation and angular orientation of each of the flexible tubes, the surgical needle may be guided through the anatomy according to the desired path.
摘要翻译：公开了一种外科用针或主动插管，其能够跟随穿过患者解剖结构内的空腔和组织的复杂路径。针具有多个重叠的柔性管，每个柔性管具有预先形成的曲率和预定的灵活性。多个柔性管中的每一个基于它们各自的预先形成的曲率和柔性来选择，使得给定的重叠配置导致重叠的柔性管的组合形成基本匹配通过解剖结构的期望路径的预定形状。通过单独控制每个柔性管的平移和角度取向，可以根据期望的路径将外科用针引导通过解剖结构。

9. 发明授权

US5630431A System and method for augmentation of surgery 失效
标题翻译：增加手术的系统和方法
公开(公告)号：US5630431A
公开(公告)日：1997-05-20
申请号：US321320
申请日：1994-10-11
申请人： Russell H. Taylor
发明人： Russell H. Taylor
IPC分类号： A61B17/00 , A61B19/00 , B25J9/04 , B25J17/02
CPC分类号： B25J17/0275 , A61B34/20 , A61B34/30 , A61B34/76 , B25J9/04 , A61B2017/00022 , A61B2017/00115 , A61B2017/00203 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2034/742 , A61B2090/0813 , A61B2090/365 , A61B2090/3916 , A61B2090/3945 , A61B2090/5025 , A61B34/10 , G05B2219/37074 , G05B2219/40418 , G05B2219/40609 , G05B2219/45123 , G05B2219/45166
摘要： The system and method includes a manipulator for manipulating a surgical instrument relative to a patient's body and, a position sensor for sensing the position of the surgical instrument relative to the patient's body. The manipulator can be manually or computer actuated and can have brakes to limit movement. In a preferred embodiment, orthogonal only motion between members of the manipulator is provided. The position sensor includes beacons connected to the patient and manipulator or surgical instrument and, a three dimensional beacon sensor adapted to sense the location and position of the beacons. Redundant joint sensors on the manipulator may also be provided. The system and method uses a computer to actively interact with the surgeon and can use various different input and output devices and modes.
摘要翻译：该系统和方法包括用于相对于患者身体操纵外科器械的操纵器和用于感测外科器械相对于患者身体的位置的位置传感器。机械手可以手动或计算机启动，并且可以具有制动器来限制运动。在优选实施例中，提供了在机械手的构件之间仅进行正交运动。位置传感器包括连接到患者和操纵器或手术器械的信标，以及适于感测信标的位置和位置的三维信标传感器。还可以提供操纵器上的冗余关节传感器。该系统和方法使用计算机来主动与外科医生进行交互，并可以使用各种不同的输入和输出设备和模式。

10. 发明授权

US5402801A System and method for augmentation of surgery 失效
公开(公告)号：US5402801A
公开(公告)日：1995-04-04
申请号：US234825
申请日：1994-04-28
申请人： Russell H. Taylor
发明人： Russell H. Taylor
IPC分类号： A61B17/00 , A61B19/00 , B25J9/04 , B25J17/02
CPC分类号： B25J17/0275 , A61B34/20 , A61B34/30 , A61B34/76 , B25J9/04 , A61B2017/00022 , A61B2017/00115 , A61B2017/00203 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/2068 , A61B2034/2072 , A61B2034/742 , A61B2090/0813 , A61B2090/365 , A61B2090/3916 , A61B2090/3945 , A61B2090/5025 , A61B34/10 , G05B2219/37074 , G05B2219/40418 , G05B2219/40609 , G05B2219/45123 , G05B2219/45166
摘要： The system and method includes a manipulator for manipulating a surgical instrument relative to a patient's body and, a position sensor for sensing the position of the surgical instrument relative to the patient's body. The manipulator can be manually or computer actuated and can have brakes to limit movement. In a preferred embodiment, orthogonal only motion between members of the manipulator is provided. The position sensor includes beacons connected to the patient and manipulator or surgical instrument and, a three dimensional beacon sensor adapted to sense the location and position of the beacons. Redundant joint sensors on the manipulator may also be provided. The system and method uses a computer to actively interact with the surgeon and can use various different input and output devices and modes.

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