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1. 发明授权

US08398541B2 Interactive user interfaces for robotic minimally invasive surgical systems 有权
标题翻译：机器人微创手术系统的交互式用户界面
公开(公告)号：US08398541B2
公开(公告)日：2013-03-19
申请号：US12189615
申请日：2008-08-11
申请人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Bálazs Peter Vágvölgyi , Joshua Leven
发明人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Bálazs Peter Vágvölgyi , Joshua Leven
IPC分类号： A61B1/04
CPC分类号： A61B34/10 , A61B1/00193 , A61B8/00 , A61B8/12 , A61B8/4245 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B90/361 , A61B2017/00203 , A61B2090/365 , A61B2090/378
摘要： In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
摘要翻译：在本发明的一个实施例中，公开了一种用于微创手术系统的方法。该方法包括在外科医生控制台的至少一个显示装置上捕获和显示外科手术部位的相机图像; 切换到以下模式并转换为鼠标（MaM）模式; 将包括交互式图形对象的图形用户界面（GUI）重叠到相机图像上; 并在相机图像内渲染指针以进行用户交互控制。在以下模式中，外科医生控制台的输入装置可将运动耦合到手术器械中。在MaM模式下，输入设备与GUI和交互式图形对象进行交互。通过具有至少三个自由度的输入装置在三维中操纵指针。交互式图形对象与手术部位中的物理对象或其功能相关，并且可被输入装置操纵。

2. 发明申请

US20090036902A1 INTERACTIVE USER INTERFACES FOR ROBOTIC MINIMALLY INVASIVE SURGICAL SYSTEMS 有权
标题翻译：用于机器人微型外科手术系统的交互式用户界面
公开(公告)号：US20090036902A1
公开(公告)日：2009-02-05
申请号：US12189615
申请日：2008-08-11
申请人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Balazs Peter Vagvolgyi , Joshua Leven
发明人： Simon P. DiMaio , Christopher J. Hasser , Russell H. Taylor , David Q. Larkin , Peter Kazanzides , Anton Deguet , Balazs Peter Vagvolgyi , Joshua Leven
IPC分类号： A61B19/00
CPC分类号： A61B34/10 , A61B1/00193 , A61B8/00 , A61B8/12 , A61B8/4245 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/76 , A61B90/361 , A61B2017/00203 , A61B2090/365 , A61B2090/378
摘要： In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.
摘要翻译：在本发明的一个实施例中，公开了一种用于微创手术系统的方法。该方法包括在外科医生控制台的至少一个显示装置上捕获和显示外科手术部位的相机图像; 切换到以下模式并转换为鼠标（MaM）模式; 将包括交互式图形对象的图形用户界面（GUI）重叠到相机图像上; 并在相机图像内渲染指针以进行用户交互控制。在以下模式中，外科医生控制台的输入装置可将运动耦合到手术器械中。在MaM模式下，输入设备与GUI和交互式图形对象交互。通过具有至少三个自由度的输入装置在三维中操纵指针。交互式图形对象与手术部位中的物理对象或其功能相关，并且可被输入装置操纵。

3. 发明申请

US20130046137A1 SURGICAL INSTRUMENT AND METHOD WITH MULTIPLE IMAGE CAPTURE SENSORS 审中-公开
标题翻译：具有多个图像捕获传感器的手术仪器和方法
公开(公告)号：US20130046137A1
公开(公告)日：2013-02-21
申请号：US13210123
申请日：2011-08-15
申请人： Tao Zhao , Simon P. DiMaio , David W. Bailey , Amy E. Kerdok , Gregory W. Dachs, II , Stephen J. Blumenkranz , Austin Reiter , Christopher J. Hasser
发明人： Tao Zhao , Simon P. DiMaio , David W. Bailey , Amy E. Kerdok , Gregory W. Dachs, II , Stephen J. Blumenkranz , Austin Reiter , Christopher J. Hasser
IPC分类号： A61B1/05 , A61B1/045 , A61B1/012
CPC分类号： A61B1/00193 , A61B1/00181 , A61B1/00183 , A61B1/05
摘要： A surgical instrument has a distal end portion with an outer surface with an outer radius. One or more image capture elements are movably mounted in the distal end portion. In a first state, the one or more image capture elements are un-deployed. In the first state, a surface having an aperture of at least one of the one or more image capture elements is enclosed within the outer surface of the surgical instrument so that the surface having the aperture does not extend beyond the outer surface. In a second state, the one or more image capture elements are deployed. In the second state the surface having the aperture of the at least one of the one or more image capture elements extends beyond the outer surface.
摘要翻译：外科器械具有具有外半径的外表面的远端部分。一个或多个图像捕获元件可移动地安装在远端部分中。在第一状态下，一个或多个图像捕获元件未部署。在第一状态下，具有一个或多个图像捕获元件中的至少一个的孔的表面被封装在外科器械的外表面内，使得具有孔的表面不延伸超出外表面。在第二状态下，部署一个或多个图像捕获元件。在第二状态下，具有一个或多个图像捕获元件中的至少一个的孔的表面延伸超过外表面。

4. 发明申请

US20120004508A1 SURGICAL ILLUMINATOR WITH DUAL SPECTRUM FLUORESCENCE 审中-公开
标题翻译：具有双光谱荧光的外科照明器
公开(公告)号：US20120004508A1
公开(公告)日：2012-01-05
申请号：US12855905
申请日：2010-08-13
申请人： Ian McDowall , Christopher J. Hasser , Simon P. DiMaio
发明人： Ian McDowall , Christopher J. Hasser , Simon P. DiMaio
IPC分类号： A61B1/06
CPC分类号： A61B5/0071 , A61B1/00057 , A61B1/00186 , A61B1/00193 , A61B1/042 , A61B1/043 , A61B1/063 , A61B1/0638 , A61B1/0684 , A61B1/3132 , A61B5/0084
摘要： In a minimally invasive surgical system, an illuminator includes a visible color component illumination source and a hardware non-visible fluorescence emission illumination source. Thus, the illuminator outputs target image illumination light in a first spectrum where the first spectrum includes at least a portion of the visible spectrum. The illuminator also outputs target image illumination light in a second spectrum, where the second spectrum includes non-visible light with a wavelength the same as a wavelength in an emission from a fluorophore.
摘要翻译：在微创手术系统中，照明器包括可见颜色分量照明源和硬件不可见荧光发射照明源。因此，照明器输出第一光谱中的目标图像照明光，其中第一光谱包括至少一部分可见光谱。照明器还输出第二光谱中的目标图像照明光，其中第二光谱包括具有与来自荧光团的发射中的波长相同的波长的不可见光。

5. 发明申请

US20090192524A1 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 有权
标题翻译：手术机器人的合成代表
公开(公告)号：US20090192524A1
公开(公告)日：2009-07-30
申请号：US12415354
申请日：2009-03-31
申请人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon Dimaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Wenyi Zhao , Brian D. Hoffman
发明人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon Dimaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Wenyi Zhao , Brian D. Hoffman
IPC分类号： A61B19/00
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
摘要翻译：用于在机器人系统的用户界面上显示的机器人工具的合成表示。合成表示可以用于显示图像捕获装置相对于机器人的视图体积的位置。合成表示还可以用于找到在视野之外的工具，以显示工具的运动限制的范围，远程地传达关于机器人的信息以及检测碰撞。

6. 发明授权

US09789608B2 Synthetic representation of a surgical robot 有权
公开(公告)号：US09789608B2
公开(公告)日：2017-10-17
申请号：US12415354
申请日：2009-03-31
申请人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon Dimaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Wenyi Zhao , Brian D. Hoffman
发明人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon Dimaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Wenyi Zhao , Brian D. Hoffman
IPC分类号： A61B17/00 , B25J9/16 , G05B19/42 , A61B90/00 , A61B34/30 , A61B34/37 , A61B34/20 , A61B34/00
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.

7. 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。

8. 发明授权

US08463439B2 Optic fiber connection for a force sensing instrument 有权
标题翻译：用于力传感仪器的光纤连接
公开(公告)号：US08463439B2
公开(公告)日：2013-06-11
申请号：US12415795
申请日：2009-03-31
申请人： Stephen J. Blumenkranz , Gregory W. Dachs, II , Ian McDowall , Christopher J. Hasser
发明人： Stephen J. Blumenkranz , Gregory W. Dachs, II , Ian McDowall , Christopher J. Hasser
IPC分类号： G05B15/00 , G05B19/00
CPC分类号： A61B34/20 , A61B18/00 , A61B34/30 , A61B2017/00477 , A61B2034/2061 , A61B2034/305 , A61B2090/064 , A61B2562/0266 , G01B11/16 , G01L1/242 , G02B6/12019 , G02B6/264 , G02B6/32 , Y10T74/20335
摘要： In one embodiment, a surgical instrument includes a housing linkable with a manipulator arm of a robotic surgical system, a shaft operably coupled to the housing, a force transducer on a distal end of the shaft, and a plurality of fiber optic strain gauges on the force transducer. In one example, the plurality of strain gauges are operably coupled to a fiber optic splitter or an arrayed waveguide grating (AWG) multiplexer. A fiber optic connector is operably coupled to the fiber optic splitter or the AWG multiplexer. A wrist joint is operably coupled to a distal end of the force transducer, and an end effector is operably coupled to the wrist joint. In another embodiment, a robotic surgical manipulator includes a base link operably coupled to a distal end of a manipulator positioning system, and a distal link movably coupled to the base link, wherein the distal link includes an instrument interface and a fiber optic connector optically linkable to a surgical instrument. A method of passing data between an instrument and a manipulator via optical connectors is also provided.
摘要翻译：在一个实施例中，手术器械包括可与机器人手术系统的操纵臂连接的壳体，可操作地联接到壳体的轴，在轴的远端上的力传感器，以及多个光纤应变计力传感器。在一个示例中，多个应变计可操作地耦合到光纤分离器或阵列波导光栅（AWG）多路复用器。光纤连接器可操作地耦合到光纤分离器或AWG多路复用器。腕关节可操作地联接到力传感器的远端，并且端部执行器可操作地联接到腕关节。在另一个实施例中，机器人外科手术操纵器包括可操作地联接到操纵器定位系统的远端的基部连杆和可移动地联接到基部连杆的远端连杆，其中远端连杆包括仪器接口和可光学连接的光纤连接到手术器械。还提供了通过光学连接器在仪器和操纵器之间传递数据的方法。

9. 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。

10. 发明申请

US20100318099A1 VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY 有权
公开(公告)号：US20100318099A1
公开(公告)日：2010-12-16
申请号：US12485545
申请日：2009-06-16
申请人： BRANDON D. ITKOWITZ , Tao Zhao , Simon Dimaio , Wenyi Zhao , Christopher J. Hasser , Myriam J. Curet , Catherine J. Mohr , Hubert Stein
发明人： BRANDON D. ITKOWITZ , Tao Zhao , Simon Dimaio , Wenyi Zhao , Christopher J. Hasser , Myriam J. Curet , Catherine J. Mohr , Hubert Stein
IPC分类号： A61B19/00
CPC分类号： A61B19/2203 , A61B5/1072 , A61B8/4209 , A61B8/483 , A61B17/00234 , A61B17/282 , A61B18/1482 , A61B34/25 , A61B34/30 , A61B2017/00477 , A61B2034/105 , A61B2090/061
摘要： Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.

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