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11. 发明授权

EP2442743B1 VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY 有权转让
公开(公告)号：EP2442743B1
公开(公告)日：2018-10-03
申请号：EP10720850.6
申请日：2010-05-19
申请人： Intuitive Surgical Operations, Inc.
发明人： ITKOWITZ, Brandon D. , ZHAO, Tao , DIMAIO, Simon , ZHAO, Wenyi , HASSER, Christopher J. , CURET, Myriam J. , MOHR, Catherine J. , STEIN, Hubert
IPC分类号： A61B34/35 , A61B34/37 , A61B90/00
CPC分类号： A61B90/06 , A61B1/00193 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/2065 , 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.

12. 发明公开

EP3246135A1 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 审中-公开
标题翻译：手术机器人的综合表现
公开(公告)号：EP3246135A1
公开(公告)日：2017-11-22
申请号：EP17175195.1
申请日：2010-03-26
申请人： Intuitive Surgical Operations, Inc.
发明人： ITKOWITZ, Brandon, D. , HALABE, Daniel, J. , ZHAO, Tao , DIMAIO, Simon , HASSER, Christopher, J , MOHR, Catherine, J , MOHR, Paul, W , LARKIN, David, Q , ZHAO, Wenyi , HOFFMAN, Brian, David
IPC分类号： B25J9/16 , G05B19/42
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综合表示。合成表示可以用于示出图像捕获设备的观看体积相对于机器人的位置。合成表示还可用于查找视野外的工具，显示工具的运动范围范围，远程传达有关机器人的信息以及检测碰撞。

13. 发明授权

EP2442744B1 VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY 有权
标题翻译：虚拟仪表开刀手术极小
公开(公告)号：EP2442744B1
公开(公告)日：2015-11-04
申请号：EP10724951.8
申请日：2010-06-03
申请人： Intuitive Surgical Operations, Inc.
发明人： ITKOWITZ, Brandon, D. , ZHAO, Tao , DIMAIO, Simon , ZHAO, Wenyi , HASSER, Christopher, J. , CURET, Myriam, J. , MOHR, Catherine, J. , STEIN, Hubert
IPC分类号： A61B19/00 , A61B5/107 , A61B17/00
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

14. 发明公开

EP2414137A2 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 有权转让
标题翻译： SYNTHETISCHE DARSTELLUNG EINES CHIRURGISCHEN ROBOTERS
公开(公告)号：EP2414137A2
公开(公告)日：2012-02-08
申请号：EP10717330.4
申请日：2010-03-26
申请人： Intuitive Surgical Operations, Inc.
发明人： ITKOWITZ, Brandon, D. , HALABE, Daniel, J. , ZHAO, Tao , DIMAIO, Simon , HASSER, Christopher, J. , MOHR, Catherine, J. , MOHR, Paul, W. , LARKIN, David, Q. , ZHAO, Wenyi , HOFFMAN, Brian, David
IPC分类号： B25J9/16 , G05B19/42 , 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。

15. 发明公开

EP2391289A1 CONFIGURATION MARKER DESIGN AND DETECTION FOR INSTRUMENT TRACKING 有权转让
标题翻译：康奈尔大学教科文组织
公开(公告)号：EP2391289A1
公开(公告)日：2011-12-07
申请号：EP09775495.6
申请日：2009-12-17
申请人： Intuitive Surgical Operations, Inc.
发明人： ZHAO, Tao , ZHAO, Wenyi , NOWLIN, William, C.
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B34/30 , A61B34/37 , A61B90/94 , A61B2034/102 , A61B2034/2065 , A61B2090/371 , A61B2090/3983
摘要： The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool located reference features. A method includes: directing illuminating light from a light source onto a robotic surgical tool within a patient body, wherein the tool includes a plurality of primitive features having known positions on the tool, and wherein each feature includes a spherical reflective surface; capturing stereo images of the plurality of primitive features when the tool is within the patient body, wherein the stereo images are captured by an image capture device adjacent the illumination source so that the illumination light reflected from the imaged primitive features toward the image capture device substantially aligns with spherical centers of the surfaces of the imaged primitive features, and determining a position for the tool by processing the stereo images so as to locate the spherical centers of the imaged primitive features by using the reflected light.
摘要翻译：本公开涉及使用来自一个或多个位于工具的参考特征的图像衍生数据进行工具跟踪的系统，方法和工具。一种方法包括：将来自光源的照明光引导到患者体内的机器人手术工具上，其中所述工具包括在所述工具上具有已知位置的多个原始特征，并且其中每个特征包括球形反射表面; 当所述工具在所述患者体内时，捕获所述多个基本特征的立体图像，其中所述立体图像由邻近所述照明源的图像捕获装置捕获，使得从所述成像原图反射的照明光特征朝向所述图像捕获装置基本上与成像原始特征的表面的球面中心对齐，并且通过处理立体图像来确定工具的位置，以便通过使用反射光定位成像原始特征的球面中心。

16. 发明公开

EP3613547A1 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 有权
公开(公告)号：EP3613547A1
公开(公告)日：2020-02-26
申请号：EP19201566.7
申请日：2010-03-26
申请人： Intuitive Surgical Operations, Inc.
发明人： ITKOWITZ, Brandon, D. , HALABE, Daniel, J. , ZHAO, Tao , DIMAIO, Simon , HASSER, Christopher, J. , MOHR, Catherine, J. , MOHR, Paul, W. , LARKIN, David, Q. , ZHAO, Wenyi , HOFFMAN, Brian, David
IPC分类号： B25J9/16 , G05B19/42 , A61B34/30 , A61B34/37 , A61B90/00 , A61B34/20 , A61B34/00
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.

17. 发明授权

EP2391290B1 FIDUCIAL MARKER DESIGN AND DETECTION FOR LOCATING SURGICAL INSTRUMENT IN IMAGES 有权转让
公开(公告)号：EP2391290B1
公开(公告)日：2020-02-05
申请号：EP09801614.0
申请日：2009-12-17
申请人： Intuitive Surgical Operations, Inc.
发明人： ZHAO, Tao , ZHAO, Wenyi , HALABE,Daniel J. , HOFFMAN, Brian D. , NOWLIN, William C.
IPC分类号： A61B90/00 , A61B34/30 , A61B34/37 , A61B34/20 , A61B90/94

18. 发明公开

EP3332687A1 AUGMENTED STEREOSCOPIC VISUALIZATION FOR A SURGICAL ROBOT 有权
公开(公告)号：EP3332687A1
公开(公告)日：2018-06-13
申请号：EP17205283.9
申请日：2009-04-09
申请人： Intuitive Surgical Operations, Inc.
发明人： SCOTT, David, D , ZHAO, Wenyi , HASSER, Christopher, J , HOFFMAN, Brian, D , LILAGAN, Paul, E , MCDOWALL, Ian, M , MOHR, Catherine, J , STERN, John, D , ZHAO, Tao
IPC分类号： A61B1/00 , A61B1/04 , A61B1/06
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： A robotic surgical system positions and holds an endoscope. A visible imaging system is coupled to the endoscope. The visible imaging system captures a visible image of tissue. An alternate imaging system is also coupled to the endoscope. The alternate imaging system captures a fluorescence image of at least a portion of the tissue. A stereoscopic video display system is coupled to the visible imaging system and to the alternate imaging system. The stereoscopic video display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of a fluorescence image associated with the captured fluorescence image and the visible image.

19. 发明授权

EP2391289B1 CONFIGURATION MARKER DESIGN AND DETECTION FOR INSTRUMENT TRACKING 有权转让
标题翻译：配置MARKER设计与仪器追踪证明
公开(公告)号：EP2391289B1
公开(公告)日：2016-11-23
申请号：EP09775495.6
申请日：2009-12-17
申请人： Intuitive Surgical Operations, Inc.
发明人： ZHAO, Tao , ZHAO, Wenyi , NOWLIN, William, C.
IPC分类号： A61B34/30 , A61B34/37 , A61B90/94 , A61B34/20 , A61B90/00 , A61B34/10
CPC分类号： A61B34/20 , A61B34/30 , A61B34/37 , A61B90/94 , A61B2034/102 , A61B2034/2065 , A61B2090/371 , A61B2090/3983
摘要： The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool located reference features. A method includes: directing illuminating light from a light source onto a robotic surgical tool within a patient body, wherein the tool includes a plurality of primitive features having known positions on the tool, and wherein each feature includes a spherical reflective surface; capturing stereo images of the plurality of primitive features when the tool is within the patient body, wherein the stereo images are captured by an image capture device adjacent the illumination source so that the illumination light reflected from the imaged primitive features toward the image capture device substantially aligns with spherical centers of the surfaces of the imaged primitive features, and determining a position for the tool by processing the stereo images so as to locate the spherical centers of the imaged primitive features by using the reflected light.

20. 发明公开

EP2877116A1 EFFICIENT AND INTERACTIVE BLEEDING DETECTION IN A SURGICAL SYSTEM 有权转让
标题翻译：高效，互动的血流检测在手术系统
公开(公告)号：EP2877116A1
公开(公告)日：2015-06-03
申请号：EP13823451.3
申请日：2013-07-22
申请人： Intuitive Surgical Operations, Inc.
发明人： ZHAO, Wenyi , MOHR, Catherine J. , SORGER, Jonathan M.
IPC分类号： A61B19/00 , A61B5/145 , A61B6/00
摘要： A bleeding detection unit in a surgical system processes information in an acquired scene before that scene is presented on a display unit in the operating room. For example, the bleeding detection unit analyzes the pixel data in the acquired scene and determines whether there are one or more initial sites of blood in the scene. Upon detection of an initial site of blood, the region is identified by an initial site icon in the scene displayed on the display unit. In one aspect, the processing is done in real-time which means that there is no substantial delay in presenting the acquired scene to the surgeon.

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