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1. 发明授权

EP3385039B1 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 有权
公开(公告)号：EP3385039B1
公开(公告)日：2019-11-06
申请号：EP18173423.7
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

2. 发明公开

EP2774380A1 METHOD AND SYSTEM FOR STEREO GAZE TRACKING 有权转让
标题翻译：方法和系统跟踪立体视觉
公开(公告)号：EP2774380A1
公开(公告)日：2014-09-10
申请号：EP12846020.1
申请日：2012-10-29
申请人： Intuitive Surgical Operations, Inc.
发明人： ZHAO, Wenyi , ITKOWITZ, Brandon D.
IPC分类号： H04N13/02
CPC分类号： H04N13/383 , A61B3/0058 , A61B3/113 , G06K9/00604
摘要： Stereo gaze tracking estimates a 3-D gaze point by projecting determined right and left eye gaze points on left and right stereo images. The determined right and left eye gaze points are based on one or more tracked eye gaze points, estimates for non-tracked eye gaze points based upon the tracked gaze points and image matching in the left and right stereo images, and confidence scores indicative of the reliability of the tracked gaze points and/or the image matching.

3. 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.

4. 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。

5. 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

6. 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。

7. 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。

8. 发明授权

EP2414137B1 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 有权转让
公开(公告)号：EP2414137B1
公开(公告)日：2017-06-21
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 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/00
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.

9. 发明公开

EP2442743A1 VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY 有权转让
标题翻译：微创外科手术的虚拟测量工具
公开(公告)号：EP2442743A1
公开(公告)日：2012-04-25
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： A61B19/00
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.
摘要翻译：用于远程手术和其它应用的机器人和/或测量装置（10），系统和方法采用可操作地联接到工具（26）的输入装置（16），以允许系统使用者（18）操纵被测量的组织和其他结构。该系统可以利用来自立体图像的三维位置信息。可以在三维中指定两个或更多个离散点（242,244），以便提供沿直线或弯曲结构的累积长度，面积测量，体积测量等。离散点可以由单个手术工具（240）或通过分开两个或更多个手术工具的距离来识别，其中用户可选地通过步行一对工具来测量比立体图像捕捉设备的视场更长的结构“ 沿着结构交叉“。通过允许系统用户在指定组织位置的同时与组织相互作用，并且通过使用成像数据来确定测量结果，可以提高测量精度和测量的简易性。

10. 发明公开

EP2391290A1 FIDUCIAL MARKER DESIGN AND DETECTION FOR LOCATING SURGICAL INSTRUMENT IN IMAGES 审中-公开
标题翻译：衡量品牌的设计和证明用于手术器械在拍摄定位研究
公开(公告)号：EP2391290A1
公开(公告)日：2011-12-07
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： A61B19/00
CPC分类号： A61B34/30 , A61B34/37 , A61B90/94 , A61B2034/2055 , A61B2034/2065 , A61B2090/3937 , 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: capturing a first image of a tool that includes multiple features that define a first marker, where at least one of the features of the first marker includes an identification feature; determining a position for the first marker by processing the first image; determining an identification for the first marker by using the at least one identification feature by processing the first image; and determining a tool state for the tool by using the position and the identification of the first marker.

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