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11. 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.

12. 发明申请

US20090268010A1 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视觉图像的手术机器人的增强的立体视觉化
公开(公告)号：US20090268010A1
公开(公告)日：2009-10-29
申请号：US12164976
申请日：2008-06-30
申请人： Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Catherine J. Mohr , John D. Stern , Tao Zhao
发明人： Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Catherine J. Mohr , John D. Stern , Tao Zhao
IPC分类号： H04N13/00 , 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 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。

13. 发明申请

US20100166323A1 ROBUST SPARSE IMAGE MATCHING FOR ROBOTIC SURGERY 有权
标题翻译：用于机器人手术的稳健的SPARSE图像匹配
公开(公告)号：US20100166323A1
公开(公告)日：2010-07-01
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 Dimaio
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Dimaio
IPC分类号： G06K9/68
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。

14. 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.

15. 发明授权

US09155592B2 Virtual measurement tool for minimally invasive surgery 有权
标题翻译：用于微创手术的虚拟测量工具
公开(公告)号：US09155592B2
公开(公告)日：2015-10-13
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： A61B5/103 , A61B5/117 , G06F19/00 , A61B19/00 , A61B18/14 , A61B17/28 , A61B8/08 , A61B17/00 , A61B8/00 , A61B5/107
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.
摘要翻译：用于远程外科手术和其他应用的机器人和/或测量装置，系统和方法使用可操作地耦合到工具的输入装置，以允许系统用户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，以沿着直线或弯曲结构，面积测量，体积测量等提供累积长度。离散点可以通过单个外科手术工具或通过分离两个或更多个手术工具的距离来识别，用户可选地通过行走一对工具“移交”来测量比立体图像捕获装置的视野更长的结构 - 手“沿结构。通过允许系统用户在指定组织位置的同时与组织交互，并且通过使用成像数据来确定测量，可以提高测量精度和测量容易度。

16. 发明申请

US20120209287A1 METHOD AND STRUCTURE FOR IMAGE LOCAL CONTRAST ENHANCEMENT 有权
标题翻译：图像局部对比增强的方法和结构
公开(公告)号：US20120209287A1
公开(公告)日：2012-08-16
申请号：US13026740
申请日：2011-02-14
申请人： Wenyi Zhao , Simon P. DiMaio , Catherine J. Mohr , David D. Scott , Tao Zhao
发明人： Wenyi Zhao , Simon P. DiMaio , Catherine J. Mohr , David D. Scott , Tao Zhao
IPC分类号： A61B19/00 , G06K9/00
CPC分类号： G06T5/008 , A61B34/30 , A61B2090/371 , G06T2207/10024 , H04N1/6027
摘要： A local contrast enhancement method transforms a first plurality of color components of a first visual color image into a modified brightness component by using a first transformation. The first plurality of color components are in a first color space. The modified brightness component is a brightness component of a second color space. The second color space also includes a plurality of chromatic components. The method transforms all the color components of the first color space into the chromatic components of the second color space. The method then transforms the modified brightness component and the chromatic components of the second color space into a plurality of new color components, in the first color space, of a second visual color image. The method transmits the plurality of new color components to a device such as a display device. The second visual color image has enhanced contrast in comparison to the first visual color image.
摘要翻译：局部对比度增强方法通过使用第一变换将第一视觉彩色图像的第一多个颜色分量变换成修改的亮度分量。第一多个颜色分量在第一颜色空间中。修正的亮度分量是第二颜色空间的亮度分量。第二颜色空间还包括多个有色成分。该方法将第一颜色空间的所有颜色分量变换为第二颜色空间的色彩分量。该方法然后将修改的亮度分量和第二颜色空间的色彩分量转换为第二视觉彩色图像的第一颜色空间中的多个新颜色分量。该方法将多个新颜色分量发送到诸如显示设备的设备。与第一视觉彩色图像相比，第二视觉彩色图像具有增强的对比度。

17. 发明授权

US08712151B2 Method and structure for image local contrast enhancement 有权
标题翻译：图像局部对比度增强的方法和结构
公开(公告)号：US08712151B2
公开(公告)日：2014-04-29
申请号：US13026740
申请日：2011-02-14
申请人： Wenyi Zhao , Simon P. DiMaio , Catherine J. Mohr , David D. Scott , Tao Zhao
发明人： Wenyi Zhao , Simon P. DiMaio , Catherine J. Mohr , David D. Scott , Tao Zhao
IPC分类号： G06K9/00
CPC分类号： G06T5/008 , A61B34/30 , A61B2090/371 , G06T2207/10024 , H04N1/6027
摘要： A local contrast enhancement method transforms a first plurality of color components of a first visual color image into a modified brightness component by using a first transformation. The first plurality of color components are in a first color space. The modified brightness component is a brightness component of a second color space. The second color space also includes a plurality of chromatic components. The method transforms all the color components of the first color space into the chromatic components of the second color space. The method then transforms the modified brightness component and the chromatic components of the second color space into a plurality of new color components, in the first color space, of a second visual color image. The method transmits the plurality of new color components to a device such as a display device. The second visual color image has enhanced contrast in comparison to the first visual color image.
摘要翻译：局部对比度增强方法通过使用第一变换将第一视觉彩色图像的第一多个颜色分量变换成修改的亮度分量。第一多个颜色分量在第一颜色空间中。修正的亮度分量是第二颜色空间的亮度分量。第二颜色空间还包括多个有色成分。该方法将第一颜色空间的所有颜色分量变换为第二颜色空间的色彩分量。该方法然后将修改的亮度分量和第二颜色空间的色彩分量转换为第二视觉彩色图像的第一颜色空间中的多个新颜色分量。该方法将多个新颜色分量发送到诸如显示设备的设备。与第一视觉彩色图像相比，第二视觉彩色图像具有增强的对比度。

18. 发明授权

US09526587B2 Fiducial marker design and detection for locating surgical instrument in images 有权
标题翻译：基准标记设计和检测，用于定位手术器械在图像中
公开(公告)号：US09526587B2
公开(公告)日：2016-12-27
申请号：US12428657
申请日：2009-04-23
申请人： Tao Zhao , Wenyi Zhao , Daniel J. Halabe , Brian D. Hoffman , William C. Nowlin
发明人： Tao Zhao , Wenyi Zhao , Daniel J. Halabe , Brian D. Hoffman , William C. Nowlin
IPC分类号： A61B5/05
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.
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：捕获包括定义第一标记的多个特征的工具的第一图像，其中第一标记的至少一个特征包括识别特征; 通过处理第一图像确定第一标记的位置; 通过处理所述第一图像来使用所述至少一个识别特征来确定所述第一标记的识别; 以及通过使用所述位置和所述第一标记的识别来确定所述工具的工具状态。

19. 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。

20. 发明授权

US08971597B2 Efficient vision and kinematic data fusion for robotic surgical instruments and other applications 有权
标题翻译：用于机器人手术器械和其他应用的高效视觉和运动学数据融合
公开(公告)号：US08971597B2
公开(公告)日：2015-03-03
申请号：US12495304
申请日：2009-06-30
申请人： Tao Zhao , Wenyi Zhao , Brian D. Hoffman , William C. Nowlin , Hua Hui
发明人： Tao Zhao , Wenyi Zhao , Brian D. Hoffman , William C. Nowlin , Hua Hui
IPC分类号： G06K9/00 , A61B19/00
CPC分类号： A61B19/2203 , A61B34/30 , A61B2034/2059 , A61B2034/2065 , A61B2090/3937
摘要： Robotic devices, systems, and methods for use in telesurgical therapies through minimally invasive apertures make use of joint-based data throughout much of the robotic kinematic chain, but selectively rely on information from an image capture device to determine location and orientation along the linkage adjacent a pivotal center at which a shaft of the robotic surgical tool enters the patient. A bias offset may be applied to a pose (including both an orientation and a location) at the pivotal center to enhance accuracy. The bias offset may be applied as a simple rigid transformation from the image-based pivotal center pose to a joint-based pivotal center pose.
摘要翻译：通过微创孔径用于远程手术治疗的机器人装置，系统和方法通过大部分机器人运动链中的基于联合的数据，但是选择性地依赖来自图像捕获装置的信息来确定沿着连接相邻的位置和取向机器人手术工具的轴进入患者的枢转中心。偏移偏移可以应用于枢转中心处的姿势（包括方向和位置），以提高精度。偏移偏移可以作为从基于图像的枢转中心姿态到基于关节的枢转中心姿态的简单刚性变换来应用。

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