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21. 发明申请

US20100168918A1 OBTAINING FORCE INFORMATION IN A MINIMALLY INVASIVE SURGICAL PROCEDURE 有权
标题翻译：在最小的入组手术程序中获得力量信息
公开(公告)号：US20100168918A1
公开(公告)日：2010-07-01
申请号：US12428108
申请日：2009-04-22
申请人： Wenyi Zhao , Tao Zhao , David Q. Larkin
发明人： Wenyi Zhao , Tao Zhao , David Q. Larkin
IPC分类号： G01L5/00 , G06F19/00 , H04N5/00
CPC分类号： A61B34/30 , A61B34/37 , A61B34/76 , A61B2034/102 , A61B2090/064 , B25J9/1689 , G05B2219/40144
摘要： Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown.
摘要翻译：用于为机器人手术系统提供力信息的方法和系统。该方法包括存储用于末端执行器的第一位置的第一运动位置信息和第一实际位置信息; 将所述末端执行器经由所述机器人手术系统从所述第一位置移动到第二位置; 存储用于所述第二位置的第二运动位置信息和第二实际位置信息; 并且利用第一实际位置信息，第二实际位置信息，第一运动位置信息和第二运动位置信息，提供关于在第二位置处施加到末端执行器的力的力信息。通过将末端执行器的估计位置无重力地叠加在末端执行器的实际位置的图像上也提供视力反馈。类似地，可以显示组织弹性视觉显示。

22. 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。

23. 发明申请

US20100164950A1 EFFICIENT 3-D TELESTRATION FOR LOCAL ROBOTIC PROCTORING 有权
标题翻译：用于当地机器人处理的高效三维测量
公开(公告)号：US20100164950A1
公开(公告)日：2010-07-01
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 , Myriam J. Curet , Tao Zhao , Simon Dimaio , Brian D. Hoffman
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myriam J. Curet , Tao Zhao , Simon Dimaio , Brian D. Hoffman
IPC分类号： G06T15/00
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。

24. 发明申请

US20190197650A1 FULL SCREEN PROCESSING IN MULTI-APPLICATION ENVIRONMENTS 审中-公开
公开(公告)号：US20190197650A1
公开(公告)日：2019-06-27
申请号：US13578355
申请日：2011-06-11
申请人： Tao Zhao , John C. Weast , Brett P. Wang
发明人： Tao Zhao , John C. Weast , Brett P. Wang
IPC分类号： G06T1/20 , G06F9/451 , G06F9/48
摘要： Systems and methods for determining a foreground application and at least one background application from multiple graphics applications executing within an execution environment are disclosed. Pixel data rendered by the foreground application may be displayed in the execution environment while a rendering thread of the background application may be paused.

25. 发明授权

US10085671B2 Systems and methods for deformation compensation using shape sensing 有权
公开(公告)号：US10085671B2
公开(公告)日：2018-10-02
申请号：US13893008
申请日：2013-05-13
申请人： Vincent Duindam , Prashant Chopra , Tao Zhao
发明人： Vincent Duindam , Prashant Chopra , Tao Zhao
IPC分类号： A61B34/10 , A61B5/06 , A61B5/00 , G06F19/00 , A61B17/00 , A61B34/30 , A61B34/20
摘要： A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

26. 发明授权

US09858475B2 Method and system of hand segmentation and overlay using depth data 有权
公开(公告)号：US09858475B2
公开(公告)日：2018-01-02
申请号：US12780557
申请日：2010-05-14
申请人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
IPC分类号： G06K9/00 , G06T19/00
CPC分类号： G06K9/00375 , G06T19/006 , G06T2207/20112
摘要： In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.

27. 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。

28. 发明授权

US08594841B2 Visual force feedback in a minimally invasive surgical procedure 有权
标题翻译：微创外科手术中的视力反馈
公开(公告)号：US08594841B2
公开(公告)日：2013-11-26
申请号：US12428142
申请日：2009-04-22
申请人： Wenyi Zhao , Tao Zhao , David Q. Larkin
发明人： Wenyi Zhao , Tao Zhao , David Q. Larkin
IPC分类号： G06F19/00
CPC分类号： B25J9/1633 , A61B34/20 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/76 , A61B2034/102 , A61B2090/065 , A61B2090/365 , B25J9/1697 , Y10S901/47
摘要： Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed.
摘要翻译：用于在机器人手术系统中提供力信息的视觉表示的方法和系统。确定手术末端执行器的真实位置。还确定了如果对端部执行器没有施加力的手术末端执行器的突出位置。表示实际和投影位置的图像叠加在显示器上。两个图像之间的偏移提供了施加到末端执行器或支撑末端执行器的运动链的力的视觉指示。此外，确定并显示组织变形信息。

29. 发明申请

US20130303892A1 Systems and Methods for Navigation Based on Ordered Sensor Records 审中-公开
标题翻译：基于有序传感器记录的导航系统和方法
公开(公告)号：US20130303892A1
公开(公告)日：2013-11-14
申请号：US13892974
申请日：2013-05-13
申请人： Tao Zhao , Prashant Chopra , Vincent Duindam , Dorin Panescu , Lei Fan
发明人： Tao Zhao , Prashant Chopra , Vincent Duindam , Dorin Panescu , Lei Fan
IPC分类号： A61B5/06
CPC分类号： A61B5/061 , A61B5/065 , A61B5/7425 , A61B34/20 , A61B2034/2051 , G06F19/00
摘要： A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.
摘要翻译：跟踪医疗器械的方法包括接收解剖通道形成的模型并接收用于医疗器械的一组有序传感器记录。该组有序传感器记录提供医疗仪器的路径历史。该方法还包括基于路径历史记录医疗器械与解剖通道形成的模型。

30. 发明授权

US08520027B2 Method and system of see-through console overlay 有权
标题翻译：透视控制台覆盖的方法和系统
公开(公告)号：US08520027B2
公开(公告)日：2013-08-27
申请号：US12780568
申请日：2010-05-14
申请人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
IPC分类号： G06T19/00
CPC分类号： G06T15/503 , G06T2210/41
摘要： In a minimally invasive surgical system, a plurality of video images is acquired. Each video image includes images of the surgeon's hand(s), and of a master manipulator. The images of the surgeon's hand(s) and the master manipulator are segmented from the video image. The segmented images are combined with an acquired surgical site image. The combined image is displayed to the person at the surgeon's console so that the console functions as a see-through console.
摘要翻译：在微创手术系统中，获取多个视频图像。每个视频图像包括外科医生的手的图像和主操纵器的图像。从视频图像分割外科医生的手和主操纵器的图像。分割图像与获取的手术部位图像组合。组合的图像显示给外科医生的控制台上的人员，以便控制台作为透明控制台。

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