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21. 发明授权

US08810631B2 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视图像组合的捕获的可见图像的外科手术机器人的增强的立体可视化
公开(公告)号：US08810631B2
公开(公告)日：2014-08-19
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： 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。

22. 发明申请

US20100168562A1 FIDUCIAL MARKER DESIGN AND DETECTION FOR LOCATING SURGICAL INSTRUMENT IN IMAGES 有权
标题翻译： FIDUCAL MARKER DESIGN AND DETECTION FOR LOCATING SURGICAL INSTRUMENT IN IMAGES
公开(公告)号：US20100168562A1
公开(公告)日：2010-07-01
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。

23. 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。

24. 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。

25. 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。

26. 发明授权

US08223193B2 Targets, fixtures, and workflows for calibrating an endoscopic camera 有权
标题翻译：用于校准内窥镜相机的目标，灯具和工作流程
公开(公告)号：US08223193B2
公开(公告)日：2012-07-17
申请号：US12415377
申请日：2009-03-31
申请人： Tao Zhao , Wenyi Zhao , David D. Scott
发明人： Tao Zhao , Wenyi Zhao , David D. Scott
IPC分类号： H04N13/00 , H04N15/00 , A61B1/04
CPC分类号： G06T7/002 , G01D1/00 , G01D15/00 , G06K9/4671 , G06T7/85 , G06T2207/10024 , G06T2207/10028 , G06T2207/10068 , G06T2207/10148 , G06T2207/20056 , G06T2207/30204 , H04N13/239 , H04N13/246
摘要： The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data.
摘要翻译：本公开涉及用于诸如内窥镜成像系统的成像系统的校准组件和方法。校准组件包括：用于约束与内窥镜成像系统接合的界面; 与所述界面耦合以便在所述成像系统的视野范围内的目标，所述目标包括具有包括识别特征的校准特征的多个标记; 以及处理器，被配置为从所述识别特征分别识别来自所述成像系统和所述目标之间的第一和第二相对空间布置的第一和第二图像，来自所述识别特征的至少一些标记，以及使用所识别的标记和校准特征位置图像生成校准数据。

27. 发明申请

US20100169815A1 VISUAL FORCE FEEDBACK IN A MINIMALLY INVASIVE SURGICAL PROCEDURE 有权
标题翻译：视觉力量反馈在一个微小的外部手术过程中
公开(公告)号：US20100169815A1
公开(公告)日：2010-07-01
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： A61B19/00 , G06F3/048
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。

28. 发明授权

US08374723B2 Obtaining force information in a minimally invasive surgical procedure 有权
标题翻译：在微创外科手术中获取力信息
公开(公告)号：US08374723B2
公开(公告)日：2013-02-12
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。

29. 发明申请

US20100331855A1 Efficient Vision and Kinematic Data Fusion For Robotic Surgical Instruments and Other Applications 有权
标题翻译：机器人手术器械及其他应用的高效视觉和运动学数据融合
公开(公告)号：US20100331855A1
公开(公告)日：2010-12-30
申请号：US12495304
申请日：2009-06-30
申请人： Tao Zhao , Wenyi Zhao , Brian David Hoffman , William C. Nowlin , Hua Hui
发明人： Tao Zhao , Wenyi Zhao , Brian David Hoffman , William C. Nowlin , Hua Hui
IPC分类号： 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。

30. 发明授权

US09867669B2 Configuration marker design and detection for instrument tracking 有权
公开(公告)号：US09867669B2
公开(公告)日：2018-01-16
申请号：US12428691
申请日：2009-04-23
申请人： Tao Zhao , Wenyi Zhao , William C. Nowlin
发明人： Tao Zhao , Wenyi Zhao , William C. Nowlin
IPC分类号： G06K9/00 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/94 , 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.

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