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61. 发明授权

US09699445B2 Apparatus for automated panning and digital zooming in robotic surgical systems 有权
公开(公告)号：US09699445B2
公开(公告)日：2017-07-04
申请号：US13408236
申请日：2012-02-29
申请人： Brian D. Hoffman , Christopher J. Hasser , William C. Nowlin
发明人： Brian D. Hoffman , Christopher J. Hasser , William C. Nowlin
IPC分类号： G06K9/36 , H04N13/04 , A61B1/00 , H04N13/00 , H04N13/02 , A61B34/30 , A61B34/37 , A61B1/04 , A61B17/00 , A61B90/00
CPC分类号： H04N13/366 , A61B1/00039 , A61B1/00193 , A61B1/042 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , A61B2017/00477 , A61B2090/371 , H04N13/156 , H04N13/296 , H04N13/383
摘要： In one embodiment of the invention, a digital zoom and panning system for digital video includes an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.

62. 发明授权

US08147503B2 Methods of locating and tracking robotic instruments in robotic surgical systems 有权
标题翻译：在机器人手术系统中定位和跟踪机器人仪器的方法
公开(公告)号：US08147503B2
公开(公告)日：2012-04-03
申请号：US11865015
申请日：2007-09-30
申请人： Wenyi Zhao , Christopher J. Hasser , William C. Nowlin , Brian D. Hoffman
发明人： Wenyi Zhao , Christopher J. Hasser , William C. Nowlin , Brian D. Hoffman
IPC分类号： A61B17/00
CPC分类号： G06K9/3241 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/371 , G06K2209/057
摘要： In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.
摘要翻译：在本发明的一个实施例中，公开了一种在机器人视野中定位机器人仪器的方法。该方法包括在摄像机的视野中捕获顺序图像。顺序图像在连续视图之间相关。该方法还包括接收运动学基准以提供机器人仪器的大致位置，然后响应于机器人仪器的大致位置来分析顺序图像。公开了一种用于机器人系统的附加方法。还公开了一种用于指示工具进入相机视场的方法。

63. 发明申请

US20090088634A1 TOOL TRACKING SYSTEMS AND METHODS FOR IMAGE GUIDED SURGERY 有权
标题翻译：用于图像引导手术的工具跟踪系统和方法
公开(公告)号：US20090088634A1
公开(公告)日：2009-04-02
申请号：US11865016
申请日：2007-09-30
申请人： Wenyi Zhao , Christopher J. Hasser , William C. Nowlin , Brian D. Hoffman
发明人： Wenyi Zhao , Christopher J. Hasser , William C. Nowlin , Brian D. Hoffman
IPC分类号： A61B19/00 , A61B1/04 , G06F19/00
CPC分类号： A61B5/061 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B1/3132 , A61B5/1076 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/061 , A61B2090/364 , A61B2090/3983 , B25J9/1656 , B25J9/1689 , B25J13/089 , B25J15/0019 , G06F19/00 , G06F19/3418 , G06F19/3481 , G06K9/00624 , G06K9/3241 , G06K2209/057 , G06T7/246 , G06T2207/10021 , G06T2207/10068 , G06T2207/30004 , G06T2207/30241 , G09B23/28
摘要： In one embodiment of the invention, a tool tracking system is disclosed including a computer usable medium having computer readable program code to receive images of video frames from at least one camera and to perform image matching of a robotic instrument to determine video pose information of the robotic instrument within the images. The tool tracking system further includes computer readable program code to provide a state-space model of a sequence of states of corrected kinematics information for accurate pose information of the robotic instrument. The state-space model receives raw kinematics information of mechanical pose information and adaptively fuses the mechanical pose information and the video pose information together to generate the sequence of states of the corrected kinematics information for the robotic instrument. Additionally disclosed are methods for image guided surgery.
摘要翻译：在本发明的一个实施例中，公开了一种工具跟踪系统，包括具有计算机可读程序代码的计算机可用介质，用于从至少一个摄像机接收视频帧的图像，并执行机器人仪器的图像匹配以确定视频姿势信息图像中的机器人仪器。工具跟踪系统还包括计算机可读程序代码，以提供用于机器人仪器的精确姿态信息的经校正的运动学信息的状态序列的状态空间模型。状态空间模型接收机械姿态信息的原始运动学信息，并自适应地将机械姿态信息和视频姿态信息融合在一起，以生成机器人仪器的校正运动学信息的状态序列。另外公开了图像引导手术的方法。

64. 发明授权

US06645196B1 Guided tool change 有权
标题翻译：引导工具更换
公开(公告)号：US06645196B1
公开(公告)日：2003-11-11
申请号：US09595777
申请日：2000-06-16
申请人： Thomas Robert Nixon , William C. Nowlin , Günter D. Niemeyer
发明人： Thomas Robert Nixon , William C. Nowlin , Günter D. Niemeyer
IPC分类号： A61B1700
CPC分类号： B25J9/1689 , A61B34/37 , A61B34/70 , A61B34/71 , A61B2034/742 , B25J9/1664
摘要： A guided tool change procedure is employed in minimally invasive robotic surgery to guide a new tool quickly and precisely, after a tool change operation, back into close proximity to the operating position of the original tool prior to its removal from the surgical site. A first robotic surgical tool is placed at an operating position inside the cavity using a slave manipulator disposed outside the cavity, and the operating position is recorded. The first robotic surgical tool is decoupled from the slave manipulator and removed from the cavity. A second robotic surgical tool is introduced into the cavity. Based on the recorded operating position, a target space is derived for placing the distal end of the second robotic surgical tool in close proximity to the location of the distal end of the first robotic surgical tool in the operating position prior to its removal from the cavity. A controller is provided to control the slave manipulator to guide the distal end of the second robotic surgical tool, during insertion of the second tool, to a location within the target space.
摘要翻译：在微创机器人手术中采用引导的工具更换程序，以在刀具更换操作之后快速且精确地引导新工具，在其从手术部位移除之前重新靠近原始工具的操作位置。第一机器人手术工具使用设置在空腔外部的从动操纵器放置在腔内的操作位置，并且记录操作位置。第一个机器人手术工具与从动操纵器分离并从腔中移除。将第二台机器人手术工具引入腔内。基于记录的操作位置，导出目标空间，用于将第二机器人手术工具的远端放置在第二机器人外科手术工具的远端位于操作位置之前的第一机器人外科手术工具的远端位置，。提供控制器以控制从操纵器，以在第二工具插入期间将第二机器人手术工具的远端引导到目标空间内的位置。

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