专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

61. 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。

62. 发明申请

US20150182289A1 Method and Apparatus for Hand Gesture Control in a Minimally Invasive Surgical System 审中-公开
标题翻译：微创手术系统中手势控制的方法和装置
公开(公告)号：US20150182289A1
公开(公告)日：2015-07-02
申请号：US14629685
申请日：2015-02-24
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： A61B19/00 , A61B17/00 , G05B15/02
CPC分类号： A61B34/30 , A61B17/00234 , A61B34/35 , A61B34/37 , A61B34/76 , A61B2017/00207 , A61B2034/102 , B25J9/1689 , B25J13/084 , G05B15/02 , G05B2219/36418 , G06F3/014
摘要： In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.
摘要翻译：在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。基于人手部分的位置生成系统控制参数。使用系统控制参数控制微创手术系统的操作。因此，微创手术系统包括手跟踪系统。手跟踪系统跟踪人手部分的位置。耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且基于系统控制参数向微创手术系统注入命令。

63. 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。

64. 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。

65. 发明申请

US20130303893A1 Systems and Methods for Deformation Compensation Using Shape Sensing 审中-公开
标题翻译：使用形状检测进行变形补偿的系统和方法
公开(公告)号：US20130303893A1
公开(公告)日：2013-11-14
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： A61B5/06 , A61B5/00
CPC分类号： A61B5/066 , A61B5/0044 , A61B5/062 , A61B5/065 , A61B34/30 , A61B2017/00699 , A61B2017/00809 , A61B2034/105 , A61B2034/2051 , A61B2034/2061 , A61B2034/301 , A61B2034/303 , A61B2505/05 , A61B2562/043 , G06F19/00
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.
摘要翻译：一种用于估计解剖结构变形的方法和医疗系统，其包括从描述患者解剖结构的解剖数据生成至少一个解剖通道的第一模型，并且确定位于所述分支解剖通道内的装置的形状。该方法和医疗系统还包括通过相对于所确定的装置形状调整第一模型来生成多个分支解剖通道的第二模型。

66. 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。

67. 发明申请

US20120268579A1 TARGETS, FIXTURES, AND WORKFLOWS FOR CALIBRATING AN ENDOSCOPIC CAMERA 审中-公开
标题翻译：用于校准内窥镜照相机的目标，设备和工作流程
公开(公告)号：US20120268579A1
公开(公告)日：2012-10-25
申请号：US13535011
申请日：2012-06-27
申请人： Tao Zhao , Weny Zhao , David D. Scott
发明人： Tao Zhao , Weny Zhao , David D. Scott
IPC分类号： H04N17/00 , H04N7/18
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 on 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; 将所述界面与所述成像系统的视场相耦合的目标，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。

68. 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。

69. 发明申请

US20120071891A1 METHOD AND APPARATUS FOR HAND GESTURE CONTROL IN A MINIMALLY INVASIVE SURGICAL SYSTEM 有权
标题翻译：在微创外科手术系统中手术控制的方法和装置
公开(公告)号：US20120071891A1
公开(公告)日：2012-03-22
申请号：US12886993
申请日：2010-09-21
申请人： Brandon Itkowitz , Simon P. DiMaio , Tao Zhao
发明人： Brandon Itkowitz , Simon P. DiMaio , Tao Zhao
IPC分类号： A61B19/00 , G06F3/033
CPC分类号： A61B34/30 , A61B17/00234 , A61B34/35 , A61B34/37 , A61B34/76 , A61B2017/00207 , A61B2034/102 , B25J9/1689 , B25J13/084 , G05B15/02 , G05B2219/36418 , G06F3/014
摘要： In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.
摘要翻译：在微创手术系统中，手跟踪系统跟踪安装在人手部分上的传感器元件的位置。基于人手部分的位置生成系统控制参数。使用系统控制参数控制微创手术系统的操作。因此，微创手术系统包括手跟踪系统。手跟踪系统跟踪人手部分的位置。耦合到手跟踪系统的控制器将位置转换为系统控制参数，并且基于系统控制参数向微创手术系统注入命令。

70. 发明申请

US20110282141A1 METHOD AND SYSTEM OF SEE-THROUGH CONSOLE OVERLAY 有权
标题翻译：观察控制台覆盖的方法和系统
公开(公告)号：US20110282141A1
公开(公告)日：2011-11-17
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： A61B1/04 , G06K9/00
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。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式