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1. 发明授权

US08836723B2 Augmented reality methods and systems including optical merging of a plurality of component optical images 有权
标题翻译：增强的现实方法和系统，包括多个分量光学图像的光学合并
公开(公告)号：US08836723B2
公开(公告)日：2014-09-16
申请号：US13164671
申请日：2011-06-20
申请人： Tsu-Chin Tsao , Jason T. Wilson
发明人： Tsu-Chin Tsao , Jason T. Wilson
IPC分类号： G09G5/00 , G03B21/26 , A61B19/00 , G02B26/00
CPC分类号： H04N9/3179 , A61B90/37 , A61B2090/365 , G02B26/00 , G02B27/01 , G02B27/106 , G02B27/1066 , G02B2027/0138 , G02B2027/014 , G06T11/60 , G06T19/006
摘要： The present disclosure provides augmented reality methods and systems where two or more component optical images are optically overlaid via one or more beam splitters to form composite optical images. In some embodiments a second component optical image is an electronic optical image (an image from an electronically controlled emission source) while the first component optical image is one of a physical optical image (an image of a physical object from which diffuse reflection occurs), an electronic optical image, an emission optical image (an image from a non-electronic source that emits radiation), or a hybrid optical image (composed of at least two of a physical optical image, and electronic optical image, or an emission optical image). In some embodiments the first and second component optical images are used to provide feedback concerning the quality of the overlaying and appropriate correction factors to improve the overlay quality.
摘要翻译：本公开提供增强现实方法和系统，其中两个或更多个分量光学图像经由一个或多个分束器光学重叠以形成复合光学图像。在一些实施例中，第二分量光学图像是电子光学图像（来自电子控制的发射源的图像），而第一分量光学图像是物理光学图像（发生漫反射的物理对象的图像）之一，电子光学图像，发射光学图像（来自发射辐射的非电子源的图像）或混合光学图像（由物理光学图像和电子光学图像或发射光学图像中的至少两个组成））。在一些实施例中，第一和第二分量光学图像用于提供关于覆盖质量和适当校正因子的反馈以改善覆盖质量。

2. 发明申请

US20120007839A1 Augmented Reality Methods and Systems Including Optical Merging of a Plurality of Component Optical Images 有权
标题翻译：包括多个组件光学图像的光合并的增强现实方法和系统
公开(公告)号：US20120007839A1
公开(公告)日：2012-01-12
申请号：US13164671
申请日：2011-06-20
申请人： Tsu-Chin Tsao , Jason T. Wilson
发明人： Tsu-Chin Tsao , Jason T. Wilson
IPC分类号： G09G5/00
CPC分类号： H04N9/3179 , A61B90/37 , A61B2090/365 , G02B26/00 , G02B27/01 , G02B27/106 , G02B27/1066 , G02B2027/0138 , G02B2027/014 , G06T11/60 , G06T19/006
摘要： Embodiments of the present disclosure provide augmented reality methods and systems where two or more component optical images are optically overlaid via the use of one or more beam splitters to become composite optical images wherein in some embodiments a second component optical image is an electronic optical image (an image from an electronically controlled emission source) while the first component optical image is one of a physical optical image (an image of a physical object from which diffuse reflection occurs), an electronic optical image, an emission optical image (an image from a non-electronic source that emits radiation), or a hybrid optical image (which composed of at least two of a physical optical image, and electronic optical image, or an emission optical image). In some embodiments the first and second component optical images are used to provide feedback concerning the quality of the overlaying and appropriate correction factors to improve the overlay quality.
摘要翻译：本公开的实施例提供增强现实方法和系统，其中通过使用一个或多个分束器将两个或更多个分量光学图像光学重叠成为复合光学图像，其中在一些实施例中第二分量光学图像是电子光学图像（来自电子控制发射源的图像），而第一分量光学图像是物理光学图像（发生漫反射的物理物体的图像）之一，电子光学图像，发射光学图像（来自发射辐射的非电子源）或混合光学图像（由物理光学图像和电子光学图像中的至少两个构成，或发射光学图像）。在一些实施例中，第一和第二分量光学图像用于提供关于覆盖质量和适当校正因子的反馈以改善覆盖质量。

3. 发明公开

US20240277244A1 PROBE FOR IDENTIFICATION OF OCULAR TISSUES DURING SURGERY 审中-公开
公开(公告)号：US20240277244A1
公开(公告)日：2024-08-22
申请号：US18569976
申请日：2022-06-14
申请人： Sahba Aghajani PEDRAM , Tsu-Chin TSAO , The Regents of the University of California
发明人： Peter Walker FERGUSON , Sahba Aghajani PEDRAM , Matthew GERBER , Jacob Rosen , Jean-Pierre HUBSCHMAN , Tsu-Chin TSAO , Ismael CHEHAIBOU , Anibal FRANCONE
IPC分类号： A61B5/0537 , A61B5/0538 , A61F9/007
CPC分类号： A61B5/0537 , A61B5/0538 , A61F9/00736
摘要： According to certain general aspects, the present embodiments relate generally to identifying tissue, fluid and/or anatomical structures at the tip of a surgical tool. The determination of the tissue, fluid and/or anatomical structures that the tool is touching allows the inference of a position inside of a person undergoing surgery. For example, a surgeon may attempt to use a tool to interact with a lens portion of a person's eye during cataract surgery, but the identification of tissue provided by embodiments will indicate that the tool is at a position too deep inside of the eye.

4. 发明授权

US08954132B2 Methods and systems for guiding an emission to a target 有权
标题翻译：指导排放到目标的方法和系统
公开(公告)号：US08954132B2
公开(公告)日：2015-02-10
申请号：US12704947
申请日：2010-02-12
申请人： Jean P. Hubschman , Steven Schwartz , Jason Wilson , Tsu-Chin Tsao
发明人： Jean P. Hubschman , Steven Schwartz , Jason Wilson , Tsu-Chin Tsao
IPC分类号： A61B5/00 , G06T7/00 , G06T7/20
CPC分类号： G21K5/10 , A61B5/055 , A61B6/466 , A61B6/547 , A61B18/18 , A61B18/20 , A61B34/10 , A61B34/20 , A61B2018/00577 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/2063 , A61B2034/2072 , G06T7/136 , G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/10048 , G06T2207/10056 , G06T2207/10101 , G06T2207/30096 , G06T2207/30244
摘要： Disclosed are methods and systems for guiding emissions to a target. The methods and systems utilize, in part, Markerless Tracking software to detect a beam of energy, such as a laser, toward a target such as a tissue that is the subject of a medical procedure.
摘要翻译：公开的是指导目标排放的方法和系统。方法和系统部分地使用Markerless Tracking软件来检测诸如激光的能量束，朝向诸如作为医疗程序的对象的组织的靶标。

5. 发明申请

US20120022408A1 Surgical Procedures Using Visual Images Overlaid with Visual Representations of Selected Three-Dimensional Data 审中-公开
标题翻译：使用视觉图像叠加的选择的三维数据的视觉表示的外科手术
公开(公告)号：US20120022408A1
公开(公告)日：2012-01-26
申请号：US13169072
申请日：2011-06-27
申请人： Jean-Pierre Hubschman , Steven Schwartz , Jason T. Wilson , Tsu-Chin Tsao , James S. Gibson
发明人： Jean-Pierre Hubschman , Steven Schwartz , Jason T. Wilson , Tsu-Chin Tsao , James S. Gibson
IPC分类号： A61F9/013 , A61B18/18 , A61B17/00 , A61F9/008 , A61B5/107
CPC分类号： A61F9/00804 , A61B3/0025 , A61B90/36 , A61B2034/102 , A61B2034/105 , A61B2090/3612 , A61B2090/364 , A61B2090/365 , A61F2/16 , A61F2/1645 , A61F2009/00851 , A61F2009/00872 , A61F2009/00882
摘要： Embodiments of the invention are directed to improved surgical procedures such as ophthalmic procedures that utilize overlaid visual representations of three-dimensional data or other data with direct or indirect visual images of a surgical region (e.g. the eye) to provide improved information to a surgeon to speed surgical procedures and/or to provide improved outcomes of those procedures. In some embodiments, ophthalmic procedures are combined cataract removal and astigmatism reduction procedures. In other embodiments the ophthalmic procedures are corneal refractive surgical procedures that reshape the cornea to reduce astigmatism or other aberrations. In some ophthalmic procedures the three-dimensional data is topography data associated with the anterior surface of the cornea. In some embodiments, the three-dimensional data may be enhanced or replaced with aberrometric data associated with the optical path of the eye.
摘要翻译：本发明的实施例涉及改进的外科手术，例如利用三维数据或具有手术区域（例如眼睛）的直接或间接视觉图像的其他数据的重叠的视觉表示的眼科程序，以向外科医生提供改进的信息快速的外科手术和/或提供这些程序的改进结果。在一些实施方案中，眼科手术是组合白内障去除和散光降低程序。在其他实施例中，眼科手术是角膜屈光手术，其重塑角膜以减少散光或其他像差。在一些眼科程序中，三维数据是与角膜前表面相关的地形数据。在一些实施例中，三维数据可以被增强或用与眼睛的光学路径相关联的像差测量数据代替。

6. 发明授权

US09283043B2 Apparatus, system, and method for robotic microsurgery 有权
标题翻译：机器人显微手术的装置，系统和方法
公开(公告)号：US09283043B2
公开(公告)日：2016-03-15
申请号：US13522313
申请日：2011-01-14
申请人： Tsu-Chin Tsao , Steven D. Schwartz , Jean-Pierre Hubschman , Jason T. Wilson , Stephen W. Prince , Jean-Louis Bourges
发明人： Tsu-Chin Tsao , Steven D. Schwartz , Jean-Pierre Hubschman , Jason T. Wilson , Stephen W. Prince , Jean-Louis Bourges
IPC分类号： A61B19/00
CPC分类号： A61B90/10 , A61B34/10 , A61B34/70 , A61B90/11
摘要： A system for microsurgery includes a first assembly and a second assembly, each including: (1) a planar remote center of motion (RCM) device configured to constrain motion of a surgical instrument attached to the planar RCM device such that an axis of the surgical instrument passes through the RCM while remaining in a planar region defined based on a rotational orientation of the planar RCM device; and (2) a rotational device attached to the planar RCM device and configured such that an axis of rotation of the rotational device passes through the remote center of motion. The rotational orientation of the planar RCM device is defined about the axis of rotation. The first assembly and the second assembly are configured to be positioned such that a distance between the remote centers of motion of the first assembly and the second assembly is no greater than two centimeters.
摘要翻译：一种用于显微手术的系统包括第一组件和第二组件，每个组件包括：（1）平面的远程运动中心（RCM）装置，其被配置为约束附接到平面RCM装置的外科器械的运动，使得外科手术仪器通过RCM，同时保持在基于平面RCM装置的旋转取向限定的平面区域中; 和（2）旋转装置，其附接到平面RCM装置并且被构造成使得旋转装置的旋转轴线穿过该远程运动中心。平面RCM装置的旋转定向是围绕旋转轴定义的。第一组件和第二组件被构造成定位成使得第一组件和第二组件的远程运动中心之间的距离不大于两厘米。

7. 发明申请

US20120022546A1 Surgical Procedures Using Instrument to Boundary Spacing Information Extracted from Real-Time Diagnostic Scan Data 有权
标题翻译：使用仪器对实时诊断扫描数据提取的边界间距信息的手术程序
公开(公告)号：US20120022546A1
公开(公告)日：2012-01-26
申请号：US13169076
申请日：2011-06-27
申请人： Jean-Pierre Hubschman , Steven Schwartz , Jason T. Wilson , Tsu-Chin Tsao , James S. Gibson
发明人： Jean-Pierre Hubschman , Steven Schwartz , Jason T. Wilson , Tsu-Chin Tsao , James S. Gibson
IPC分类号： A61F9/007 , A61B17/3209 , A61B17/3205
CPC分类号： A61F9/00745 , A61B5/0066 , A61B5/055 , A61B5/4836 , A61B5/7415 , A61B8/10 , A61B8/5223 , A61B34/20 , A61B34/30 , A61B2090/3612 , A61B2090/365 , A61B2090/3735 , A61B2090/374 , A61B2090/378 , A61F9/00736 , A61F9/00754
摘要： Specific embodiments of the invention are directed to improved phacoemulsification procedures involving the use of processed non-visual three-dimensional data (i.e. diagnostic scan data) to provide a surgeon with additional guidance (i.e. more than that generally obtained from visual observation of the working area) concerning the distance separating a working end of a phacoemulsification instrument and the posterior portion of the capsule of the eye during surgical procedures involving the removal of the crystalline lens of an eye (e.g. a cataract removal procedure). Such separation (i.e. distance or gap) information may be used to aid the surgeon in cutting or scoring the lens to a desired depth while minimizing the risk of penetrating the posterior portion of the capsule with the working end of the instrument. Some embodiments provide for the visual and/or auditory conveyance of distance information to the surgeon wherein visual information may be conveyed by overlaying it with real visual images of actual surface features viewed by the surgeon. Additional embodiments provide for overlaying visual representations of selected three-dimensional structure information (e.g. depths of troughs cut into the lens) with the real surface feature images viewed by the surgeon.
摘要翻译：本发明的具体实施方案涉及涉及使用经处理的非视觉三维数据（即，诊断扫描数据）的改进的超声乳化手术以向外科医生提供额外的指导（即，通常从目视观察工作区域获得的指导）涉及在涉及去除眼晶状体的手术过程（例如白内障去除程序）期间分离晶状体乳化器械的工作端和眼睛胶囊后部的距离。这种分离（即距离或间隙）信息可以用于帮助外科医生将透镜切割或刻痕到期望的深度，同时最小化穿透胶囊的后部与仪器的工作端的风险。一些实施例提供了对外科医生的距离信息的视觉和/或听觉传送，其中可以通过用外科医生观察到的实际表面特征的真实视觉图像覆盖视觉信息来传达视觉信息。另外的实施例提供了将所选择的三维结构信息（例如，切入透镜的槽的深度）与由外科医生观察到的实际表面特征图像重叠的视觉表示。

8. 发明申请

US20110201939A1 METHODS AND SYSTEMS FOR GUIDING AN EMISSION TO A TARGET 有权
标题翻译：用于引导排放到目标的方法和系统
公开(公告)号：US20110201939A1
公开(公告)日：2011-08-18
申请号：US12704947
申请日：2010-02-12
申请人： Jean P. HUBSCHMAN , Steven SCHWARTZ , Jason WILSON , Tsu-Chin TSAO
发明人： Jean P. HUBSCHMAN , Steven SCHWARTZ , Jason WILSON , Tsu-Chin TSAO
IPC分类号： A61B6/00 , G01J1/00
CPC分类号： G21K5/10 , A61B5/055 , A61B6/466 , A61B6/547 , A61B18/18 , A61B18/20 , A61B34/10 , A61B34/20 , A61B2018/00577 , A61B2034/107 , A61B2034/2051 , A61B2034/2055 , A61B2034/2063 , A61B2034/2072 , G06T7/136 , G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/10048 , G06T2207/10056 , G06T2207/10101 , G06T2207/30096 , G06T2207/30244
摘要： Disclosed are methods and systems for guiding emissions to a target. The methods and systems utilize, in part, Markerless Tracking software to detect a beam of energy, such as a laser, toward a target such as a tissue that is the subject of a medical procedure.
摘要翻译：公开的是指导目标排放的方法和系统。方法和系统部分地使用Markerless Tracking软件来检测诸如激光的能量束，朝向诸如作为医疗程序的对象的组织的靶标。

9. 发明授权

US08945140B2 Surgical procedures using instrument to boundary spacing information extracted from real-time diagnostic scan data 有权
标题翻译：外科手术使用仪器对边界间距信息从实时诊断扫描数据中提取出来
公开(公告)号：US08945140B2
公开(公告)日：2015-02-03
申请号：US13169076
申请日：2011-06-27
申请人： Jean-Pierre Hubschman , Steven Schwartz , Jason T. Wilson , Tsu-Chin Tsao , James S. Gibson
发明人： Jean-Pierre Hubschman , Steven Schwartz , Jason T. Wilson , Tsu-Chin Tsao , James S. Gibson
IPC分类号： A61B17/3205 , A61F9/007 , A61B19/00
CPC分类号： A61F9/00745 , A61B5/0066 , A61B5/055 , A61B5/4836 , A61B5/7415 , A61B8/10 , A61B8/5223 , A61B34/20 , A61B34/30 , A61B2090/3612 , A61B2090/365 , A61B2090/3735 , A61B2090/374 , A61B2090/378 , A61F9/00736 , A61F9/00754
摘要： The present disclosure is directed to improved phacoemulsification procedures involving the use of processed non-visual three-dimensional data (i.e. diagnostic scan data) to provide a surgeon with additional guidance concerning the distance separating a working end of a phacoemulsification instrument and the posterior capsule of the eye during a surgical procedure involving the removal of the crystalline lens of an eye. Such information is implemented to aid the surgeon in cutting or scoring the lens to a desired depth while minimizing the risk of penetrating the posterior portion of the capsule with the working end of the instrument. Some embodiments provide for the visual and/or auditory conveyance of distance information to the surgeon. Additional embodiments can provide for overlaying visual representations of selected structure information with the images provided to the surgeon.
摘要翻译：本公开涉及改进的晶状体乳化过程，其涉及使用经处理的非视觉三维数据（即，诊断扫描数据）以向外科医生提供关于将晶状体乳化仪器的工作端和后囊分离的距离的附加指导在涉及去除眼晶状体的手术过程中的眼睛。这样的信息被实施以帮助外科医生将透镜切割或刻痕到期望的深度，同时最小化穿透具有工具的工作端的胶囊的后部的风险。一些实施例提供了对外科医生的距离信息的视觉和/或听觉传送。另外的实施例可以提供所选结构信息的视觉表示与提供给外科医生的图像。

10. 发明申请

US20130123798A1 APPARATUS, SYSTEM, AND METHOD FOR ROBOTIC MICROSURGERY 有权
标题翻译：装置，系统和机器人微观方法
公开(公告)号：US20130123798A1
公开(公告)日：2013-05-16
申请号：US13522313
申请日：2011-01-14
申请人： Tsu-Chin Tsao , Steven D. Schwartz , Jean-Pierre Hubschman , Jason T. Wilson , Stephen W. Prince , Jean-Louis Bourges
发明人： Tsu-Chin Tsao , Steven D. Schwartz , Jean-Pierre Hubschman , Jason T. Wilson , Stephen W. Prince , Jean-Louis Bourges
IPC分类号： A61B19/00
CPC分类号： A61B90/10 , A61B34/10 , A61B34/70 , A61B90/11
摘要： A system for microsurgery includes a first assembly and a second assembly, each including: (1) a planar remote center of motion (RCM) device configured to constrain motion of a surgical instrument attached to the planar RCM device such that an axis of the surgical instrument passes through the RCM while remaining in a planar region defined based on a rotational orientation of the planar RCM device; and (2) a rotational device attached to the planar RCM device and configured such that an axis of rotation of the rotational device passes through the remote center of motion. The rotational orientation of the planar RCM device is defined about the axis of rotation. The first assembly and the second assembly are configured to be positioned such that a distance between the remote centers of motion of the first assembly and the second assembly is no greater than two centimeters.
摘要翻译：一种用于显微手术的系统包括第一组件和第二组件，每个组件包括：（1）平面的远程运动中心（RCM）装置，其被配置为约束附接到平面RCM装置的外科器械的运动，使得外科手术仪器通过RCM，同时保持在基于平面RCM装置的旋转取向限定的平面区域中; 和（2）旋转装置，其附接到平面RCM装置并且被构造成使得旋转装置的旋转轴线穿过该远程运动中心。平面RCM装置的旋转定向是围绕旋转轴定义的。第一组件和第二组件被构造成定位成使得第一组件和第二组件的远程运动中心之间的距离不大于两厘米。

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