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1. 发明申请

US20120071892A1 METHOD AND SYSTEM FOR HAND PRESENCE DETECTION IN A MINIMALLY INVASIVE SURGICAL SYSTEM 有权
标题翻译：用于在微创外科手术系统中手术存在检测的方法和系统
公开(公告)号：US20120071892A1
公开(公告)日：2012-03-22
申请号：US12887160
申请日：2010-09-21
申请人： Brandon Itkowitz , Simon P. DiMaio , Paul E. Lilagan , Tao Zhao
发明人： Brandon Itkowitz , Simon P. DiMaio , Paul E. Lilagan , Tao Zhao
IPC分类号： A61B19/00
CPC分类号： A61B34/37 , A61B34/30 , A61B34/35 , A61B34/76 , A61B90/98 , A61B2017/00207 , A61B2017/00221 , A61B2034/2051 , A61B2034/2055 , A61B2034/741 , A61B2090/3937 , A61B2090/3945 , A61B2090/397 , B25J9/1612 , B25J13/086 , G05B15/02 , Y10S901/02 , Y10S901/46
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。

2. 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。

3. 发明申请

US20110118752A1 METHOD AND SYSTEM FOR HAND CONTROL OF A TELEOPERATED MINIMALLY INVASIVE SLAVE SURGICAL INSTRUMENT 有权
标题翻译：远程手术微型手术器械手术控制方法与系统
公开(公告)号：US20110118752A1
公开(公告)日：2011-05-19
申请号：US12887091
申请日：2010-09-21
申请人： Brandon Itkowitz , Simon P. DiMaio , Tao Zhao , Karlin Y. Bark
发明人： Brandon Itkowitz , Simon P. DiMaio , Tao Zhao , Karlin Y. Bark
IPC分类号： A61B19/00 , H03K17/94 , G06F3/033
CPC分类号： B25J13/02 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/74 , A61B2017/00207 , A61B2034/741 , B25J9/1689 , G05B19/427
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。

4. 发明申请

US20110118753A1 MASTER FINGER TRACKING DEVICE AND METHOD OF USE IN A MINIMALLY INVASIVE SURGICAL SYSTEM 有权
标题翻译：主手指跟踪装置及其在微型外科手术系统中的使用方法
公开(公告)号：US20110118753A1
公开(公告)日：2011-05-19
申请号：US12887254
申请日：2010-09-21
申请人： Brandon Itkowitz , Simon P. DiMaio , Karlin Y. Bark
发明人： Brandon Itkowitz , Simon P. DiMaio , Karlin Y. Bark
IPC分类号： A61B19/00
CPC分类号： G06F3/014 , A61B34/30 , A61B34/37 , A61B34/74 , A61B2017/00207 , A61B2034/2051 , A61B2034/2065 , A61B2034/741
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。

5. 发明授权

US08996173B2 Method and apparatus for hand gesture control in a minimally invasive surgical system 有权
标题翻译：在微创手术系统中用于手势手势控制的方法和装置
公开(公告)号：US08996173B2
公开(公告)日：2015-03-31
申请号：US12886993
申请日：2010-09-21
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： G06F3/033 , A61B19/00 , B25J13/08 , G06F3/01 , B25J9/16 , A61B17/00
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。

6. 发明授权

US08935003B2 Method and system for hand presence detection in a minimally invasive surgical system 有权
标题翻译：微创手术系统中手部存在检测的方法和系统
公开(公告)号：US08935003B2
公开(公告)日：2015-01-13
申请号：US12887160
申请日：2010-09-21
申请人： Brandon D. Itkowitz , Simon P. DiMaio , Paul E. Lilagan , Tao Zhao
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Paul E. Lilagan , Tao Zhao
IPC分类号： A61B19/00 , B25J9/16 , B25J13/08 , A61B17/00
CPC分类号： A61B34/37 , A61B34/30 , A61B34/35 , A61B34/76 , A61B90/98 , A61B2017/00207 , A61B2017/00221 , A61B2034/2051 , A61B2034/2055 , A61B2034/741 , A61B2090/3937 , A61B2090/3945 , A61B2090/397 , B25J9/1612 , B25J13/086 , G05B15/02 , Y10S901/02 , Y10S901/46
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。

7. 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。

8. 发明申请

US20110282140A1 METHOD AND SYSTEM OF HAND SEGMENTATION AND OVERLAY USING DEPTH DATA 有权
标题翻译：使用深度数据的手段分割和覆盖的方法和系统
公开(公告)号：US20110282140A1
公开(公告)日：2011-11-17
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： A61B1/04 , G06K9/00
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.
摘要翻译：在微创手术系统中，获取多个视频图像。每个图像包括手姿图像。手势姿势图像的深度数据也被获取或合成。使用深度数据从图像中分割手姿势图像。使用深度数据将分割图像与获取的外科手术部位图像组合。将组合的图像显示给外科医生的微创手术系统的控制台上的人。以这种方式处理多个视频图像中的每个视频图像再现覆盖在显示器中的手术部位的视频上的手势。

9. 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。

10. 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。

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