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1. 发明授权

US08830224B2 Efficient 3-D telestration for local robotic proctoring 有权
标题翻译：有效的3-D远程监控用于本地机器人监视
公开(公告)号：US08830224B2
公开(公告)日：2014-09-09
申请号：US12465020
申请日：2009-05-13
申请人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myrian J. Curet , Tao Zhao , Simon Di Maio , Brian D. Hoffman
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myrian J. Curet , Tao Zhao , Simon Di Maio , Brian D. Hoffman
IPC分类号： G06T15/00 , G06K9/68
CPC分类号： A61B34/25 , A61B34/20 , A61B2034/2057 , A61B2034/2065 , A61B2090/371 , A61B2090/373 , G06T7/593 , G06T11/00 , G06T2207/10068 , G06T2207/20096 , G06T2207/20101 , G06T2207/30004 , H04N13/10 , H04N13/20 , H04N13/30 , H04N2013/0092
摘要： An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译：一种装置被配置为实时地向外科医生示出3-D的远程化。监视器被显示为立体图像对的一侧，使得监视器可以在一侧用输入装置绘制远距离信号线。识别兴趣点以匹配立体图像对的另一侧。响应于所识别的兴趣点，区域和特征被识别并用于将感兴趣点与另一侧匹配。区域可用于匹配兴趣点。第一图像的特征可以匹配第二图像，并且用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。限制可用于评估匹配的兴趣点，例如排除不良点。

2. 发明申请

US20100164950A1 EFFICIENT 3-D TELESTRATION FOR LOCAL ROBOTIC PROCTORING 有权
标题翻译：用于当地机器人处理的高效三维测量
公开(公告)号：US20100164950A1
公开(公告)日：2010-07-01
申请号：US12465020
申请日：2009-05-13
申请人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myriam J. Curet , Tao Zhao , Simon Dimaio , Brian D. Hoffman
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myriam J. Curet , Tao Zhao , Simon Dimaio , Brian D. Hoffman
IPC分类号： G06T15/00
CPC分类号： A61B34/25 , A61B34/20 , A61B2034/2057 , A61B2034/2065 , A61B2090/371 , A61B2090/373 , G06T7/593 , G06T11/00 , G06T2207/10068 , G06T2207/20096 , G06T2207/20101 , G06T2207/30004 , H04N13/10 , H04N13/20 , H04N13/30 , H04N2013/0092
摘要： An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译：一种装置被配置为实时地向外科医生示出3-D的远程化。监视器被显示为立体图像对的一侧，使得监视器可以在一侧用输入装置绘制远距离信号线。识别兴趣点以匹配立体图像对的另一侧。响应于所识别的兴趣点，区域和特征被识别并用于将感兴趣点与另一侧匹配。区域可用于匹配兴趣点。第一图像的特征可以匹配第二图像，并且用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。限制可用于评估匹配的兴趣点，例如排除不良点。

3. 发明授权

US09492240B2 Virtual measurement tool for minimally invasive surgery 有权
公开(公告)号：US09492240B2
公开(公告)日：2016-11-15
申请号：US12485503
申请日：2009-06-16
申请人： Brandon D. Itkowitz , Tao Zhao , Simon Di Maio , Wenyi Zhao , Christopher J. Hasser , Myrian J. Curet , Catherine J. Mohr , Hubert Stein
发明人： Brandon D. Itkowitz , Tao Zhao , Simon Di Maio , Wenyi Zhao , Christopher J. Hasser , Myrian J. Curet , Catherine J. Mohr , Hubert Stein
IPC分类号： A61B17/00 , A61B1/04 , A61B1/00
CPC分类号： A61B90/06 , A61B1/00193 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/2065 , 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.

4. 发明授权

US08184880B2 Robust sparse image matching for robotic surgery 有权
标题翻译：用于机器人手术的鲁棒稀疏图像匹配
公开(公告)号：US08184880B2
公开(公告)日：2012-05-22
申请号：US12465029
申请日：2009-05-13
申请人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
IPC分类号： G06T7/00
CPC分类号： G06K9/6211 , G06T7/33
摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译：系统，方法和设备用于匹配图像。识别来自第一图像的兴趣点以匹配第二图像。响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。约束可用于评估匹配的兴趣点，例如排除不良点。

5. 发明授权

US08639000B2 Robust sparse image matching for robotic surgery 有权
标题翻译：用于机器人手术的鲁棒稀疏图像匹配
公开(公告)号：US08639000B2
公开(公告)日：2014-01-28
申请号：US13454297
申请日：2012-04-24
申请人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
IPC分类号： G06T7/00
CPC分类号： G06K9/6211 , G06T7/33
摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译：系统，方法和设备用于匹配图像。识别来自第一图像的兴趣点以匹配第二图像。响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。约束可用于评估匹配的兴趣点，例如排除不良点。

6. 发明申请

US20100317965A1 VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY 有权
标题翻译：用于微创外科手术的虚拟测量工具
公开(公告)号：US20100317965A1
公开(公告)日：2010-12-16
申请号：US12485503
申请日：2009-06-16
申请人： BRANDON D. ITKOWITZ , Tao Zhao , Simon Dimaio , Wenyi Zhao , Christopher J. Hasser , Myrian J. Curet , Catherine J. Mohr , Hubert Stein
发明人： BRANDON D. ITKOWITZ , Tao Zhao , Simon Dimaio , Wenyi Zhao , Christopher J. Hasser , Myrian J. Curet , Catherine J. Mohr , Hubert Stein
IPC分类号： A61B5/05 , G06K9/00
CPC分类号： A61B90/06 , A61B1/00193 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/2065 , 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场更长的结构 - 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。

7. 发明授权

US08228368B2 Augmented stereoscopic visualization for a surgical robot using a captured fluorescence image and captured stereoscopic visible images 有权
标题翻译：使用捕获的荧光图像和捕获的立体可见图像的外科机器人的增强的立体可视化
公开(公告)号：US08228368B2
公开(公告)日：2012-07-24
申请号：US12164976
申请日：2008-06-30
申请人： Wenyi Zhao , Catherine J. Mohr , Christopher J. Hasser , Brian D. Hoffman , John D. Stern , Tao Zhao
发明人： Wenyi Zhao , Catherine J. Mohr , Christopher J. Hasser , Brian D. Hoffman , John D. Stern , Tao Zhao
IPC分类号： H04N13/00
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 illumination channel, a stereoscopic optical channel and another optical channel are held and positioned by a robotic surgical system. A first capture unit captures a stereoscopic visible image from the first light from the stereoscopic optical channel while a second capture unit captures a fluorescence image from the second light from the other optical channel. An intelligent image processing system receives the captured stereoscopic visible image and the captured fluorescence image and generates a stereoscopic pair of fluorescence images. An augmented stereoscopic display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of the stereoscopic visible image and the stereoscopic pair of fluorescence images.
摘要翻译：照明通道，立体光学通道和另一个光学通道由机器人手术系统保持和定位。第一捕获单元从来自立体光学信道的第一光捕获立体可视图像，而第二捕获单元从来自另一光信道的第二光捕获荧光图像。智能图像处理系统接收捕获的立体可视图像和捕获的荧光图像并产生立体对的荧光图像。增强立体显示系统输出包括立体可视图像和立体视觉对荧光图像的混合的三维呈现的实时立体图像。

8. 发明授权

US08169468B2 Augmented stereoscopic visualization for a surgical robot 有权
标题翻译：手术机器人的增强立体可视化
公开(公告)号：US08169468B2
公开(公告)日：2012-05-01
申请号：US12164363
申请日：2008-06-30
申请人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
发明人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
IPC分类号： H04N13/00 , G06F12/00
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： A robotic surgical system positions and holds an endoscope. A visible imaging system is coupled to the endoscope. The visible imaging system captures a visible image of tissue. An alternate imaging system is also coupled to the endoscope. The alternate imaging system captures a fluorescence image of at least a portion of the tissue. A stereoscopic video display system is coupled to the visible imaging system and to the alternate imaging system. The stereoscopic video display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of a fluorescence image associated with the captured fluorescence image, and the visible image.
摘要翻译：机器人手术系统定位并保持内窥镜。可见成像系统连接到内窥镜。可见成像系统捕获组织的可见图像。替代的成像系统也耦合到内窥镜。替代成像系统捕获组织的至少一部分的荧光图像。立体视频显示系统耦合到可见成像系统和替代成像系统。立体视频显示系统输出包括与所捕获的荧光图像相关联的荧光图像的混合物和可见图像的三维呈现的实时立体图像。

9. 发明申请

US20090268015A1 AUGMENTED STEREOSCOPIC VISUALIZATION FOR A SURGICAL ROBOT 有权
标题翻译：用于手术机器人的常规立体视觉化
公开(公告)号：US20090268015A1
公开(公告)日：2009-10-29
申请号：US12164363
申请日：2008-06-30
申请人： David D. Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
发明人： David D. Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
IPC分类号： H04N7/18 , H04N13/04
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： A robotic surgical system positions and holds an endoscope. A visible imaging system is coupled to the endoscope. The visible imaging system captures a visible image of tissue. An alternate imaging system is also coupled to the endoscope. The alternate imaging system captures a fluorescence image of at least a portion of the tissue. A stereoscopic video display system is coupled to the visible imaging system and to the alternate imaging system. The stereoscopic video display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of a fluorescence image associated with the captured fluorescence image, and the visible image.
摘要翻译：机器人手术系统定位并保持内窥镜。可见成像系统连接到内窥镜。可见成像系统捕获组织的可见图像。替代的成像系统也耦合到内窥镜。替代成像系统捕获组织的至少一部分的荧光图像。立体视频显示系统耦合到可见成像系统和替代成像系统。立体视频显示系统输出包括与所捕获的荧光图像相关联的荧光图像的混合物和可见图像的三维呈现的实时立体图像。

10. 发明申请

US20090192524A1 SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT 有权
标题翻译：手术机器人的合成代表
公开(公告)号：US20090192524A1
公开(公告)日：2009-07-30
申请号：US12415354
申请日：2009-03-31
申请人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon Dimaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Wenyi Zhao , Brian D. Hoffman
发明人： Brandon D. Itkowitz , Daniel J. Halabe , Tao Zhao , Simon Dimaio , Christopher J. Hasser , Catherine J. Mohr , Paul W. Mohr , David Q. Larkin , Wenyi Zhao , Brian D. Hoffman
IPC分类号： A61B19/00
CPC分类号： B25J9/1697 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2034/2061 , A61B2090/371 , B25J9/1666 , B25J9/1671 , B25J9/1689 , B25J9/1692 , G05B19/4202 , G05B2219/36432 , G05B2219/39083 , G05B2219/39096 , G05B2219/39449 , G05B2219/40607 , G05B2219/45117 , G05B2219/45123 , G06F19/00
摘要： A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions.
摘要翻译：用于在机器人系统的用户界面上显示的机器人工具的合成表示。合成表示可以用于显示图像捕获装置相对于机器人的视图体积的位置。合成表示还可以用于找到在视野之外的工具，以显示工具的运动限制的范围，远程地传达关于机器人的信息以及检测碰撞。

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