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公开(公告)号：US12302010B2
公开(公告)日：2025-05-13
申请号：US18617036
申请日：2024-03-26
Applicant: Alcon Inc.
Inventor： Patrick Terry
IPC: H04N23/959 , A61B90/00 , G06T7/593 , H04N13/204 , H04N13/296 , H04N23/67 , H04N23/695 , H04N13/00
Abstract: A stereoscopic imaging platform includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes a lens assembly having at least one lens and defining a working distance. The lens assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working distance. A controller is adapted to selectively execute one or more automatic focusing modes for the stereoscopic camera. The automatic focusing modes include a continuous autofocus mode adapted to maintain a focus of the at least one stereoscopic image while the robotic arm is moving the stereoscopic camera and the target site is moving along at least an axial direction.
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2.发明公开公开(公告)号：US20240268659A1
公开(公告)日：2024-08-15
申请号：US18636470
申请日：2024-04-16
Applicant: Alcon Inc.
Inventor： Ashok Burton Tripathi , George Charles Polchin , Maximiliano Ramirez Luna , Patrick Terry , Thomas Paul Riederer
CPC classification number: A61B3/102 , A61B3/08 , A61B3/107 , A61F9/00736 , A61F9/00834 , A61F2009/00846 , A61F2009/00851 , A61F2009/00855
Abstract: A system for guiding an ophthalmic procedure is disclosed. The system includes a housing assembly with a head unit configured to be at least partially directed towards a target site in an eye. An optical coherence tomography (OCT) module and stereoscopic visualization camera are at least partially located in the head unit and configured to obtain a first set and a second set of volumetric data, respectively. A controller is configured to register the first set and second set of volumetric data to create a third set of registered volumetric data. The third set and second set of registered volumetric data are rendered, via a volumetric render module, to a first and second region. The first region and the second region are overlaid to obtain a shared composite view of the target site. The controller is configured to extract structural features and/or enable visualization of the target site.
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3.发明授权公开(公告)号：US11986240B2
公开(公告)日：2024-05-21
申请号：US17108481
申请日：2020-12-01
Applicant: ALCON INC.
Inventor： Ashok Burton Tripathi , George Charles Polchin , Maximiliano Ramirez Luna , Patrick Terry , Thomas Paul Riederer
CPC classification number: A61B3/102 , A61B3/08 , A61B3/107 , A61F9/00736 , A61F9/00834 , A61F2009/00846 , A61F2009/00851 , A61F2009/00855
Abstract: A system for guiding an ophthalmic procedure is disclosed. The system includes a housing assembly with a head unit configured to be at least partially directed towards a target site in an eye. An optical coherence tomography (OCT) module and stereoscopic visualization camera are at least partially located in the head unit and configured to obtain a first set and a second set of volumetric data, respectively. A controller is configured to register the first set and second set of volumetric data to create a third set of registered volumetric data. The third set and second set of registered volumetric data are rendered, via a volumetric render module, to a first and second region. The first region and the second region are overlaid to obtain a shared composite view of the target site. The controller is configured to extract structural features and/or enable visualization of the target site.
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公开(公告)号：US11863882B2
公开(公告)日：2024-01-02
申请号：US17684810
申请日：2022-03-02
Applicant: ALCON INC.
Inventor： Patrick Terry , David Roe
IPC: H04N23/959 , A61B90/00 , H04N13/204 , H04N13/296 , H04N23/695 , H04N23/67
CPC classification number: H04N23/959 , A61B90/361 , H04N13/204 , H04N13/296 , H04N23/673 , H04N23/675 , H04N23/695
Abstract: A stereoscopic imaging platform includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes a lens assembly having at least one lens and defining a working distance. The lens assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working distance. A controller is adapted to selectively execute one or more automatic focusing modes for the stereoscopic camera. The controller has a processor and tangible, non-transitory memory on which instructions are recorded. The automatic focusing modes include a target locking mode. The target locking mode is adapted to maintain a focus of the at least one stereoscopic image while the robotic arm is moving the stereoscopic camera.
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5.发明申请公开(公告)号：US20220311989A1
公开(公告)日：2022-09-29
申请号：US17684831
申请日：2022-03-02
Applicant: Alcon Inc.
Inventor： Patrick Terry , Devin Reed
IPC: H04N13/296 , H04N5/232 , H04N13/204
Abstract: A stereoscopic imaging platform includes a stereoscopic camera configured to record left and right images of a target site. A robotic arm is operatively connected to the stereoscopic camera, the robotic arm being adapted to selectively move the stereoscopic camera relative to the target. The stereoscopic camera includes a lens assembly having at least one lens and defining a working distance. The lens assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working distance. A controller is adapted to selectively execute one or more automatic focusing modes for the stereoscopic camera. The controller has a processor and tangible, non-transitory memory on which instructions are recorded. The automatic focusing modes include a disparity mode and/or a sharpness control mode which are adapted to at least partially rely on disparity feedback to change the working distance in order to achieve focus.
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Patent Agency Ranking
公开(公告)号：US12239397B2
公开(公告)日：2025-03-04
申请号：US17902430
申请日：2022-09-02
Applicant: Alcon Inc.
Inventor： Patrick Terry
Abstract: A robotic imaging system includes a camera configured to one or more images of a target site. The camera may be a stereoscopic camera configured to record a left image and a right image for producing at least one stereoscopic image of the target site. A robotic arm is operatively connected to the camera, the robotic arm being adapted to selectively move the camera relative to the target site. A sensor is configured to detect forces and/or torque imparted by a user for moving the stereoscopic camera and transmit sensor data. A controller is configured to receive the sensor data, the controller having a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute an assisted drive mode, which includes determining a movement sequence for the robotic arm based in part on the sensor data and a damping function.
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公开(公告)号：US20220392012A1
公开(公告)日：2022-12-08
申请号：US17659123
申请日：2022-04-13
Applicant: Alcon Inc.
Inventor： Patrick Terry , Ashok Burton Tripathi
Abstract: A method, instructions for which are executed from a computer-readable medium, calibrates a robotic camera system having a digital camera connected to an end-effector of a serial robot. The end-effector and camera move within a robot motion coordinate frame (“robot frame”). The method includes acquiring, using the camera, a reference image of a target object on an image plane having an optical coordinate frame, and receiving input signals, including a depth measurement and joint position signals. Separate roll and pitch offsets are determined of a target point within the reference image with respect to the robot frame while moving the robot. Offsets are also determined with respect to x, y, and z axes of the robot frame while moving the robot through another motion sequence. The offsets are stored in a transformation matrix, which is used to control the robot during subsequent operation of the camera system.
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公开(公告)号：US11336804B2
公开(公告)日：2022-05-17
申请号：US17141661
申请日：2021-01-05
Applicant: ALCON INC.
Inventor： Maximiliano Ramirez Luna , Michael Weissman , Thomas Paul Riederer , George Charles Polchin , Ashok Burton Tripathi , Patrick Terry
Abstract: A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and/or rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and/or rotational forces imparted by the operator.
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公开(公告)号：US20210297560A1
公开(公告)日：2021-09-23
申请号：US17141661
申请日：2021-01-05
Applicant: ALCON INC.
Inventor： Maximiliano Ramirez Luna , Michael Weissman , Thomas Paul Riederer , George Charles Polchin , Ashok Burton Tripathi , Patrick Terry
Abstract: A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and/or rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and/or rotational forces imparted by the operator.
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公开(公告)号：US20250054094A1
公开(公告)日：2025-02-13
申请号：US18932804
申请日：2024-10-31
Applicant: Alcon Inc.
Inventor： Patrick Terry , Ashok Burton Tripathi
Abstract: A method, instructions for which are executed from a computer-readable medium, calibrates a robotic camera system having a digital camera connected to an end-effector of a serial robot. The end-effector and camera move within a robot motion coordinate frame (“robot frame”). The method includes acquiring, using the camera, a reference image of a target object on an image plane having an optical coordinate frame, and receiving input signals, including a depth measurement and joint position signals. Separate roll and pitch offsets are determined of a target point within the reference image with respect to the robot frame while moving the robot. Offsets are also determined with respect to x, y, and z axes of the robot frame while moving the robot through another motion sequence. The offsets are stored in a transformation matrix, which is used to control the robot during subsequent operation of the camera system.
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