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公开(公告)号：US20240066704A1
公开(公告)日：2024-02-29
申请号：US18457788
申请日：2023-08-29
Applicant: Alcon Inc.
Inventor： Patrick Terry
CPC classification number: B25J9/1674 , A61B3/14 , B25J13/025 , B25J15/0019
Abstract: A robotic imaging system includes a body with a head unit, a robotic arm and a coupling plate. A camera is positioned in the head unit and configured to record one or more images of a target site. The camera is operatively connected to one or more handles. A plurality of sensors is configured to transmit sensor data. The sensors include at least one primary sensor configured to detect respective force and/or respective torque applied at the body and at least one auxiliary sensor configured to detect the respective force and/or the respective torque applied at the one or more handles. A controller is configured to receive the sensor data and execute a contact management mode, including determining a contact location of the body with an external object based in part on the sensor data and determining a reverse trajectory for moving the body away from the contact location.
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公开(公告)号：US20230278217A1
公开(公告)日：2023-09-07
申请号：US18112597
申请日：2023-02-22
Applicant: Alcon Inc.
Inventor： Patrick Terry
CPC classification number: B25J9/1666 , B25J15/0019 , B25J9/1633 , B25J13/084 , B25J19/023 , B25J9/1607 , B25J9/045 , B25J5/007
Abstract: A robotic imaging system includes a camera configured to obtain one or more images of a target site. A robotic arm is operatively connected to the camera, the robotic arm being adapted to selectively move the camera in a movement sequence. A force-based sensor is configured to detect and transmit sensor data related to at least one of force and/or torque imparted by a user for moving the camera. The system includes a controller configured to receive the sensor data. The controller has a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute a collision avoidance mode, including applying a respective correction force to modify the movement sequence when the camera and/or the robotic arm enter a predefined buffer zone.
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公开(公告)号：US20220311946A1
公开(公告)日：2022-09-29
申请号：US17684810
申请日：2022-03-02
Applicant: ALCON INC.
Inventor： Patrick Terry , David Roe
IPC: H04N5/232 , A61B90/00 , H04N13/296 , 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 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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公开(公告)号：US20220303435A1
公开(公告)日：2022-09-22
申请号：US17718735
申请日：2022-04-12
Applicant: Alcon Inc.
Inventor： Maximiliano Ramirez Luna , Michael Weissman , Thomas Paul Riederer , George Charles Polchin , Ashok Burton Tripathi , Patrick Terry
Abstract: A method of calibrating a robotic imaging apparatus includes providing the robotic imaging apparatus, calibrating a stereoscopic camera portion of the apparatus to robot space, and registering the robot space to a patient space. An embodiment of the apparatus includes a base section defining the robot space, a robotic arm including a first end connected to the base section, a second end including a coupling interface, and a plurality of joints and links connecting the first end to the second end, each joint including a motor configured to rotate the joint around an axis and a joint sensor configured to transmit a position of the respective joint, a stereoscopic camera connected at the coupling interface, and a sensor positioned at the coupling interface and configured to detect force imparted on the stereoscopic camera by an operator and to transmit output data indicative of the detected force.
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公开(公告)号：US10917543B2
公开(公告)日：2021-02-09
申请号：US16398014
申请日：2019-04-29
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 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 rotational forces imparted by the operator.
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Patent Agency Ranking
公开(公告)号：US12219228B2
公开(公告)日：2025-02-04
申请号：US17718735
申请日：2022-04-12
Applicant: Alcon Inc.
Inventor： Maximiliano Ramirez Luna , Michael Weissman , Thomas Paul Riederer , George Charles Polchin , Ashok Burton Tripathi , Patrick Terry
IPC: H04N23/51 , A61B34/00 , A61B34/32 , B25J9/00 , B25J9/04 , B25J9/16 , H04N13/204 , H04N23/695
Abstract: A method of calibrating a robotic imaging apparatus includes providing the robotic imaging apparatus, calibrating a stereoscopic camera portion of the apparatus to robot space, and registering the robot space to a patient space. An embodiment of the apparatus includes a base section defining the robot space, a robotic arm including a first end connected to the base section, a second end including a coupling interface, and a plurality of joints and links connecting the first end to the second end, each joint including a motor configured to rotate the joint around an axis and a joint sensor configured to transmit a position of the respective joint, a stereoscopic camera connected at the coupling interface, and a sensor positioned at the coupling interface and configured to detect force imparted on the stereoscopic camera by an operator and to transmit output data indicative of the detected force.
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公开(公告)号：US12175556B2
公开(公告)日：2024-12-24
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：US11974053B2
公开(公告)日：2024-04-30
申请号：US17684851
申请日：2022-03-02
Applicant: Alcon Inc.
Inventor： Patrick Terry
IPC: H04N23/959 , A61B90/00 , G06T7/593 , H04N13/204 , H04N13/296 , H04N23/67 , H04N23/695 , H04N13/00
CPC classification number: H04N23/959 , A61B90/361 , G06T7/593 , H04N13/204 , H04N13/296 , H04N23/673 , H04N23/695 , A61B90/37 , G06T2207/10021 , G06T2207/30004 , H04N2013/0081
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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公开(公告)号：US11969215B2
公开(公告)日：2024-04-30
申请号：US17108458
申请日：2020-12-01
Applicant: ALCON INC.
Inventor： Ashok Burton Tripathi , George Charles Polchin , Maximiliano Ramirez Luna , Patrick Terry , Thomas Paul Riederer
IPC: A61B3/18 , A61B3/00 , A61B3/10 , A61B3/14 , A61B34/30 , G06T3/14 , G06T7/30 , H04N13/156 , H04N13/204 , H04N13/246 , H04N13/296 , A61B90/00 , A61F9/007
CPC classification number: A61B3/185 , A61B3/0025 , A61B3/0033 , A61B3/102 , A61B3/14 , A61B34/30 , G06T3/14 , G06T7/30 , H04N13/156 , H04N13/204 , H04N13/246 , H04N13/296 , A61B2090/364 , A61B2505/05 , A61B2560/0223 , A61F9/007 , G06T2200/24 , G06T2207/10012 , G06T2207/10101 , G06T2207/20221 , G06T2207/30041
Abstract: System and method for imaging a target site with a housing assembly having a head unit configured to be at least partially directed towards the target site. 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 of volumetric data of the target site, respectively. A controller is configured to register the first set of volumetric data with the second set of volumetric data to create a third set of registered volumetric data. The third set of registered volumetric data and second set of 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 composite shared view of the target.
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公开(公告)号：US20240089616A1
公开(公告)日：2024-03-14
申请号：US18516011
申请日：2023-11-21
Applicant: ALCON INC.
Inventor： Patrick Terry , David Roe
IPC: H04N23/959 , A61B90/00 , H04N13/204 , H04N13/296 , H04N23/67 , H04N23/695
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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