-
公开(公告)号：US20220387122A1
公开(公告)日：2022-12-08
申请号：US17820210
申请日：2022-08-16
Applicant: Verb Surgical Inc.
Inventor： Yiming Xu , Berk Gonenc , Blade Olson
Abstract: A surgical robotic system that includes a robotic arm, glove configured to be worn on a hand of a user and including a force-feedback mechanism, a tracking device, a processor, and memory. The memory includes instructions which when executed by the processor causes the system to determine that the user is performing a hand gesture with the glove to grasp a virtual user input device (UID) based on the tracking device, and in response to the user grasping the virtual UID, apply, via the force-feedback mechanism, a force upon the glove that corresponds to a physical representation of the virtual UID, and engage the robotic arm to be controlled by the virtual UID.
-
公开(公告)号：US20220071716A1
公开(公告)日：2022-03-10
申请号：US17014092
申请日：2020-09-08
Applicant: Verb Surgical Inc.
Inventor： Yiming Xu , Berk Gonenc
Abstract: A series of images is obtained from an endoscope. Three-dimensional reconstruction is performed on the series of images to reconstruct anatomy shown in the series of images. A graphic, such as a grid, is rendered based on the three-dimensional reconstruction, over the series of images resulting in an enhanced endoscopic video feed to be shown on a display.
-
公开(公告)号：US20210378754A1
公开(公告)日：2021-12-09
申请号：US16894587
申请日：2020-06-05
Applicant: Verb Surgical Inc.
Inventor： Blade Olson , Bernhard A. Fuerst , Alexander Barthel , Yiming Xu , Giacomo Taylor , Tianyu Song
IPC: A61B34/20 , A61B34/37 , G16H40/63 , G16H30/20 , G16H40/20 , G16H50/20 , G06F16/901 , G06T7/50 , G06T7/70 , G06K9/00 , G06T7/00 , G06T17/20
Abstract: A surgical exercise performed with a surgical robotic system is sensed by depth cameras, generating 3D point cloud data. Robot system data associated with the surgical robotic system is logged. Object recognition is performed on image data produced by the one or more depth cameras, to recognized objects, including surgical equipment and people, in the operating room (OR). The surgical exercise is digitized by storing the 3D point cloud data of unrecognized objects, a position and orientation associated with the recognized objects, and c) the robot system data.
-
公开(公告)号：US20240233180A1
公开(公告)日：2024-07-11
申请号：US18152606
申请日：2023-01-10
Applicant: Verb Surgical Inc.
Inventor： Juri Platonov , Yiming Xu , Bernhard Adolf Fuerst
CPC classification number: G06T7/80 , A61B90/361 , G06T7/246 , G06T7/73 , H04N17/002 , H04N23/90 , A61B2034/2057 , G06T2207/10016 , G06T2207/10068 , G06T2207/30004 , G06T2207/30204 , G06T2207/30244
Abstract: A method performed by a surgical system that includes cameras within an operating room. The system receives a first image from a first camera, representing a first FOV that has an object at a first location. The system receives a second image from a tracking camera having the object at the first location, and determines a first pose of the first camera based on the first and second images. The system receives a third image captured by a second camera, representing a second, different FOV, and having the object at a second location. The system receives a fourth image captured by the tracking camera having the object at the second location, and determines a second pose of the second camera based on the third and fourth images. The system determines a relative spatial transformation between the first and second cameras based on the first and second poses.
-
公开(公告)号：US11756672B2
公开(公告)日：2023-09-12
申请号：US16894587
申请日：2020-06-05
Applicant: Verb Surgical Inc.
Inventor： Blade Olson , Bernhard A. Fuerst , Alexander Barthel , Yiming Xu , Giacomo Taylor , Tianyu Song
IPC: G06K9/00 , G16H30/20 , A61B34/20 , A61B34/37 , G06T7/50 , G06T7/70 , G16H40/20 , G16H50/20 , G16H40/63 , G06F16/901 , G06T7/00 , G06T17/20 , G06V20/10 , A61B1/00 , A61B17/34
CPC classification number: G16H30/20 , A61B1/00009 , A61B34/20 , A61B34/37 , G06F16/9024 , G06T7/0012 , G06T7/50 , G06T7/70 , G06T17/20 , G06V20/10 , G16H40/20 , G16H40/63 , G16H50/20 , A61B17/3423 , A61B2034/2057 , G06T2207/10024 , G06T2207/10028 , G06T2207/30004
Abstract: A surgical exercise performed with a surgical robotic system is sensed by depth cameras, generating 3D point cloud data. Robot system data associated with the surgical robotic system is logged. Object recognition is performed on image data produced by the one or more depth cameras, to recognized objects, including surgical equipment and people, in the operating room (OR). The surgical exercise is digitized by storing the 3D point cloud data of unrecognized objects, a position and orientation associated with the recognized objects, and c) the robot system data.
-
Patent Agency Ranking
公开(公告)号：US12237072B2
公开(公告)日：2025-02-25
申请号：US18449270
申请日：2023-08-14
Applicant: Verb Surgical Inc.
Inventor： Blade A. Olson , Bernhard A. Fuerst , Alexander Barthel , Yiming Xu , Giacomo Taylor , Tianyu Song
IPC: A61B17/00 , A61B1/00 , A61B34/20 , A61B34/37 , G06F16/901 , G06T7/00 , G06T7/50 , G06T7/70 , G06T17/20 , G06V20/10 , G16H30/20 , G16H40/20 , G16H40/63 , G16H50/20 , A61B17/34
Abstract: A surgical exercise performed with a surgical robotic system is sensed by depth cameras, generating 3D point cloud data. Robot system data associated with the surgical robotic system is logged. Object recognition is performed on image data produced by the one or more depth cameras, to recognized objects, including surgical equipment and people, in the operating room (OR). The surgical exercise is digitized by storing the 3D point cloud data of unrecognized objects, a position and orientation associated with the recognized objects, and c) the robot system data.
-
公开(公告)号：US20230368495A1
公开(公告)日：2023-11-16
申请号：US17741929
申请日：2022-05-11
Applicant: Verb Surgical Inc.
Inventor： Yiming Xu , Bernhard Fuerst
CPC classification number: G06V10/7715 , G06T7/73 , G06V10/25 , G06V10/46 , G06T2207/10024 , G06T2207/10028 , G06T2207/30196 , G06V2201/07
Abstract: Embodiments described herein provide systems and techniques for tracking and deidentifying person in a captured operating room (OR) video. In one aspect, a process for deidentifying OR personnel in an OR video begins by simultaneously receiving a color image captured by an RGB camera and a depth image captured by a depth camera installed in the vicinity of the RGB camera. The process then generates a 3D point cloud based on the depth image. Next, the process applies a human-body detector to the 3D point cloud to detect a set of 3D bodies in the 3D point cloud, wherein each detected 3D body corresponds to a detected person in the OR. The process next projects each detected 3D body into a 2D body outline in the color image to represent the same detected person in the color image. The process subsequently de-identifies the detected people in the color image based on the projected 2D body outlines.
-
公开(公告)号：US20230368492A1
公开(公告)日：2023-11-16
申请号：US17741812
申请日：2022-05-11
Applicant: Verb Surgical Inc.
Inventor： Yiming Xu , Bernhard Fuerst , Genevieve Foley
CPC classification number: G06V10/762 , G06V20/52 , G06T7/20 , G06T7/50 , G06T7/60 , G06T7/70 , G06T7/80 , G16H40/20 , G06T2207/10028 , G06T2207/30232
Abstract: Embodiments described herein provide systems and techniques for tracking workflow inside an operating room (OR) by identifying and tracking target objects, such as a patient bed or a surgical table in the OR. In one aspect, a process for identifying and tracking a target object in an OR begins by receiving a depth image among a sequence of depth images captured by a depth camera installed in the OR. The process then generates a three-dimensional (3D) point cloud based on the depth image. Next, the process identifies a set of potential target points in the 3D point cloud that potentially belongs to the target object based on one or more target object criteria. The process next extracts one or more object clusters of from the set of potential target points using a data-point clustering technique. The process subsequently identifies the target object from the extracted one or more object clusters.
-
公开(公告)号：US20220096187A1
公开(公告)日：2022-03-31
申请号：US17039705
申请日：2020-09-30
Applicant: Verb Surgical Inc.
Inventor： Yiming Xu , Berk Gonenc , Blade Olson
Abstract: A surgical robotic system that includes a robotic arm, glove configured to be worn on a hand of a user and including a force-feedback mechanism, a tracking device, a processor, and memory. The memory includes instructions which when executed by the processor causes the system to determine that the user is performing a hand gesture with the glove to grasp a virtual user input device (UID) based on the tracking device, and in response to the user grasping the virtual UID, apply, via the force-feedback mechanism, a force upon the glove that corresponds to a physical representation of the virtual UID, and engage the robotic arm to be controlled by the virtual UID.
-
公开(公告)号：US20220087768A1
公开(公告)日：2022-03-24
申请号：US17030145
申请日：2020-09-23
Applicant: Verb Surgical Inc.
Inventor： Jianning Mai , Wanning Zhu , Yiming Xu , Lela DiMonte , Mary Lynn Gaddis
Abstract: Disclosed are various real-time robotic-assisted dimension measurement systems and techniques based on the collected kinematic data from one or more surgical tools within a robotic surgical system. In some embodiments, the collected kinematic data can include positions and orientations of each joint of the one or more surgical tools which are derived from positions and orientations of a set of arm joints of one or more robotic arms which the one or more surgical tools are attached to. The disclosed dimension measurement systems allow a surgeon to perform real-time length measurements of both straight-lines and curved-lines, as well as area and volume measurements on specified portions of tissues or organs by strategically placing the tips of the one or more surgical tools over the tissues or organs, while viewing the distal ends of the surgical tools in a user display.
-
-
-
-
-
-
-
-
-
Search Results
20
records
(took 0.02 seconds)
