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公开(公告)号：US20230278218A1
公开(公告)日：2023-09-07
申请号：US18112599
申请日：2023-02-22
Applicant: Alcon Inc.
Inventor： Patrick Terry
IPC: B25J9/16
CPC classification number: B25J9/1676 , B25J9/1682 , A61B34/30
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. The robotic imaging system includes a sensor configured to detect and transmit sensor data related to a respective position and/or a respective speed of the camera. 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 a collision avoidance mode, which includes determining a trajectory scaling factor for the camera. The trajectory scaling factor is applied to modulate the respective speed when the camera and/or the robotic arm are in a predefined buffer zone.
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公开(公告)号：US20230086411A1
公开(公告)日：2023-03-23
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：US20240236515A1
公开(公告)日：2024-07-11
申请号：US18617036
申请日：2024-03-26
Applicant: Alcon Inc.
Inventor： Patrick Terry
IPC: H04N23/959 , A61B90/00 , G06T7/593 , H04N13/00 , H04N13/204 , H04N13/296 , H04N23/67 , H04N23/695
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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24.发明公开公开(公告)号：US20240073399A1
公开(公告)日：2024-02-29
申请号：US18503747
申请日：2023-11-07
Applicant: Alcon Inc.
Inventor： Patrick Terry , Devin Reed
IPC: H04N13/296 , H04N13/204 , H04N23/667 , H04N23/959
CPC classification number: H04N13/296 , H04N13/204 , H04N23/667 , H04N23/959 , 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 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
25.发明授权公开(公告)号：US11849101B2
公开(公告)日：2023-12-19
申请号：US17684831
申请日：2022-03-02
Applicant: Alcon Inc.
Inventor： Patrick Terry , Devin Reed
IPC: H04N13/296 , H04N13/204 , H04N23/667 , H04N23/959 , H04N13/00
CPC classification number: H04N13/296 , H04N13/204 , H04N23/667 , H04N23/959 , 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 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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公开(公告)号：US20230277257A1
公开(公告)日：2023-09-07
申请号：US18175013
申请日：2023-02-27
Applicant: Alcon Inc.
Inventor： Patrick Terry , Ashok Burton Tripathi
CPC classification number: A61B34/30 , A61B90/361 , A61B90/37 , H04N23/675 , A61B2090/371
Abstract: A robotic imaging system 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 an optical assembly having at least one lens and defining a working span. The optical assembly has at least one focus motor adapted to move the at least one lens to selectively vary the working span. The robotic imaging system includes a controller having a processor and tangible, non-transitory memory on which instructions are recorded. The controller is adapted to selectively execute an orbital scanning mode causing the robotic arm to sweep an orbital trajectory at least partially circumferentially around the eye while maintaining focus.
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公开(公告)号：US20220311947A1
公开(公告)日：2022-09-29
申请号：US17684851
申请日：2022-03-02
Applicant: Alcon Inc.
Inventor： Patrick Terry
IPC: H04N5/232 , A61B90/00 , H04N13/296 , G06T7/593 , 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 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：US20210169324A1
公开(公告)日：2021-06-10
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 , H04N13/204 , H04N13/296 , G06T7/30 , H04N13/246 , G06T3/00 , H04N13/156 , A61B3/10 , A61B3/14 , A61B3/00 , A61B34/30
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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29.发明申请公开(公告)号：US20210169320A1
公开(公告)日：2021-06-10
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
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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