公开(公告)号：US11547520B2

公开(公告)日：2023-01-10

申请号：US17213587

申请日：2021-03-26

申请人： Covidien LP

发明人： Meir Rosenberg ,  Dwight Meglan ,  William Peine ,  Albert Dvornik

IPC分类号： H04N13/383 ,  A61B90/00 ,  A61B34/32 ,  A61B34/00 ,  G06T7/70 ,  H04N13/204 ,  H04N13/305 ,  H04N13/398 ,  G06F3/01 ,  G06T7/00 ,  H04N5/77 ,  H04N9/82 ,  A61B34/30

摘要： A system includes a robotic arm, an autosteroscopic display, a user image capture device, an image processor, and a controller. The robotic arm is coupled to a patient image capture device. The autostereoscopic display is configured to display an image of a surgical site obtained from the patient image capture device. The image processor is configured to identify a location of at least part of a user in an image obtained from the user image capture device. The controller is configured to, in a first mode, adjust a three dimensional aspect of the image displayed on autostereoscopic display based on the identified location, and, in a second mode, move the robotic arm or instrument based on a relationship between the identified location and the surgical site image.

公开(公告)号：US20210212793A1

公开(公告)日：2021-07-15

申请号：US17213587

申请日：2021-03-26

申请人： Covidien LP

发明人： Meir Rosenberg ,  Dwight Meglan ,  William Peine ,  Albert Dvornik

IPC分类号： A61B90/00 ,  A61B34/30 ,  A61B34/32 ,  A61B34/00 ,  G06F3/01 ,  G06T7/00 ,  G06T7/70 ,  H04N5/77 ,  H04N9/82 ,  H04N13/204 ,  H04N13/305 ,  H04N13/383 ,  H04N13/398

摘要： A system includes a robotic arm, an autosteroscopic display, a user image capture device, an image processor, and a controller. The robotic arm is coupled to a patient image capture device. The autostereoscopic display is configured to display an image of a surgical site obtained from the patient image capture device. The image processor is configured to identify a location of at least part of a user in an image obtained from the user image capture device. The controller is configured to, in a first mode, adjust a three dimensional aspect of the image displayed on autostereoscopic display based on the identified location, and, in a second mode, move the robotic arm or instrument based on a relationship between the identified location and the surgical site image.

公开(公告)号：US11058288B2

公开(公告)日：2021-07-13

申请号：US15767006

申请日：2016-10-20

申请人： Covidien LP

发明人： Dwight Meglan ,  Meir Rosenberg

IPC分类号： A61B1/00 ,  A61B1/313 ,  A61B1/045 ,  A61B1/05

摘要： The present disclosure is directed to systems and methods for amplifying a region of interest in a surgical environment. The system includes a stereo endoscope having a first camera and a second camera configured to obtain one or more images of the surgical environment. The system also includes a computer that has a central processing unit (CPU) configured to determine the region of interest in the surgical environment, a first controller configured to process the one or more images from the first camera to generate first amplified image(s), and a second controller configured to process the one or more images from the second camera to generate second amplified image(s). The first and second controllers process the one or more images based on the region of interest determined by the CPU. A display displays the one or more first amplified images and the one or more second amplified images.

公开(公告)号：US20210059775A1

公开(公告)日：2021-03-04

申请号：US16960788

申请日：2019-01-09

申请人： Covidien LP

发明人： William J. Peine ,  Meir Rosenberg ,  Dwight Meglan

IPC分类号： A61B34/32 ,  A61B34/20 ,  A61B34/00 ,  A61B17/04

摘要： Robotic Surgical Systems and methods of controlling robotic surgical systems are disclosed herein. One disclosed method includes visually capturing a tool pose of a tool within a surgical site with an imaging device in a fixed frame of reference, determining an arm pose of a linkage supporting the tool from known geometries of the linkage in the fixed frame of reference, and manipulating the linkage to move the tool to a desired tool pose in response to a control signal in the fixed frame of reference.

公开(公告)号：US20230248452A1

公开(公告)日：2023-08-10

申请号：US18015603

申请日：2021-08-18

申请人： Covidien LP

发明人： Steven J. Levine ,  Meir Rosenberg ,  Samuel B. Kesner

IPC分类号： A61B34/30 ,  A61B90/00 ,  G06T7/00

CPC分类号： A61B34/30 ,  A61B90/37 ,  G06T7/0012 ,  A61B2034/301 ,  A61B2090/373

摘要： A surgical robotic system includes an image processing device configured to receive an endoscopic video feed and generate a stereoscopic video feed with confidence shading overlays on display. The confidence shading is based on a level of confidence associated with uncertain regions within images making up the stereoscopic video feed.

公开(公告)号：US11517183B2

公开(公告)日：2022-12-06

申请号：US17143243

申请日：2021-01-07

申请人： Covidien LP

发明人： Dwight Meglan ,  Meir Rosenberg

IPC分类号： A61B1/00 ,  A61B1/005 ,  A61B1/05 ,  A61B1/06 ,  A61B1/07 ,  A61B5/00 ,  A61B5/318 ,  A61B90/00 ,  A61B34/35

摘要： The present disclosure is directed to an augmented reality surgical system. The system includes an endoscope that captures an image of the region of interest of a patient and an ECG device that records an ECG of the patient. A controller receives the image and applies at least one image processing filter to the image. The image processing filter includes a decomposition filter that decomposes the image into frequency bands. A temporal filter is applied to the frequency bands to generate temporally filtered bands. An adder adds each band frequency band to a corresponding temporally filtered band to generate augmented bands. A reconstruction filter generates an augmented image by collapsing the augmented bands. The controller also receives the ECG and processes the augmented image with the ECG to generate an ECG filtered augmented image. A display displays the ECG filtered augmented image to a user.

公开(公告)号：US20210046637A1

公开(公告)日：2021-02-18

申请号：US16943168

申请日：2020-07-30

申请人： Covidien LP

发明人： Dwight Meglan ,  Meir Rosenberg ,  Robert W. Pierce ,  William J. Peine ,  Jaimeen Kapadia ,  Eric J. Taylor

IPC分类号： B25J5/00 ,  H04B1/69 ,  G08B5/22 ,  G01S11/06 ,  G05D1/02 ,  B25J9/16 ,  A61B50/13 ,  A61B34/30

摘要： A position and tracking system for radio-based localization in an operating room, includes a receiver, a mobile cart, a processor, and a memory coupled to the processor. The mobile cart includes a robotic arm and a transmitter in operable communication with the receiver. The memory has instructions stored thereon which, when executed by the processor, cause the system to receive, from the transmitter, a signal including a position of the mobile carts in a 3D space based on the signal communicated by the transmitter and determine a spatial pose of the mobile carts based on the received signal.

公开(公告)号：US20200184638A1

公开(公告)日：2020-06-11

申请号：US16638819

申请日：2018-08-16

申请人： Covidien LP

发明人： Dwight Meglan ,  Meir Rosenberg

IPC分类号： G06T7/00 ,  G06T5/10 ,  A61B90/00 ,  A61B34/10

摘要： A system for enhancing an image during a surgical procedure includes an image capture device configured to be inserted into a patient and capture an image inside the patient. The system also includes a controller that applies at least one image processing filter to the image to generate an enhanced image. The image processing filter includes a spatial decomposition filter that decomposes the image into a plurality of spatial frequency bands, a frequency filter that filters the plurality of spatial frequency bands to generate a plurality of filtered enhanced bands, and a recombination filter that generates the enhanced image to be displayed by a display.

公开(公告)号：US11548140B2

公开(公告)日：2023-01-10

申请号：US16943168

申请日：2020-07-30

申请人： Covidien LP

发明人： Dwight Meglan ,  Meir Rosenberg ,  Robert W. Pierce ,  William J. Peine ,  Jaimeen Kapadia ,  Eric J. Taylor

IPC分类号： G05B19/04 ,  G05B19/18 ,  B25J5/00 ,  G01S11/06 ,  G05D1/02 ,  B25J9/16 ,  A61B50/13 ,  A61B34/30 ,  A61B90/50 ,  A61B34/20

摘要： A position and tracking system for radio-based localization in an operating room, includes a receiver, a mobile cart, a processor, and a memory coupled to the processor. The mobile cart includes a robotic arm and a transmitter in operable communication with the receiver. The memory has instructions stored thereon which, when executed by the processor, cause the system to receive, from the transmitter, a signal including a position of the mobile carts in a 3D space based on the signal communicated by the transmitter and determine a spatial pose of the mobile carts based on the received signal.

公开(公告)号：US20220304555A1

公开(公告)日：2022-09-29

申请号：US17638903

申请日：2020-10-01

申请人： Covidien LP

发明人： Dwight Meglan ,  Meir Rosenberg ,  Joshua Reed

IPC分类号： A61B1/00 ,  A61B34/20 ,  H04N13/128 ,  G06T7/593 ,  G16H30/40

摘要： A computer-implemented method of object enhancement in endoscopy images is presented. The computer-implemented method includes capturing an image of an object within a surgical operative site, by an imaging device. The image includes a plurality of pixels. Each of the plurality of pixels includes color information. The computer-implemented method further includes accessing the image, accessing data relating to depth information about each of the pixels in the image, inputting the depth information to a machine learning algorithm, emphasizing a feature of the image based on an output of the neural network, generating an augmented image based on the emphasized feature, and displaying the augmented image on a display.