公开(公告)号：US20180000329A1

公开(公告)日：2018-01-04

申请号：US15704479

申请日：2017-09-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David D. Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: A61B1/04 ,  A61B34/30 ,  A61B34/37 ,  A61B90/30 ,  A61B5/00 ,  A61B1/313 ,  A61B1/06 ,  A61B1/05 ,  A61B1/00 ,  H04N13/02 ,  A61B90/00 ,  G01N21/64

Abstract: An endoscope with an optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image at a first time and (2) a visible second image combined with a fluorescence image at a second time. An image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence image and generates at least one fluorescence image. A display system outputs an output image including an artificial fluorescence image.

公开(公告)号：US20150077519A1

公开(公告)日：2015-03-19

申请号：US14332684

申请日：2014-07-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: H04N13/00 ,  A61B1/00 ,  H04N9/67 ,  A61B1/04 ,  H04N13/02 ,  H04N9/09

CPC classification number: A61B1/043 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/00149 ,  A61B1/00186 ,  A61B1/00193 ,  A61B1/05 ,  A61B1/063 ,  A61B1/0638 ,  A61B1/313 ,  A61B5/0071 ,  A61B5/0075 ,  A61B5/0084 ,  A61B34/30 ,  A61B34/37 ,  A61B90/30 ,  A61B90/361 ,  A61B2034/301 ,  A61B2090/364 ,  G01N21/6456 ,  H04N13/0239 ,  H04N13/207 ,  H04N13/239

Abstract: An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image and (2) a visible second image combined with a fluorescence second image from the light. An intelligent image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence second image and generates at least one fluorescence image of a stereoscopic pair of fluorescence images and a visible second image. An augmented stereoscopic display system outputs a real-time stereoscopic image including a three-dimensional presentation including in one eye, a blend of the at least one fluorescence image of a stereoscopic pair of fluorescence images and one of the visible first and second images; and in the other eye, the other of the visible first and second images.

Abstract translation: 具有立体光学通道的内窥镜由机器人手术系统保持和定位。 捕获单元捕获（1）可见的第一图像和（2）与来自光的荧光第二图像组合的可见第二图像。 智能图像处理系统接收（1）可见第一图像和（2）与荧光第二图像组合的可见第二图像，并产生立体对荧光图像和可见第二图像的至少一个荧光图像。 增强立体显示系统输出包括在一只眼睛中的三维呈现的实时立体图像，立体对荧光图像对的至少一个荧光图像与可见第一和第二图像之一的混合; 在另一只眼睛中，可见的第一和第二图像中的另一个。

公开(公告)号：US20170112368A1

公开(公告)日：2017-04-27

申请号：US15397509

申请日：2017-01-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John D. Stern ,  Robert G. Younge ,  David S. Gere ,  Gunter D. Niemeyer

IPC: A61B1/00 ,  A61B34/37 ,  A61B34/00 ,  A61B34/35

CPC classification number: A61B1/00188 ,  A61B1/00149 ,  A61B1/0016 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/77 ,  A61B90/361 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/305

Abstract: Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.

公开(公告)号：US09532841B2

公开(公告)日：2017-01-03

申请号：US14225805

申请日：2014-03-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John D. Stern ,  Robert G. Younge ,  David S. Gere ,  Gunter D. Niemeyer

IPC: A61B1/00 ,  A61B19/00 ,  A61B17/00

CPC classification number: A61B1/00188 ,  A61B1/00149 ,  A61B1/0016 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/77 ,  A61B90/361 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/305

Abstract: Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.

Abstract translation: 机器人，远程实验和/或远程手术设备，系统和方法利用机器人结构和数据来响应于图像捕获设备，机器人末端执行器等的运动来计算图像捕获设备的焦点的变化 。 随着显示装置中所示的对象的图像的尺寸随着该对象与用于捕捉图像的图像捕获装置之间的间隔距离的变化而变化，可以响应于移动而改变移动指令输入之间的比例因子 系统的输入设备或相应的主/从机器人移动命令。 这可以增强输入命令和机器人运动之间的感知相关性，因为它们出现在呈现给系统操作者的图像中。

公开(公告)号：US11045077B2

公开(公告)日：2021-06-29

申请号：US15397509

申请日：2017-01-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John D. Stern ,  Robert G. Younge ,  David S. Gere ,  Gunter D. Niemeyer

IPC: A61B1/00 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B90/50 ,  A61B17/00 ,  A61B90/00

Abstract: Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.

公开(公告)号：US20200093357A1

公开(公告)日：2020-03-26

申请号：US16697586

申请日：2019-11-27

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David D. Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: A61B1/04 ,  A61B1/00 ,  H04N13/207 ,  A61B1/06 ,  A61B5/00 ,  A61B1/05 ,  A61B90/00 ,  A61B34/30

Abstract: An exemplary method includes an image processing system Receiving a first frame captured at a first time from light received by an endoscope, the first frame including a first visible image, the first visible image comprising a first plurality of visible color components; receiving a second frame captured at a second time different from the first time from light received from the endoscope, the second frame including a combination image, the combination image being a combination of a second visible image and a first fluorescence image; creating a second fluorescence image, the second fluorescence image comprising artifacts from the first frame and the second frame; creating a third fluorescence image based on the second fluorescence image; and generating, based on the third fluorescence image, an image including an artificial fluorescence image for display by a display system.

公开(公告)号：US10524644B2

公开(公告)日：2020-01-07

申请号：US15704479

申请日：2017-09-14

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David D. Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: A61B1/04 ,  H04N13/207 ,  A61B1/00 ,  A61B1/06 ,  A61B5/00 ,  A61B1/05 ,  A61B90/00 ,  A61B34/30 ,  G01N21/64 ,  A61B90/30 ,  A61B34/37

Abstract: An endoscope with an optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image at a first time and (2) a visible second image combined with a fluorescence image at a second time. An image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence image and generates at least one fluorescence image. A display system outputs an output image including an artificial fluorescence image.

公开(公告)号：US09775499B2

公开(公告)日：2017-10-03

申请号：US14332684

申请日：2014-07-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David Scott ,  Wenyi Zhao ,  Brian D. Hoffman ,  John D. Stern ,  Tao Zhao

IPC: A61B1/04 ,  A61B1/06 ,  A61B1/00 ,  A61B1/313 ,  A61B5/00 ,  H04N13/02 ,  A61B1/05 ,  A61B90/30 ,  A61B34/37 ,  G01N21/64 ,  A61B34/30 ,  A61B90/00

CPC classification number: A61B1/043 ,  A61B1/00009 ,  A61B1/0005 ,  A61B1/00149 ,  A61B1/00186 ,  A61B1/00193 ,  A61B1/05 ,  A61B1/063 ,  A61B1/0638 ,  A61B1/313 ,  A61B5/0071 ,  A61B5/0075 ,  A61B5/0084 ,  A61B34/30 ,  A61B34/37 ,  A61B90/30 ,  A61B90/361 ,  A61B2034/301 ,  A61B2090/364 ,  G01N21/6456 ,  H04N13/0239 ,  H04N13/207 ,  H04N13/239

Abstract: An endoscope with an optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image at a first time and (2) a visible second image combined with a fluorescence image from the light at a second time. An image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence image and generates at least one fluorescence image. A display system outputs an output image including an artificial fluorescence image.

公开(公告)号：US20140296870A1

公开(公告)日：2014-10-02

申请号：US14225805

申请日：2014-03-26

Applicant: Intuitive Surgical Operations, Inc.

Inventor： John D. Stern ,  Robert G. Younge ,  David S. Gere ,  Gunter D. Niemeyer

IPC: A61B19/00

CPC classification number: A61B1/00188 ,  A61B1/00149 ,  A61B1/0016 ,  A61B1/00193 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/70 ,  A61B34/77 ,  A61B90/361 ,  A61B90/50 ,  A61B2017/00477 ,  A61B2034/301 ,  A61B2034/305

Abstract: Robotic, telerobotic, and/or telesurgical devices, systems, and methods take advantage of robotic structures and data to calculate changes in the focus of an image capture device in response to movement of the image capture device, a robotic end effector, or the like. As the size of an image of an object shown in the display device varies with changes in a separation distance between that object and the image capture device used to capture the image, a scale factor between a movement command input may be changed in response to moving an input device or a corresponding master/slave robotic movement command of the system. This may enhance the perceived correlation between the input commands and the robotic movements as they appear in the image presented to the system operator.

Abstract translation: 机器人，远程实验和/或远程手术设备，系统和方法利用机器人结构和数据来响应于图像捕获设备，机器人末端执行器等的运动来计算图像捕获设备的焦点的变化 。 随着显示装置中所示的对象的图像的尺寸随着该对象与用于捕捉图像的图像捕获装置之间的间隔距离的变化而变化，可以响应于移动而改变移动指令输入之间的比例因子 系统的输入设备或相应的主/从机器人移动命令。 这可以增强输入命令和机器人运动之间的感知相关性，因为它们出现在呈现给系统操作者的图像中。