1
Brian Hoffman
David Q Larkin, Brian D Hoffman, Paul W Mohr: Synthetic representation of a surgical instrument. Intuitive Surgical, Patent Dept, Intuitive Surgical, July 30, 2009: US20090192523-A1

A synthetic representation of a tool for display on a user interface of a robotic system. The synthetic representation may be used to show force on the tool, an actual position of the tool, or to show the location of the tool when out of a field of view. A three-dimensional pointer is also provided ...


2
Brian Hoffman
Wenyi Zhao, Chenyu Wu, David Hirvonen, Tao Zhao, Brian D Hoffman, Simon Dimaio: Robust sparse image matching for robotic surgery. Intuitive Surgical, Patent Dept, Intuitive Surgical Operations, July 1, 2010: US20100166323-A1

Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second ima ...


3
Brian Hoffman
Brandon D Itkowitz, Daniel J Halabe, Tao Zhao, Simon Dimaio, Christopher J Hasser, Catherine J Mohr, Paul W Mohr, David Q Larkin, Wenyi Zhao, Brian D Hoffman: Synthetic representation of a surgical robot. Intuitive Surgical, Patent Dept, Intuitive Surgical, July 30, 2009: US20090192524-A1

A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is ou ...


4
Brian Hoffman
Wenyi Zhao, Chenyu Wu, David Hirvonen, Christopher J Hasser, Brian E Miller, Catherine J Mohr, Myriam J Curet, Tao Zhao, Simon Dimaio, Brian D Hoffman: Efficient 3-d telestration for local robotic proctoring. Intuitive Surgical, Patent Dept, Intuitive Surgical Operations, July 1, 2010: US20100164950-A1

An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stere ...


5
Brian Hoffman
David Scott, Wenyi Zhao, Christopher J Hasser, Brian D Hoffman, Ian McDowall, Catherine J Mohr, John D Stern: Augmented stereoscopic visualization for a surgical robot using time duplexing. Intuitive Surgical, Patent Dept, Intuitive Surgical, October 29, 2009: US20090270678-A1

An endoscope with a stereoscopic optical channel is again held and positioned by a robotic surgical system. A capture unit captures (1) at a first time, a first image from light from the channel; and (2) at a second time different from the first time, a second image from the light. Only one of the f ...


6
Brian Hoffman
David Scott, Wenyi Zhao, Brian D Hoffman, John D Stern, Tao Zhao: Augmented stereoscopic visualization for a surgical robot using a captured visible image combined with a fluorescence image and a captured visible image. Intuitive Surgical, Patent Dept, Intuitive Surgical, October 29, 2009: US20090268012-A1

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 vis ...


7
Brian Hoffman
David D Scott, Wenyi Zhao, Christopher J Hasser, Brian D Hoffman, Paul Lilagan, Ian McDowall, Catherine J Mohr, John D Stern, Tao Zhao: Augmented stereoscopic visualization for a surgical robot. Intuitive Surgical, Patent Dept, Intuitive Surgical, October 29, 2009: US20090268015-A1

A robotic surgical system positions and holds an endoscope. A visible imaging system is coupled to the endoscope. The visible imaging system captures a visible image of tissue. An alternate imaging system is also coupled to the endoscope. The alternate imaging system captures a fluorescence image of ...


8
Brian Hoffman
Wenyi Zhao, Christopher J Hasser, Brian D Hoffman, Catherine J Mohr, John D Stern, Tao Zhao: Augmented stereoscopic visualization for a surgical robot using a captured fluorescence image and captured stereoscopic visible images. Intuitive Surgical, Patent Dept, Intuitive Surgical, October 29, 2009: US20090268010-A1

An illumination channel, a stereoscopic optical channel and another optical channel are held and positioned by a robotic surgical system. A first capture unit captures a stereoscopic visible image from the first light from the stereoscopic optical channel while a second capture unit captures a fluor ...


9
Brian Hoffman
Brian D Hoffman, William C Nowlin: Controlling a robotic surgical tool with a display monitor. Intuitive Surgical, Patent Dept, Intuitive Surgical, October 1, 2009: US20090248036-A1

In one embodiment of the invention, a method for controlling a robotic surgical tool is disclosed. The method for controlling a robotic surgical tool includes moving a monitor displaying an image of a robotic surgical tool; sensing motion of the monitor; and translating the sensed motion of the moni ...


10
Brian Hoffman
Tao Zhao, Wenyi Zhao, Daniel J Halabe, Brian D Hoffman, William C Nowlin: Fiducial marker design and detection for locating surgical instrument in images. Intuitive Surgical, Patent Dept, Intuitive Surgical Operations, July 1, 2010: US20100168562-A1

The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located reference features. A method includes: capturing a first image of a tool that includes multiple features that define a first marker, where at least one of the featur ...



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