CN106456148B - 使用眼球凝视跟踪的医疗装置、系统和方法 - Google Patents

使用眼球凝视跟踪的医疗装置、系统和方法 Download PDF

Info

Publication number
CN106456148B
CN106456148B CN201580025494.1A CN201580025494A CN106456148B CN 106456148 B CN106456148 B CN 106456148B CN 201580025494 A CN201580025494 A CN 201580025494A CN 106456148 B CN106456148 B CN 106456148B
Authority
CN
China
Prior art keywords
image
surgeon
user
eye
surgical
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201580025494.1A
Other languages
English (en)
Chinese (zh)
Other versions
CN106456148A (zh
Inventor
A·M·扎克
H·C·林
J·M·索格
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Priority to CN202010418477.7A priority Critical patent/CN111616666A/zh
Publication of CN106456148A publication Critical patent/CN106456148A/zh
Application granted granted Critical
Publication of CN106456148B publication Critical patent/CN106456148B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/0093—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00 with means for monitoring data relating to the user, e.g. head-tracking, eye-tracking
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/013—Eye tracking input arrangements
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00216—Electrical control of surgical instruments with eye tracking or head position tracking control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/372—Details of monitor hardware

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Optics & Photonics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Human Computer Interaction (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Biophysics (AREA)
  • Urology & Nephrology (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)
CN201580025494.1A 2014-03-19 2015-03-18 使用眼球凝视跟踪的医疗装置、系统和方法 Active CN106456148B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010418477.7A CN111616666A (zh) 2014-03-19 2015-03-18 使用眼球凝视跟踪的医疗装置、系统和方法

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201461955314P 2014-03-19 2014-03-19
US201461955355P 2014-03-19 2014-03-19
US61/955,355 2014-03-19
US61/955,314 2014-03-19
PCT/US2015/021309 WO2015143067A1 (en) 2014-03-19 2015-03-18 Medical devices, systems, and methods using eye gaze tracking

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202010418477.7A Division CN111616666A (zh) 2014-03-19 2015-03-18 使用眼球凝视跟踪的医疗装置、系统和方法

Publications (2)

Publication Number Publication Date
CN106456148A CN106456148A (zh) 2017-02-22
CN106456148B true CN106456148B (zh) 2020-06-12

Family

ID=54145280

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201580025494.1A Active CN106456148B (zh) 2014-03-19 2015-03-18 使用眼球凝视跟踪的医疗装置、系统和方法
CN202010418477.7A Pending CN111616666A (zh) 2014-03-19 2015-03-18 使用眼球凝视跟踪的医疗装置、系统和方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202010418477.7A Pending CN111616666A (zh) 2014-03-19 2015-03-18 使用眼球凝视跟踪的医疗装置、系统和方法

Country Status (6)

Country Link
US (3) US10278782B2 (enExample)
EP (1) EP3119286B1 (enExample)
JP (4) JP6644699B2 (enExample)
KR (3) KR102867231B1 (enExample)
CN (2) CN106456148B (enExample)
WO (1) WO2015143067A1 (enExample)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11977677B2 (en) 2013-06-20 2024-05-07 Uday Parshionikar Gesture based user interfaces, apparatuses and systems using eye tracking, head tracking, hand tracking, facial expressions and other user actions
US12067172B2 (en) 2011-03-12 2024-08-20 Uday Parshionikar Multipurpose controllers and methods

Families Citing this family (203)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8814779B2 (en) 2006-12-21 2014-08-26 Intuitive Surgical Operations, Inc. Stereoscopic endoscope
US8556807B2 (en) * 2006-12-21 2013-10-15 Intuitive Surgical Operations, Inc. Hermetically sealed distal sensor endoscope
EP3079608B8 (en) 2013-12-11 2020-04-01 Covidien LP Wrist and jaw assemblies for robotic surgical systems
EP3968288A2 (de) * 2014-02-04 2022-03-16 FRAUNHOFER-GESELLSCHAFT zur Förderung der angewandten Forschung e.V. 3d-bildanalysator zur blickrichtungsbestimmung
US9237847B2 (en) 2014-02-11 2016-01-19 Welch Allyn, Inc. Ophthalmoscope device
US9211064B2 (en) 2014-02-11 2015-12-15 Welch Allyn, Inc. Fundus imaging system
KR20170035831A (ko) * 2014-03-14 2017-03-31 시냅티브 메디컬 (바베이도스) 아이엔씨. 인텔리전트 포지셔닝 시스템과 그것의 방법들
WO2015143073A1 (en) 2014-03-19 2015-09-24 Intuitive Surgical Operations, Inc. Medical devices, systems, and methods integrating eye gaze tracking for stereo viewer
CN106456148B (zh) 2014-03-19 2020-06-12 直观外科手术操作公司 使用眼球凝视跟踪的医疗装置、系统和方法
US20170202624A1 (en) * 2014-06-08 2017-07-20 M.S.T. Medical Surgery Technologies Ltd Device and method for assisting laparoscopic surgery utilizing a touch screen
AU2015302216B2 (en) 2014-08-13 2019-09-26 Covidien Lp Robotically controlling mechanical advantage gripping
US12114986B2 (en) * 2014-09-23 2024-10-15 SST Canada Inc. System and method for biometric data capture for event prediction
US11546527B2 (en) 2018-07-05 2023-01-03 Irisvision, Inc. Methods and apparatuses for compensating for retinitis pigmentosa
US11144119B2 (en) * 2015-05-01 2021-10-12 Irisvision, Inc. Methods and systems for generating a magnification region in output video images
EP3218850A4 (en) * 2014-11-10 2018-06-27 Visionize LLC Methods and apparatus for vision enhancement
US11372479B2 (en) 2014-11-10 2022-06-28 Irisvision, Inc. Multi-modal vision enhancement system
US10179407B2 (en) * 2014-11-16 2019-01-15 Robologics Ltd. Dynamic multi-sensor and multi-robot interface system
US10695142B2 (en) 2015-02-19 2020-06-30 Covidien Lp Repositioning method of input device for robotic surgical system
US10799115B2 (en) 2015-02-27 2020-10-13 Welch Allyn, Inc. Through focus retinal image capturing
US11045088B2 (en) 2015-02-27 2021-06-29 Welch Allyn, Inc. Through focus retinal image capturing
CN113040921A (zh) 2015-03-10 2021-06-29 柯惠Lp公司 测量机器人手术系统的连接器部件的健康状况
WO2016196238A1 (en) 2015-06-03 2016-12-08 Covidien Lp Offset instrument drive unit
AU2016279993B2 (en) 2015-06-16 2021-09-09 Covidien Lp Robotic surgical system torque transduction sensing
AU2016284040B2 (en) 2015-06-23 2020-04-30 Covidien Lp Robotic surgical assemblies
US10136804B2 (en) 2015-07-24 2018-11-27 Welch Allyn, Inc. Automatic fundus image capture system
WO2017038241A1 (ja) * 2015-08-28 2017-03-09 富士フイルム株式会社 機器操作装置、機器操作方法、及び電子機器システム
KR101840350B1 (ko) * 2015-09-24 2018-03-20 주식회사 뷰노 의료 영상 판독 과정에서 사용자의 시선 정보를 이용한 판독 효율 증대 방법 및 그 장치
AU2016326371B2 (en) 2015-09-25 2020-07-23 Covidien Lp Robotic surgical assemblies and instrument drive connectors thereof
CN108882964B (zh) * 2015-10-09 2021-10-22 柯惠Lp公司 使用成角度内窥镜运用机器人手术系统使体腔可视化的方法
CN112842228A (zh) 2015-10-23 2021-05-28 柯惠Lp公司 用于检测灌注中逐步变化的手术系统
US10772495B2 (en) 2015-11-02 2020-09-15 Welch Allyn, Inc. Retinal image capturing
WO2017087439A1 (en) 2015-11-19 2017-05-26 Covidien Lp Optical force sensor for robotic surgical system
EP3397185A1 (en) * 2015-12-29 2018-11-07 Koninklijke Philips N.V. System, controller and method using virtual reality device for robotic surgery
EP3397184A1 (en) * 2015-12-29 2018-11-07 Koninklijke Philips N.V. System, control unit and method for control of a surgical robot
US10413179B2 (en) 2016-01-07 2019-09-17 Welch Allyn, Inc. Infrared fundus imaging system
JP2019509103A (ja) 2016-03-04 2019-04-04 コヴィディエン リミテッド パートナーシップ ロボット外科システムのための逆運動学制御システム
WO2017173524A1 (en) 2016-04-07 2017-10-12 Titan Medical Inc. Camera positioning method and apparatus for capturing images during a medical procedure
US10097745B2 (en) * 2016-04-27 2018-10-09 Zepp Labs, Inc. Head rotation tracking device for video highlights identification
US10987091B2 (en) * 2016-05-17 2021-04-27 Biosense Webster (Israel) Ltd. System and method for catheter connections
CN113328581B (zh) 2016-05-26 2024-06-11 柯惠Lp公司 器械驱动单元
AU2017269261B2 (en) 2016-05-26 2021-12-09 Covidien Lp Robotic surgical assemblies
AU2017275595B2 (en) 2016-06-03 2021-04-29 Covidien Lp Control arm assemblies for robotic surgical systems
WO2017210497A1 (en) * 2016-06-03 2017-12-07 Covidien Lp Systems, methods, and computer-readable program products for controlling a robotically delivered manipulator
US10874470B2 (en) 2016-06-03 2020-12-29 Covidien Lp Passive axis system for robotic surgical systems
CN113180835A (zh) 2016-06-03 2021-07-30 柯惠Lp公司 用于机器人手术系统的控制臂
WO2017210500A1 (en) 2016-06-03 2017-12-07 Covidien Lp Robotic surgical system with an embedded imager
US10980610B2 (en) * 2016-06-03 2021-04-20 Covidien Lp Systems, methods, and computer-readable storage media for controlling aspects of a robotic surgical device and viewer adaptive stereoscopic display
US10095937B2 (en) * 2016-06-21 2018-10-09 GM Global Technology Operations LLC Apparatus and method for predicting targets of visual attention
EP3496646A4 (en) * 2016-08-12 2020-04-01 Intuitive Surgical Operations Inc. IDENTIFICATION OF INSTRUMENTS ON A SCREEN IN A TELEOPERATIONAL MEDICAL SYSTEM.
US10521603B2 (en) * 2016-08-24 2019-12-31 Branch Banking And Trust Company Virtual reality system for providing secured information
US10602926B2 (en) 2016-09-29 2020-03-31 Welch Allyn, Inc. Through focus retinal image capturing
WO2018078470A1 (en) * 2016-10-25 2018-05-03 Novartis Ag Medical spatial orientation system
JP7203724B2 (ja) * 2016-11-11 2023-01-13 インテュイティブ サージカル オペレーションズ， インコーポレイテッド マルチモダリティ画像表示を備えた手術システム
US10028794B2 (en) 2016-12-19 2018-07-24 Ethicon Llc Surgical system with voice control
JP6527178B2 (ja) * 2017-01-12 2019-06-05 ファナック株式会社 視覚センサのキャリブレーション装置、方法及びプログラム
AU2018221456A1 (en) 2017-02-15 2019-07-11 Covidien Lp System and apparatus for crush prevention for medical robot applications
US11559365B2 (en) 2017-03-06 2023-01-24 Intuitive Surgical Operations, Inc. Systems and methods for entering and exiting a teleoperational state
JP7160033B2 (ja) * 2017-05-15 2022-10-25 ソニーグループ株式会社 入力制御装置、入力制御方法、および手術システム
US11717361B2 (en) 2017-05-24 2023-08-08 Covidien Lp Electrosurgical robotic system having tool presence detection
US11839441B2 (en) 2017-05-25 2023-12-12 Covidien Lp Robotic surgical system with automated guidance
EP3629983B1 (en) 2017-05-25 2023-06-28 Covidien LP Robotic surgical systems and drapes for covering components of robotic surgical systems
US11553974B2 (en) 2017-05-25 2023-01-17 Covidien Lp Systems and methods for detection of objects within a field of view of an image capture device
EP3668433B1 (en) 2017-08-16 2022-11-23 Covidien LP End effector including wrist assembly and monopolar tool for robotic surgical systems
WO2019050829A1 (en) 2017-09-05 2019-03-14 Covidien Lp COLLISION MANAGEMENT ALGORITHMS FOR ROBOTIC SURGICAL SYSTEMS
US20200261180A1 (en) * 2017-09-06 2020-08-20 Covidien Lp 27-3systems, methods, and computer-readable media for providing stereoscopic visual perception notifications and/or recommendations during a robotic surgical procedure
US11583358B2 (en) 2017-09-06 2023-02-21 Covidien Lp Boundary scaling of surgical robots
EP3678579A4 (en) 2017-09-08 2021-06-16 Covidien LP ENERGY DISCONNECTION FOR ROBOTIC SURGICAL SETS
CN107705164A (zh) * 2017-11-14 2018-02-16 宜宾维特瑞安科技有限公司 一种基于眼球追踪技术的市场调查装置、系统及方法
EP3716882A4 (en) 2017-12-01 2021-08-25 Covidien LP DRAPE ADMINISTRATION ARRANGEMENTS FOR ROBOTIC SURGICAL SYSTEMS
US11690677B2 (en) * 2017-12-31 2023-07-04 Asensus Surgical Us, Inc. Use of eye tracking for tool identification and assignment in a robotic surgical system
CN108065904A (zh) 2018-01-02 2018-05-25 京东方科技集团股份有限公司 内窥镜系统及其控制方法
CN111556735A (zh) 2018-01-04 2020-08-18 柯惠Lp公司 将手术配件安装至机器人手术系统并且提供穿过其的通路的系统和组件
EP3737326B1 (en) 2018-01-10 2024-10-16 Covidien LP Determining positions and conditions of tools of a robotic surgical system utilizing computer vision
US10521662B2 (en) * 2018-01-12 2019-12-31 Microsoft Technology Licensing, Llc Unguided passive biometric enrollment
US11114199B2 (en) 2018-01-25 2021-09-07 Mako Surgical Corp. Workflow systems and methods for enhancing collaboration between participants in a surgical procedure
US12102403B2 (en) 2018-02-02 2024-10-01 Coviden Lp Robotic surgical systems with user engagement monitoring
CA3091176A1 (en) 2018-02-13 2019-08-22 Frank Werblin Methods and apparatus for contrast sensitivity compensation
US11712149B2 (en) * 2018-02-14 2023-08-01 Suzhou Acuvu Medical Technology Co, Ltd. Endoscopy devices and methods of use
US11189379B2 (en) 2018-03-06 2021-11-30 Digital Surgery Limited Methods and systems for using multiple data structures to process surgical data
AU2019232675B2 (en) 2018-03-08 2020-11-12 Covidien Lp Surgical robotic systems
CN111886113B (zh) * 2018-03-28 2024-10-11 索尼公司 控制装置、控制方法以及主从系统
BR102018007667A2 (pt) * 2018-04-16 2019-10-29 Mendes Alves Pereira Ricardo dispositivo, sistema e processo de armazenamento de dados clínicos-cirúrgicos
WO2019204013A1 (en) 2018-04-20 2019-10-24 Covidien Lp Systems and methods for surgical robotic cart placement
CN111989065A (zh) * 2018-04-20 2020-11-24 柯惠Lp公司 具有立体显示器的机器人手术系统中的观察者移动的补偿
US11726559B2 (en) 2018-04-24 2023-08-15 Intuitive Surgical Operations, Inc. Gaze-initiated communications
CN108524011A (zh) * 2018-05-09 2018-09-14 杨琨 基于眼动仪原理的视野焦点指示系统及方法
US10983604B2 (en) 2018-05-16 2021-04-20 Alcon Inc. Foot controlled cursor
US12446976B2 (en) 2018-05-16 2025-10-21 Intuitive Surgical Operations, Inc. System and method for hybrid control using eye tracking
US11096574B2 (en) 2018-05-24 2021-08-24 Welch Allyn, Inc. Retinal image capturing
US11576739B2 (en) 2018-07-03 2023-02-14 Covidien Lp Systems, methods, and computer-readable media for detecting image degradation during surgical procedures
US10895757B2 (en) * 2018-07-03 2021-01-19 Verb Surgical Inc. Systems and methods for three-dimensional visualization during robotic surgery
JP6770025B2 (ja) * 2018-07-12 2020-10-14 ファナック株式会社 ロボット
US12178528B2 (en) 2018-09-14 2024-12-31 Covidien Lp Surgical robotic systems and methods of tracking usage of surgical instruments thereof
EP3852667A4 (en) 2018-09-17 2022-06-15 Covidien LP SURGICAL ROBOTIC SYSTEMS
CN112702969A (zh) 2018-09-17 2021-04-23 柯惠Lp公司 手术机器人系统
JP6856594B2 (ja) 2018-09-25 2021-04-07 株式会社メディカロイド 手術システムおよび表示方法
JP6902639B2 (ja) * 2018-09-25 2021-07-14 株式会社メディカロイド 手術システム
CN109164555B (zh) * 2018-09-30 2021-11-12 西安蜂语信息科技有限公司 光学设备的调整方法、终端、系统、设备和存储介质
GB2577716B (en) 2018-10-03 2023-01-18 Cmr Surgical Ltd Methods and systems for providing assistance to a user of a surgical robot system
US11109746B2 (en) 2018-10-10 2021-09-07 Titan Medical Inc. Instrument insertion system, method, and apparatus for performing medical procedures
CN113038887B (zh) * 2018-10-12 2024-12-24 索尼集团公司 手术支持系统、数据处理装置、以及方法
US20210225502A1 (en) * 2018-10-12 2021-07-22 Sony Corporation An operating room control system, method, and program
US10990168B2 (en) * 2018-12-10 2021-04-27 Samsung Electronics Co., Ltd. Compensating for a movement of a sensor attached to a body of a user
US11478318B2 (en) 2018-12-28 2022-10-25 Verb Surgical Inc. Methods for actively engaging and disengaging teleoperation of a surgical robotic system
US11586106B2 (en) 2018-12-28 2023-02-21 Titan Medical Inc. Imaging apparatus having configurable stereoscopic perspective
CN111399633B (zh) * 2019-01-03 2023-03-31 见臻科技股份有限公司 针对眼球追踪应用的校正方法
US11717355B2 (en) 2019-01-29 2023-08-08 Covidien Lp Drive mechanisms for surgical instruments such as for use in robotic surgical systems
US11576733B2 (en) 2019-02-06 2023-02-14 Covidien Lp Robotic surgical assemblies including electrosurgical instruments having articulatable wrist assemblies
JP7494196B2 (ja) 2019-02-12 2024-06-03 インテュイティブ サージカル オペレーションズ， インコーポレイテッド コンピュータ支援手術システムの手術セッション中の撮像デバイス視点の最適化を容易にするシステム及び方法
US11484372B2 (en) 2019-02-15 2022-11-01 Covidien Lp Articulation mechanisms for surgical instruments such as for use in robotic surgical systems
US12153730B2 (en) * 2019-02-18 2024-11-26 Tobii Dynavox Ab Combined gaze-based and scanning-based control of an apparatus
JP2020162916A (ja) 2019-03-29 2020-10-08 ソニー株式会社 制御装置及びマスタスレーブシステム
KR102006281B1 (ko) * 2019-04-19 2019-08-01 한화시스템(주) 전투관리 체계 다기능 콘솔의 경고 표시 장치 및 방법
US11204640B2 (en) 2019-05-17 2021-12-21 Verb Surgical Inc. Methods for determining if teleoperation should be disengaged based on the user's gaze
US11337767B2 (en) 2019-05-17 2022-05-24 Verb Surgical Inc. Interlock mechanisms to disengage and engage a teleoperation mode
WO2020236778A1 (en) 2019-05-22 2020-11-26 Covidien Lp Surgical robotic arm storage assemblies and methods of replacing surgical robotic arms using the storage assemblies
US20220202515A1 (en) * 2019-05-29 2022-06-30 Intuitive Surgical Operations, Inc. Operating mode control systems and methods for a computer-assisted surgical system
JP7326492B2 (ja) * 2019-06-11 2023-08-15 ジェンテックス コーポレイション ウェアラブル医療機器
EP3764367A1 (en) * 2019-07-11 2021-01-13 Milestone S.r.l. System and method for medical gross examination
US11850730B2 (en) 2019-07-17 2023-12-26 Asensus Surgical Us, Inc. Double eye tracker configuration for a robot-assisted surgical system
WO2021029117A1 (ja) * 2019-08-09 2021-02-18 富士フイルム株式会社 内視鏡装置、制御方法、制御プログラム、及び内視鏡システム
EP3786765A1 (en) * 2019-08-29 2021-03-03 Leica Instruments (Singapore) Pte. Ltd. Microscope, control circuit, method and computer program for generating information on at least one inspected region of an image
US12223629B2 (en) 2019-09-11 2025-02-11 Covidien Lp Systems and methods for smoke-reduction in images
EP4028985A4 (en) 2019-09-11 2023-06-07 Covidien LP Systems and methods for neural-network based color restoration
JP7240996B2 (ja) * 2019-09-18 2023-03-16 株式会社トプコン アイウェア装置を用いた測量システムおよび測量方法
CN112584280B (zh) * 2019-09-27 2022-11-29 百度在线网络技术（北京）有限公司 智能设备的控制方法、装置、设备和介质
US12400750B1 (en) * 2019-11-15 2025-08-26 Verily Life Sciences Llc Automatic content tagging in videos of minimally invasive surgeries
WO2021126545A1 (en) 2019-12-16 2021-06-24 Covidien Lp Surgical robotic systems including surgical instruments with articulation
WO2021133483A1 (en) 2019-12-23 2021-07-01 Covidien Lp System for guiding surgical procedures
US12491028B2 (en) 2020-02-06 2025-12-09 Covidien Lp System and methods for suturing guidance
EP4110221A1 (en) 2020-02-26 2023-01-04 Covidien LP Robotic surgical instrument including linear encoders for measuring cable displacement
US12262863B2 (en) 2020-05-12 2025-04-01 Covidien Lp Systems and methods for image mapping and fusion during surgical procedures
US12030195B2 (en) 2020-05-27 2024-07-09 Covidien Lp Tensioning mechanisms and methods for articulating surgical instruments such as for use in robotic surgical systems
JP2023103499A (ja) 2020-06-15 2023-07-27 ソニーグループ株式会社 医用画像処理システム、手術画像制御装置、及び、手術画像制御方法
RU2757991C2 (ru) * 2020-07-06 2021-10-25 Общество с ограниченной ответственностью "Толикети" Способ автоматизированного управления роботизированным операционным экзоскопом
USD963851S1 (en) 2020-07-10 2022-09-13 Covidien Lp Port apparatus
WO2022014203A1 (en) * 2020-07-14 2022-01-20 Sony Group Corporation Device, computer program and method
CN115803798A (zh) * 2020-07-29 2023-03-14 直观外科手术操作公司 用于训练用户以操作遥操作系统的系统和方法
CN111759461A (zh) * 2020-07-30 2020-10-13 上海交通大学医学院附属第九人民医院 一种基于眼动仪的眼眶内镜导航手术操作系统
CN114078579B (zh) * 2020-08-14 2024-11-19 东北大学 组织病理阅片模式学习系统、方法以及终端
KR102396519B1 (ko) 2020-08-18 2022-05-11 고려대학교 산학협력단 Mri 환경에서 실시간 시야 변화 추적 기반 360° 파노라마 비디오 제공 방법, 이를 수행하기 위한 기록 매체 및 장치
JP2023171978A (ja) * 2020-09-02 2023-12-06 富士フイルム株式会社 キャリブレーション装置及び方法
KR102443195B1 (ko) 2020-09-09 2022-09-13 영남대학교 산학협력단 시선 추적 기반 간성 뇌증 진단 방법 및 장치
US11937891B2 (en) * 2020-10-06 2024-03-26 Asensus Surgical Us, Inc. Systems and methods of controlling surgical robotic system using eye-tracking
CN114424975B (zh) * 2020-10-29 2024-02-09 上海微创医疗机器人（集团）股份有限公司 手术机器人辅助系统、方法、介质、终端及手术机器人
CN116367973B (zh) * 2021-01-15 2025-10-10 三星电子株式会社 服务机器人设备
US11812938B2 (en) 2021-03-31 2023-11-14 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US11844583B2 (en) 2021-03-31 2023-12-19 Moon Surgical Sas Co-manipulation surgical system having an instrument centering mode for automatic scope movements
US12178418B2 (en) 2021-03-31 2024-12-31 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
US11832909B2 (en) 2021-03-31 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having actuatable setup joints
CA3212211A1 (en) 2021-03-31 2022-10-06 David Paul Noonan Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery
US12167900B2 (en) 2021-03-31 2024-12-17 Moon Surgical Sas Co-manipulation surgical system having automated preset robot arm configurations
US12042241B2 (en) 2021-03-31 2024-07-23 Moon Surgical Sas Co-manipulation surgical system having automated preset robot arm configurations
US11819302B2 (en) 2021-03-31 2023-11-21 Moon Surgical Sas Co-manipulation surgical system having user guided stage control
US12409003B2 (en) 2021-05-14 2025-09-09 Covidien Lp Instrument cassette assemblies for robotic surgical instruments
US12369998B2 (en) 2021-05-28 2025-07-29 Covidien Lp Real time monitoring of a robotic drive module
US11948226B2 (en) 2021-05-28 2024-04-02 Covidien Lp Systems and methods for clinical workspace simulation
US20220384016A1 (en) * 2021-05-28 2022-12-01 Cilag Gmbh International Monitoring a health care professional movement relative to a virtual boundary in an operating room
CN117396979A (zh) 2021-06-03 2024-01-12 索尼集团公司 信息处理装置、信息处理系统、信息处理方法和程序
US20240155241A1 (en) * 2021-06-21 2024-05-09 Sony Group Corporation Medical observation system, information processing device, and information processing method
JPWO2023026528A1 (enExample) * 2021-08-26 2023-03-02
CN113612928B (zh) * 2021-10-09 2022-04-12 深圳市越疆科技有限公司 遥操作系统、遥操作方法及芯片
WO2023074334A1 (ja) * 2021-10-29 2023-05-04 慶應義塾 制御システム、制御装置、制御方法及びプログラム
JP7764201B2 (ja) * 2021-11-05 2025-11-05 キヤノンメディカルシステムズ株式会社 医用情報処理装置、及び、医用情報処理システム
CN114081631B (zh) * 2021-11-18 2024-05-03 上海微创医疗机器人（集团）股份有限公司 健康监测系统及手术机器人系统
TWI835436B (zh) 2021-11-30 2024-03-11 美商安督奎斯特機器人公司 用於機器人手術系統的可轉向套管組件、其控制組件及其方法
WO2023101948A1 (en) 2021-11-30 2023-06-08 Endoquest, Inc. Master control systems for robotic surgical systems
WO2023101974A1 (en) 2021-11-30 2023-06-08 Endoquest Robotics, Inc. Force transmission systems for robotically controlled medical devices
JP2024543764A (ja) 2021-11-30 2024-11-26 エンドクエスト ロボティクス インコーポレイテッド 患者コンソールの５つの自由度での位置決めシステム
JP2024543776A (ja) 2021-11-30 2024-11-26 エンドクエスト ロボティクス インコーポレイテッド 使い捨てエンドエフェクタ
TWI850874B (zh) 2021-11-30 2024-08-01 美商安督奎斯特機器人公司 控制器適配器系統、具有該控制器適配器系統的機器人手術儀器控制器總成及其安裝覆巾之方法
US12390294B2 (en) 2021-12-14 2025-08-19 Covidien Lp Robotic surgical assemblies including surgical instruments having articulatable wrist assemblies
TWI778900B (zh) * 2021-12-28 2022-09-21 慧術科技股份有限公司 手術術式標記與教學系統及其方法
US12433699B2 (en) 2022-02-10 2025-10-07 Covidien Lp Surgical robotic systems and robotic arm carts thereof
CN114680889A (zh) * 2022-03-08 2022-07-01 中国石油大学(北京) 钻井作业人员的不安全行为识别方法和装置
CN114785948B (zh) * 2022-04-14 2023-12-26 常州联影智融医疗科技有限公司 内窥镜调焦方法、装置、内镜图像处理器及可读存储介质
CN115645078A (zh) * 2022-05-07 2023-01-31 首都医科大学附属北京世纪坛医院 一种基于眼球运动控制的腔镜系统及工作方法
CN115089300B (zh) * 2022-06-14 2025-09-02 上海微创医疗机器人（集团）股份有限公司 基于眼球定位和声音识别的控制方法、手术机器人
CN117314815A (zh) * 2022-06-20 2023-12-29 上海微创医疗机器人（集团）股份有限公司 一种图像获取方法、系统及存储介质
US12479098B2 (en) 2022-08-03 2025-11-25 Covidien Lp Surgical robotic system with access port storage
EP4316353A1 (en) * 2022-08-05 2024-02-07 Leica Instruments (Singapore) Pte Ltd Device for a surgical imaging system, surgical imaging system, method and computer program
US12465447B2 (en) 2022-08-25 2025-11-11 Covidien Lp Surgical robotic system with instrument detection
KR102770936B1 (ko) * 2022-09-05 2025-02-21 서울대학교병원 다중 의료 영상 송출 및 수술 보조 기능을 제공하는 헤드셋 기반 비전장치
JP2024036816A (ja) * 2022-09-06 2024-03-18 川崎重工業株式会社 手術支援システムおよび操作装置の制御方法
CN120225975A (zh) * 2022-11-15 2025-06-27 聂小春 用于可穿戴眼睛跟踪滑移检测和校正的系统和方法
US11839442B1 (en) 2023-01-09 2023-12-12 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
US11986165B1 (en) 2023-01-09 2024-05-21 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
US12370001B2 (en) 2023-01-09 2025-07-29 Moon Surgical Sas Co-manipulation surgical system having automated user override detection
USD1066382S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066381S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066378S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066404S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066380S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066383S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066405S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
USD1066379S1 (en) 2023-01-13 2025-03-11 Covidien Lp Display screen with graphical user interface
EP4483831A1 (en) * 2023-06-29 2025-01-01 Zentact Robotics Robotic assembly for a surgical system
JP7670879B2 (ja) 2023-07-20 2025-04-30 オリンパス株式会社 手術システム、プロセッサ及び制御方法
USD1087995S1 (en) 2023-08-02 2025-08-12 Covidien Lp Surgeon display screen with a transitional graphical user interface having staple firing icon
USD1087135S1 (en) 2023-08-02 2025-08-05 Covidien Lp Surgeon display screen with a graphical user interface having spent staple icon
US20250073907A1 (en) * 2023-08-28 2025-03-06 Southeast University Safety shared control system based on performance of teleoperator
EP4586053A1 (en) * 2024-01-11 2025-07-16 Leica Instruments (Singapore) Pte. Ltd. Apparatus for an optical imaging system, optical imaging system, method and computer program
CN118542635B (zh) * 2024-07-24 2024-10-22 显微智能科技(湖南)有限公司 一种基于眼球运动识别的内窥镜控制系统

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6578962B1 (en) * 2001-04-27 2003-06-17 International Business Machines Corporation Calibration-free eye gaze tracking
US20060100642A1 (en) * 2002-09-25 2006-05-11 Guang-Zhong Yang Control of robotic manipulation
US20090248036A1 (en) * 2008-03-28 2009-10-01 Intuitive Surgical, Inc. Controlling a robotic surgical tool with a display monitor
US20120069166A1 (en) * 2009-02-24 2012-03-22 Reiner Kunz Navigation of endoscopic devices by means of eye-tracker
CN102958464A (zh) * 2010-04-07 2013-03-06 索发有限公司 具有改进的控制器的自动化外科手术系统
US20130107207A1 (en) * 2011-11-02 2013-05-02 Intuitive Surgical Operations, Inc. Method and system for stereo gaze tracking
WO2013175465A1 (en) * 2012-05-21 2013-11-28 Lumus Ltd. Head -mounted display with an eyeball - tracker integrated system
US20140024889A1 (en) * 2012-07-17 2014-01-23 Wilkes University Gaze Contingent Control System for a Robotic Laparoscope Holder

Family Cites Families (117)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS61172552A (ja) 1985-01-28 1986-08-04 株式会社トプコン 視線方向検出装置
US5007786A (en) * 1988-12-08 1991-04-16 Sunbelt Automated Systems, Inc. Refuse collection system, refuse collection truck and loader assembly therefor
US5204942A (en) * 1989-01-10 1993-04-20 Kabushiki Kaisha Kobe Seiko Sho Robot control system for controlling a set of industrial robots for cooperative operation
US5631973A (en) * 1994-05-05 1997-05-20 Sri International Method for telemanipulation with telepresence
US5360971A (en) * 1992-03-31 1994-11-01 The Research Foundation State University Of New York Apparatus and method for eye tracking interface
US5762458A (en) * 1996-02-20 1998-06-09 Computer Motion, Inc. Method and apparatus for performing minimally invasive cardiac procedures
US5517021A (en) * 1993-01-19 1996-05-14 The Research Foundation State University Of New York Apparatus and method for eye tracking interface
WO1994026167A1 (en) * 1993-05-14 1994-11-24 Sri International Remote center positioner
US5876325A (en) * 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
JP3482228B2 (ja) * 1993-11-02 2003-12-22 オリンパス株式会社 視線検出によるマニピュレータ制御システム
JP3540362B2 (ja) * 1994-06-14 2004-07-07 オリンパス株式会社 手術用マニピュレータの制御システム及びその制御方法
WO1996013743A1 (de) 1994-10-26 1996-05-09 Leica Ag Mikroskop, insbesondere operationsmikroskop
US5553609A (en) * 1995-02-09 1996-09-10 Visiting Nurse Service, Inc. Intelligent remote visual monitoring system for home health care service
JP3539645B2 (ja) * 1995-02-16 2004-07-07 株式会社日立製作所 遠隔手術支援装置
US5882206A (en) * 1995-03-29 1999-03-16 Gillio; Robert G. Virtual surgery system
JPH0954239A (ja) * 1995-08-18 1997-02-25 Canon Inc 視線検出機能付光学装置及びカメラ
US6496099B2 (en) * 1996-06-24 2002-12-17 Computer Motion, Inc. General purpose distributed operating room control system
US6847336B1 (en) * 1996-10-02 2005-01-25 Jerome H. Lemelson Selectively controllable heads-up display system
US6351273B1 (en) * 1997-04-30 2002-02-26 Jerome H. Lemelson System and methods for controlling automatic scrolling of information on a display or screen
US6459926B1 (en) * 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US6951535B2 (en) * 2002-01-16 2005-10-04 Intuitive Surgical, Inc. Tele-medicine system that transmits an entire state of a subsystem
US6852107B2 (en) * 2002-01-16 2005-02-08 Computer Motion, Inc. Minimally invasive surgical training using robotics and tele-collaboration
US6659939B2 (en) * 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6398726B1 (en) * 1998-11-20 2002-06-04 Intuitive Surgical, Inc. Stabilizer for robotic beating-heart surgery
US8527094B2 (en) * 1998-11-20 2013-09-03 Intuitive Surgical Operations, Inc. Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures
US6799065B1 (en) * 1998-12-08 2004-09-28 Intuitive Surgical, Inc. Image shifting apparatus and method for a telerobotic system
US6090051A (en) 1999-03-03 2000-07-18 Marshall; Sandra P. Method and apparatus for eye tracking and monitoring pupil dilation to evaluate cognitive activity
JP3381666B2 (ja) * 1999-06-03 2003-03-04 日本電気株式会社 眼疲労警告装置
US6346887B1 (en) * 1999-09-14 2002-02-12 The United States Of America As Represented By The Secretary Of The Navy Eye activity monitor
US6603491B2 (en) * 2000-05-26 2003-08-05 Jerome H. Lemelson System and methods for controlling automatic scrolling of information on a display or screen
JP3504222B2 (ja) * 2000-09-04 2004-03-08 ファナック株式会社 ロボット制御装置
US6728599B2 (en) * 2001-09-07 2004-04-27 Computer Motion, Inc. Modularity system for computer assisted surgery
AU2003214595A1 (en) 2002-03-07 2003-09-16 Yechezkal Evan Spero Enhanced vision for driving
EP1501406A4 (en) * 2002-04-16 2006-08-30 Philip C Noble COMPUTER-BASED TRAINING PROCEDURES FOR SURGICAL PROCEDURES
CA2397431A1 (en) * 2002-08-09 2004-02-09 Andrew Lohbihler Method and apparatus for a wireless position sensing interface device employing spread spectrum technology of one or more radio transmitting devices
US9153074B2 (en) * 2011-07-18 2015-10-06 Dylan T X Zhou Wearable augmented reality eyeglass communication device including mobile phone and mobile computing via virtual touch screen gesture control and neuron command
US8292433B2 (en) * 2003-03-21 2012-10-23 Queen's University At Kingston Method and apparatus for communication between humans and devices
JP2004309930A (ja) 2003-04-09 2004-11-04 Olympus Corp 立体観察システム
US7872635B2 (en) * 2003-05-15 2011-01-18 Optimetrics, Inc. Foveated display eye-tracking system and method
EP1744670A2 (en) * 2004-03-22 2007-01-24 Vanderbilt University System and methods for surgical instrument disablement via image-guided position feedback
US10039445B1 (en) * 2004-04-01 2018-08-07 Google Llc Biosensors, communicators, and controllers monitoring eye movement and methods for using them
US20110077548A1 (en) * 2004-04-01 2011-03-31 Torch William C Biosensors, communicators, and controllers monitoring eye movement and methods for using them
EP1602322A1 (en) * 2004-06-02 2005-12-07 SensoMotoric Instruments GmbH Method and apparatus for eye tracking latency reduction
JP3839839B2 (ja) * 2004-06-25 2006-11-01 株式会社セブンスディメンジョンデザイン 医療画像管理システム及び医療画像管理方法
US7245202B2 (en) * 2004-09-10 2007-07-17 Immersion Corporation Systems and methods for networked haptic devices
US7331929B2 (en) * 2004-10-01 2008-02-19 General Electric Company Method and apparatus for surgical operating room information display gaze detection and user prioritization for control
US7501995B2 (en) * 2004-11-24 2009-03-10 General Electric Company System and method for presentation of enterprise, clinical, and decision support information utilizing eye tracking navigation
JP2008529707A (ja) * 2005-02-18 2008-08-07 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 医療機器の自動制御
US20060210111A1 (en) 2005-03-16 2006-09-21 Dixon Cleveland Systems and methods for eye-operated three-dimensional object location
US20110020779A1 (en) * 2005-04-25 2011-01-27 University Of Washington Skill evaluation using spherical motion mechanism
US10555775B2 (en) * 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
US8398541B2 (en) * 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
JP2007082594A (ja) * 2005-09-20 2007-04-05 Denso Corp 疲労検出装置
JP2007128427A (ja) * 2005-11-07 2007-05-24 Nissan Motor Co Ltd 運転支援装置及び運転支援方法
US8793620B2 (en) * 2011-04-21 2014-07-29 Sony Computer Entertainment Inc. Gaze-assisted computer interface
JP2009539131A (ja) * 2006-05-31 2009-11-12 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ 表示パラメータの制御
US9718190B2 (en) 2006-06-29 2017-08-01 Intuitive Surgical Operations, Inc. Tool position and identification indicator displayed in a boundary area of a computer display screen
WO2008107832A1 (en) * 2007-03-07 2008-09-12 Koninklijke Philips Electronics N.V. Stress estimation
GB0709405D0 (en) * 2007-05-16 2007-06-27 Univ Edinburgh Testing vision
JP4943972B2 (ja) 2007-08-27 2012-05-30 昭和電工株式会社 記憶媒体、及び記憶装置
US8155479B2 (en) * 2008-03-28 2012-04-10 Intuitive Surgical Operations Inc. Automated panning and digital zooming for robotic surgical systems
US8810631B2 (en) 2008-04-26 2014-08-19 Intuitive Surgical Operations, Inc. Augmented stereoscopic visualization for a surgical robot using a captured visible image combined with a fluorescence image and a captured visible image
EP3884844A1 (en) 2008-07-18 2021-09-29 Doheny Eye Institute Optical coherence tomography-based ophthalmic testing methods, devices and systems
WO2010018907A1 (ko) * 2008-08-14 2010-02-18 (주)미래컴퍼니 서버 클라이언트 방식의 수술용 로봇 시스템
GB2464092A (en) * 2008-09-25 2010-04-07 Prosurgics Ltd Surgical mechanism control system
WO2010051037A1 (en) 2008-11-03 2010-05-06 Bruce Reiner Visually directed human-computer interaction for medical applications
WO2010071928A1 (en) * 2008-12-22 2010-07-01 Seeing Machines Limited Automatic calibration of a gaze direction algorithm from user behaviour
JP2010152443A (ja) 2008-12-24 2010-07-08 Brother Ind Ltd ヘッドマウントディスプレイ
US20100167248A1 (en) * 2008-12-31 2010-07-01 Haptica Ltd. Tracking and training system for medical procedures
EP2309307B1 (en) * 2009-10-08 2020-12-09 Tobii Technology AB Eye tracking using a GPU
US9039419B2 (en) * 2009-11-06 2015-05-26 International Business Machines Corporation Method and system for controlling skill acquisition interfaces
US8521331B2 (en) * 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
US8935003B2 (en) 2010-09-21 2015-01-13 Intuitive Surgical Operations Method and system for hand presence detection in a minimally invasive surgical system
US8384534B2 (en) * 2010-01-14 2013-02-26 Toyota Motor Engineering & Manufacturing North America, Inc. Combining driver and environment sensing for vehicular safety systems
US9507418B2 (en) * 2010-01-21 2016-11-29 Tobii Ab Eye tracker based contextual action
US8964298B2 (en) * 2010-02-28 2015-02-24 Microsoft Corporation Video display modification based on sensor input for a see-through near-to-eye display
US20110228051A1 (en) 2010-03-17 2011-09-22 Goksel Dedeoglu Stereoscopic Viewing Comfort Through Gaze Estimation
DE102010038800B4 (de) * 2010-08-02 2024-03-07 Kuka Deutschland Gmbh Medizinischer Arbeitsplatz
US8408706B2 (en) 2010-12-13 2013-04-02 Microsoft Corporation 3D gaze tracker
JP2012128523A (ja) * 2010-12-13 2012-07-05 Canon Inc 情報処理装置およびその動作方法
FR2970576B1 (fr) * 2011-01-19 2013-02-08 Matchic Labs Procede de determination de la direction du regard et dispositif pour sa mise en oeuvre
JP2014506695A (ja) * 2011-01-30 2014-03-17 ミレイ，ラム スリカンス 技術評価
EP3527121B1 (en) 2011-02-09 2023-08-23 Apple Inc. Gesture detection in a 3d mapping environment
WO2012157195A1 (ja) * 2011-05-19 2012-11-22 パナソニック株式会社 画像表示システムおよび３次元用メガネ
JP5475893B2 (ja) 2011-05-20 2014-04-16 パナソニック株式会社 視覚疲労度測定装置およびその方法
US9380978B2 (en) * 2011-06-29 2016-07-05 Bruce Reiner Method and apparatus for real-time measurement and analysis of occupational stress and fatigue and performance outcome predictions
US9330477B2 (en) * 2011-09-22 2016-05-03 Digital Surgicals Pte. Ltd. Surgical stereo vision systems and methods for microsurgery
US20130083003A1 (en) * 2011-09-30 2013-04-04 Kathryn Stone Perez Personal audio/visual system
US9345957B2 (en) * 2011-09-30 2016-05-24 Microsoft Technology Licensing, Llc Enhancing a sport using an augmented reality display
US8929589B2 (en) 2011-11-07 2015-01-06 Eyefluence, Inc. Systems and methods for high-resolution gaze tracking
JP2013135738A (ja) * 2011-12-28 2013-07-11 Hitachi Medical Corp 手術支援システム
JP5923603B2 (ja) 2012-05-30 2016-05-24 パイオニア株式会社 表示装置、ヘッドマウントディスプレイ、校正方法及び校正プログラム、並びに記録媒体
US9077973B2 (en) 2012-06-29 2015-07-07 Dri Systems Llc Wide field-of-view stereo vision platform with dynamic control of immersive or heads-up display operation
ES2898981T3 (es) * 2012-08-09 2022-03-09 Tobii Ab Activación rápida en un sistema de seguimiento de la mirada
IL221863A (en) 2012-09-10 2014-01-30 Elbit Systems Ltd Digital video photography system when analyzing and displaying
KR101878376B1 (ko) * 2012-11-14 2018-07-16 한국전자통신연구원 시선 기반의 제어 장치 및 그것의 기기 제어 방법
US9259282B2 (en) * 2012-12-10 2016-02-16 Intuitive Surgical Operations, Inc. Collision avoidance during controlled movement of image capturing device and manipulatable device movable arms
US9101297B2 (en) * 2012-12-11 2015-08-11 Elwha Llc Time-based unobtrusive active eye interrogation
US20140160004A1 (en) * 2012-12-11 2014-06-12 Biosense Webster (Israel), Ltd. Use of physician eye tracking during a procedure
US9213331B2 (en) * 2012-12-19 2015-12-15 Caterpillar Inc. Remote control system for a machine
DE102012025102A1 (de) 2012-12-20 2014-06-26 avateramedical GmBH Endoskop mit einem Mehrkamerasystem für die minimal-invasive Chirurgie
US9342145B2 (en) * 2013-01-22 2016-05-17 Kabushiki Kaisha Toshiba Cursor control
US20150213634A1 (en) * 2013-01-28 2015-07-30 Amit V. KARMARKAR Method and system of modifying text content presentation settings as determined by user states based on user eye metric data
US10507066B2 (en) * 2013-02-15 2019-12-17 Intuitive Surgical Operations, Inc. Providing information of tools by filtering image areas adjacent to or on displayed images of the tools
KR20140112207A (ko) * 2013-03-13 2014-09-23 삼성전자주식회사 증강현실 영상 표시 시스템 및 이를 포함하는 수술 로봇 시스템
US11747895B2 (en) * 2013-03-15 2023-09-05 Intuitive Surgical Operations, Inc. Robotic system providing user selectable actions associated with gaze tracking
KR20140139840A (ko) * 2013-05-28 2014-12-08 삼성전자주식회사 디스플레이 장치 및 그 제어방법
US10474793B2 (en) * 2013-06-13 2019-11-12 Northeastern University Systems, apparatus and methods for delivery and augmentation of behavior modification therapy and teaching
CN103318023B (zh) * 2013-06-21 2015-10-28 同济大学 车载实时智能疲劳监控及辅助装置
US9625723B2 (en) 2013-06-25 2017-04-18 Microsoft Technology Licensing, Llc Eye-tracking system using a freeform prism
WO2015023513A1 (en) 2013-08-14 2015-02-19 Intuitive Surgical Operations, Inc. Endoscope control system
CN103680246B (zh) 2013-12-17 2016-05-18 西南交通大学 基于视觉注意分配的驾驶安全性考核测评系统
JP6929644B2 (ja) * 2013-12-31 2021-09-01 グーグル エルエルシーＧｏｏｇｌｅ ＬＬＣ 注視によるメディア選択及び編集のためのシステム並びに方法
CN106456148B (zh) 2014-03-19 2020-06-12 直观外科手术操作公司 使用眼球凝视跟踪的医疗装置、系统和方法
WO2015143073A1 (en) 2014-03-19 2015-09-24 Intuitive Surgical Operations, Inc. Medical devices, systems, and methods integrating eye gaze tracking for stereo viewer
US10722114B1 (en) * 2017-06-28 2020-07-28 Bertec Corporation System and method for vision testing and/or training
US11937891B2 (en) * 2020-10-06 2024-03-26 Asensus Surgical Us, Inc. Systems and methods of controlling surgical robotic system using eye-tracking

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6578962B1 (en) * 2001-04-27 2003-06-17 International Business Machines Corporation Calibration-free eye gaze tracking
US20060100642A1 (en) * 2002-09-25 2006-05-11 Guang-Zhong Yang Control of robotic manipulation
US20090248036A1 (en) * 2008-03-28 2009-10-01 Intuitive Surgical, Inc. Controlling a robotic surgical tool with a display monitor
US20120069166A1 (en) * 2009-02-24 2012-03-22 Reiner Kunz Navigation of endoscopic devices by means of eye-tracker
CN102958464A (zh) * 2010-04-07 2013-03-06 索发有限公司 具有改进的控制器的自动化外科手术系统
US20130107207A1 (en) * 2011-11-02 2013-05-02 Intuitive Surgical Operations, Inc. Method and system for stereo gaze tracking
WO2013175465A1 (en) * 2012-05-21 2013-11-28 Lumus Ltd. Head -mounted display with an eyeball - tracker integrated system
US20140024889A1 (en) * 2012-07-17 2014-01-23 Wilkes University Gaze Contingent Control System for a Robotic Laparoscope Holder

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12067172B2 (en) 2011-03-12 2024-08-20 Uday Parshionikar Multipurpose controllers and methods
US11977677B2 (en) 2013-06-20 2024-05-07 Uday Parshionikar Gesture based user interfaces, apparatuses and systems using eye tracking, head tracking, hand tracking, facial expressions and other user actions

Also Published As

Publication number Publication date
JP2020036909A (ja) 2020-03-12
WO2015143067A1 (en) 2015-09-24
US20220096185A1 (en) 2022-03-31
US12364555B2 (en) 2025-07-22
KR102404559B1 (ko) 2022-06-02
KR102867231B1 (ko) 2025-10-13
US20170172675A1 (en) 2017-06-22
JP2017512554A (ja) 2017-05-25
JP6891244B2 (ja) 2021-06-18
KR20160135277A (ko) 2016-11-25
EP3119286B1 (en) 2024-05-01
US20190223968A1 (en) 2019-07-25
KR20230142657A (ko) 2023-10-11
JP6644699B2 (ja) 2020-02-12
KR20220079693A (ko) 2022-06-13
JP7701002B2 (ja) 2025-07-01
EP3119286A1 (en) 2017-01-25
US11147640B2 (en) 2021-10-19
JP2023171641A (ja) 2023-12-01
EP3119286A4 (en) 2018-04-04
US10278782B2 (en) 2019-05-07
KR102585602B1 (ko) 2023-10-10
CN111616666A (zh) 2020-09-04
CN106456148A (zh) 2017-02-22
JP2021151496A (ja) 2021-09-30

Similar Documents

Publication Publication Date Title
JP7701002B2 (ja) 視線追跡を使用する医療装置、システム、及び方法
JP7080915B2 (ja) 立体ビューワのための視線追跡を統合する医療装置、システム、及び方法

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant