CN106663318A - 增强手术现实环境 - Google Patents

增强手术现实环境 Download PDF

Info

Publication number
CN106663318A
CN106663318A CN201580041506.XA CN201580041506A CN106663318A CN 106663318 A CN106663318 A CN 106663318A CN 201580041506 A CN201580041506 A CN 201580041506A CN 106663318 A CN106663318 A CN 106663318A
Authority
CN
China
Prior art keywords
image
band
enhancing
spatial frequency
filter
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.)
Granted
Application number
CN201580041506.XA
Other languages
English (en)
Other versions
CN106663318B (zh
Inventor
托尼·卡恩斯
爱德华·麦克纳
斯蒂芬·帕克
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.)
Covidien LP
Original Assignee
Covidien LP
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 Covidien LP filed Critical Covidien LP
Priority to CN202110143463.3A priority Critical patent/CN112862775A/zh
Publication of CN106663318A publication Critical patent/CN106663318A/zh
Application granted granted Critical
Publication of CN106663318B publication Critical patent/CN106663318B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/003—Reconstruction from projections, e.g. tomography
    • G06T11/008—Specific post-processing after tomographic reconstruction, e.g. voxelisation, metal artifact correction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/006—Mixed reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T19/00—Manipulating 3D models or images for computer graphics
    • G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/10—Image enhancement or restoration using non-spatial domain filtering
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/20—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from infrared radiation only
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/30—Transforming light or analogous information into electric information
    • H04N5/33—Transforming infrared radiation
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2576/00—Medical imaging apparatus involving image processing or analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20024—Filtering details
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20212—Image combination
    • G06T2207/20221—Image fusion; Image merging
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Hardware Design (AREA)
  • Computer Graphics (AREA)
  • Software Systems (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Radiology & Medical Imaging (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Quality & Reliability (AREA)
  • Architecture (AREA)
  • Gynecology & Obstetrics (AREA)
  • Endoscopes (AREA)
  • Image Processing (AREA)

Abstract

本公开涉及一种用于在手术操作期间观察感兴趣区域的增强图像的增强现实手术系统。所述系统包括捕获感兴趣区域的图像的图像捕获装置。控制器接收所述图像并且对所述图像应用至少一个图像处理滤波器。所述图像处理滤波器包括将所述图像分解成空间频带的空间分解滤波器。时间滤波器被应用于所述空间频带以产生时间滤波带。相加器将所述空间频带中的每个带与对应的时间滤波带相加以产生增强带。重构滤波器通过合并所述增强带来产生增强图像。显示器向用户显示所述增强图像。

Description

增强手术现实环境
相关申请的交叉引用
本申请要求2014年7月25日提交的、申请号是62/028,974的美国临时专利申请的权益和优先权，该申请的全部公开通过引用方式并入本文中。
技术领域
本公开涉及用于改善患者的手术预后的手术技术。更具体地，本公开针对用于在执行手术技术的同时增强和加强临床医生的视场的系统和方法。
背景技术
微创手术涉及代替使用一个较大的开口而使用多个小切口来执行手术操作。小切口减少了患者的不适并改善了恢复时间。小切口也限制了内部器官、组织和其他物质的可见度。
内窥镜被插入到一个或多个切口中，以使临床医生在手术期间更容易看到体内的内部器官、组织和其他物质。这些内窥镜包括联接到显示器的具有光学和/或数字变焦能力的相机，显示器显示如通过相机捕获的体内的器官、组织以及物质的放大视图。现有的内窥镜和显示器，特别是那些在手术机器人系统中使用的内窥镜和显示器具有有限的识别在相机的视场内但在显示器上所显示的光谱内不完全可见的状况或对象的能力。
例如，现有的微创和机器人手术工具(包括但不限于内窥镜和显示器)的以下能力有限(如果有的话)：在切除后识别组织灌注，在组织内定位不同尺寸的动脉，测量血管密封的有效性，从热特征(heat signature)识别患病的或死亡的组织，在切除后验证适当的功能，区分敏感区域(例如，输尿管)和周围物质(例如，周围血液)，以及检测对当前测试不可见的超小泄漏。在一些手术中，或者未实施这些检查，或者实施了更多创伤和/或耗时的测试以检查这些和其他状况和对象。
存在对在手术期间识别在手术相机的视场内但在显示器上所显示的光谱内不完全可见的更大范围的可能状况或对象的需要。
发明内容
在本公开的一方案中，提供了一种用于在手术操作期间观察感兴趣区域的增强图像的增强现实手术系统。所述系统包括图像捕获装置，所述图像捕获装置被配置为捕获所述感兴趣区域的图像。所述系统还包括控制器，所述控制器被配置为接收所述图像并且对所述图像应用至少一个图像处理滤波器以产生增强图像。所述图像处理滤波器包括：空间分解滤波器，其被配置为将所述图像分解成多个空间频带；时间滤波器，其被配置为应用于所述多个空间频带以产生多个时间滤波带；相加器(adder)，其被配置为将所述多个空间频带中的每个带与所述多个时间滤波带中的对应带相加，以产生多个增强带；和重构滤波器，其被配置为通过合并所述多个增强带来产生增强图像。然后向用户显示所述增强图像。
所述图像捕获装置可以捕获具有多个图像帧的视频，并且所述控制器将所述至少一个图像处理滤波器应用于所述多个图像帧中的每个图像帧。
所述时间滤波器从所述多个空间频带中隔离至少一个空间频带，以产生所述多个时间滤波带。在所述多个空间频带中的每个带与所述多个时间滤波带中的对应带相加以产生所述多个增强带之前，所述多个时间滤波带通过放大器放大。
所述图像处理滤波器可以使用被配置为高亮所述图像中的一个或多个边缘的边缘检测算法，其中一个或多个高亮的边缘被添加到所述增强图像。
所述系统可以包括被配置为获取多个高光谱图像的至少一个高光谱传感器(hyper-spectral sensor)。所述图像处理滤波器使用高光谱算法来组合所述多个光谱图像以产生三维高光谱图像立方体，所述三维高光谱图像立方体添加到所述增强图像。
所述系统还可以包括红外相机，所述红外相机被配置为捕获至少一个图像，其中所述图像处理滤波器产生红外图像，该红外图像被添加到所述增强图像。
在本公开的另一个方案中，提供了一种用于产生增强图像的方法。非暂时性计算机可读介质包括但不限于闪存、光盘和固态驱动器，该非暂时性计算机可读介质可以存储指令，所述指令在由包括但不限于控制器或中央处理单元的处理设备执行时使处理设备执行一个或多个功能，包括本文所述的方法。方法可以包括利用图像捕获装置捕获至少一个图像。所述至少一个图像被分解以产生多个空间频带。时间滤波器被应用于所述多个空间频带以产生多个时间滤波带。所述多个空间频带中的每个带与所述多个时间滤波带中的对应带相加，以产生多个增强带。所述多个增强带被合并以产生增强图像，该增强图像显示在显示器上。
从所述多个空间频带隔离至少一个空间频带。在将所述多个空间频带中的每个带与所述多个时间滤波带中的对应带相加以产生多个增强带之前，可以放大所述时间滤波带。
边缘检测算法可以被应用为高亮所述图像中的一个或多个边缘，并且所述一个或多个高亮的边缘被添加到所述增强图像。
可以获取多个高光谱图像。所述多个高光谱图像被组合以产生三维高光谱图像立方体。所述三维高光谱图像立方体被添加到所述增强图像。
红外图像可以被获取并添加到所述增强图像。
附图说明
根据下文的详细描述并结合附图，本公开的上述和其他方案、特征和优点将变得更加明显，其中：
图1是用于增强手术环境的系统的框图；
图2A至图2D是如何可能实现图1的系统的示例；
图3是图1的控制器的系统框图；
图4是用于增强图像或视频的系统的第一框图；
图5是用于增强图像或视频的系统的第二框图；
图6是用于增强图像或视频的系统的第三框图；
图7是用于增强图像或视频的系统的第四框图；以及
图8是机器人手术系统的系统框图。
具体实施方式
可以分析在手术操作期间从手术相机捕获的图像数据以识别相机视场内的对象的附加的不可感知属性，所述对象可以是不可见的或可见的，但是使人在观看显示在屏幕上的相机图像时难以清楚地看到。可以将各种图像处理技术应用于该图像数据以识别患者体内的不同状况。例如，欧拉图像放大技术可以用于识别捕获图像的不同部分中的光的波长或“颜色”变化。可以进一步分析这些变化以识别再灌注、动脉血流和/或血管类型。
欧拉图像放大还可以用于使图像帧之间的运动或活动对临床医生更可见。在一些实例中，可以向临床医生呈现不同图像帧之间的预定波长的光的测量强度的变化，以使临床医生更加意识到特定感兴趣对象(例如，血液)的运动。
图像代数(image algebra)可用于识别在手术操作期间用于切割组织或其它物质的最佳位置。在一些实例中，图像代数可以包括边缘检测和/或欧拉图像放大以识别最佳切割位置。
高光谱图像分析可用于识别视域范围内的小区域中的微小变化，所述微小变化可以是不可见的或者对于人眼来说难以辨别。这些高光谱图像分析技术可以与欧拉图像放大结合以识别这些区域的具体的一组变化。
图像代数可以与高光谱图像分析结合以识别对象或其他块体(mass)的边缘。图像代数可以包括边缘检测和/或可以与高光谱图像分析和欧拉图像放大二者结合以识别块体的边缘。
红外光可以用于识别患病的、死亡的和/或异常的组织的边界。滤波器可以用于从所捕获的图像数据隔离红外、近红外或其它范围中的一个或多个期望的波长。欧拉图像放大和/或图像代数可以用于分析滤波的图像数据并识别特定的组织边界。
欧拉图像放大、图像代数、高光谱图像分析和滤波技术中的一个或多个可以被包括来作为成像系统的部分。这些技术可以使成像系统能够提供关于相机视场内的不明显状况和对象的附加信息并加强手术预后。该附加信息可以包括但不限于：识别组织灌注、定位特定尺寸的动脉(诸如较大的动脉)、验证血管密封的有效性、识别异常组织的热特征、验证期望的对象运动(诸如，在死亡组织的边缘缺乏活动或在切除后验证适当的流动)、区分看起来相似的对象(诸如区分输尿管、肠系膜下动脉和/或周围血液)、以及检测小的泄漏(例如，在吻合术后可能发生的泄漏)。
这些技术中的一个或多个可以被包括来作为手术机器人系统中的成像系统的部分，以向临床医生实时提供关于内窥镜视场内的不明显状况和对象的附加信息。这可以使临床医生能够在手术期间快速识别、避免和/或纠正不期望的情况和状况。例如，临床医生能够在手术期间验证血管已经被适当地密封、血液适当地流动、在吻合术后没有漏气、和/或已经移除了患病组织。然后，如果有需要，临床医生则能够在手术期间纠正这些问题。临床医生还能够识别体内的手术器械应避免接触或额外小心地处置的脆弱的或关键的对象，诸如较大的动脉或输尿管。
本公开针对用于在手术操作期间向临床医生实时提供增强图像的系统和方法。本文描述的系统和方法将图像处理滤波器应用于所捕获的图像，以经由显示器向临床医生提供增强或加强的图像。在一些实施例中，该系统和方法允许在手术操作期间的视频捕获。捕获的视频被实时或准实时地处理，然后作为增强图像显示给临床医生。图像处理滤波器应用于捕获的视频的每个帧。向临床医生提供增强图像或视频允许临床医生识别并解决潜在的不利生理状况，从而减少对额外手术操作的需要以及确保原始手术操作的有效性。
本文所述的实施例使临床医生能够识别接收过多或无效血液的区域、吻合或密封的有效性、用于识别患病组织的器官中的温度变化、用于判定组织是否存活的微小的组织活动以及组织厚度。另外，本文所述的实施例可用于识别切除后的组织灌注、动脉位置，区分不同组织，以及判定漏气。
现转向图1，根据本公开的实施例的用于增强手术环境的系统一般性地被示出为100。系统100包括具有处理器104和存储器106的控制器102。系统100还包括记录静止帧图像(still frame image)或动像的图像捕获装置108(例如，相机)。传感器阵列110向控制器102提供关于手术环境的信息。例如，传感器阵列110包括生物计量传感器，该生物计量传感器能够获取患者的例如脉搏、体温、血压、血氧水平、心律等生物计量数据。传感器阵列110还可以包括高光谱传感器以执行高光谱成像。显示器112在手术操作期间向临床医生显示增强图像。在一些实施例中，控制器102可以经由无线或有线连接与中央服务器(未示出)通信。该中央服务器可以存储一个患者或多个患者的图像，该图像可以利用X射线、计算机断层扫描或磁共振成像来获取。
图2A至图2D描述了图1的系统如何在手术环境中实施的示例。如图2A至图2D所示，图像捕获装置108在手术操作期间捕获手术环境的图像。由图像捕获装置108所记录的图像、来自传感器阵列110的数据以及来自中央服务器(未示出)的图像通过控制器102结合以产生增强图像，该增强图像经由显示器112提供给临床医生。如图2A至图2D所示，显示器112可以是投影仪(图2A)，激光投影系统(图2B)，一副眼镜，或监视器(图2D)，所述眼镜将图像投影到的一个镜片上(诸如谷歌眼镜(GOOGLE)(由提供))(图2C)、两个镜片上或面罩上。当使用如在图2D中所示的监视器时，增强图像覆盖在由图像捕获装置108获取的患者的图像上。
图3描述了控制器102的系统框图。如图3所示，控制器102包括收发器114，收发器114被配置为从图像捕获装置108接收静止帧图像或视频，或者从传感器阵列110接收数据。在一些实施例中，收发器114可以包括经由无线通信协议接收静止帧图像、视频或数据的天线。静止帧图像、视频或数据被提供给处理器104。处理器104包括图像处理滤波器116，图像处理滤波器116处理所接收的静止帧图像、视频或数据以产生增强图像或视频。图像处理滤波器116可以利用分立的部件、软件或其组合来实施。增强图像或视频被提供给显示器112。
现转向图4，可以应用于由收发器114接收的视频的图像处理滤波器的系统框图被示出为116A。在图像处理滤波器116A中，利用空间分解滤波器118将所接收的视频的每个帧分解为不同的空间频带S1至SN。空间分解滤波器118采用被称为金字塔(pyramid)的图像处理技术，其中图像经过重复平滑和子采样。
在所述帧经过使用空间分解滤波器118之后，时间滤波器120被应用于所有空间频带S1至SN以产生时间滤波带ST1至STN。时间滤波器120是用于提取一个或多个期望频带的带通滤波器。例如，如果临床医生知道患者的脉搏，则临床医生可以利用用户界面(未示出)设置时间滤波器120的带通频率，以放大对应于患者的脉搏的空间频带。换句话说，该带通滤波器被设置为包括患者的脉搏的狭窄范围，并且应用到所有空间频带S1至SN。只有对应于带通滤波器的所设定范围的空间频带会被隔离或通过。所有时间滤波带ST1至STN由具有增益α的放大器单独地放大。因为时间滤波器隔离或通过期望的空间频带，所以只有期望的空间频带得到放大。然后放大的时间滤波带ST1至STN被加到原始空间频带S1至SN以产生增强带S′1至S′N。然后利用重构滤波器122通过合并增强带S′1到S′N来重构视频的每个帧，以产生增强帧。所有的增强帧被组合以产生增强视频。向临床医生显示的增强视频包括被放大的部分(即，对应于期望的空间频带的部分)以使临床医生能够容易地识别这样的部分。
在一些实施例中，代替使用放大器放大所隔离的时间滤波带，图像处理滤波器116A可以在重构该视频之前使用一种或多种颜色来突出时间滤波带。针对患者的期望部位(例如，血管或神经)采用不同的颜色可以使临床医生更容易识别这种部位的位置。
现转向图5，图像处理滤波器的系统框图被示出为116B，该图像处理滤波器可以应用于通过收发器114接收的静止帧图像或视频。如图5所示，输入图像124(即，捕获的图像或来自视频的帧)被输入到图像处理滤波器116B。然后图像处理滤波器116B对输入图像124采用边缘检测算法，并输出突出了在输入图像124中发现的边缘的滤波图像126。
图6描绘了用于产生高光谱图像的系统的框图。如图6所示，传感器阵列110包括高光谱传感器128。高光谱传感器128采集一组图像，其中每个图像表示电磁波谱的不同范围。该组图像被发送到图像处理滤波器116C，图像处理滤波器116C采用高光谱算法来组合该组图像以形成三维(3D)高光谱图像立方体。3D高光谱图像立方体被输出到显示器112。
图7描绘了用于产生红外图像的系统的框图。如图7所示，红外相机130捕获图像或视频，并将所捕获的图像或视频发送到图像处理滤波器116D。图像处理滤波器116D处理接收到的所捕获的图像或视频，以产生在显示器112上显示的红外图像。
上述的图像处理滤波器(即，图像处理滤波器116A-116D)可以单独地用于识别手术操作期间的身体状况。在一些实施例中，图像处理滤波器116A可以用于识别颜色的变化，以便识别组织灌注或切除后的再灌注、动脉血流、血管类型。图像处理滤波器116A还可用于提高坏死组织的运动识别边缘的可见性或切除后组织的适当的机能。
在一些实施例中，可以组合上述滤波器以辅助临床医生识别不利的身体状况。例如，图像处理滤波器116A和116B可以被组合成识别不同组织的边缘，以确定用于执行任务(例如，切割)的最有效的布置。图像处理滤波器116A和116C可以被组合成识别小区域中的微小变化，例如，无法通过常规方法判定的漏气。图像处理滤波器116A、116B和116C可以被组合以识别块体(例如，肿瘤)的边缘。图像处理滤波器116A、116B和116D可以被组合以识别患病组织的边界。
图像处理滤波器116A、116B、116C和116D可以利用不同的电路来实施，或者它们可以利用基于应用于图像的滤波器来执行不同子例程的单个处理器来实施。
上述实施例还可以集成到机器人手术系统中。图8示出了可以包括在机器人手术系统1中的各种部件，诸如两个以上的机器人手臂2、3；控制装置4；以及与控制装置4耦合的操作控制台5。操作控制台5可以包括显示装置6，其可以特别地设置为显示三维图像；以及一个或多个手动输入装置7、8，人(未示出)(例如，外科医生)能够通过该手动输入装置在第一操作模式下遥控操纵机器人手臂2、3。
输入装置7、8的移动可以被缩放而使得附接到机器人手臂2、3的手术器械具有与输入装置7、8的移动不同(例如，更小或更大)的对应的移动。比例因子(scale factor)或传动比(gearing ratio)可以是可调节的，使得临床医生可以控制手术器械的操作端的分辨率。
机器人手臂2、3中的每个可以包括通过接头而连接的多个构件和手术组件20，手术组件20可以附接有(例如)诸如(例如)图像捕获装置108(诸如内窥镜)的手术器械或根据本文公开的任何实施例的具有末端执行器200的其它手术器械。手术组件20的远端可以被配置为支撑图像捕获装置108和/或具有末端执行器200的其它手术器械，末端执行器200包括但不限于抓紧器、手术吻合器、手术切割器、手术吻合切割器、线性手术吻合器、线性手术吻合切割器、圆形手术吻合器、圆形手术吻合切割器、手术施夹器、手术夹结扎器、手术夹紧装置、血管扩张装置、管腔扩张装置、手术刀、流体输送装置或任何其它类型的手术器械。这些手术器械中的每个可以被配置为通过机器人手臂2、3经由力传递构件进行致动和操纵。力传递构件可以以各种方式配置为诸如(例如)海波管(hypotube)、推杆、轴或栓系件，并且可以传递诸如(例如)轴向(即，推和拉)力、旋转力的各种力和/或各种扭矩。具有作为关节式运动的末端执行器200的相机的图像捕获装置108(诸如内窥镜)可以包括这种力传递构件。这些力传递构件中的一个或多个可以被构造成控制相机的关节式运动。
机器人手臂2、3可以通过连接到控制装置4的电驱动器来驱动。控制装置4(例如，计算机)被设置成尤其借助计算机程序的方式来触发驱动器，从而使机器人手臂2、3及其手术组件20进而使末端执行器200根据借助手动输入装置7、8所定义的移动来执行期望的移动。控制装置4还可以设置成使其调节机器人手臂2、3的移动和/或驱动器的移动。
控制装置4还可以通信地联接到手术系统1的其它部件，包括但不限于手术组件20；显示器6；输入装置7、8；以及联接到机器人手臂2、3的手术器械，诸如图像捕获装置108和具有末端执行器200的器械。控制装置4还可以包括控制器102或被联接到控制器102。控制器102和/或控制装置4可以包括收发器114，收发器114可以被配置为从图像捕获装置108接收静止帧图像或视频，或者从传感器阵列110接收数据。在一些实施例中，收发器114可以包括天线，用于经由无线通信协议来接收静止帧图像、视频或数据。收发器114还可以经由有线连接来接收静止帧图像、视频或数据。该静止帧图像、视频或数据可以被发送到处理器104。处理器104包括图像处理滤波器116，图像处理滤波器116处理所接收的静止帧图像、视频或数据以产生增强图像或视频。处理器104可以包括用于存储正在处理的图像、视频或数据的缓冲器或存储器106。图像处理滤波器116可以利用分立的部件、软件或其组合来实施。增强图像或视频可以被存储和/或发送到显示器6或另一输出设备。
在手术系统1中，至少一个图像捕获装置108可以联接到两个以上机器人手臂2、3中的至少第一机器人手臂。图像捕获装置108可以被配置为在手术操作期间插入到患者体内并且捕获患者体内的感兴趣区域的图像。所捕获的图像可以显示在显示器6上。
另一手术器械具有被配置为在手术操作期间操纵感兴趣区域中的组织的末端执行器200，该手术器械可以联接到两个以上机器人手臂2、3中的至少第二机器人手臂。
控制器102可以被配置为处理从图像装置108所捕获的图像，并将至少一个图像处理滤波器116(例如，在本申请通篇提到的一种或多种不同方式的滤波器116A至116D)应用于捕获的图像，以识别在手术操作期间的感兴趣区域中的对象的不可感知属性。控制器102可以向临床医生输出在手术操作期间所识别的不可感知属性。该不可感知属性可以以不同的方式输出，包括输出到可以向临床医生显示不可感知属性的显示器6，和/或通过触觉的方式输出使得临床医生可以感觉到不可感知属性。当不可感知属性被输出到显示器时，不可感知属性可以被改变或变换成更加清晰可见的信号，该信号可以被覆盖到捕获的图像的对应部分上并且在显示器上显示给临床医生。
可以附接到机器人手臂2、3的每个器械可以配备有工具类型标识符，诸如，快速响应代码、存储在器械的存储器中的标识符、与工具类型相关联的特定电路配置等等。手术系统1可以包括被配置为从附接到机器人手臂2、3的每个器械接收和/或读取工具类型标识符的部件或电路。然后可以使用该信息来选择可以被应用于所捕获的图像的特定的图像处理滤波器116。
工具类型标识符信息可以用于识别利用图像捕获装置108的视场定位的、附接到机器人手臂2、3的手术器械。例如，如果快速响应代码或其它工具类型标识符位于手术器械的、出现在图像装置108的视场内的末端执行器200、轴或其它部件上，则可以分析所捕获的图像数据以根据从图像捕获数据识别出的快速响应代码或其它标识符来识别该手术器械。
在其它情况下，进入图像捕获装置108的视场的手术器械可基于对关于图像捕获装置108(和/或附接有图像装置108的机器人手臂2)与附接到其它机器人手臂3中的一个机器人手臂的器械(和/或附接有该器械的机器人手臂3)的位置信息的比较来识别。可以从每个器械中的或者机器人手臂2、3中的一个或多个位置传感器来获取位置信息。可以采用变换来将来自不同机器人手臂2、3的不同坐标系中的绝对位置信息进行转换，从而可以获取一个机器人手臂2上的图像捕获装置108相对于附接到另一个机器人手臂3的手术器械的相对位置。该相对位置信息可以用于识别附接到另一个机器人手臂3的手术器械是否在图像捕获装置108的视场内。
在其它情况下，一个或多个相机可以用于捕获一个或多个机器人手臂2、3的图像。可以分析来自这些相机的图像数据以识别每个机器人手臂2、3的位置。可以分析该位置信息以判定附接有手术器械的机器人手臂3是否位于图像捕获装置108的视场内。也可以采用用于判定附接有手术器械的机器人手臂3是否位于图像捕获装置108的视场内的其它系统和方法。
如果位置信息和/或工具类型标识符指示特定的手术器械处于图像捕获装置108的视场内，则可以自动地选择对应于特定的手术器械的一个或多个图像处理滤波器116。例如，如果电烙式手术器械被识别为处于图像捕获装置108的视场内，则可以自动地选择示出血管密封的有效性的图像处理滤波器116。如果电烙式器械然后被移出视场并且诸如手术刀的切割器械被移入到视场中，则可以作为替代而自动地选择示出大动脉的位置的不同的图像处理滤波器116。
可以根据要执行的任务来自动地选择不同的图像处理滤波器116。例如，如果切割工具处于视场中，并且正以超过预定阈值的速率移动、和/或输入装置7、8的缩放因子(scaling factor)被改变使得手术器械移动得较快，则可以自动地选择示出大动脉的位置的图像处理滤波器116。然而，如果切割工具以较慢的速率移动和/或被触发以有条不紊地切割和/或移除组织，则可以作为替代而采用示出异常组织的图像处理滤波器116。相同的分析可以应用于电烙式工具：如果该工具在预定时段内没有被激活和/或正以超过预定阈值的速率移动，则可以自动地选择示出大动脉的位置的图像处理滤波器116。然而，如果电烙式工具正以较慢的速率移动和/或在预定时段内被激活以有条不紊地切割和/或移除组织，则可以作为替代而采用示出血管密封的有效性或其它期望属性的图像处理滤波器116。
输入装置7、8可以包括触觉件216以向临床医生提供与不可感知属性相关的反馈。例如，可以产生表示组织参数或状况(例如，由于操纵、切割或其它处理而引起的组织阻力、器械对组织的压力、组织温度、组织阻抗等)的输出信号并将其传输到输入装置7、8以向临床医生提供基于不可感知属性而变化的触觉反馈。触觉件216可以向临床医生提供关于可以提高患者安全性的对象的不可感知属性的加强触觉反馈。例如，触觉件216可以经实施以在通过输入装置7、8移动的手术器械进入大动脉或其他脆弱组织的预定距离内时向临床医生提供反馈，以防止对动脉和/脆弱的组织的可能的损伤。触觉件216可以包括振动电机、电活性聚合物、压电装置、静电装置、亚音速声波表面致动装置、反向电振动装置、或能够向用户提供触反馈的任何其它装置。输入装置7、8还可以包括用于脆弱组织操纵或处理的各种不同的致动器，进一步加强临床医生模拟实际操作状况的能力。
本文公开的实施例是本公开的示例，并且可以以各种形式实施。本文公开的具体结构的和功能的细节不应被解释为一种限制，而是作为权利要求的基础并且作为教导本领域技术人员以实际上任何适当地细化结构来以各种方式采用本公开的代表性基础。贯穿附图的描述，相同的附图标记可以指相似或相同的元件。
短语“在实施例中”、“在各实施例中”、“在一些实施例中”或“在其它实施例中”各自可以指代根据本公开的相同或不同实施例中的一个或多个。“A或B”形式的短语表示“(A)、(B)或(A和B)”。“A、B或C中的至少一个”形式的短语表示“(A)、(B)、(C)、(A和B)、(A和C)、(B和C)或者(A、B和C)”。临床医生可以指临床医生或诸如医生、护士、技术人员、医疗助理等执行医疗程序的任何医学专业人员。
本文描述的系统还可以利用一个或多个控制器来接收各种信息并且变换所接收的信息以产生输出。所述控制器可以包括任何类型的计算设备、计算电路或能够执行存储在存储器中的一系列指令的任何类型的处理器或处理电路。所述控制器可以包括多个处理器和/或多核中央处理单元(CPU)，并且可以包括任何类型的处理器，诸如微处理器、数字信号处理器、微控制器等。所述控制器还可以包括用于存储数据和/或算法以执行一系列指令的存储器。
本文描述的方法、程序、算法或代码中的任一种可以被转换或表示成编程语言或计算机程序。“编程语言”和“计算机程序”包括用于向计算机指定指令的任何语言，并且包括(但不限于)这些语言及其派生：汇编语言、Basic、批处理文件、BCPL、C、C+、C++、Delphi、Fortran、Java、JavaScript、机器代码、操作系统命令语言、Pascal、Perl、PL1、脚本语言、Visual Basic、自身指定程序的元语言以及所有的第一代、第二代、第三代、第四代和第五代计算机语言。还包括数据库和其它数据模式、以及任何其它元语言。对解释的语言、编译的语言或采用编译和解释两者方法的语言不作区分。在程序的编译版本和源版本之间也不作区分。因而，对编程语言可以以多于一种状态(诸如源的、编译的、对象的或链接的)存在的程序的引用是对任何所有这种状态的引用。对程序的引用可以包括实际指令和/或这些指令的意图。
本文描述的方法、程序、算法或代码中的任一种可以包含在一个或多个机器可读介质或存储器上。术语“存储器”可以包括以机器(诸如处理器、计算机或数字处理设备)可读的形式提供(例如，存储和/或传输)信息的机制。例如，存储器可以包括只读存储器(ROM)、随机存取存储器(RAM)、磁盘存储介质、光存储介质、闪存设备或任何其它易失性或非易失性存储器存储设备。其上所包含的代码或指令可以由载波信号、红外信号、数字信号和其它类似方式的信号表示。
应当理解，前面的描述仅仅是对本公开的说明。本领域技术人员可以不偏离本公开来设计各种替代例和变形例。例如，本文所述的任何增强图像可以组合成单个增强图像以显示给临床医生。相应地，本公开旨在涵盖所有这样的替代例、变形例和变化例。参照附图所描述的实施例仅用于示范本公开的某些示例。与上述和/或所附权利要求中所述的大致无异的其它元件、步骤、方法和技术也旨在处于本公开的范围内。

Claims (20)

1.一种用于在手术操作期间观察感兴趣区域的增强图像的增强现实手术系统，所述系统包括：
图像捕获装置，其被配置为插入到患者体内并且在所述手术操作期间捕获所述患者体内的所述感兴趣区域的图像；
控制器，其被配置为接收所述图像并且对所述图像应用至少一个图像处理滤波器以产生所述增强图像，所述图像处理滤波器包括：
空间分解滤波器，其被配置为将所述图像分解成多个空间频带；
时间滤波器，其被配置为应用于所述多个空间频带以产生多个时间滤波带；
相加器，其被配置为将所述多个空间频带中的每个带与所述多个时间滤波带中的对应带相加以产生多个增强带；和
重构滤波器，其被配置为通过合并所述多个增强带来产生所述增强图像；和
显示器，其被配置为在所述手术操作期间向用户显示所述增强图像。
2.根据权利要求1所述的增强现实手术系统，其中所述图像捕获装置捕获具有多个图像帧的视频，并且所述控制器将所述至少一个图像处理滤波器应用于所述多个图像帧中的每个图像帧。
3.根据权利要求1所述的增强现实手术系统，其中，所述时间滤波器包括带通滤波器。
4.根据权利要求3所述的增强现实手术系统，其中，所述带通滤波器的带通频率由临床医生设置。
5.根据权利要求1所述的增强现实手术系统，其中，所述时间滤波器从所述多个空间频带隔离至少一个空间频带以产生所述多个时间滤波带。
6.根据权利要求1所述的增强现实手术系统，其中，在所述多个空间频带中的每个带与所述多个时间滤波带中的所述对应带相加以产生所述多个增强带之前，所述多个时间滤波带通过放大器放大。
7.根据权利要求1所述的增强现实手术系统，其中所述图像处理滤波器使用被配置为高亮所述图像中的一个或多个边缘的边缘检测算法，
其中一个或多个高亮的边缘被添加到所述增强图像。
8.根据权利要求1所述的增强现实手术系统，还包括被配置为获取多个高光谱图像的至少一个高光谱传感器，
其中所述图像处理滤波器使用高光谱算法来组合所述多个光谱图像以产生三维高光谱图像立方体，所述三维高光谱图像立方体添加到所述增强图像。
9.根据权利要求1所述的增强现实手术系统，还包括红外相机，所述红外相机被配置为捕获至少一个图像，
其中所述图像处理滤波器从所捕获的图像产生红外图像，所述红外图像被添加到所述增强图像。
10.一种用于在手术操作期间产生感兴趣区域的增强图像的方法，所述方法包括：
使用图像捕获装置捕获所述感兴趣区域的至少一个图像；
分解所述至少一个图像以产生多个空间频带；
将时间滤波器应用于所述多个空间频带以产生多个时间滤波带；
将所述多个空间频带中的每个带与所述多个时间滤波带中的对应带相加，以产生多个增强带；
合并所述多个增强带以产生所述增强图像；并且
在显示器上显示所述增强图像。
11.根据权利要求10所述的方法，还包括从所述多个空间频带隔离至少一个空间频带。
12.根据权利要求11所述的方法，还包括在将所述多个空间频带中的每个带与所述多个时间滤波带中的对应带相加以产生多个增强带之前，放大所述时间滤波带。
13.根据权利要求10所述的方法，还包括：
应用被配置为高亮所述图像中的一个或多个边缘的边缘检测算法；并且
将一个或多个高亮的边缘添加到所述增强图像。
14.根据权利要求10所述的方法，还包括：
获取多个高光谱图像；
组合所述多个高光谱图像以产生三维高光谱图像立方体；并且
将所述三维高光谱图像立方体添加到所述增强图像。
15.根据权利要求10所述的方法，还包括：
获取红外图像；并且
将所述红外图像添加到所述增强图像。
16.一种存储指令的非暂时性计算机可读介质，所述指令在由处理设备执行时使所述处理设备：
分解包括对象的不可感知属性的图像数据；
从所分解的图像数据产生多个空间频带；
对所述多个空间频带时间滤波；
产生多个时间滤波带；
将每个所述空间频带与所述时间滤波带的对应带相加；
合并相加后的带；
从相加后的带的合并产生具有所述不可感知属性的提高的可感知性的增强图像；并且
输出所述增强图像。
17.根据权利要求16所述的非暂时性计算机可读介质，还包括附加的存储指令，所述附加的存储指令在由处理设备执行时使所述处理设备从所述多个空间频带隔离包含关于所述不可感知属性的信息的至少一个空间频带。
18.根据权利要求17所述的非暂时性计算机可读介质，还包括附加的存储指令，所述附加的存储指令在由处理设备执行时使所述处理设备在将所述多个空间频带中的每个带与所述多个时间滤波带中的对应带相加之前放大所述时间滤波带。
19.根据权利要求16所述的非暂时性计算机可读介质，还包括附加的存储的指令，所述附加的存储指令在由处理设备执行时使所述处理设备：
应用被配置为高亮所述图像数据中的一个或多个边缘的边缘检测算法，所述一个或多个边缘是所述不可感知属性；并且
将所述一个或多个高亮的边缘添加到所述增强图像。
20.根据权利要求16所述的非暂时性计算机可读介质，还包括附加的存储的指令，所述指令在由处理设备执行时使所述处理设备：
获取多个高光谱图像；
组合所述多个高光谱图像以产生三维高光谱图像立方体；并且
将所述三维高光谱图像立方体添加到所述增强图像。
CN201580041506.XA 2014-07-25 2015-07-20 增强手术现实环境 Expired - Fee Related CN106663318B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110143463.3A CN112862775A (zh) 2014-07-25 2015-07-20 增强手术现实环境

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462028974P 2014-07-25 2014-07-25
US62/028,974 2014-07-25
PCT/US2015/041083 WO2016014384A2 (en) 2014-07-25 2015-07-20 Augmented surgical reality environment

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202110143463.3A Division CN112862775A (zh) 2014-07-25 2015-07-20 增强手术现实环境

Publications (2)

Publication Number Publication Date
CN106663318A true CN106663318A (zh) 2017-05-10
CN106663318B CN106663318B (zh) 2021-03-16

Family

ID=55163939

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201580041506.XA Expired - Fee Related CN106663318B (zh) 2014-07-25 2015-07-20 增强手术现实环境
CN202110143463.3A Pending CN112862775A (zh) 2014-07-25 2015-07-20 增强手术现实环境

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202110143463.3A Pending CN112862775A (zh) 2014-07-25 2015-07-20 增强手术现实环境

Country Status (4)

Country Link
US (4) US10152789B2 (zh)
EP (1) EP3179948B1 (zh)
CN (2) CN106663318B (zh)
WO (1) WO2016014384A2 (zh)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108135456A (zh) * 2015-10-22 2018-06-08 柯惠Lp公司 用于放大手术环境中所关注区域中的改变的系统和方法
CN110730295A (zh) * 2019-11-29 2020-01-24 维沃移动通信有限公司 摄像模组、电子设备、拍摄控制方法及装置
CN110996831A (zh) * 2017-08-16 2020-04-10 柯惠有限合伙公司 用于增强手术图像和/或视频的系统和方法
CN111050683A (zh) * 2017-09-06 2020-04-21 威里利生命科学有限责任公司 外科手术识别系统
CN112804958A (zh) * 2018-10-03 2021-05-14 Cmr外科有限公司 指示器系统

Families Citing this family (484)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9060770B2 (en) 2003-05-20 2015-06-23 Ethicon Endo-Surgery, Inc. Robotically-driven surgical instrument with E-beam driver
US20070084897A1 (en) 2003-05-20 2007-04-19 Shelton Frederick E Iv Articulating surgical stapling instrument incorporating a two-piece e-beam firing mechanism
US9072535B2 (en) 2011-05-27 2015-07-07 Ethicon Endo-Surgery, Inc. Surgical stapling instruments with rotatable staple deployment arrangements
US11896225B2 (en) 2004-07-28 2024-02-13 Cilag Gmbh International Staple cartridge comprising a pan
US8215531B2 (en) 2004-07-28 2012-07-10 Ethicon Endo-Surgery, Inc. Surgical stapling instrument having a medical substance dispenser
US11998198B2 (en) 2004-07-28 2024-06-04 Cilag Gmbh International Surgical stapling instrument incorporating a two-piece E-beam firing mechanism
US9237891B2 (en) 2005-08-31 2016-01-19 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical stapling devices that produce formed staples having different lengths
US7669746B2 (en) 2005-08-31 2010-03-02 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US11484312B2 (en) 2005-08-31 2022-11-01 Cilag Gmbh International Staple cartridge comprising a staple driver arrangement
US8991676B2 (en) 2007-03-15 2015-03-31 Ethicon Endo-Surgery, Inc. Surgical staple having a slidable crown
US10159482B2 (en) 2005-08-31 2018-12-25 Ethicon Llc Fastener cartridge assembly comprising a fixed anvil and different staple heights
US11246590B2 (en) 2005-08-31 2022-02-15 Cilag Gmbh International Staple cartridge including staple drivers having different unfired heights
US7934630B2 (en) 2005-08-31 2011-05-03 Ethicon Endo-Surgery, Inc. Staple cartridges for forming staples having differing formed staple heights
US20070106317A1 (en) 2005-11-09 2007-05-10 Shelton Frederick E Iv Hydraulically and electrically actuated articulation joints for surgical instruments
US7845537B2 (en) 2006-01-31 2010-12-07 Ethicon Endo-Surgery, Inc. Surgical instrument having recording capabilities
US8708213B2 (en) 2006-01-31 2014-04-29 Ethicon Endo-Surgery, Inc. Surgical instrument having a feedback system
US20120292367A1 (en) 2006-01-31 2012-11-22 Ethicon Endo-Surgery, Inc. Robotically-controlled end effector
US8186555B2 (en) 2006-01-31 2012-05-29 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting and fastening instrument with mechanical closure system
US11278279B2 (en) 2006-01-31 2022-03-22 Cilag Gmbh International Surgical instrument assembly
US8820603B2 (en) 2006-01-31 2014-09-02 Ethicon Endo-Surgery, Inc. Accessing data stored in a memory of a surgical instrument
US20110290856A1 (en) 2006-01-31 2011-12-01 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical instrument with force-feedback capabilities
US11793518B2 (en) 2006-01-31 2023-10-24 Cilag Gmbh International Powered surgical instruments with firing system lockout arrangements
US11224427B2 (en) 2006-01-31 2022-01-18 Cilag Gmbh International Surgical stapling system including a console and retraction assembly
US7753904B2 (en) 2006-01-31 2010-07-13 Ethicon Endo-Surgery, Inc. Endoscopic surgical instrument with a handle that can articulate with respect to the shaft
US8992422B2 (en) 2006-03-23 2015-03-31 Ethicon Endo-Surgery, Inc. Robotically-controlled endoscopic accessory channel
US8322455B2 (en) 2006-06-27 2012-12-04 Ethicon Endo-Surgery, Inc. Manually driven surgical cutting and fastening instrument
US10568652B2 (en) 2006-09-29 2020-02-25 Ethicon Llc Surgical staples having attached drivers of different heights and stapling instruments for deploying the same
US11980366B2 (en) 2006-10-03 2024-05-14 Cilag Gmbh International Surgical instrument
US8684253B2 (en) 2007-01-10 2014-04-01 Ethicon Endo-Surgery, Inc. Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor
US11291441B2 (en) 2007-01-10 2022-04-05 Cilag Gmbh International Surgical instrument with wireless communication between control unit and remote sensor
US8632535B2 (en) 2007-01-10 2014-01-21 Ethicon Endo-Surgery, Inc. Interlock and surgical instrument including same
US8540128B2 (en) 2007-01-11 2013-09-24 Ethicon Endo-Surgery, Inc. Surgical stapling device with a curved end effector
US11039836B2 (en) 2007-01-11 2021-06-22 Cilag Gmbh International Staple cartridge for use with a surgical stapling instrument
US11857181B2 (en) 2007-06-04 2024-01-02 Cilag Gmbh International Robotically-controlled shaft based rotary drive systems for surgical instruments
US8931682B2 (en) 2007-06-04 2015-01-13 Ethicon Endo-Surgery, Inc. Robotically-controlled shaft based rotary drive systems for surgical instruments
US7753245B2 (en) 2007-06-22 2010-07-13 Ethicon Endo-Surgery, Inc. Surgical stapling instruments
US11849941B2 (en) 2007-06-29 2023-12-26 Cilag Gmbh International Staple cartridge having staple cavities extending at a transverse angle relative to a longitudinal cartridge axis
US7866527B2 (en) 2008-02-14 2011-01-11 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with interlockable firing system
US7819298B2 (en) 2008-02-14 2010-10-26 Ethicon Endo-Surgery, Inc. Surgical stapling apparatus with control features operable with one hand
US8573465B2 (en) 2008-02-14 2013-11-05 Ethicon Endo-Surgery, Inc. Robotically-controlled surgical end effector system with rotary actuated closure systems
US9179912B2 (en) 2008-02-14 2015-11-10 Ethicon Endo-Surgery, Inc. Robotically-controlled motorized surgical cutting and fastening instrument
US11986183B2 (en) 2008-02-14 2024-05-21 Cilag Gmbh International Surgical cutting and fastening instrument comprising a plurality of sensors to measure an electrical parameter
US8636736B2 (en) 2008-02-14 2014-01-28 Ethicon Endo-Surgery, Inc. Motorized surgical cutting and fastening instrument
RU2493788C2 (ru) 2008-02-14 2013-09-27 Этикон Эндо-Серджери, Инк. Хирургический режущий и крепежный инструмент, имеющий радиочастотные электроды
US20130153641A1 (en) 2008-02-15 2013-06-20 Ethicon Endo-Surgery, Inc. Releasable layer of material and surgical end effector having the same
US8210411B2 (en) 2008-09-23 2012-07-03 Ethicon Endo-Surgery, Inc. Motor-driven surgical cutting instrument
US9386983B2 (en) 2008-09-23 2016-07-12 Ethicon Endo-Surgery, Llc Robotically-controlled motorized surgical instrument
US9005230B2 (en) 2008-09-23 2015-04-14 Ethicon Endo-Surgery, Inc. Motorized surgical instrument
US11648005B2 (en) 2008-09-23 2023-05-16 Cilag Gmbh International Robotically-controlled motorized surgical instrument with an end effector
US8608045B2 (en) 2008-10-10 2013-12-17 Ethicon Endo-Sugery, Inc. Powered surgical cutting and stapling apparatus with manually retractable firing system
US8517239B2 (en) 2009-02-05 2013-08-27 Ethicon Endo-Surgery, Inc. Surgical stapling instrument comprising a magnetic element driver
RU2525225C2 (ru) 2009-02-06 2014-08-10 Этикон Эндо-Серджери, Инк. Усовершенствование приводного хирургического сшивающего инструмента
US10433917B2 (en) * 2009-05-29 2019-10-08 Jack Wade System and method for enhanced data analysis with video enabled software tools for medical environments
US8851354B2 (en) 2009-12-24 2014-10-07 Ethicon Endo-Surgery, Inc. Surgical cutting instrument that analyzes tissue thickness
US8783543B2 (en) 2010-07-30 2014-07-22 Ethicon Endo-Surgery, Inc. Tissue acquisition arrangements and methods for surgical stapling devices
US9629814B2 (en) 2010-09-30 2017-04-25 Ethicon Endo-Surgery, Llc Tissue thickness compensator configured to redistribute compressive forces
US10945731B2 (en) 2010-09-30 2021-03-16 Ethicon Llc Tissue thickness compensator comprising controlled release and expansion
US9282962B2 (en) 2010-09-30 2016-03-15 Ethicon Endo-Surgery, Llc Adhesive film laminate
US9241714B2 (en) 2011-04-29 2016-01-26 Ethicon Endo-Surgery, Inc. Tissue thickness compensator and method for making the same
US11298125B2 (en) 2010-09-30 2022-04-12 Cilag Gmbh International Tissue stapler having a thickness compensator
US11925354B2 (en) 2010-09-30 2024-03-12 Cilag Gmbh International Staple cartridge comprising staples positioned within a compressible portion thereof
US11812965B2 (en) 2010-09-30 2023-11-14 Cilag Gmbh International Layer of material for a surgical end effector
US9320523B2 (en) 2012-03-28 2016-04-26 Ethicon Endo-Surgery, Llc Tissue thickness compensator comprising tissue ingrowth features
US8777004B2 (en) 2010-09-30 2014-07-15 Ethicon Endo-Surgery, Inc. Compressible staple cartridge comprising alignment members
US8695866B2 (en) 2010-10-01 2014-04-15 Ethicon Endo-Surgery, Inc. Surgical instrument having a power control circuit
JP6026509B2 (ja) 2011-04-29 2016-11-16 エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ． ステープルカートリッジ自体の圧縮可能部分内に配置されたステープルを含むステープルカートリッジ
US11207064B2 (en) 2011-05-27 2021-12-28 Cilag Gmbh International Automated end effector component reloading system for use with a robotic system
CN104321024B (zh) 2012-03-28 2017-05-24 伊西康内外科公司 包括多个层的组织厚度补偿件
JP6105041B2 (ja) 2012-03-28 2017-03-29 エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ． 低圧環境を画定するカプセルを含む組織厚コンペンセーター
MX353040B (es) 2012-03-28 2017-12-18 Ethicon Endo Surgery Inc Unidad retenedora que incluye un compensador de grosor de tejido.
US11871901B2 (en) 2012-05-20 2024-01-16 Cilag Gmbh International Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage
US9101358B2 (en) 2012-06-15 2015-08-11 Ethicon Endo-Surgery, Inc. Articulatable surgical instrument comprising a firing drive
US11202631B2 (en) 2012-06-28 2021-12-21 Cilag Gmbh International Stapling assembly comprising a firing lockout
US9289256B2 (en) 2012-06-28 2016-03-22 Ethicon Endo-Surgery, Llc Surgical end effectors having angled tissue-contacting surfaces
BR112014032776B1 (pt) 2012-06-28 2021-09-08 Ethicon Endo-Surgery, Inc Sistema de instrumento cirúrgico e kit cirúrgico para uso com um sistema de instrumento cirúrgico
US20140005678A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Rotary drive arrangements for surgical instruments
US9649111B2 (en) 2012-06-28 2017-05-16 Ethicon Endo-Surgery, Llc Replaceable clip cartridge for a clip applier
BR112014032740A2 (pt) 2012-06-28 2020-02-27 Ethicon Endo Surgery Inc bloqueio de cartucho de clipes vazio
US20140001231A1 (en) 2012-06-28 2014-01-02 Ethicon Endo-Surgery, Inc. Firing system lockout arrangements for surgical instruments
GB201317746D0 (en) 2013-10-08 2013-11-20 Smith & Nephew PH indicator
JP6345707B2 (ja) 2013-03-01 2018-06-20 エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ． ソフトストップを備えた外科用器具
JP6382235B2 (ja) 2013-03-01 2018-08-29 エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ． 信号通信用の導電路を備えた関節運動可能な外科用器具
US9629629B2 (en) 2013-03-14 2017-04-25 Ethicon Endo-Surgey, LLC Control systems for surgical instruments
BR112015026109B1 (pt) 2013-04-16 2022-02-22 Ethicon Endo-Surgery, Inc Instrumento cirúrgico
US9814460B2 (en) 2013-04-16 2017-11-14 Ethicon Llc Modular motor driven surgical instruments with status indication arrangements
MX369362B (es) 2013-08-23 2019-11-06 Ethicon Endo Surgery Llc Dispositivos de retraccion de miembros de disparo para instrumentos quirurgicos electricos.
US9987006B2 (en) 2013-08-23 2018-06-05 Ethicon Llc Shroud retention arrangement for sterilizable surgical instruments
BR112016007072A2 (pt) * 2013-10-01 2017-08-01 Agfa Healthcare método para a redução de ruido em uma sequência de imagens
BR112016021943B1 (pt) 2014-03-26 2022-06-14 Ethicon Endo-Surgery, Llc Instrumento cirúrgico para uso por um operador em um procedimento cirúrgico
US9826977B2 (en) 2014-03-26 2017-11-28 Ethicon Llc Sterilization verification circuit
CN106456158B (zh) 2014-04-16 2019-02-05 伊西康内外科有限责任公司 包括非一致紧固件的紧固件仓
US20150297222A1 (en) 2014-04-16 2015-10-22 Ethicon Endo-Surgery, Inc. Fastener cartridges including extensions having different configurations
BR112016023807B1 (pt) 2014-04-16 2022-07-12 Ethicon Endo-Surgery, Llc Conjunto de cartucho de prendedores para uso com um instrumento cirúrgico
US10206677B2 (en) 2014-09-26 2019-02-19 Ethicon Llc Surgical staple and driver arrangements for staple cartridges
CN106456176B (zh) 2014-04-16 2019-06-28 伊西康内外科有限责任公司 包括具有不同构型的延伸部的紧固件仓
US10251714B2 (en) 2014-07-25 2019-04-09 Covidien Lp Augmented surgical reality environment for a robotic surgical system
WO2016014384A2 (en) * 2014-07-25 2016-01-28 Covidien Lp Augmented surgical reality environment
US11311294B2 (en) 2014-09-05 2022-04-26 Cilag Gmbh International Powered medical device including measurement of closure state of jaws
BR112017004361B1 (pt) 2014-09-05 2023-04-11 Ethicon Llc Sistema eletrônico para um instrumento cirúrgico
US10016199B2 (en) 2014-09-05 2018-07-10 Ethicon Llc Polarity of hall magnet to identify cartridge type
US11523821B2 (en) 2014-09-26 2022-12-13 Cilag Gmbh International Method for creating a flexible staple line
CN107427300B (zh) 2014-09-26 2020-12-04 伊西康有限责任公司 外科缝合支撑物和辅助材料
US9924944B2 (en) 2014-10-16 2018-03-27 Ethicon Llc Staple cartridge comprising an adjunct material
US11141153B2 (en) 2014-10-29 2021-10-12 Cilag Gmbh International Staple cartridges comprising driver arrangements
US10517594B2 (en) 2014-10-29 2019-12-31 Ethicon Llc Cartridge assemblies for surgical staplers
US11504192B2 (en) 2014-10-30 2022-11-22 Cilag Gmbh International Method of hub communication with surgical instrument systems
US9844376B2 (en) 2014-11-06 2017-12-19 Ethicon Llc Staple cartridge comprising a releasable adjunct material
US10736636B2 (en) 2014-12-10 2020-08-11 Ethicon Llc Articulatable surgical instrument system
US9943309B2 (en) 2014-12-18 2018-04-17 Ethicon Llc Surgical instruments with articulatable end effectors and movable firing beam support arrangements
US9844374B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Surgical instrument systems comprising an articulatable end effector and means for adjusting the firing stroke of a firing member
US9844375B2 (en) 2014-12-18 2017-12-19 Ethicon Llc Drive arrangements for articulatable surgical instruments
US9987000B2 (en) 2014-12-18 2018-06-05 Ethicon Llc Surgical instrument assembly comprising a flexible articulation system
US10085748B2 (en) 2014-12-18 2018-10-02 Ethicon Llc Locking arrangements for detachable shaft assemblies with articulatable surgical end effectors
RU2703684C2 (ru) 2014-12-18 2019-10-21 ЭТИКОН ЭНДО-СЕРДЖЕРИ, ЭлЭлСи Хирургический инструмент с упором, который выполнен с возможностью избирательного перемещения относительно кассеты со скобами вокруг дискретной неподвижной оси
US10013808B2 (en) 2015-02-03 2018-07-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
US11154301B2 (en) 2015-02-27 2021-10-26 Cilag Gmbh International Modular stapling assembly
US10245033B2 (en) 2015-03-06 2019-04-02 Ethicon Llc Surgical instrument comprising a lockable battery housing
US9993248B2 (en) 2015-03-06 2018-06-12 Ethicon Endo-Surgery, Llc Smart sensors with local signal processing
US10441279B2 (en) 2015-03-06 2019-10-15 Ethicon Llc Multiple level thresholds to modify operation of powered surgical instruments
US10052044B2 (en) 2015-03-06 2018-08-21 Ethicon Llc Time dependent evaluation of sensor data to determine stability, creep, and viscoelastic elements of measures
JP2020121162A (ja) 2015-03-06 2020-08-13 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 測定の安定性要素、クリープ要素、及び粘弾性要素を決定するためのセンサデータの時間依存性評価
US10390825B2 (en) 2015-03-31 2019-08-27 Ethicon Llc Surgical instrument with progressive rotary drive systems
WO2017037705A1 (en) * 2015-08-30 2017-03-09 M.S.T. Medical Surgery Technologies Ltd An intelligent surgical tool control system for laparoscopic surgeries
US10238386B2 (en) 2015-09-23 2019-03-26 Ethicon Llc Surgical stapler having motor control based on an electrical parameter related to a motor current
US10105139B2 (en) 2015-09-23 2018-10-23 Ethicon Llc Surgical stapler having downstream current-based motor control
US10299878B2 (en) 2015-09-25 2019-05-28 Ethicon Llc Implantable adjunct systems for determining adjunct skew
US10524788B2 (en) 2015-09-30 2020-01-07 Ethicon Llc Compressible adjunct with attachment regions
US11890015B2 (en) 2015-09-30 2024-02-06 Cilag Gmbh International Compressible adjunct with crossing spacer fibers
US10285699B2 (en) 2015-09-30 2019-05-14 Ethicon Llc Compressible adjunct
US10368865B2 (en) 2015-12-30 2019-08-06 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10265068B2 (en) 2015-12-30 2019-04-23 Ethicon Llc Surgical instruments with separable motors and motor control circuits
US10292704B2 (en) 2015-12-30 2019-05-21 Ethicon Llc Mechanisms for compensating for battery pack failure in powered surgical instruments
WO2017120288A1 (en) * 2016-01-05 2017-07-13 Nexsys Electronics, Inc. Optical head-mounted display with augmented reality for medical monitoring, diagnosis and treatment
US11213293B2 (en) 2016-02-09 2022-01-04 Cilag Gmbh International Articulatable surgical instruments with single articulation link arrangements
JP6911054B2 (ja) 2016-02-09 2021-07-28 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 非対称の関節構成を備えた外科用器具
US11224426B2 (en) 2016-02-12 2022-01-18 Cilag Gmbh International Mechanisms for compensating for drivetrain failure in powered surgical instruments
US10448948B2 (en) 2016-02-12 2019-10-22 Ethicon Llc Mechanisms for compensating for drivetrain failure in powered surgical instruments
AU2017236893A1 (en) 2016-03-21 2018-09-06 Washington University Virtual reality or augmented reality visualization of 3D medical images
US11132769B2 (en) * 2016-03-23 2021-09-28 Koninklijke Philips N.V. Image quality by two pass temporal noise reduction
US10492783B2 (en) 2016-04-15 2019-12-03 Ethicon, Llc Surgical instrument with improved stop/start control during a firing motion
US10828028B2 (en) 2016-04-15 2020-11-10 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US11179150B2 (en) 2016-04-15 2021-11-23 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10426467B2 (en) 2016-04-15 2019-10-01 Ethicon Llc Surgical instrument with detection sensors
US10456137B2 (en) 2016-04-15 2019-10-29 Ethicon Llc Staple formation detection mechanisms
US10335145B2 (en) 2016-04-15 2019-07-02 Ethicon Llc Modular surgical instrument with configurable operating mode
US11607239B2 (en) 2016-04-15 2023-03-21 Cilag Gmbh International Systems and methods for controlling a surgical stapling and cutting instrument
US10357247B2 (en) 2016-04-15 2019-07-23 Ethicon Llc Surgical instrument with multiple program responses during a firing motion
US11317917B2 (en) 2016-04-18 2022-05-03 Cilag Gmbh International Surgical stapling system comprising a lockable firing assembly
US20170296173A1 (en) 2016-04-18 2017-10-19 Ethicon Endo-Surgery, Llc Method for operating a surgical instrument
US10426469B2 (en) 2016-04-18 2019-10-01 Ethicon Llc Surgical instrument comprising a primary firing lockout and a secondary firing lockout
WO2017195038A1 (en) 2016-05-13 2017-11-16 Smith & Nephew Plc Sensor enabled wound monitoring and therapy apparatus
US10588630B2 (en) 2016-12-21 2020-03-17 Ethicon Llc Surgical tool assemblies with closure stroke reduction features
CN110114014B (zh) 2016-12-21 2022-08-09 爱惜康有限责任公司 包括端部执行器闭锁件和击发组件闭锁件的外科器械系统
JP2020501779A (ja) 2016-12-21 2020-01-23 エシコン エルエルシーＥｔｈｉｃｏｎ ＬＬＣ 外科用ステープル留めシステム
US10617414B2 (en) 2016-12-21 2020-04-14 Ethicon Llc Closure member arrangements for surgical instruments
JP7010956B2 (ja) 2016-12-21 2022-01-26 エシコン エルエルシー 組織をステープル留めする方法
US11090048B2 (en) 2016-12-21 2021-08-17 Cilag Gmbh International Method for resetting a fuse of a surgical instrument shaft
US10639035B2 (en) 2016-12-21 2020-05-05 Ethicon Llc Surgical stapling instruments and replaceable tool assemblies thereof
US20180168615A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Method of deforming staples from two different types of staple cartridges with the same surgical stapling instrument
US11134942B2 (en) 2016-12-21 2021-10-05 Cilag Gmbh International Surgical stapling instruments and staple-forming anvils
US10835245B2 (en) 2016-12-21 2020-11-17 Ethicon Llc Method for attaching a shaft assembly to a surgical instrument and, alternatively, to a surgical robot
CN110099619B (zh) 2016-12-21 2022-07-15 爱惜康有限责任公司 用于外科端部执行器和可替换工具组件的闭锁装置
US11419606B2 (en) 2016-12-21 2022-08-23 Cilag Gmbh International Shaft assembly comprising a clutch configured to adapt the output of a rotary firing member to two different systems
US20180168577A1 (en) 2016-12-21 2018-06-21 Ethicon Endo-Surgery, Llc Axially movable closure system arrangements for applying closure motions to jaws of surgical instruments
US10758230B2 (en) 2016-12-21 2020-09-01 Ethicon Llc Surgical instrument with primary and safety processors
CN106686279A (zh) * 2016-12-28 2017-05-17 天津众阳科技有限公司 基于欧拉视频放大的准实时颜色变化放大系统和方法
US10499997B2 (en) 2017-01-03 2019-12-10 Mako Surgical Corp. Systems and methods for surgical navigation
US11324424B2 (en) 2017-03-09 2022-05-10 Smith & Nephew Plc Apparatus and method for imaging blood in a target region of tissue
WO2018162736A1 (en) 2017-03-09 2018-09-13 Smith & Nephew Plc Wound dressing, patch member and method of sensing one or more wound parameters
SG11201909449TA (en) 2017-04-11 2019-11-28 Smith & Nephew Component positioning and stress relief for sensor enabled wound dressings
EP3635732A1 (en) * 2017-05-15 2020-04-15 Smith & Nephew plc Wound analysis device and method
US11653914B2 (en) 2017-06-20 2023-05-23 Cilag Gmbh International Systems and methods for controlling motor velocity of a surgical stapling and cutting instrument according to articulation angle of end effector
US11071554B2 (en) 2017-06-20 2021-07-27 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on magnitude of velocity error measurements
US11090046B2 (en) 2017-06-20 2021-08-17 Cilag Gmbh International Systems and methods for controlling displacement member motion of a surgical stapling and cutting instrument
US10779820B2 (en) 2017-06-20 2020-09-22 Ethicon Llc Systems and methods for controlling motor speed according to user input for a surgical instrument
US11517325B2 (en) 2017-06-20 2022-12-06 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured displacement distance traveled over a specified time interval
US11382638B2 (en) 2017-06-20 2022-07-12 Cilag Gmbh International Closed loop feedback control of motor velocity of a surgical stapling and cutting instrument based on measured time over a specified displacement distance
US10881399B2 (en) 2017-06-20 2021-01-05 Ethicon Llc Techniques for adaptive control of motor velocity of a surgical stapling and cutting instrument
US10307170B2 (en) 2017-06-20 2019-06-04 Ethicon Llc Method for closed loop control of motor velocity of a surgical stapling and cutting instrument
AU2018288530B2 (en) 2017-06-23 2024-03-28 Smith & Nephew Plc Positioning of sensors for sensor enabled wound monitoring or therapy
US11090049B2 (en) 2017-06-27 2021-08-17 Cilag Gmbh International Staple forming pocket arrangements
US11266405B2 (en) 2017-06-27 2022-03-08 Cilag Gmbh International Surgical anvil manufacturing methods
US10993716B2 (en) 2017-06-27 2021-05-04 Ethicon Llc Surgical anvil arrangements
US11324503B2 (en) 2017-06-27 2022-05-10 Cilag Gmbh International Surgical firing member arrangements
US10588633B2 (en) 2017-06-28 2020-03-17 Ethicon Llc Surgical instruments with open and closable jaws and axially movable firing member that is initially parked in close proximity to the jaws prior to firing
US11564686B2 (en) 2017-06-28 2023-01-31 Cilag Gmbh International Surgical shaft assemblies with flexible interfaces
US11000279B2 (en) 2017-06-28 2021-05-11 Ethicon Llc Surgical instrument comprising an articulation system ratio
US11259805B2 (en) 2017-06-28 2022-03-01 Cilag Gmbh International Surgical instrument comprising firing member supports
US10765427B2 (en) 2017-06-28 2020-09-08 Ethicon Llc Method for articulating a surgical instrument
EP4070740A1 (en) 2017-06-28 2022-10-12 Cilag GmbH International Surgical instrument comprising selectively actuatable rotatable couplers
USD906355S1 (en) 2017-06-28 2020-12-29 Ethicon Llc Display screen or portion thereof with a graphical user interface for a surgical instrument
US11246592B2 (en) 2017-06-28 2022-02-15 Cilag Gmbh International Surgical instrument comprising an articulation system lockable to a frame
US10932772B2 (en) 2017-06-29 2021-03-02 Ethicon Llc Methods for closed loop velocity control for robotic surgical instrument
GB201809007D0 (en) 2018-06-01 2018-07-18 Smith & Nephew Restriction of sensor-monitored region for sensor-enabled wound dressings
GB201804502D0 (en) 2018-03-21 2018-05-02 Smith & Nephew Biocompatible encapsulation and component stress relief for sensor enabled negative pressure wound therapy dressings
US11974742B2 (en) 2017-08-03 2024-05-07 Cilag Gmbh International Surgical system comprising an articulation bailout
US11471155B2 (en) 2017-08-03 2022-10-18 Cilag Gmbh International Surgical system bailout
US11944300B2 (en) 2017-08-03 2024-04-02 Cilag Gmbh International Method for operating a surgical system bailout
US11304695B2 (en) 2017-08-03 2022-04-19 Cilag Gmbh International Surgical system shaft interconnection
SG11202000913XA (en) 2017-08-10 2020-02-27 Smith & Nephew Positioning of sensors for sensor enabled wound monitoring or therapy
JP2020533093A (ja) 2017-09-10 2020-11-19 スミス アンド ネフュー ピーエルシーＳｍｉｔｈ ＆ Ｎｅｐｈｅｗ Ｐｕｂｌｉｃ Ｌｉｍｉｔｅｄ Ｃｏｍｐａｎｙ 封入を検査するためのシステムおよび方法、ならびにセンサを装備した創傷被覆材内の構成要素
GB201804971D0 (en) 2018-03-28 2018-05-09 Smith & Nephew Electrostatic discharge protection for sensors in wound therapy
GB201718870D0 (en) 2017-11-15 2017-12-27 Smith & Nephew Inc Sensor enabled wound therapy dressings and systems
GB201718859D0 (en) 2017-11-15 2017-12-27 Smith & Nephew Sensor positioning for sensor enabled wound therapy dressings and systems
JP7282079B2 (ja) 2017-09-27 2023-05-26 スミス アンド ネフュー ピーエルシー センサが使用可能な陰圧創傷監視および療法装置のｐｈ感知
US11839464B2 (en) 2017-09-28 2023-12-12 Smith & Nephew, Plc Neurostimulation and monitoring using sensor enabled wound monitoring and therapy apparatus
US11399829B2 (en) 2017-09-29 2022-08-02 Cilag Gmbh International Systems and methods of initiating a power shutdown mode for a surgical instrument
US10743872B2 (en) 2017-09-29 2020-08-18 Ethicon Llc System and methods for controlling a display of a surgical instrument
US11911045B2 (en) 2017-10-30 2024-02-27 Cllag GmbH International Method for operating a powered articulating multi-clip applier
US11090075B2 (en) 2017-10-30 2021-08-17 Cilag Gmbh International Articulation features for surgical end effector
US11134944B2 (en) 2017-10-30 2021-10-05 Cilag Gmbh International Surgical stapler knife motion controls
US11026687B2 (en) 2017-10-30 2021-06-08 Cilag Gmbh International Clip applier comprising clip advancing systems
US11229436B2 (en) 2017-10-30 2022-01-25 Cilag Gmbh International Surgical system comprising a surgical tool and a surgical hub
US11564756B2 (en) 2017-10-30 2023-01-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11801098B2 (en) 2017-10-30 2023-10-31 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11759224B2 (en) 2017-10-30 2023-09-19 Cilag Gmbh International Surgical instrument systems comprising handle arrangements
US11317919B2 (en) 2017-10-30 2022-05-03 Cilag Gmbh International Clip applier comprising a clip crimping system
US11291510B2 (en) 2017-10-30 2022-04-05 Cilag Gmbh International Method of hub communication with surgical instrument systems
US11311342B2 (en) 2017-10-30 2022-04-26 Cilag Gmbh International Method for communicating with surgical instrument systems
US11510741B2 (en) 2017-10-30 2022-11-29 Cilag Gmbh International Method for producing a surgical instrument comprising a smart electrical system
US10842490B2 (en) 2017-10-31 2020-11-24 Ethicon Llc Cartridge body design with force reduction based on firing completion
US11559438B2 (en) 2017-11-15 2023-01-24 Smith & Nephew Plc Integrated sensor enabled wound monitoring and/or therapy dressings and systems
US11071543B2 (en) 2017-12-15 2021-07-27 Cilag Gmbh International Surgical end effectors with clamping assemblies configured to increase jaw aperture ranges
US11197670B2 (en) 2017-12-15 2021-12-14 Cilag Gmbh International Surgical end effectors with pivotal jaws configured to touch at their respective distal ends when fully closed
US10779826B2 (en) 2017-12-15 2020-09-22 Ethicon Llc Methods of operating surgical end effectors
US10835330B2 (en) 2017-12-19 2020-11-17 Ethicon Llc Method for determining the position of a rotatable jaw of a surgical instrument attachment assembly
US11337691B2 (en) 2017-12-21 2022-05-24 Cilag Gmbh International Surgical instrument configured to determine firing path
US11076853B2 (en) 2017-12-21 2021-08-03 Cilag Gmbh International Systems and methods of displaying a knife position during transection for a surgical instrument
US11311290B2 (en) 2017-12-21 2022-04-26 Cilag Gmbh International Surgical instrument comprising an end effector dampener
US11559307B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method of robotic hub communication, detection, and control
US11389164B2 (en) 2017-12-28 2022-07-19 Cilag Gmbh International Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices
US10943454B2 (en) 2017-12-28 2021-03-09 Ethicon Llc Detection and escalation of security responses of surgical instruments to increasing severity threats
US10966791B2 (en) 2017-12-28 2021-04-06 Ethicon Llc Cloud-based medical analytics for medical facility segmented individualization of instrument function
US11364075B2 (en) 2017-12-28 2022-06-21 Cilag Gmbh International Radio frequency energy device for delivering combined electrical signals
US11304745B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Surgical evacuation sensing and display
US11069012B2 (en) 2017-12-28 2021-07-20 Cilag Gmbh International Interactive surgical systems with condition handling of devices and data capabilities
US11100631B2 (en) 2017-12-28 2021-08-24 Cilag Gmbh International Use of laser light and red-green-blue coloration to determine properties of back scattered light
US11633237B2 (en) 2017-12-28 2023-04-25 Cilag Gmbh International Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures
US11266468B2 (en) 2017-12-28 2022-03-08 Cilag Gmbh International Cooperative utilization of data derived from secondary sources by intelligent surgical hubs
US11051876B2 (en) 2017-12-28 2021-07-06 Cilag Gmbh International Surgical evacuation flow paths
US11744604B2 (en) 2017-12-28 2023-09-05 Cilag Gmbh International Surgical instrument with a hardware-only control circuit
US10695081B2 (en) 2017-12-28 2020-06-30 Ethicon Llc Controlling a surgical instrument according to sensed closure parameters
US11056244B2 (en) 2017-12-28 2021-07-06 Cilag Gmbh International Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks
US11253315B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Increasing radio frequency to create pad-less monopolar loop
US11464535B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Detection of end effector emersion in liquid
US11903601B2 (en) 2017-12-28 2024-02-20 Cilag Gmbh International Surgical instrument comprising a plurality of drive systems
US11179208B2 (en) 2017-12-28 2021-11-23 Cilag Gmbh International Cloud-based medical analytics for security and authentication trends and reactive measures
US11432885B2 (en) 2017-12-28 2022-09-06 Cilag Gmbh International Sensing arrangements for robot-assisted surgical platforms
US11896322B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub
US11589888B2 (en) 2017-12-28 2023-02-28 Cilag Gmbh International Method for controlling smart energy devices
US20190200980A1 (en) * 2017-12-28 2019-07-04 Ethicon Llc Surgical system for presenting information interpreted from external data
US11304763B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use
US11284936B2 (en) 2017-12-28 2022-03-29 Cilag Gmbh International Surgical instrument having a flexible electrode
US11576677B2 (en) 2017-12-28 2023-02-14 Cilag Gmbh International Method of hub communication, processing, display, and cloud analytics
US11896443B2 (en) 2017-12-28 2024-02-13 Cilag Gmbh International Control of a surgical system through a surgical barrier
US11096693B2 (en) 2017-12-28 2021-08-24 Cilag Gmbh International Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing
US10898622B2 (en) 2017-12-28 2021-01-26 Ethicon Llc Surgical evacuation system with a communication circuit for communication between a filter and a smoke evacuation device
US10944728B2 (en) 2017-12-28 2021-03-09 Ethicon Llc Interactive surgical systems with encrypted communication capabilities
US11160605B2 (en) 2017-12-28 2021-11-02 Cilag Gmbh International Surgical evacuation sensing and motor control
US11076921B2 (en) 2017-12-28 2021-08-03 Cilag Gmbh International Adaptive control program updates for surgical hubs
US11937769B2 (en) 2017-12-28 2024-03-26 Cilag Gmbh International Method of hub communication, processing, storage and display
US11678881B2 (en) 2017-12-28 2023-06-20 Cilag Gmbh International Spatial awareness of surgical hubs in operating rooms
US11832899B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical systems with autonomously adjustable control programs
US10758310B2 (en) 2017-12-28 2020-09-01 Ethicon Llc Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices
US11013563B2 (en) 2017-12-28 2021-05-25 Ethicon Llc Drive arrangements for robot-assisted surgical platforms
US11998193B2 (en) 2017-12-28 2024-06-04 Cilag Gmbh International Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation
US11423007B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Adjustment of device control programs based on stratified contextual data in addition to the data
US11317937B2 (en) 2018-03-08 2022-05-03 Cilag Gmbh International Determining the state of an ultrasonic end effector
US10892899B2 (en) 2017-12-28 2021-01-12 Ethicon Llc Self describing data packets generated at an issuing instrument
US20190201146A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Safety systems for smart powered surgical stapling
US11304720B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Activation of energy devices
US11969142B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws
US11257589B2 (en) 2017-12-28 2022-02-22 Cilag Gmbh International Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes
US11376002B2 (en) 2017-12-28 2022-07-05 Cilag Gmbh International Surgical instrument cartridge sensor assemblies
US11857152B2 (en) 2017-12-28 2024-01-02 Cilag Gmbh International Surgical hub spatial awareness to determine devices in operating theater
US11311306B2 (en) 2017-12-28 2022-04-26 Cilag Gmbh International Surgical systems for detecting end effector tissue distribution irregularities
US11529187B2 (en) 2017-12-28 2022-12-20 Cilag Gmbh International Surgical evacuation sensor arrangements
US10932872B2 (en) 2017-12-28 2021-03-02 Ethicon Llc Cloud-based medical analytics for linking of local usage trends with the resource acquisition behaviors of larger data set
US11786251B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11273001B2 (en) 2017-12-28 2022-03-15 Cilag Gmbh International Surgical hub and modular device response adjustment based on situational awareness
US11969216B2 (en) 2017-12-28 2024-04-30 Cilag Gmbh International Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution
US11666331B2 (en) 2017-12-28 2023-06-06 Cilag Gmbh International Systems for detecting proximity of surgical end effector to cancerous tissue
US11234756B2 (en) 2017-12-28 2022-02-01 Cilag Gmbh International Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter
US11446052B2 (en) 2017-12-28 2022-09-20 Cilag Gmbh International Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue
US11818052B2 (en) 2017-12-28 2023-11-14 Cilag Gmbh International Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11419667B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location
US11659023B2 (en) 2017-12-28 2023-05-23 Cilag Gmbh International Method of hub communication
US11324557B2 (en) 2017-12-28 2022-05-10 Cilag Gmbh International Surgical instrument with a sensing array
US20190201118A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Display arrangements for robot-assisted surgical platforms
US11464559B2 (en) 2017-12-28 2022-10-11 Cilag Gmbh International Estimating state of ultrasonic end effector and control system therefor
US11612408B2 (en) 2017-12-28 2023-03-28 Cilag Gmbh International Determining tissue composition via an ultrasonic system
US10987178B2 (en) 2017-12-28 2021-04-27 Ethicon Llc Surgical hub control arrangements
US11419630B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Surgical system distributed processing
US11278281B2 (en) 2017-12-28 2022-03-22 Cilag Gmbh International Interactive surgical system
US11202570B2 (en) 2017-12-28 2021-12-21 Cilag Gmbh International Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems
US11424027B2 (en) 2017-12-28 2022-08-23 Cilag Gmbh International Method for operating surgical instrument systems
US10849697B2 (en) * 2017-12-28 2020-12-01 Ethicon Llc Cloud interface for coupled surgical devices
US11132462B2 (en) 2017-12-28 2021-09-28 Cilag Gmbh International Data stripping method to interrogate patient records and create anonymized record
US11540855B2 (en) 2017-12-28 2023-01-03 Cilag Gmbh International Controlling activation of an ultrasonic surgical instrument according to the presence of tissue
US11308075B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity
US11832840B2 (en) 2017-12-28 2023-12-05 Cilag Gmbh International Surgical instrument having a flexible circuit
US11844579B2 (en) 2017-12-28 2023-12-19 Cilag Gmbh International Adjustments based on airborne particle properties
US11571234B2 (en) 2017-12-28 2023-02-07 Cilag Gmbh International Temperature control of ultrasonic end effector and control system therefor
US11109866B2 (en) 2017-12-28 2021-09-07 Cilag Gmbh International Method for circular stapler control algorithm adjustment based on situational awareness
US11602393B2 (en) 2017-12-28 2023-03-14 Cilag Gmbh International Surgical evacuation sensing and generator control
US11864728B2 (en) 2017-12-28 2024-01-09 Cilag Gmbh International Characterization of tissue irregularities through the use of mono-chromatic light refractivity
US20190201087A1 (en) 2017-12-28 2019-07-04 Ethicon Llc Smoke evacuation system including a segmented control circuit for interactive surgical platform
US11304699B2 (en) 2017-12-28 2022-04-19 Cilag Gmbh International Method for adaptive control schemes for surgical network control and interaction
US11771487B2 (en) 2017-12-28 2023-10-03 Cilag Gmbh International Mechanisms for controlling different electromechanical systems of an electrosurgical instrument
US11786245B2 (en) 2017-12-28 2023-10-17 Cilag Gmbh International Surgical systems with prioritized data transmission capabilities
US11166772B2 (en) 2017-12-28 2021-11-09 Cilag Gmbh International Surgical hub coordination of control and communication of operating room devices
US11026751B2 (en) 2017-12-28 2021-06-08 Cilag Gmbh International Display of alignment of staple cartridge to prior linear staple line
US11291495B2 (en) 2017-12-28 2022-04-05 Cilag Gmbh International Interruption of energy due to inadvertent capacitive coupling
US10892995B2 (en) 2017-12-28 2021-01-12 Ethicon Llc Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs
US11410259B2 (en) 2017-12-28 2022-08-09 Cilag Gmbh International Adaptive control program updates for surgical devices
US11147607B2 (en) 2017-12-28 2021-10-19 Cilag Gmbh International Bipolar combination device that automatically adjusts pressure based on energy modality
US11559308B2 (en) 2017-12-28 2023-01-24 Cilag Gmbh International Method for smart energy device infrastructure
CN111801704A (zh) * 2018-01-03 2020-10-20 皇家飞利浦有限公司 用于使用血管特征检测异常组织的系统和方法
US12004831B2 (en) * 2018-02-02 2024-06-11 Covidien Lp Surgical robotic system including synchronous and asynchronous networks and a method employing the same
US20190254753A1 (en) 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
US11259830B2 (en) 2018-03-08 2022-03-01 Cilag Gmbh International Methods for controlling temperature in ultrasonic device
US11701162B2 (en) 2018-03-08 2023-07-18 Cilag Gmbh International Smart blade application for reusable and disposable devices
US11707293B2 (en) 2018-03-08 2023-07-25 Cilag Gmbh International Ultrasonic sealing algorithm with temperature control
US11471156B2 (en) 2018-03-28 2022-10-18 Cilag Gmbh International Surgical stapling devices with improved rotary driven closure systems
US11096688B2 (en) 2018-03-28 2021-08-24 Cilag Gmbh International Rotary driven firing members with different anvil and channel engagement features
US11090047B2 (en) 2018-03-28 2021-08-17 Cilag Gmbh International Surgical instrument comprising an adaptive control system
US11278280B2 (en) 2018-03-28 2022-03-22 Cilag Gmbh International Surgical instrument comprising a jaw closure lockout
US11259806B2 (en) 2018-03-28 2022-03-01 Cilag Gmbh International Surgical stapling devices with features for blocking advancement of a camming assembly of an incompatible cartridge installed therein
US10973520B2 (en) 2018-03-28 2021-04-13 Ethicon Llc Surgical staple cartridge with firing member driven camming assembly that has an onboard tissue cutting feature
US11219453B2 (en) 2018-03-28 2022-01-11 Cilag Gmbh International Surgical stapling devices with cartridge compatible closure and firing lockout arrangements
US11207067B2 (en) 2018-03-28 2021-12-28 Cilag Gmbh International Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing
US11406382B2 (en) 2018-03-28 2022-08-09 Cilag Gmbh International Staple cartridge comprising a lockout key configured to lift a firing member
US11045192B2 (en) 2018-08-20 2021-06-29 Cilag Gmbh International Fabricating techniques for surgical stapler anvils
US11291440B2 (en) 2018-08-20 2022-04-05 Cilag Gmbh International Method for operating a powered articulatable surgical instrument
US11324501B2 (en) 2018-08-20 2022-05-10 Cilag Gmbh International Surgical stapling devices with improved closure members
US11253256B2 (en) 2018-08-20 2022-02-22 Cilag Gmbh International Articulatable motor powered surgical instruments with dedicated articulation motor arrangements
US11207065B2 (en) 2018-08-20 2021-12-28 Cilag Gmbh International Method for fabricating surgical stapler anvils
WO2020053290A1 (en) 2018-09-12 2020-03-19 Smith & Nephew Plc Device, apparatus and method of determining skin perfusion pressure
GB201820927D0 (en) 2018-12-21 2019-02-06 Smith & Nephew Wound therapy systems and methods with supercapacitors
US11751872B2 (en) 2019-02-19 2023-09-12 Cilag Gmbh International Insertable deactivator element for surgical stapler lockouts
US11357503B2 (en) 2019-02-19 2022-06-14 Cilag Gmbh International Staple cartridge retainers with frangible retention features and methods of using same
US11317915B2 (en) 2019-02-19 2022-05-03 Cilag Gmbh International Universal cartridge based key feature that unlocks multiple lockout arrangements in different surgical staplers
US11298129B2 (en) 2019-02-19 2022-04-12 Cilag Gmbh International Method for providing an authentication lockout in a surgical stapler with a replaceable cartridge
US11369377B2 (en) 2019-02-19 2022-06-28 Cilag Gmbh International Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout
IT201900002737A1 (it) * 2019-02-26 2020-08-26 Sparkbio S R L Metodo e sistema per l'identificazione e il trattamento di eventi in un sistema per la sincronizzazione e la visualizzazione combinata di informazioni
GB2597148B (en) 2019-03-18 2022-12-21 Smith & Nephew Design rules for sensor integrated substrates
US11696761B2 (en) 2019-03-25 2023-07-11 Cilag Gmbh International Firing drive arrangements for surgical systems
US11147553B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11172929B2 (en) 2019-03-25 2021-11-16 Cilag Gmbh International Articulation drive arrangements for surgical systems
US11147551B2 (en) 2019-03-25 2021-10-19 Cilag Gmbh International Firing drive arrangements for surgical systems
US11253254B2 (en) 2019-04-30 2022-02-22 Cilag Gmbh International Shaft rotation actuator on a surgical instrument
US11426251B2 (en) 2019-04-30 2022-08-30 Cilag Gmbh International Articulation directional lights on a surgical instrument
US11452528B2 (en) 2019-04-30 2022-09-27 Cilag Gmbh International Articulation actuators for a surgical instrument
US11648009B2 (en) 2019-04-30 2023-05-16 Cilag Gmbh International Rotatable jaw tip for a surgical instrument
US11471157B2 (en) 2019-04-30 2022-10-18 Cilag Gmbh International Articulation control mapping for a surgical instrument
US11903581B2 (en) 2019-04-30 2024-02-20 Cilag Gmbh International Methods for stapling tissue using a surgical instrument
US11432816B2 (en) 2019-04-30 2022-09-06 Cilag Gmbh International Articulation pin for a surgical instrument
USD964564S1 (en) 2019-06-25 2022-09-20 Cilag Gmbh International Surgical staple cartridge retainer with a closure system authentication key
USD950728S1 (en) 2019-06-25 2022-05-03 Cilag Gmbh International Surgical staple cartridge
USD952144S1 (en) 2019-06-25 2022-05-17 Cilag Gmbh International Surgical staple cartridge retainer with firing system authentication key
US12004740B2 (en) 2019-06-28 2024-06-11 Cilag Gmbh International Surgical stapling system having an information decryption protocol
US11478241B2 (en) 2019-06-28 2022-10-25 Cilag Gmbh International Staple cartridge including projections
US11291451B2 (en) 2019-06-28 2022-04-05 Cilag Gmbh International Surgical instrument with battery compatibility verification functionality
US11350938B2 (en) 2019-06-28 2022-06-07 Cilag Gmbh International Surgical instrument comprising an aligned rfid sensor
US11259803B2 (en) 2019-06-28 2022-03-01 Cilag Gmbh International Surgical stapling system having an information encryption protocol
US11771419B2 (en) 2019-06-28 2023-10-03 Cilag Gmbh International Packaging for a replaceable component of a surgical stapling system
US11051807B2 (en) 2019-06-28 2021-07-06 Cilag Gmbh International Packaging assembly including a particulate trap
US11246678B2 (en) 2019-06-28 2022-02-15 Cilag Gmbh International Surgical stapling system having a frangible RFID tag
US11660163B2 (en) 2019-06-28 2023-05-30 Cilag Gmbh International Surgical system with RFID tags for updating motor assembly parameters
US11464601B2 (en) 2019-06-28 2022-10-11 Cilag Gmbh International Surgical instrument comprising an RFID system for tracking a movable component
US11553971B2 (en) 2019-06-28 2023-01-17 Cilag Gmbh International Surgical RFID assemblies for display and communication
US11298132B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Inlernational Staple cartridge including a honeycomb extension
US11376098B2 (en) 2019-06-28 2022-07-05 Cilag Gmbh International Surgical instrument system comprising an RFID system
US11853835B2 (en) 2019-06-28 2023-12-26 Cilag Gmbh International RFID identification systems for surgical instruments
US11638587B2 (en) 2019-06-28 2023-05-02 Cilag Gmbh International RFID identification systems for surgical instruments
US11684434B2 (en) 2019-06-28 2023-06-27 Cilag Gmbh International Surgical RFID assemblies for instrument operational setting control
US11523822B2 (en) 2019-06-28 2022-12-13 Cilag Gmbh International Battery pack including a circuit interrupter
US11298127B2 (en) 2019-06-28 2022-04-12 Cilag GmbH Interational Surgical stapling system having a lockout mechanism for an incompatible cartridge
US11219455B2 (en) 2019-06-28 2022-01-11 Cilag Gmbh International Surgical instrument including a lockout key
US11426167B2 (en) 2019-06-28 2022-08-30 Cilag Gmbh International Mechanisms for proper anvil attachment surgical stapling head assembly
US11224497B2 (en) 2019-06-28 2022-01-18 Cilag Gmbh International Surgical systems with multiple RFID tags
US11627959B2 (en) 2019-06-28 2023-04-18 Cilag Gmbh International Surgical instruments including manual and powered system lockouts
US11399837B2 (en) 2019-06-28 2022-08-02 Cilag Gmbh International Mechanisms for motor control adjustments of a motorized surgical instrument
US11497492B2 (en) 2019-06-28 2022-11-15 Cilag Gmbh International Surgical instrument including an articulation lock
US10758309B1 (en) 2019-07-15 2020-09-01 Digital Surgery Limited Methods and systems for using computer-vision to enhance surgical tool control during surgeries
GB201914443D0 (en) 2019-10-07 2019-11-20 Smith & Nephew Sensor enabled negative pressure wound monitoring apparatus with different impedances inks
US11701095B2 (en) 2019-11-21 2023-07-18 Covidien Lp Robotic surgical systems and methods of use thereof
US11992373B2 (en) 2019-12-10 2024-05-28 Globus Medical, Inc Augmented reality headset with varied opacity for navigated robotic surgery
US11559304B2 (en) 2019-12-19 2023-01-24 Cilag Gmbh International Surgical instrument comprising a rapid closure mechanism
US11464512B2 (en) 2019-12-19 2022-10-11 Cilag Gmbh International Staple cartridge comprising a curved deck surface
US11911032B2 (en) 2019-12-19 2024-02-27 Cilag Gmbh International Staple cartridge comprising a seating cam
US11504122B2 (en) 2019-12-19 2022-11-22 Cilag Gmbh International Surgical instrument comprising a nested firing member
US11529139B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Motor driven surgical instrument
US11931033B2 (en) 2019-12-19 2024-03-19 Cilag Gmbh International Staple cartridge comprising a latch lockout
US11234698B2 (en) 2019-12-19 2022-02-01 Cilag Gmbh International Stapling system comprising a clamp lockout and a firing lockout
US11607219B2 (en) 2019-12-19 2023-03-21 Cilag Gmbh International Staple cartridge comprising a detachable tissue cutting knife
US11304696B2 (en) 2019-12-19 2022-04-19 Cilag Gmbh International Surgical instrument comprising a powered articulation system
US11701111B2 (en) 2019-12-19 2023-07-18 Cilag Gmbh International Method for operating a surgical stapling instrument
US11529137B2 (en) 2019-12-19 2022-12-20 Cilag Gmbh International Staple cartridge comprising driver retention members
US11576672B2 (en) 2019-12-19 2023-02-14 Cilag Gmbh International Surgical instrument comprising a closure system including a closure member and an opening member driven by a drive screw
US11291447B2 (en) 2019-12-19 2022-04-05 Cilag Gmbh International Stapling instrument comprising independent jaw closing and staple firing systems
US11446029B2 (en) 2019-12-19 2022-09-20 Cilag Gmbh International Staple cartridge comprising projections extending from a curved deck surface
US11844520B2 (en) 2019-12-19 2023-12-19 Cilag Gmbh International Staple cartridge comprising driver retention members
EP4091174A1 (en) * 2020-01-15 2022-11-23 Intuitive Surgical Operations, Inc. Systems and methods for providing surgical assistance based on operational context
US11464581B2 (en) 2020-01-28 2022-10-11 Globus Medical, Inc. Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums
US11382699B2 (en) 2020-02-10 2022-07-12 Globus Medical Inc. Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery
US11207150B2 (en) 2020-02-19 2021-12-28 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
US11607277B2 (en) 2020-04-29 2023-03-21 Globus Medical, Inc. Registration of surgical tool with reference array tracked by cameras of an extended reality headset for assisted navigation during surgery
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
US11510750B2 (en) 2020-05-08 2022-11-29 Globus Medical, Inc. Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications
USD976401S1 (en) 2020-06-02 2023-01-24 Cilag Gmbh International Staple cartridge
USD974560S1 (en) 2020-06-02 2023-01-03 Cilag Gmbh International Staple cartridge
USD967421S1 (en) 2020-06-02 2022-10-18 Cilag Gmbh International Staple cartridge
USD966512S1 (en) 2020-06-02 2022-10-11 Cilag Gmbh International Staple cartridge
USD975278S1 (en) 2020-06-02 2023-01-10 Cilag Gmbh International Staple cartridge
USD975851S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
USD975850S1 (en) 2020-06-02 2023-01-17 Cilag Gmbh International Staple cartridge
US11638582B2 (en) 2020-07-28 2023-05-02 Cilag Gmbh International Surgical instruments with torsion spine drive arrangements
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
US11931025B2 (en) 2020-10-29 2024-03-19 Cilag Gmbh International Surgical instrument comprising a releasable closure drive lock
US11452526B2 (en) 2020-10-29 2022-09-27 Cilag Gmbh International Surgical instrument comprising a staged voltage regulation start-up system
US11517390B2 (en) 2020-10-29 2022-12-06 Cilag Gmbh International Surgical instrument comprising a limited travel switch
US11896217B2 (en) 2020-10-29 2024-02-13 Cilag Gmbh International Surgical instrument comprising an articulation lock
US11779330B2 (en) 2020-10-29 2023-10-10 Cilag Gmbh International Surgical instrument comprising a jaw alignment system
US11534259B2 (en) 2020-10-29 2022-12-27 Cilag Gmbh International Surgical instrument comprising an articulation indicator
US11844518B2 (en) 2020-10-29 2023-12-19 Cilag Gmbh International Method for operating a surgical instrument
US11717289B2 (en) 2020-10-29 2023-08-08 Cilag Gmbh International Surgical instrument comprising an indicator which indicates that an articulation drive is actuatable
USD980425S1 (en) 2020-10-29 2023-03-07 Cilag Gmbh International Surgical instrument assembly
USD1013170S1 (en) 2020-10-29 2024-01-30 Cilag Gmbh International Surgical instrument assembly
US11617577B2 (en) 2020-10-29 2023-04-04 Cilag Gmbh International Surgical instrument comprising a sensor configured to sense whether an articulation drive of the surgical instrument is actuatable
US11744581B2 (en) 2020-12-02 2023-09-05 Cilag Gmbh International Powered surgical instruments with multi-phase tissue treatment
US11890010B2 (en) 2020-12-02 2024-02-06 Cllag GmbH International Dual-sided reinforced reload for surgical instruments
US11849943B2 (en) 2020-12-02 2023-12-26 Cilag Gmbh International Surgical instrument with cartridge release mechanisms
US11737751B2 (en) 2020-12-02 2023-08-29 Cilag Gmbh International Devices and methods of managing energy dissipated within sterile barriers of surgical instrument housings
US11678882B2 (en) 2020-12-02 2023-06-20 Cilag Gmbh International Surgical instruments with interactive features to remedy incidental sled movements
US11944296B2 (en) 2020-12-02 2024-04-02 Cilag Gmbh International Powered surgical instruments with external connectors
US11627960B2 (en) 2020-12-02 2023-04-18 Cilag Gmbh International Powered surgical instruments with smart reload with separately attachable exteriorly mounted wiring connections
US11653920B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Powered surgical instruments with communication interfaces through sterile barrier
US11653915B2 (en) 2020-12-02 2023-05-23 Cilag Gmbh International Surgical instruments with sled location detection and adjustment features
WO2022154847A1 (en) 2021-01-12 2022-07-21 Emed Labs, Llc Health testing and diagnostics platform
US11723657B2 (en) 2021-02-26 2023-08-15 Cilag Gmbh International Adjustable communication based on available bandwidth and power capacity
US11701113B2 (en) 2021-02-26 2023-07-18 Cilag Gmbh International Stapling instrument comprising a separate power antenna and a data transfer antenna
US11751869B2 (en) 2021-02-26 2023-09-12 Cilag Gmbh International Monitoring of multiple sensors over time to detect moving characteristics of tissue
US11950777B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Staple cartridge comprising an information access control system
US11744583B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Distal communication array to tune frequency of RF systems
US11696757B2 (en) 2021-02-26 2023-07-11 Cilag Gmbh International Monitoring of internal systems to detect and track cartridge motion status
US11749877B2 (en) 2021-02-26 2023-09-05 Cilag Gmbh International Stapling instrument comprising a signal antenna
US11730473B2 (en) 2021-02-26 2023-08-22 Cilag Gmbh International Monitoring of manufacturing life-cycle
US11980362B2 (en) 2021-02-26 2024-05-14 Cilag Gmbh International Surgical instrument system comprising a power transfer coil
US11950779B2 (en) 2021-02-26 2024-04-09 Cilag Gmbh International Method of powering and communicating with a staple cartridge
US11812964B2 (en) 2021-02-26 2023-11-14 Cilag Gmbh International Staple cartridge comprising a power management circuit
US11925349B2 (en) 2021-02-26 2024-03-12 Cilag Gmbh International Adjustment to transfer parameters to improve available power
US11793514B2 (en) 2021-02-26 2023-10-24 Cilag Gmbh International Staple cartridge comprising sensor array which may be embedded in cartridge body
US11759202B2 (en) 2021-03-22 2023-09-19 Cilag Gmbh International Staple cartridge comprising an implantable layer
US11723658B2 (en) 2021-03-22 2023-08-15 Cilag Gmbh International Staple cartridge comprising a firing lockout
US11826012B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Stapling instrument comprising a pulsed motor-driven firing rack
US11717291B2 (en) 2021-03-22 2023-08-08 Cilag Gmbh International Staple cartridge comprising staples configured to apply different tissue compression
US11737749B2 (en) 2021-03-22 2023-08-29 Cilag Gmbh International Surgical stapling instrument comprising a retraction system
US11806011B2 (en) 2021-03-22 2023-11-07 Cilag Gmbh International Stapling instrument comprising tissue compression systems
US11826042B2 (en) 2021-03-22 2023-11-28 Cilag Gmbh International Surgical instrument comprising a firing drive including a selectable leverage mechanism
US11615888B2 (en) 2021-03-23 2023-03-28 Emed Labs, Llc Remote diagnostic testing and treatment
US11929168B2 (en) 2021-05-24 2024-03-12 Emed Labs, Llc Systems, devices, and methods for diagnostic aid kit apparatus
US11373756B1 (en) 2021-05-24 2022-06-28 Emed Labs, Llc Systems, devices, and methods for diagnostic aid kit apparatus
US11786243B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Firing members having flexible portions for adapting to a load during a surgical firing stroke
US11832816B2 (en) 2021-03-24 2023-12-05 Cilag Gmbh International Surgical stapling assembly comprising nonplanar staples and planar staples
US11786239B2 (en) 2021-03-24 2023-10-17 Cilag Gmbh International Surgical instrument articulation joint arrangements comprising multiple moving linkage features
US11944336B2 (en) 2021-03-24 2024-04-02 Cilag Gmbh International Joint arrangements for multi-planar alignment and support of operational drive shafts in articulatable surgical instruments
US11744603B2 (en) 2021-03-24 2023-09-05 Cilag Gmbh International Multi-axis pivot joints for surgical instruments and methods for manufacturing same
US11903582B2 (en) 2021-03-24 2024-02-20 Cilag Gmbh International Leveraging surfaces for cartridge installation
US11857183B2 (en) 2021-03-24 2024-01-02 Cilag Gmbh International Stapling assembly components having metal substrates and plastic bodies
US11849944B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Drivers for fastener cartridge assemblies having rotary drive screws
US11849945B2 (en) 2021-03-24 2023-12-26 Cilag Gmbh International Rotary-driven surgical stapling assembly comprising eccentrically driven firing member
US11896218B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Method of using a powered stapling device
US11793516B2 (en) 2021-03-24 2023-10-24 Cilag Gmbh International Surgical staple cartridge comprising longitudinal support beam
US11896219B2 (en) 2021-03-24 2024-02-13 Cilag Gmbh International Mating features between drivers and underside of a cartridge deck
US11998201B2 (en) 2021-05-28 2024-06-04 Cilag CmbH International Stapling instrument comprising a firing lockout
WO2022271668A1 (en) 2021-06-22 2022-12-29 Emed Labs, Llc Systems, methods, and devices for non-human readable diagnostic tests
US20230051869A1 (en) * 2021-08-11 2023-02-16 Terumo Cardiovascular Systems Corporation Endoscopic vessel harvesting with thermal management and augmented reality display
US12014829B2 (en) 2021-09-01 2024-06-18 Emed Labs, Llc Image processing and presentation techniques for enhanced proctoring sessions
US11980363B2 (en) 2021-10-18 2024-05-14 Cilag Gmbh International Row-to-row staple array variations
US11877745B2 (en) 2021-10-18 2024-01-23 Cilag Gmbh International Surgical stapling assembly having longitudinally-repeating staple leg clusters
US11957337B2 (en) 2021-10-18 2024-04-16 Cilag Gmbh International Surgical stapling assembly with offset ramped drive surfaces
US11937816B2 (en) 2021-10-28 2024-03-26 Cilag Gmbh International Electrical lead arrangements for surgical instruments

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009121775A3 (de) * 2008-04-01 2009-12-10 Bauhaus-Universität Weimar Verfahren und beleuchtungsvorrichtung zur optischen kontrastverstärkung
US20110135170A1 (en) * 2009-12-09 2011-06-09 Capso Vision, Inc. System and method for display speed control of capsule images
CN102300498A (zh) * 2008-12-11 2011-12-28 生物医学临床研究基金会 用于解剖结构的红外显示设备及其信号处理方法
US20120183196A1 (en) * 2011-01-18 2012-07-19 Udayan Dasgupta Patent Fluoroscopy System with Spatio-Temporal Filtering
TW201246125A (en) * 2011-05-13 2012-11-16 Altek Corp Digital image processing device and processing method thereof
CN102958426A (zh) * 2010-07-02 2013-03-06 直观外科手术操作公司 具有由选择性照射光谱组成的背景手术图像的荧光成像的方法和系统
WO2013118065A1 (en) * 2012-02-06 2013-08-15 Biooptico Ab Camera arrangement and image processing method for quantifying tissue structure and degeneration
CN103513951A (zh) * 2012-06-06 2014-01-15 三星电子株式会社 使用三维地图提供增强现实信息的设备和方法

Family Cites Families (58)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5815411A (en) * 1993-09-10 1998-09-29 Criticom Corporation Electro-optic vision system which exploits position and attitude
JP4164211B2 (ja) * 1999-11-16 2008-10-15 キヤノン株式会社 画像処理装置及びその方法
US6985632B2 (en) * 2000-04-17 2006-01-10 Canon Kabushiki Kaisha Image processing system, image processing apparatus, and image processing method
US7071898B2 (en) * 2002-07-18 2006-07-04 Information Decision Technologies, Llc Method for using a wireless motorized camera mount for tracking in augmented reality
US7542622B1 (en) 2003-06-02 2009-06-02 The Trustees Of Columbia University In The City Of New York Spatio-temporal treatment of noisy images using brushlets
US7317841B2 (en) * 2003-12-22 2008-01-08 Ge Medical Systems Global Technology Company, Llc System and method for image noise reduction using a minimal error spatiotemporal recursive filter
US8224425B2 (en) 2005-04-04 2012-07-17 Hypermed Imaging, Inc. Hyperspectral imaging in diabetes and peripheral vascular disease
DE102005061211B4 (de) * 2004-12-22 2023-04-06 Abb Schweiz Ag Verfahren zum Erzeugen einer Mensch-Maschine-Benutzer-Oberfläche
CA2595248A1 (en) * 2005-01-18 2006-07-27 Trestle Corporation System and method for creating variable quality images of a slide
US20060159325A1 (en) * 2005-01-18 2006-07-20 Trestle Corporation System and method for review in studies including toxicity and risk assessment studies
US9289267B2 (en) * 2005-06-14 2016-03-22 Siemens Medical Solutions Usa, Inc. Method and apparatus for minimally invasive surgery using endoscopes
US20070238981A1 (en) * 2006-03-13 2007-10-11 Bracco Imaging Spa Methods and apparatuses for recording and reviewing surgical navigation processes
US20070236514A1 (en) * 2006-03-29 2007-10-11 Bracco Imaging Spa Methods and Apparatuses for Stereoscopic Image Guided Surgical Navigation
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
US8798148B2 (en) * 2007-06-15 2014-08-05 Physical Optics Corporation Apparatus and method employing pre-ATR-based real-time compression and video frame segmentation
US8167793B2 (en) * 2008-04-26 2012-05-01 Intuitive Surgical Operations, Inc. Augmented stereoscopic visualization for a surgical robot using time duplexing
EP2157545A1 (en) * 2008-08-19 2010-02-24 Sony Computer Entertainment Europe Limited Entertainment device, system and method
US20100048290A1 (en) * 2008-08-19 2010-02-25 Sony Computer Entertainment Europe Ltd. Image combining method, system and apparatus
CN102596007A (zh) * 2009-03-13 2012-07-18 仕吉森瑟公司 手术吻合器用传感器配件
GB0915589D0 (en) * 2009-09-07 2009-10-07 Sony Comp Entertainment Europe Image processing method, apparatus and system
US8952333B2 (en) * 2009-11-02 2015-02-10 Virginia Tech Intellectual Properties, Inc. Methods for improved single photon emission computed tomography using exact and stable region of interest reconstructions
US8649607B1 (en) * 2010-01-25 2014-02-11 Stc.Unm Spectral ratio contrast for edge detection in spectral images
EP2385494A1 (en) * 2010-05-07 2011-11-09 IBBT vzw A method and device for estimating noise in a reconstructed image
CA3010836C (en) * 2010-07-30 2020-09-08 Fundacao D. Anna Sommer Champalimaud E Dr. Carlos Montez Champalimaud Systems and methods for segmentation and processing of tissue images and feature extraction from same for treating, diagnosing, or predicting medical conditions
US9289191B2 (en) * 2011-10-12 2016-03-22 Seno Medical Instruments, Inc. System and method for acquiring optoacoustic data and producing parametric maps thereof
US8823928B2 (en) * 2011-11-02 2014-09-02 Seno Medical Intruments, Inc. Light output calibration in an optoacoustic system
US20130338501A1 (en) * 2012-06-13 2013-12-19 Seno Medical Instruments, Inc. System and method for storing data associated with the operation of a dual modality optoacoustic/ultrasound system
US9031354B2 (en) * 2011-03-31 2015-05-12 Raytheon Company System and method for post-detection artifact reduction and removal from images
US8860942B1 (en) * 2011-04-29 2014-10-14 The United States Of America As Represented By The Secretary Of The Air Force Apparatus for multi-spectral imaging of point event detection
US9123155B2 (en) 2011-08-09 2015-09-01 Covidien Lp Apparatus and method for using augmented reality vision system in surgical procedures
JP5355820B2 (ja) 2011-09-20 2013-11-27 オリンパスメディカルシステムズ株式会社 画像処理装置及び内視鏡システム
US9730587B2 (en) * 2011-11-02 2017-08-15 Seno Medical Instruments, Inc. Diagnostic simulator
US9282899B2 (en) * 2011-11-02 2016-03-15 Seno Medical Instruments, Inc. System and method for detecting anomalous channel in an optoacoustic imaging system
US9445785B2 (en) * 2011-11-02 2016-09-20 Seno Medical Instruments, Inc. System and method for normalizing range in an optoacoustic imaging system
US9445786B2 (en) * 2011-11-02 2016-09-20 Seno Medical Instruments, Inc. Interframe energy normalization in an optoacoustic imaging system
US20130338475A1 (en) * 2012-06-13 2013-12-19 Seno Medical Instruments, Inc. Optoacoustic imaging system with fiber optic cable
US9743839B2 (en) * 2011-11-02 2017-08-29 Seno Medical Instruments, Inc. Playback mode in an optoacoustic imaging system
US9733119B2 (en) * 2011-11-02 2017-08-15 Seno Medical Instruments, Inc. Optoacoustic component utilization tracking
US20140005544A1 (en) * 2011-11-02 2014-01-02 Seno Medical Instruments, Inc. System and method for providing selective channel sensitivity in an optoacoustic imaging system
CA2866840C (en) * 2012-03-09 2022-03-29 Seno Medical Instruments, Inc. Statistical mapping in an optoacoustic imaging system
EP3586757A1 (en) * 2012-06-13 2020-01-01 Seno Medical Instruments, Inc. Optoacoustic imaging system with fiber optic cable
US9610043B2 (en) * 2012-06-13 2017-04-04 Seno Medical Instruments, Inc. System and method for producing parametric maps of optoacoustic data
WO2013188707A1 (en) * 2012-06-13 2013-12-19 Seno Medical Instruments, Inc. System and method for producing parametric maps of optoacoustic data
GB201212090D0 (en) * 2012-07-06 2012-08-22 Univ Warwick Method and apparatus
US9811901B2 (en) * 2012-09-07 2017-11-07 Massachusetts Institute Of Technology Linear-based Eulerian motion modulation
CA2902228A1 (en) * 2013-03-15 2014-09-18 Seno Medical Instruments, Inc. Probe holder
WO2014144141A1 (en) * 2013-03-15 2014-09-18 Seno Medical Instruments, Inc. Repeatably alignable fiber optic connector
WO2014144324A1 (en) * 2013-03-15 2014-09-18 Seno Medical Instruments, Inc. Noise suppression in an optoacoustic system
AU2014227709B2 (en) * 2013-03-15 2018-10-18 Seno Medical Instruments, Inc. Optoacoustic component utilization tracking
WO2014144278A1 (en) * 2013-03-15 2014-09-18 Seno Medical Instruments, Inc. Diagnostic simulator
CA2926119A1 (en) * 2013-10-09 2015-04-16 Shell Internationale Research Maatschappij B.V. Method and system for rendering visible a plume of dispersing fluid so as to reveal its source
US20150257653A1 (en) * 2014-03-14 2015-09-17 Elwha Llc Device, system, and method for determining blood pressure in a mammalian subject
GB2528044B (en) * 2014-07-04 2018-08-22 Arc Devices Ni Ltd Non-touch optical detection of vital signs
US10251714B2 (en) * 2014-07-25 2019-04-09 Covidien Lp Augmented surgical reality environment for a robotic surgical system
WO2016014384A2 (en) * 2014-07-25 2016-01-28 Covidien Lp Augmented surgical reality environment
US9854973B2 (en) * 2014-10-25 2018-01-02 ARC Devices, Ltd Hand-held medical-data capture-device interoperation with electronic medical record systems
US9750420B1 (en) * 2014-12-10 2017-09-05 Amazon Technologies, Inc. Facial feature selection for heart rate detection
US10602987B2 (en) * 2017-08-10 2020-03-31 Arc Devices Limited Multi-vital-sign smartphone system in an electronic medical records system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009121775A3 (de) * 2008-04-01 2009-12-10 Bauhaus-Universität Weimar Verfahren und beleuchtungsvorrichtung zur optischen kontrastverstärkung
CN102300498A (zh) * 2008-12-11 2011-12-28 生物医学临床研究基金会 用于解剖结构的红外显示设备及其信号处理方法
US20110135170A1 (en) * 2009-12-09 2011-06-09 Capso Vision, Inc. System and method for display speed control of capsule images
CN102958426A (zh) * 2010-07-02 2013-03-06 直观外科手术操作公司 具有由选择性照射光谱组成的背景手术图像的荧光成像的方法和系统
US20120183196A1 (en) * 2011-01-18 2012-07-19 Udayan Dasgupta Patent Fluoroscopy System with Spatio-Temporal Filtering
TW201246125A (en) * 2011-05-13 2012-11-16 Altek Corp Digital image processing device and processing method thereof
WO2013118065A1 (en) * 2012-02-06 2013-08-15 Biooptico Ab Camera arrangement and image processing method for quantifying tissue structure and degeneration
CN103513951A (zh) * 2012-06-06 2014-01-15 三星电子株式会社 使用三维地图提供增强现实信息的设备和方法

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
A. JONATHAN MCLEOD ET AL.: ""Motion Magnification for Endoscopic Surgery"", 《PROGRESS IN BIOMEDICAL OPTICS AND IMAGING, SPIE INTERNATIONAL SOCIETY FOR OPTICAL ENGINEERING》 *
GUOLAN LU ET AL.: ""Medical hyperspectral imaging： a review"", 《JOURNAL OF BIOMEDICAL OPTICS》 *
ZOLTÁN SZABÓ ET AL.: ""Real­time intraoperative visualization of myocardial circulation using augmented reality temperature display"", 《THE INTERNATIONAL JOURNAL OF CARDIOVASCULAR IMAGING》 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108135456A (zh) * 2015-10-22 2018-06-08 柯惠Lp公司 用于放大手术环境中所关注区域中的改变的系统和方法
CN110996831A (zh) * 2017-08-16 2020-04-10 柯惠有限合伙公司 用于增强手术图像和/或视频的系统和方法
CN111050683A (zh) * 2017-09-06 2020-04-21 威里利生命科学有限责任公司 外科手术识别系统
CN112804958A (zh) * 2018-10-03 2021-05-14 Cmr外科有限公司 指示器系统
CN110730295A (zh) * 2019-11-29 2020-01-24 维沃移动通信有限公司 摄像模组、电子设备、拍摄控制方法及装置
CN110730295B (zh) * 2019-11-29 2021-05-14 维沃移动通信有限公司 摄像模组、电子设备、拍摄控制方法及装置

Also Published As

Publication number Publication date
WO2016014384A3 (en) 2016-06-23
EP3179948A4 (en) 2018-03-07
US20210358122A1 (en) 2021-11-18
US20190114768A1 (en) 2019-04-18
US10607345B2 (en) 2020-03-31
US20200226758A1 (en) 2020-07-16
US10152789B2 (en) 2018-12-11
US11080854B2 (en) 2021-08-03
WO2016014384A2 (en) 2016-01-28
CN106663318B (zh) 2021-03-16
EP3179948A2 (en) 2017-06-21
EP3179948B1 (en) 2022-04-27
CN112862775A (zh) 2021-05-28
US20170161893A1 (en) 2017-06-08

Similar Documents

Publication Publication Date Title
CN106663318A (zh) 增强手术现实环境
CN106535805B (zh) 用于机器人手术系统的增强手术现实环境
US11517183B2 (en) Surgical system for detecting gradual changes in perfusion
JP6709796B2 (ja) 手術室及び手術部位認識
US10849709B2 (en) Systems and methods for removing occluding objects in surgical images and/or video
CN108271345B (zh) 用于检测表面下的血液的系统和方法
CN108135456A (zh) 用于放大手术环境中所关注区域中的改变的系统和方法
JP2020531095A (ja) 外科手術画像および／または映像を強調するためのシステムおよび方法
JP2021509987A (ja) 血管特徴を使用して異常な組織を検出するためのシステム及び方法

Legal Events

Date Code Title Description
PB01 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
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20210316