Alcon, Inc.

Truevision Systems, Inc.

Karl Store Imaging, Inc.

Michael A Weissman

Ashok Burton Tripathi

Thomas Paul Riederer

George Charles Polchin

Maximiliano Ramirez Luna

Patrick Terry

David Chatenever

Thomas J Anhalt

Daniel Mattsson-Boze

A method of calibrating a robotic imaging apparatus includes providing the robotic imaging apparatus, calibrating a stereoscopic camera portion of the apparatus to robot space, and registering the robot space to a patient space. An embodiment of the apparatus includes a base section defining the robot space, a robotic arm including a first end connected to the base section, a second end including a coupling interface, and a plurality of joints and links connecting the first end to the second end, each joint including a motor configured to rotate the joint around an axis and a joint sensor configured to transmit a position of the respective joint, a stereoscopic camera connected at the coupling interface, and a sensor positioned at the coupling interface and configured to detect force imparted on the stereoscopic camera by an operator and to transmit output data indicative of the detected force.

Stereoscopic visualization camera and integrated robotics platform

Apparatus and methods are described which guide a surgeon in performing a reconstructive or cosmetic procedure. The apparatus and methods utilize three-dimensional presentations of the target surgical site incorporating one or more virtual surgical guides which help attain proper alignment and orientation of the post-surgical outcome.

Real-time surgical reference indicium apparatus and methods for surgical applications

A stereoscopic imaging apparatus and platform are disclosed. An example stereoscopic imaging apparatus includes a main objective assembly and left and right lens sets defining respective parallel left and right optical paths from light that is received from the main objective assembly of a target surgical site. Each of the left and right lens sets includes a front lens, first and second zoom lenses configured to be movable along the optical path, and a lens barrel configured to receive the light from the second zoom lens. The example stereoscopic imaging apparatus also includes left and right image sensors configured to convert the light after passing through the lens barrel into image data that is indicative of the received light. The example stereoscopic visualization camera further includes a processor configured to convert the image data into stereoscopic video signals or video data for display on a display monitor.

Stereoscopic visualization camera and platform

A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and/or rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and/or rotational forces imparted by the operator.

Apparatus and methods are described which guide a surgeon in performing a reconstructive or cosmetic procedure. The apparatus and methods utilize three dimensional presentations of the target surgical site incorporating one or more virtual surgical guides which help attain proper alignment and orientation of the post surgical outcome.

Real-time surgical reference guides and methods for surgical applications

A stereoscopic visualization camera and platform are disclosed. An example stereoscopic visualization camera includes a main objective assembly and left and right lens sets defining respective parallel left and right optical paths from light that is received from the main objective assembly of a target surgical site. Each of the left and right lens sets includes a front lens, first and second zoom lenses configured to be movable along the optical path, and a lens barrel configured to receive the light from the second zoom lens. The example stereoscopic visualization camera also includes left and right image sensors configured to convert the light after passing through the lens barrel into image data that is indicative of the received light. The example stereoscopic visualization camera further includes a processor configured to convert the image data into stereoscopic video signals or video data for display on a display monitor.

Described herein are apparatus and associated methods for the generation of at least one user adjustable, accurate, real-time, virtual surgical reference indicium. A method includes recording an image of an eye and producing a real-time multidimensional visualization using the recorded image. The method also includes determining at least one distinct visible feature within a patient specific pre-operative still image and producing the real-time, virtual surgical reference indicium in conjunction with the patient specific pre-operative still image. The method further includes aligning the real-time, virtual surgical reference indicium with the real-time, multidimensional visualization of the eye using the at least one distinct visible feature.

A robotic imaging apparatus is disclosed. A robotic imaging apparatus includes a robotic arm, a stereoscopic camera, and a sensor positioned between the robotic arm and the stereoscopic camera. The sensor transmits output data that is indicative of translational and rotational force imparted on the stereoscopic camera by an operator. The robotic imaging apparatus also includes a processor that is configured to determine a movement sequence for the robotic arm based on a current position of the robotic arm and the output data from the sensor and to cause at least one of the joints of the robotic arm to rotate based on the determined movement sequence via one or more motor control signals provided to the at least one joint. The rotation of the at least one joint provides power-assisted movement of the robotic arm based on the detected translational and rotational forces imparted by the operator.

A stereoscopic visualization camera and platform are disclosed. An example stereoscopic visualization camera includes a first plurality of lenses positioned along a first optical path and a first image sensor to record a first image stream of a target site from light in the first optical path. The stereoscopic visualization camera also includes a second plurality of lenses positioned along a second optical path, parallel to the first optical path, and a second image sensor to record a second image stream of the target site from light in the second optical path. The stereoscopic visualization camera also includes a processor configured to reduce spurious parallax between the first and second images streams by selecting pixel sets of pixel grids of the first and second image sensors such that zoom repeat points ('ZRP') are located at a center of the respective pixel grids.

Described herein are apparatus and associated methods for the generation of at least one user adjustable, accurate, real-time, virtual surgical reference indicium. The apparatus includes one or more real-time, multidimensional visualization modules, one or more processors configured to produce real-time, virtual surgical reference indicia, and at least one user control input for adjusting the at least one real-time virtual surgical reference indicium. The associated methods generally involve the steps of providing one or more real-time multidimensional visualizations of a target surgical field, identifying at least one visual feature in a pre-operative dataset, aligning the visual features with the multidimensional visualization, and incorporating one or more real-time, virtual surgical reference indicium into the real-time visualization. In exemplary embodiments, the apparatus and methods are described in relation to ocular surgery, more specifically capsulorrhexis.

An imaging system for producing a stereoscopic image of an object is provided. The imaging system includes a camera for receiving an image of the object, a single-axis optical system disposed between the object and the camera, and an image blocking element disposed between the object and the camera. The image blocking element is activatable to alternately produce a left image and a right image, and is adjustable in a direction perpendicular to the optical axis of the optical system such that the image blocking element is capable of being centered on the aperture (i.e., the entrance pupil, exit pupil, or aperture stop) of the optical system.

Growing community of inventors

Santa Barbara, CA, United States of America

Michael A Weissman