Peter K Kazanzides

US Patent:

7835630, Nov 16, 2010

Filed:

Apr 3, 2008

Appl. No.:

12/061896

Inventors:

Peter Kazanzides - Baltimore MD, US
Ndubuisi John Ekekwe - Baltimore MD, US
Ralph Etienne-Cummings - Baltimore MD, US

Assignee:

The Johns Hopkins University - Baltimore MD

International Classification:

G05F 1/10

US Classification:

388815, 318800, 318805, 318803, 318811, 318808, 318809, 318810, 318807, 702127, 702108, 702 85, 7351426, 324415, 324160, 324163, 324165, 324 7647, 324 7655, 324 7679

Abstract:

An integrated circuit for controlling a DC motor is disclosed. The integrated circuit includes at least one digital position and speed circuit (DPS) for providing measurements of speed, position, and direction of the motor, the DPS being in signal communication with the motor for receiving a pair of signals having a quadrature relationship; and at least one programmable gain amplifier (PGA) electrically coupled to the motor, the PGA being configured to receive a feedback signal indicative of current flowing through the motor and to apply a second signal to the motor for adjusting the speed of the motor; and at least two analog-to-digital converters (A/D), one A/D being used to quantize the output of the PGA for an off-chip processor; and another A/D to provide motor reference position from an analog sensor, such as a potentiometer; and at least two digital-to-analog converters (D/A), one D/A used to set the motor voltage; and another D/A used to set the motor current limit. The integrated circuit can be incorporated into a larger motor control loop which further includes a summing amplifier for providing the feedback signal to the motor that is indicative of current flowing through the motor; a buffer amplifier electrically for sensing the output current of the motor, and a processor for providing control signals to the system monolithic module and for receiving the measurements of speed, position, and direction of the motor.

US Patent:

8398541, Mar 19, 2013

Filed:

Aug 11, 2008

Appl. No.:

12/189615

Inventors:

Simon P. DiMaio - Sunnyvale CA, US
Christopher J. Hasser - Los Altos CA, US
Russell H. Taylor - Severna Park MD, US
David Q. Larkin - Menlo Park CA, US
Peter Kazanzides - Towson MD, US
Anton Deguet - Baltimore MD, US
Joshua Leven - Astoria NY, US

Assignee:

Intuitive Surgical Operations, Inc. - Sunnyvale CA
Johns Hopkins University - Baltimore MD

International Classification:

A61B 1/04

US Classification:

600111, 600101, 600166, 3482113, 3482114

Abstract:

In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.

US Patent:

20130245375, Sep 19, 2013

Filed:

Feb 25, 2013

Appl. No.:

13/775574

Inventors:

The Johns Hopkins University c/o John Hopkins Technology Transfer - , US
Russell H. Taylor - Severna Park MD, US
David Q. Larkin - Menlo Park CA, US
Peter Kazanzides - Towson MD, US
Anton Deguet - Baltimore MD, US
Balazs Peter Vagvolgyi - Baltimore MD, US
Joshua Leven - Astoria NY, US

Assignee:

The Johns Hopkins University c/o John Hopkins Technology Transfer - Baltimore MD
Intuitive Surgical Operations, Inc. - Sunnyvale CA

International Classification:

A61B 19/00
A61B 1/00

US Classification:

600111, 600166

Abstract:

In one embodiment of the invention, a method for a minimally invasive surgical system is disclosed. The method includes capturing and displaying camera images of a surgical site on at least one display device at a surgeon console; switching out of a following mode and into a masters-as-mice (MaM) mode; overlaying a graphical user interface (GUI) including an interactive graphical object onto the camera images; and rendering a pointer within the camera images for user interactive control. In the following mode, the input devices of the surgeon console may couple motion into surgical instruments. In the MaM mode, the input devices interact with the GUI and interactive graphical objects. The pointer is manipulated in three dimensions by input devices having at least three degrees of freedom. Interactive graphical objects are related to physical objects in the surgical site or a function thereof and are manipulatable by the input devices.

US Patent:

58240853, Oct 20, 1998

Filed:

Sep 30, 1996

Appl. No.:

8/724497

Inventors:

Alind Sahay - Sacramento CA
Brent Mittelstadt - Placerville CA
Willie Williamson - Roseville CA
Joel Zuhars - Sacramento CA
Peter Kazanzides - Sacramento CA

Assignee:

Integrated Surgical Systems, Inc. - Sacramento CA

International Classification:

A61F 228

US Classification:

623 16

Abstract:

Methods, systems and apparatus for planning the position of a prosthesis in a long bone in orthopaedic surgical procedures, such as hip replacement surgery, knee replacement surgery, long bone osteotomies, and the like. A bone model is generated from a scanned image of a bone, a prosthesis model is selected from a library of prosthesis models and then a cavity model is formed based on the prosthesis model and/or the bone model. The cavity model may then be positioned over the bone model, either interactively by the surgeon or automatically through an algorithm based on clinical parameters, to determine a reasonable location for implantation of a prosthesis within the bone. The cavity model allows the surgeon to optimize placement of the implant within the bone, and it provides important clinical information to the surgeon, such as areas in which press fits are provided, extension areas for possible subsidence and access areas for allowing the surgeon to insert the implant into the cavity.

US Patent:

59514752, Sep 14, 1999

Filed:

Sep 25, 1997

Appl. No.:

8/936935

Inventors:

Andre Pierre Gueziec - Mamaroneck NY
Peter Kazanzides - Sacramento CA
Russell H. Taylor - Severna Park MD

Assignee:

International Business Machines Corporation - Armonk NY

International Classification:

A61B 600

US Classification:

600425

Abstract:

A method and system is disclosed for registering two dimensional fluoroscopic images with a three dimensional model of a surgical tissue of interest. The method includes steps of: (a) generating, from CT or MRI data, a three dimensional model of a surgical tissue of interest; (b) obtaining at least two, two dimensional, preferably fluoroscopic, x-ray images representing at least two views of the surgical tissue of interest, the images containing radio-opaque markers for associating an image coordinate system with a surgical (robot) coordinate system; (c) detecting the presence of contours of the surgical tissue of interest in each of the at least two views; (d) deriving bundles of three dimensional lines that pass through the detected contours; and (e) interactively matching three dimensional points on three dimensional silhouette curves obtained from the three dimensional model with the bundles of three dimensional lines until the three dimensional model is registered within the surgical coordinate system to a predetermined level of accuracy. The step of iteratively matching includes steps of: defining a distance between surfaces of the model and a beam of three dimensional lines that approach the surfaces; and finding a pose of the surfaces that minimizes a distance to the lines using, preferably, a statistically robust method, thereby providing a desired registration between a surgical robot and a preoperative treatment plan.

US Patent:

20220366598, Nov 17, 2022

Filed:

Jul 8, 2022

Appl. No.:

17/811349

Inventors:

- Baltimore MD, US
Long QIAN - Baltimore MD, US
Peter KAZANZIDES - Lutherville MD, US
Nassir NAVAB - Fairfax VA, US

Assignee:

The Johns Hopkins University - Baltimore MD

International Classification:

G06T 7/73
G06T 7/246
G06T 7/33
G06T 19/00
G09G 3/00

Abstract:

A calibration platform may obtain measurements for aligning a real-world coordinate system and a display coordinate system. For example, the calibration platform may display, via an optical see-through head-mounted display (OST-HMD), a three-dimensional virtual object and receive, from a positional tracking device, information that relates to a current pose of a three-dimensional real-world object to be aligned with the three-dimensional virtual object. The calibration platform may record a three-dimensional position of a plurality of points on the three-dimensional real-world object based on the current pose of the three-dimensional real-world object, based on an indication that the plurality of points on the three-dimensional real-world object respectively corresponds with a plurality of points on the three-dimensional virtual object. Accordingly, based on the obtained measurements, the calibration platform may generate a transformation function to provide a mapping between three-dimensional points in the real-world coordinate system and three-dimensional points in the display coordinate system.

US Patent:

20230027801, Jan 26, 2023

Filed:

Jan 5, 2021

Appl. No.:

17/791058

Inventors:

- Baltimore MD, US
Peter KAZANZIDES - Baltimore MD, US
Mathias UNBERATH - Baltimore MD, US
Tianyu SONG - Baltimore MD, US

Assignee:

THE JOHNS HOPKINS UNIVERSITY - Baltimore MD

International Classification:

G06T 19/00
G06T 19/20
G02B 25/00
G06T 5/00
G06V 10/25

Abstract:

A computer-implemented method for displaying augmented reality (AR) content within an AR device coupled to one or more loupe lenses comprising: obtaining calibration parameters defining a magnified display portion within a display of the AR device, wherein the magnified display portion corresponds to boundaries encompassing the one or more loupe lenses; receiving the AR content for display within the AR device; and rendering the AR content within the display, wherein the rendering the AR content comprises: identifying a magnified portion of the AR content to be displayed within the magnified display portion, and rendering the magnified portion of the AR content within the magnified display portion.

US Patent:

20210142508, May 13, 2021

Filed:

Jan 31, 2019

Appl. No.:

16/966707

Inventors:

- Baltimore MD, US
Long QIAN - Baltimore MD, US
Peter KAZANZIDES - Lutherville MD, US
Nassir NAVAB - Fairfax VA, US

Assignee:

The Johns Hopkins University - Baltimore MD

International Classification:

G06T 7/73
G06T 19/00
G06T 7/33
G06T 7/246
G09G 3/00

Abstract:

A calibration platform may obtain measurements for aligning a real-world coordinate system and a display coordinate system. For example, the calibration platform may display, via an optical see-through head-mounted display (OST-HMD), a three-dimensional virtual object and receive, from a positional tracking device, information that relates to a current pose of a three-dimensional real-world object to be aligned with the three-dimensional virtual object. The calibration platform may record a three-dimensional position of a plurality of points on the three-dimensional real-world object based on the current pose of the three-dimensional real-world object, based on an indication that the plurality of points on the three-dimensional real-world object respectively corresponds with a plurality of points on the three-dimensional virtual object. Accordingly, based on the obtained measurements, the calibration platform may generate a transformation function to provide a mapping between three-dimensional points in the real-world coordinate system and three-dimensional points in the display coordinate system.