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1.发明申请公开(公告)号：US20180055579A1
公开(公告)日：2018-03-01
申请号：US15788826
申请日：2017-10-20
CPC分类号： A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2034/2065 , A61B2034/2068 , A61B2090/363 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/0007 , A61C1/082
摘要： The present invention involves a vectorized multi-material fiducial reference for use in tracking on a user-calibration free basis a non-visible scan-detectable structure of a body as part of a three-dimensional tracking system. The fiducial consists of scan-detectable elements embedded within the body of the fiducial, the body being formed of a material compatible with the tracked body. The scan-detectable elements are embedded in a rotationally asymmetric pattern in the fiducial with to an accuracy compatible with surgery. A vectorized tracking marker may be attached directly or indirectly to the fiducial. The system employs a controller in communication with a non-stereo optical tracker to track in real time the marker and thereby the fiducial based on a prior scan of the surgical site with the fiducial attached. A method for manufacturing the fiducial employs pins to hold the scan-detectable elements accurately in position while forming the body of the fiducial around the elements.
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2.发明授权公开(公告)号：US09844413B2
公开(公告)日：2017-12-19
申请号：US15278213
申请日：2016-09-28
CPC分类号： A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2034/2065 , A61B2090/363 , A61B2090/364 , A61B2090/3937 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/082 , G06T7/0014 , G06T7/74 , G06T2207/30036 , G06T2207/30204 , H04N13/20
摘要： A monitoring system tracks the non-visible structure of a body in three dimensions. A tracker obtains image information of the object and instruments in its vicinity, all bearing 3D tracking markers with at least one pattern segment. A controller spatially relates image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan a fiducial reference detectable in the scan is removably attached to a location on the object. Scan data and image information is used by the controller to provide the user with real time information on relative 3D locations and orientations of instruments and the non-visible structure of the body. The monitoring system may be used to model and track changes in the body itself. A model of the body and instruments is used to track contemplated actions and warn about possibly inappropriate instrument procedures.
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公开(公告)号：US20150294504A1
公开(公告)日：2015-10-15
申请号：US14679561
申请日：2015-04-06
发明人： Ehud (Udi) DAON
CPC分类号： G06F3/005 , G06T7/246 , G06T7/73 , G06T19/00 , G06T2207/30204 , G06T2207/30221
摘要： A videographic system uses a videographic camera to obtain a temporal series of digital images of a scene and substitutes the video appearance of display boards in the scene with sub-images from a database. 3D vectorized tracking markers disposed rigidly with respect to the display boards enable a controller to geometrically adapt the sub-images for changing perspectives of the videographic camera. The markers may have a rotationally asymmetric pattern of contrasting portions with perimeters that have sections that are mathematically describable curves. The markers may be monolithically integrated with the display boards. The adapted images may be supplied to an interactive display system, along with pixel coordinate information about the sub-images and resource location identifiers associated with the sub-images. This allows linking to a networked resource by selecting the sub-image with a digital pointing and selecting device. The system may be configured to replace televised advertising board information with geometrically adapted user-targeted advertisements.
摘要翻译： 视频摄像系统使用摄像机来获取场景的时间序列数字图像，并用来自数据库的子图像代替场景中显示板的视频外观。 相对于显示板刚性设置的3D矢量化跟踪标记使得控制器能够几何地适应用于改变摄像机的透视图的子图像。 标记可以具有具有周长的对比部分的旋转非对称图案，其具有在数学上可描述的曲线的部分。 标记可以与显示板单片集成。 适配图像可以被提供给交互式显示系统，以及关于子图像的像素坐标信息和与子图像相关联的资源位置标识符。 这允许通过使用数字指向和选择设备选择子图像来链接到网络资源。 系统可以被配置为用几何适应的用户定向的广告替换电视广告板信息。
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公开(公告)号：US20140228675A1
公开(公告)日：2014-08-14
申请号：US13822358
申请日：2012-10-21
发明人： Ehud (Udi) Daon
IPC分类号： A61B5/06
CPC分类号： A61B5/064 , A61B5/055 , A61B6/032 , A61B6/12 , A61B6/14 , A61B10/0233 , A61B34/20 , A61B90/16 , A61B2017/00477 , A61B2090/3983 , A61B2090/3991 , A61C1/0007 , A61C1/082
摘要： A surgical hardware and software monitoring system and method allows for surgical planning while the patient is available for surgery, for example while the patient is being prepared for surgery so that the system may model the surgical site. Tracker obtains image information, with controller configured to spatially relate image information with previously obtained scan data. Fiducial reference is configured for removably attaching to a location proximate a surgical site. The fiducial reference is observable by the tracker so that software of the controller determines three-dimensional location and orientation based on scan data and image data of the surgical site, spatially relating the image information to the scan data to determine the three-dimensional location and the orientation of the fiducial reference. In one embodiment, the model may be used to track contemplated surgical procedures and warn the physician regarding possible boundary violations that would indicate an inappropriate location in a surgical procedure. In another embodiment, the monitoring system may track the movement of instruments during the procedure and in reference to the model to enhance observation of the procedure. In a further embodiment the monitoring system can be used to model and track the changes in the surgical site itself.
摘要翻译： 手术硬件和软件监测系统和方法允许在患者可用于手术时进行手术计划，例如当患者准备手术时，使得系统可以建模手术部位。 跟踪器获取图像信息，控制器配置为将图像信息与先前获得的扫描数据空间相关。 基准参考构造用于可移除地附接到手术部位附近的位置。 跟踪器可观察到基准参考，使得控制器的软件基于手术部位的扫描数据和图像数据来确定三维位置和取向，将图像信息与扫描数据空间相关以确定三维位置，并且 基准的方向。 在一个实施例中，该模型可以用于跟踪预期的手术过程并且警告医师关于在外科手术中指示不适当位置的可能的边界违规。 在另一个实施例中，监视系统可以在程序期间和参考模型跟踪仪器的移动，以增强对程序的观察。 在另一实施例中，监测系统可用于建模和跟踪手术部位本身的变化。
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公开(公告)号：US20220265387A1
公开(公告)日：2022-08-25
申请号：US17692437
申请日：2022-03-11
摘要： The present invention relates to a tool system comprising a handheld implement having a passive vectorized tracking marker permanently integrated with the implement at a predetermined location on the implement in a predetermined orientation with respect to the implement; and a database comprising geometric information describing the at least one of a rotationally asymmetric shape of the tracking marker and a rotationally asymmetric pattern disposed on the tracking marker. The system may further comprise: a tracker configured for obtaining image information about the tracking marker when the tracking marker is in a field of view of the tracker; and a controller having a processor and memory, the controller in communication with the database and the tracker, the processor programmable for receiving and processing image information from the tracker; accessing the database to retrieve the geometric information; and comparing the image information with the geometric information. The handheld implement may be three-dimensionally tracked by the tracker.
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6.发明授权System and method for tracking non-visible structure of a body with multi-element fiducial 有权用于跟踪具有多元素基准的身体的不可见结构的系统和方法公开(公告)号：US09489738B2
公开(公告)日：2016-11-08
申请号：US14257024
申请日：2014-04-21
CPC分类号： A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2034/2065 , A61B2090/363 , A61B2090/364 , A61B2090/3937 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/082 , G06T7/0014 , G06T7/74 , G06T2207/30036 , G06T2207/30204 , H04N13/20
摘要： A monitoring system tracks the non-visible structure of a body in three dimensions. A tracker obtains image information of the object and instruments in its vicinity, all bearing 3D tracking markers. A controller spatially relates image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan a fiducial reference detectable in the scan is removably attached to a location on the object. The scan data and image information is used by the controller to provide the user with real time information on the relative 3D locations and orientations of instruments and non-visible structure of the body. In a further embodiment the monitoring system may be used to model and track changes in the body itself. In other embodiments, a model of the body and instruments is used to track contemplated actions and warn about possibly inappropriate instrument procedures.
摘要翻译： 监控系统在三个维度上跟踪身体的不可见结构。 跟踪器获取其附近的物体和仪器的图像信息，所有这些都具有3D跟踪标记。 控制器在空间上将图像信息与先前获得的显示对象的不可见结构的对象的扫描数据相关联。 对于扫描，扫描中可检测的基准参考可移除地附着到物体上的位置。 控制器使用扫描数据和图像信息来向用户提供关于仪器的相对3D位置和取向以及身体的不可见结构的实时信息。 在另一实施例中，监视系统可用于对身体本身的变化进行建模和跟踪。 在其他实施例中，使用身体和器械的模型来跟踪预期的动作并警告可能不适当的仪器过程。
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7.发明申请公开(公告)号：US20150119685A1
公开(公告)日：2015-04-30
申请号：US14562691
申请日：2014-12-06
IPC分类号： A61B19/00
CPC分类号： A61B19/54 , A61B34/20 , A61B90/39 , A61B2090/3937 , A61B2090/3983 , G06K9/00201 , G06K9/00624 , G06K2209/057 , Y10S128/922 , Y10S128/923
摘要： A three-dimensional position and orientation tracking system comprises one or more pattern tags, each comprising a plurality of contrasting portions, a tracker for obtaining image information about the pattern tags, a database with geometric information describing patterns on pattern tags; and a controller for receiving and processing the image information from the tracker, accessing the database to retrieve geometric information, and comparing the image information with the geometric information. The contrasting portions are arranged in a rotationally asymmetric pattern and at least one of the contrasting portions on a pattern tag has a perimeter that has a mathematically describable curved section. The pattern tags may be borne on tracking markers that have a three-dimensional shaped surface. The tracking system can be implemented in a surgical monitoring system in which the pattern tags are attached to tracking markers or are themselves tracking markers. A method associated with the system employs the rotationally asymmetric patterns on the tags to determine the three-dimensional locations and orientations of items bearing the tags using non-stereo image information.
摘要翻译： 三维位置和方向跟踪系统包括一个或多个图案标签，每个图案标签包括多个对比部分，用于获取关于图案标签的图像信息的跟踪器，具有描述图案标签上的图案的几何信息的数据库; 以及控制器，用于从跟踪器接收和处理图像信息，访问数据库以检索几何信息，以及将图像信息与几何信息进行比较。 对比部分以旋转非对称图案布置，并且图案标签上的对比部分中的至少一个具有具有数学上可描述的弯曲部分的周边。 模式标签可以承载在具有三维形状表面的跟踪标记上。 跟踪系统可以在手术监视系统中实现，其中模式标签附接到跟踪标记或本身是跟踪标记。 与系统相关联的方法使用标签上的旋转非对称图案来确定使用非立体图像信息的带有标签的物品的三维位置和取向。
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公开(公告)号：US20150049238A1
公开(公告)日：2015-02-19
申请号：US14458186
申请日：2014-08-12
CPC分类号： H04N5/23212 , G06K9/00624 , G06T7/20 , G06T7/579 , G06T7/60 , G06T2207/30204 , H04N1/00339 , H04N1/00342 , H04N5/2224 , H04N5/2254
摘要： A system and method for automatically focusing imaging devices on an imaging set employs at least one tracker and two or more tracking markers, each tracking marker having an identification means and a tracking pattern. The tracking markers are configured for attaching to the imaging devices and to corresponding subjects to be imaged. A tracker gathers image information of the imaging set and provides it to a controller, which compares the image information to predetermined stored information about the tracking patterns of the various tracking markers. The tracking markers are identified and their three-dimensional positions determined. The distances between the imaging devices and the subjects are determined and the distances between the imaging devices and the subjects are calculated. This provides the focus setting information for communication to the imaging devices. The tracking patterns may have no rotational symmetry, allowing the orientation of subjects to be determined.
摘要翻译： 用于将成像装置自动聚焦在成像组上的系统和方法采用至少一个跟踪器和两个或更多个跟踪标记，每个跟踪标记具有识别装置和跟踪图案。 跟踪标记被配置为附接到成像装置和要被成像的相应对象。 跟踪器收集成像集合的图像信息并将其提供给控制器，其将图像信息与预定存储的关于各种跟踪标记的跟踪图案的信息进行比较。 识别跟踪标记并确定其三维位置。 确定成像装置与受试者之间的距离，并且计算成像装置和受试者之间的距离。 这提供了用于与成像装置的通信的聚焦设置信息。 跟踪图案可以不具有旋转对称性，允许确定受试者的取向。
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公开(公告)号：US20140320600A1
公开(公告)日：2014-10-30
申请号：US14257024
申请日：2014-04-21
CPC分类号： A61B34/20 , A61B90/39 , A61B2034/2055 , A61B2034/2065 , A61B2090/363 , A61B2090/364 , A61B2090/3937 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/082 , G06T7/0014 , G06T7/74 , G06T2207/30036 , G06T2207/30204 , H04N13/20
摘要： A monitoring system tracks the non-visible structure of a body in three dimensions. A tracker obtains image information of the object and instruments in its vicinity, all bearing 3D tracking markers. A controller spatially relates the image information with previously obtained scan data of the object revealing non-visible structure of the object. For the scan a fiducial reference detectable in the scan is removably attached to a location on the object. The scan data and image information is used by the controller to provide the user with real time information on the relative 3D locations and orientations of the instruments and the non-visible structure of the body. In a further embodiment the monitoring system may be used to model and track the changes in the body itself. In other embodiments, a model of the body and instruments is used to track contemplated actions and warn about possibly inappropriate instrument procedures.
摘要翻译： 监控系统在三个维度上跟踪身体的不可见结构。 跟踪器获取其附近的物体和仪器的图像信息，所有这些都具有3D跟踪标记。 控制器在空间上将图像信息与先前获得的显示对象的不可见结构的对象的扫描数据相关联。 对于扫描，扫描中可检测的基准参考可移除地附着到物体上的位置。 控制器使用扫描数据和图像信息来向用户提供关于仪器的相对3D位置和取向以及身体的不可见结构的实时信息。 在另一实施例中，监视系统可用于对身体本身的变化进行建模和跟踪。 在其他实施例中，使用身体和器械的模型来跟踪预期的动作并警告可能不适当的仪器过程。
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10.发明授权公开(公告)号：US09585721B2
公开(公告)日：2017-03-07
申请号：US14645927
申请日：2015-03-12
发明人： Ehud (Udi) Daon
IPC分类号： A61B5/055 , A61B19/00 , A61B6/12 , A61B6/03 , A61B8/08 , A61B5/06 , A61B17/3211 , A61C1/08 , A61B5/00 , A61B6/14 , A61B10/02 , A61C1/00 , A61B17/00
CPC分类号： A61B90/39 , A61B5/0088 , A61B5/055 , A61B5/064 , A61B6/032 , A61B6/12 , A61B6/14 , A61B8/0841 , A61B10/0233 , A61B17/3211 , A61B34/20 , A61B90/16 , A61B2017/00477 , A61B2034/2065 , A61B2090/363 , A61B2090/3925 , A61B2090/3937 , A61B2090/3954 , A61B2090/3966 , A61B2090/3983 , A61B2090/3991 , A61C1/0007 , A61C1/082
摘要： The present invention involves a surgical site monitoring system and associated method of use employing vectorized 3D-tracking markers attached to a single vectorized fiducial reference and to a surgical site imaging sensor. A tracker obtains image information about both tracking markers and uses either the markings on or shapes of the tracking markers to determine from the image information the 3D locations and orientations of the imaging sensor and of the fiducial reference fixed to the surgical site. A scan taken of the surgical site prior to a surgical procedure with the fiducial reference attached allows live images of the surgery site to be sourced from the imaging sensor and to be overlaid in real time on a 3D model of the surgical site.
摘要翻译： 本发明涉及一种外科手术部位监测系统及其相关联的使用方法，其使用附接到单个矢量化基准参考的矢量化3D跟踪标记和手术部位成像传感器。 跟踪器获取关于两个跟踪标记的图像信息，并且使用跟踪标记上的标记或者跟踪标记的形状从图像信息中确定成像传感器的3D位置和取向以及固定到手术部位的基准参考。 在外科手术之前使用基准参考进行的外科手术部位的扫描允许手术部位的实时图像来自成像传感器，并且实时覆盖在手术部位的3D模型上。
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