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    Determining the relative position between a point cloud generating camera and another camera
    2.
    发明授权
    Determining the relative position between a point cloud generating camera and another camera 有权

    公开(公告)号：US11593960B2

    公开(公告)日：2023-02-28

    申请号：US17671384

    申请日：2022-02-14

    Applicant: Brainlab AG

    Inventor： Pablo Aponte ,  Jochen Veigel ,  Ivana Ivanovska ,  Hagen Kaiser

    IPC: G06T7/73 ,  G06T7/586 ,  G06T7/557 ,  G16H30/40 ,  G06T7/00

    Abstract: A method for determining the relative position between a first camera and a second camera used in a medical application, wherein the first camera captures a 2D image of a phantom, the second camera emits light onto the phantom and analyzes the reflected light, thus generating a 3D point cloud representing points on the surface of the phantom, and the phantom has a planar surface forming a background on which a plurality of 2D markers are formed, wherein one of the background and the 2D markers is reflective, thus reflecting light emitted by the second camera back to the second camera, and the other one is non-reflective, thus not reflecting light emitted by the second camera back to the second camera, the method involving that a) the first camera captures a 2D image of the phantom, b) the second camera generates a 3D point cloud representing the planar surface of the phantom, c) the 2D markers are identified in the 2D image, thus obtaining 2D marker data representing the locations of the 2D markers in the 2D image, d) the 2D markers are identified in the 3D point cloud using the property that points on a non-reflective part of the planar surface are identified as having a larger distance to the second camera than points on a reflective part of the planar surface, thus obtaining 3D marker data representing the locations of the 2D markers in a reference system of the second camera, and e) finding the relative position between the first camera and the second camera by applying a Perspective-n-Points algorithm on the 2D marker data and the 3D marker data.

    STABILITY ESTIMATION OF A POINT SET REGISTRATION
    4.
    发明申请
    STABILITY ESTIMATION OF A POINT SET REGISTRATION 有权

    公开(公告)号：US20220328177A1

    公开(公告)日：2022-10-13

    申请号：US17422352

    申请日：2020-03-13

    Applicant: Brainlab AG

    Inventor： Ivana Ivanovska ,  Hagen Kaiser ,  Pablo Aponte ,  Jochen Veigel

    IPC: G16H40/63

    Abstract: The present invention relates to a method encompassing acquiring data as to the geometric structure/topology of a predefined surface section as well as to an additional physical property assigned to the surface section, determining variability of the geometric structure/topology as well as of the additional physical property over the surface section, and determining from these at variabilities an expected stability of co-registering datasets describing the predefined surface section. The present invention further relates to a corresponding computer program and a corresponding system for carrying out this method.

    Patient positioning using a skeleton model
    5.
    发明授权
    Patient positioning using a skeleton model 有权

    公开(公告)号：US11207137B2

    公开(公告)日：2021-12-28

    申请号：US16760922

    申请日：2017-12-07

    Applicant: Brainlab AG

    Inventor： Jochen Veigel ,  Ivana Ivanovska ,  Hagen Kaiser ,  Pablo Aponte

    IPC: A61B34/10 ,  G06T15/10 ,  G09B19/00 ,  A61B90/00 ,  A61N5/10

    Abstract: First and second skeleton model data is determined based on first and second surface data of a patient. Each of the skeleton model data describes geometries of rigid anatomic structures of a patient at a different point in time. Skeleton difference data is determined describing differences between the geometries of the rigid anatomic structures. In a next step, movement instruction data is determined which describes movement to be performed by the rigid anatomic structures to minimize the differences, i.e. to correct the posture of the patient. The movement instruction data is for example determined based on anatomy constraint data which describes anatomical movement constraints for the rigid anatomic structures (e.g. range of motion of a joint). An instruction is displayed (e.g. using augmented reality), guiding the user how to move the rigid anatomic structures so as to correct the patient's posture.

    Patient positioning using a skeleton model
    6.
    发明授权
    Patient positioning using a skeleton model 有权

    公开(公告)号：US11628012B2

    公开(公告)日：2023-04-18

    申请号：US17527621

    申请日：2021-11-16

    Applicant: Brainlab AG

    Inventor： Jochen Veigel ,  Ivana Ivanovska ,  Hagen Kaiser ,  Pablo Aponte

    IPC: A61B34/10 ,  G06T15/10 ,  G09B19/00

    Abstract: First and second skeleton model data is determined based on first and second surface data of a patient. Each of the skeleton model data describes geometries of rigid anatomic structures of a patient at a different point in time. Skeleton difference data is determined describing differences between the geometries of the rigid anatomic structures. In a next step, movement instruction data is determined which describes movement to be performed by the rigid anatomic structures to minimize the differences, i.e. to correct the posture of the patient. The movement instruction data is for example determined based on anatomy constraint data which describes anatomical movement constraints for the rigid anatomic structures (e.g. range of motion of a joint). An instruction is displayed (e.g. using augmented reality), guiding the user how to move the rigid anatomic structures so as to correct the patients posture.

    Determining the relative position between a point cloud generating camera and another camera
    7.
    发明授权
    Determining the relative position between a point cloud generating camera and another camera 有权

    公开(公告)号：US11288834B2

    公开(公告)日：2022-03-29

    申请号：US16075450

    申请日：2017-05-23

    Applicant: Brainlab AG

    Inventor： Pablo Aponte ,  Jochen Veigel ,  Ivana Ivanovska ,  Hagen Kaiser

    IPC: G06T7/73 ,  G06T7/586 ,  G06T7/557 ,  G16H30/40 ,  G06T7/00

    Abstract: A method for determining the relative position between a first camera and a second camera used in a medical application, wherein the first camera captures a 2D image of a phantom, the second camera emits light onto the phantom and analyzes the reflected light, thus generating a 3D point cloud representing points on the surface of the phantom, and the phantom has a planar surface forming a background on which a plurality of 2D markers are formed, wherein one of the background and the 2D markers is reflective, thus reflecting light emitted by the second camera back to the second camera, and the other one is non-reflective, thus not reflecting light emitted by the second camera back to the second camera, the method involving that a) the first camera captures a 2D image of the phantom, b) the second camera generates a 3D point cloud representing the planar surface of the phantom, c) the 2D markers are identified in the 2D image, thus obtaining 2D marker data representing the locations of the 2D markers in the 2D image, d) the 2D markers are identified in the 3D point cloud using the property that points on a non-reflective part of the planar surface are identified as having a larger distance to the second camera than points on a reflective part of the planar surface, thus obtaining 3D marker data representing the locations of the 2D markers in a reference system of the second camera, and e) finding the relative position between the first camera and the second camera by applying a Perspective-n-Points algorithm on the 2D marker data and the 3D marker data.

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