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公开(公告)号:US08639000B2
公开(公告)日:2014-01-28
申请号:US13454297
申请日:2012-04-24
申请人: Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
发明人: Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
IPC分类号: G06T7/00
CPC分类号: G06K9/6211 , G06T7/33
摘要: Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译: 系统,方法和设备用于匹配图像。 识别来自第一图像的兴趣点以匹配第二图像。 响应于所识别的兴趣点,区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。 当第一图像的区域与具有高置信度得分的第二图像匹配时,例如高于阈值,可以使用区域来匹配感兴趣点。 第一图像的特征可以匹配第二图像,并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配,例如当区域的置信度得分低于阈值时。 约束可用于评估匹配的兴趣点,例如排除不良点。
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公开(公告)号:US08830224B2
公开(公告)日:2014-09-09
申请号:US12465020
申请日:2009-05-13
申请人: Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myrian J. Curet , Tao Zhao , Simon Di Maio , Brian D. Hoffman
发明人: Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myrian J. Curet , Tao Zhao , Simon Di Maio , Brian D. Hoffman
CPC分类号: A61B34/25 , A61B34/20 , A61B2034/2057 , A61B2034/2065 , A61B2090/371 , A61B2090/373 , G06T7/593 , G06T11/00 , G06T2207/10068 , G06T2207/20096 , G06T2207/20101 , G06T2207/30004 , H04N13/10 , H04N13/20 , H04N13/30 , H04N2013/0092
摘要: An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译: 一种装置被配置为实时地向外科医生示出3-D的远程化。 监视器被显示为立体图像对的一侧,使得监视器可以在一侧用输入装置绘制远距离信号线。 识别兴趣点以匹配立体图像对的另一侧。 响应于所识别的兴趣点,区域和特征被识别并用于将感兴趣点与另一侧匹配。 区域可用于匹配兴趣点。 第一图像的特征可以匹配第二图像,并且用于将感兴趣的点与第二图像匹配,例如当区域的置信度得分低于阈值时。 限制可用于评估匹配的兴趣点,例如排除不良点。
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公开(公告)号:US08184880B2
公开(公告)日:2012-05-22
申请号:US12465029
申请日:2009-05-13
申请人: Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
发明人: Wenyi Zhao , Chenyu Wu , David Hirvonen , Tao Zhao , Brian D. Hoffman , Simon Di Maio
IPC分类号: G06T7/00
CPC分类号: G06K9/6211 , G06T7/33
摘要: Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译: 系统,方法和设备用于匹配图像。 识别来自第一图像的兴趣点以匹配第二图像。 响应于所识别的兴趣点,区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。 当第一图像的区域与具有高置信度得分的第二图像匹配时,例如高于阈值,可以使用区域来匹配感兴趣点。 第一图像的特征可以匹配第二图像,并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配,例如当区域的置信度得分低于阈值时。 约束可用于评估匹配的兴趣点,例如排除不良点。
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公开(公告)号:US09492240B2
公开(公告)日:2016-11-15
申请号:US12485503
申请日:2009-06-16
申请人: Brandon D. Itkowitz , Tao Zhao , Simon Di Maio , Wenyi Zhao , Christopher J. Hasser , Myrian J. Curet , Catherine J. Mohr , Hubert Stein
发明人: Brandon D. Itkowitz , Tao Zhao , Simon Di Maio , Wenyi Zhao , Christopher J. Hasser , Myrian J. Curet , Catherine J. Mohr , Hubert Stein
CPC分类号: A61B90/06 , A61B1/00193 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B90/361 , A61B2017/00477 , A61B2034/2065 , A61B2090/061
摘要: Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.
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