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公开(公告)号：US11690558B2
公开(公告)日：2023-07-04
申请号：US17486839
申请日：2021-09-27
Applicant: The Trustees of Dartmouth College
Inventor： David W. Roberts , Keith D. Paulsen , Alexander Hartov , Songbai Ji , Xiaoyao Fan
IPC: A61B5/00 , G06T7/33 , A61B34/10 , A61B5/377 , G06T3/00 , H04N13/257 , H04N13/239 , A61B90/00 , A61B5/055 , A61B5/369
CPC classification number: A61B5/377 , A61B5/0042 , A61B5/0077 , G06T3/0068 , G06T7/33 , H04N13/239 , H04N13/257 , A61B5/055 , A61B5/369 , A61B2034/104 , A61B2034/105 , A61B2034/107 , A61B2090/367 , G06T2207/10012 , G06T2207/10064 , G06T2207/10072 , G06T2207/30016
Abstract: A surgical guidance system has two cameras to provide stereo image stream of a surgical field; and a stereo viewer. The system has a 3D surface extraction module that generates a first 3D model of the surgical field from the stereo image streams; a registration module for co-registering annotating data with the first 3D model; and a stereo image enhancer for graphically overlaying at least part of the annotating data onto the stereo image stream to form an enhanced stereo image stream for display, where the enhanced stereo stream enhances a surgeon's perception of the surgical field. The registration module has an alignment refiner to adjust registration of the annotating data with the 3D model based upon matching of features within the 3D model and features within the annotating data; and in an embodiment, a deformation modeler to deform the annotating data based upon a determined tissue deformation.
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公开(公告)号：US11564639B2
公开(公告)日：2023-01-31
申请号：US14767836
申请日：2014-02-13
Applicant: The Trustees of Dartmouth College
Inventor： Kenneth Tichauer , Robert W. Holt , Frederic Leblond , Pablo Valdes , Brian W. Pogue , Keith D. Paulsen , David W. Roberts
Abstract: A method of generating corrected fluorescence data of concentrations of a targeted fluorophore in tissue of a subject includes administering first and second fluorescent contrast agents to the subject, the first contrast agent targeted to tissue of interest, the second agent untargeted. The tissue is illuminated with light of a first stimulus wavelength and first data is acquired at an appropriate emissions wavelength; the tissue is illuminated at a second stimulus wavelength and second data is acquired at a second emissions wavelength associated with the second agent, the first and second emissions wavelength differ. Difference data is generated by subtracting the second data from the first data. A system provides for stimulus and capture at multiple wavelengths, with image storage memory and subtraction code, to perform the method. Corrected data may form an fluorescence image, or is used to generate fluorescence tomographic images.
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公开(公告)号：US11129562B2
公开(公告)日：2021-09-28
申请号：US16785882
申请日：2020-02-10
Applicant: The Trustees of Dartmouth College
Inventor： David W. Roberts , Keith D. Paulsen , Alexander Hartov , Songbai Ji , Xiaoyao Fan
IPC: H04N13/239 , A61B34/10 , A61B5/055 , A61B5/377 , G06T3/00 , H04N13/257 , A61B5/00 , G06T7/33 , A61B90/00 , A61B5/369
Abstract: A surgical guidance system has two cameras to provide stereo image stream of a surgical field; and a stereo viewer. The system has a 3D surface extraction module that generates a first 3D model of the surgical field from the stereo image streams; a registration module for co-registering annotating data with the first 3D model; and a stereo image enhancer for graphically overlaying at least part of the annotating data onto the stereo image stream to form an enhanced stereo image stream for display, where the enhanced stereo stream enhances a surgeon's perception of the surgical field. The registration module has an alignment refiner to adjust registration of the annotating data with the 3D model based upon matching of features within the 3D model and features within the annotating data; and in an embodiment, a deformation modeler to deform the annotating data based upon a determined tissue deformation.
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公开(公告)号：US11099401B2
公开(公告)日：2021-08-24
申请号：US16443519
申请日：2019-06-17
Applicant: THE TRUSTEES OF DARTMOUTH COLLEGE
Inventor： Jonathan D. Olson , Keith D. Paulsen , David W. Roberts
Abstract: A birefringent spectral demultiplexer for hyperspectral imaging includes N birefringent beamsplitting stages arranged along a light propagation path, to produce 2N mutually divergent output light beams. Each of the output light beams differs from every other one of the output light beams in polarization and/or spectral bandwidth. Each birefringent beamsplitting stage includes a retarder for modifying polarization of each light beam received by the birefringent beamsplitting stage, and a Wollaston prism for splitting each light beam into two orthogonally polarized and divergent light beams. The Wollaston prism has a beamsplitting interface arranged at an oblique angle to the light propagation path. The oblique angle of the beamsplitting interface of each Wollaston prism of the series, except for the first one, is smaller than the oblique angle of the beamsplitting interface of each preceding Wollaston prism. The demultiplexer may be configured to accept input light of any polarization.
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公开(公告)号：US12061328B2
公开(公告)日：2024-08-13
申请号：US18144767
申请日：2023-05-08
Applicant: THE TRUSTEES OF DARTMOUTH COLLEGE
Inventor： Pablo A. Valdes , David W. Roberts , Keith D. Paulsen , Frederic Leblond
Abstract: An imaging system includes an illumination device for illuminating a target. A surgical microscope receives light from the target, the surgical microscope comprising at least one optical output port at which at least a portion of the received light is provided as an output from the surgical microscope. A tunable filter receives the portion of the received light provided as the output from the surgical microscope, the tunable filter being tunable to pass a filtered portion of the received light, the filtered portion of the received light having a plurality of wavelengths selected by the tunable filter and provided as output from the tunable filter. A high-resolution, broad-bandwidth electronic camera receives the light of a plurality of wavelengths selected by the tunable filter, the electronic camera converting the light of a plurality of wavelengths selected by the tunable filter to a plurality of electrical signals. A processor processes the plurality of electrical signals to form an image of the target.
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Patent Agency Ranking
16.发明申请公开(公告)号：US20190384048A1
公开(公告)日：2019-12-19
申请号：US16443760
申请日：2019-06-17
Applicant: THE TRUSTEES OF DARTMOUTH COLLEGE
Inventor： Pablo A. Valdes , David W. Roberts , Keith D. Paulsen , Frederic Leblond
Abstract: An imaging system includes an illumination device for illuminating a target. A surgical microscope receives light from the target, the surgical microscope comprising at least one optical output port at which at least a portion of the received light is provided as an output from the surgical microscope. A tunable filter receives the portion of the received light provided as the output from the surgical microscope, the tunable filter being tunable to pass a filtered portion of the received light, the filtered portion of the received light having a plurality of wavelengths selected by the tunable filter and provided as output from the tunable filter. A high-resolution, broad-bandwidth electronic camera receives the light of a plurality of wavelengths selected by the tunable filter, the electronic camera converting the light of a plurality of wavelengths selected by the tunable filter to a plurality of electrical signals. A processor processes the plurality of electrical signals to form an image of the target.
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公开(公告)号：US09655545B2
公开(公告)日：2017-05-23
申请号：US14345029
申请日：2012-09-17
Applicant: The Trustees of Dartmouth College
Inventor： Songbai Ji , David W. Roberts , Keith D. Paulsen
IPC: A61B5/107 , A61B5/00 , G02B21/00 , G02B21/36 , A61B90/20 , G06T7/33 , A61B19/00 , G06T7/00 , A61B90/00
CPC classification number: A61B5/1079 , A61B5/0053 , A61B5/0077 , A61B90/20 , A61B2090/364 , A61B2090/371 , G02B21/0012 , G02B21/367 , G06T7/344 , G06T2200/04 , G06T2207/10012 , G06T2207/10056 , G06T2207/30016
Abstract: An apparatus and method for measuring mechanical properties of tissue has a stereo optical surgical microscope with at least one objective lens and at least two digital cameras such that paired images obtained from the digital cameras form stereo pairs, and a digital image processing system adapted to determine surface topography of tissue from the stereo pairs of images and a resulting surface displacement map as a result from indentation. The apparatus has an one indenter; and mechanical modeling routines stored in memory of the image processing system, the mechanical modeling routines capable of constructing computer models of mechanical properties of tissue, and fitting parameters of the computer model to observed surface displacement maps generated by coregistering surface topography of tissue with and without the indenter positioned on the tissue. In an embodiment, fitted parameters of the computer model are displayed and used to adjust a surgical plan. An apparatus and method for measuring mechanical properties of tissue has a stereo optical surgical microscope with at least one objective lens and at least two digital cameras such that paired images obtained from the digital cameras form stereo pairs, and a digital image processing system adapted to determine surface topography of tissue from the stereo pairs of images and a resulting surface displacement map as a result from indentation. The apparatus has an one indenter; and mechanical modeling routines stored in memory of the image processing system, the mechanical modeling routines capable of constructing computer models of mechanical properties of tissue, and fitting parameters of the computer model to observed surface displacement maps generated by coregistering surface topography of tissue with and without the indenter positioned on the tissue. In an embodiment, fitted parameters of the computer model are displayed and used to adjust a surgical plan.
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18.发明申请Method And Apparatus For Medical Imaging Using Differencing Of Multiple Fluorophores 审中-公开使用多个荧光团差异的医学成像方法和装置公开(公告)号：US20150374308A1
公开(公告)日：2015-12-31
申请号：US14767836
申请日：2014-02-13
Applicant: THE TRUSTEES OF DARTMOUTH COLLEGE
Inventor： Kenneth Tichauer , Robert W. Holt , Frederic Leblond , Pablo Valdes , Brian W. Pogue , Keith D. Paulsen , David W. Roberts
Abstract: A method of generating corrected fluorescence data of concentrations of a targeted fluorophore in tissue of a subject includes administering first and second fluorescent contrast agents to the subject, the first contrast agent targeted to tissue of interest, the second agent untargeted. The tissue is illuminated with light of a first stimulus wavelength and first data is acquired at an appropriate emissions wavelength; the tissue is illuminated at a second stimulus wavelength and second data is acquired at a second emissions wavelength associated with the second agent, the first and second emissions wavelength differ. Difference data is generated by subtracting the second data from the first data. A system provides for stimulus and capture at multiple wavelengths, with image storage memory and subtraction code, to perform the method. Corrected data may form an fluorescence image, or is used to generate fluorescence tomographic images.
Abstract translation: 产生受试者组织中靶向荧光团浓度的校正荧光数据的方法包括向受试者施用第一和第二荧光造影剂，靶向目的组织的第一造影剂，第二剂未被靶向。 用第一刺激波长的光照射组织，并以适当的发射波长获取第一数据; 在第二刺激波长照射组织，并且以与第二试剂相关联的第二发射波长获取第二数据，第一和第二发射波长不同。 通过从第一数据中减去第二数据来产生差分数据。 系统提供多个波长的刺激和捕获，具有图像存储和减法代码，以执行该方法。 校正的数据可以形成荧光图像，或用于产生荧光断层图像。
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公开(公告)号：US20140371600A1
公开(公告)日：2014-12-18
申请号：US14345029
申请日：2012-09-17
Applicant: The Trustees of Dartmouth College
Inventor： Songbai Ji , David W. Roberts , Keith D. Paulsen
CPC classification number: A61B5/1079 , A61B5/0053 , A61B5/0077 , A61B90/20 , A61B2090/364 , A61B2090/371 , G02B21/0012 , G02B21/367 , G06T7/344 , G06T2200/04 , G06T2207/10012 , G06T2207/10056 , G06T2207/30016
Abstract: An apparatus and method for measuring mechanical properties of tissue has a stereo optical surgical microscope with at least one objective lens and at least two digital cameras such that paired images obtained from the digital cameras form stereo pairs, and a digital image processing system adapted to determine surface topography of tissue from the stereo pairs of images and a resulting surface displacement map as a result from indentation. The apparatus has an one indenter; and mechanical modeling routines stored in memory of the image processing system, the mechanical modeling routines capable of constructing computer models of mechanical properties of tissue, and fitting parameters of the computer model to observed surface displacement maps generated by coregistering surface topography of tissue with and without the indenter positioned on the tissue. In an embodiment, fitted parameters of the computer model are displayed and used to adjust a surgical plan. An apparatus and method for measuring mechanical properties of tissue has a stereo optical surgical microscope with at least one objective lens and at least two digital cameras such that paired images obtained from the digital cameras form stereo pairs, and a digital image processing system adapted to determine surface topography of tissue from the stereo pairs of images and a resulting surface displacement map as a result from indentation. The apparatus has an one indenter; and mechanical modeling routines stored in memory of the image processing system, the mechanical modeling routines capable of constructing computer models of mechanical properties of tissue, and fitting parameters of the computer model to observed surface displacement maps generated by coregistering surface topography of tissue with and without the indenter positioned on the tissue. In an embodiment, fitted parameters of the computer model are displayed and used to adjust a surgical plan.
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20.发明申请Method And Apparatus For Determining Tumor Shift During Surgery Using A Stereo-Optical Three-Dimensional Surface-Mapping System 有权使用立体光学三维表面映射系统手术确定肿瘤位移的方法和装置公开(公告)号：US20140369584A1
公开(公告)日：2014-12-18
申请号：US14375311
申请日：2013-02-01
Applicant: The Trustees of Dartmouth College
Inventor： Xiaoyao Fan , David W. Roberts , Keith D. Paulsen , Songbai Ji , Alex Hartov
CPC classification number: G06T7/0012 , A61B5/0013 , A61B5/0071 , A61B5/0075 , A61B5/055 , A61B5/1077 , A61B5/1079 , A61B5/7425 , A61B6/501 , A61B6/5247 , A61B8/0808 , A61B34/10 , A61B34/20 , A61B90/20 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2090/367 , A61B2090/378 , G06K9/60 , G06T7/33 , G06T17/00 , G06T19/20 , G06T2200/08 , G06T2207/10021 , G06T2207/10028 , G06T2207/30004 , G06T2207/30096
Abstract: A system and method for determining intraoperative locations of a lesion in tissue from lesion locations determined in preoperative imaging includes determining three dimensional locations of surface features of the organ in the preoperative images. A preoperative surface map is extracted from stereo images annotated with surface features from preoperative images. An intraoperative surface map of the organ is extracted from stereo images, and surface features are identified in the stereo images corresponding to surface features annotated into the preoperative surface map. Three dimensional displacements of the surface features are determined and used to constrain a computer model of deformation of the organ. In embodiments, the model of deformation is adapted or constrained to model locations and dimensions of surgical cavities using an optical flow method and/or locations of surgical instruments in the organ. The model of deformation is used to determine intraoperative locations for the lesion.
Abstract translation: 用于确定术前成像中确定的病变位置的组织中的病变的术中位置的系统和方法包括确定术前图像中器官的表面特征的三维位置。 从术前图像表面特征注释的立体图像中提取术前表面图。 从立体图像提取器官的术中表面图，并且在对应于注释到术前表面图的表面特征的立体图像中识别表面特征。 确定表面特征的三维位移，并用于约束器官变形的计算机模型。 在实施例中，变形模型被适配或约束以使用手术器械的光学流动方法和/或外科器械的位置对外科腔的位置和尺寸进行建模。 变形模型用于确定病变的术中位置。
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