公开(公告)号：US11928838B2

公开(公告)日：2024-03-12

申请号：US17811349

申请日：2022-07-08

申请人： The Johns Hopkins University

发明人： Ehsan Azimi ,  Long Qian ,  Peter Kazanzides ,  Nassir Navab

IPC分类号： G06T7/73 ,  G06T7/246 ,  G06T7/33 ,  G06T19/00 ,  G09G3/00

CPC分类号： G06T7/73 ,  G06T7/246 ,  G06T7/33 ,  G06T19/006 ,  G09G3/003 ,  G06T2207/30204 ,  G09G2320/0693

摘要： 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.

公开(公告)号：US11861062B2

公开(公告)日：2024-01-02

申请号：US15733453

申请日：2019-01-31

申请人： The Johns Hopkins University

发明人： Ehsan Azimi ,  Long Qian ,  Peter Kazanzides ,  Nassir Navab

IPC分类号： G09G5/00 ,  G06F3/01 ,  H04N13/327 ,  H04N13/332 ,  H04N13/366 ,  G02B27/01

CPC分类号： G06F3/013 ,  G02B27/0179 ,  H04N13/327 ,  H04N13/332 ,  H04N13/366 ,  G02B2027/0187

摘要： A calibration platform may display, via an optical see-through head-mounted display (OST-HMD), a virtual image having at least one feature. The calibration platform may determine, based on information relating to a gaze of a user wearing the OST-HMD, that the user performed a voluntary eye blink to indicate that the at least one feature of the virtual image appears to the user to be aligned with at least one point on the three-dimensional real-world object. The calibration platform may record an alignment measurement based on a position of the at least one point on the three-dimensional real-world object in a real-world coordinate system based on a time when the user performed the voluntary eye blink. Accordingly, the alignment measurement may be used to generate a function providing a mapping between three-dimensional points in the real-world coordinate system and corresponding points in a display space of the OST-HMD.

公开(公告)号：US11244508B2

公开(公告)日：2022-02-08

申请号：US15733460

申请日：2019-01-25

申请人： The Johns Hopkins University

发明人： Peter Kazanzides ,  Long Qian

IPC分类号： G06T19/00 ,  A61B34/30 ,  A61B90/00 ,  G16H40/67 ,  G16H40/20 ,  G02B27/01 ,  A61B34/20 ,  A61B90/50

摘要： A device may determine a view of a user of a head mounted display. The device may obtain tracking data relating to a surgical procedure. The device may obtain, from an imaging device, surgical imaging relating to the surgical procedure. The device may orient models of objects based on the tracking data and the view of the user of the head mounted display, wherein the objects includes the imaging device. The device may augment, by providing output to the head mounted display for display, the view of the user with contextual information relating to the objects based on orienting the models based on the tracking data and the view of the user, wherein the contextual information includes the surgical imaging captured by an imaging device.

公开(公告)号：US20180042680A1

公开(公告)日：2018-02-15

申请号：US15725271

申请日：2017-10-04

申请人： Intuitive Surgical Operations, Inc. ,  The Johns Hopkins University c/o Johns Hopkins Technology Transfer

发明人： Simon P. DiMaio ,  Christopher J. Hasser ,  Russell H. Taylor ,  David Q. Larkin ,  Peter Kazanzides ,  Anton Deguet ,  Balazs Peter Vagvolgyi ,  Joshua Leven

IPC分类号： A61B8/12 ,  A61B1/00 ,  A61B8/00 ,  A61B17/00

CPC分类号： A61B34/10 ,  A61B1/00193 ,  A61B8/00 ,  A61B8/12 ,  A61B8/4245 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/70 ,  A61B34/71 ,  A61B34/76 ,  A61B90/361 ,  A61B2017/00203 ,  A61B2090/365 ,  A61B2090/378

摘要： In one embodiment of the invention, a a minimally invasive surgical system is disclosed. The system configured to capture and display camera images of a surgical site on at least one display device at a surgeon console; switch out of a following mode and into a masters-as-mice (MaM) mode; overlay a graphical user interface (GUI) including an interactive graphical object onto the camera images; and render 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.

公开(公告)号：US20150223903A1

公开(公告)日：2015-08-13

申请号：US14611628

申请日：2015-02-02

申请人： THE JOHNS HOPKINS UNIVERSITY

发明人： Muyinatu Bell ,  Emad Boctor ,  Peter Kazanzides

IPC分类号： A61B19/00 ,  A61B8/14 ,  A61B8/00 ,  A61B5/00

CPC分类号： A61B5/489 ,  A61B5/0095 ,  A61B5/065 ,  A61B5/6868 ,  A61B8/0841 ,  A61B2017/00725 ,  A61B2017/345 ,  A61B2034/2055 ,  A61B2090/306 ,  A61B2090/363 ,  A61B2090/378 ,  A61B2505/05 ,  Y10S901/41

摘要： The present invention is directed to a method and system for photoacoustic imaging for guiding medical procedures. A transducer is placed near the site of the procedure. The optical fiber, coupled to an electromagnetic source, such as a laser, is attached to a medical device. During the procedure, the device and optical fiber are inserted into the procedure site where the optical fiber illuminates the procedure site, which has a thickness of approximately 2 mm. Photoacoustic images are acquired to visualize the procedure site as the procedure is proceeding in order to provide real-time guidance. This system is applicable to multiple surgical and interventional procedures, such as transsphenoidal surgery.

摘要翻译： 本发明涉及用于引导医学过程的光声成像的方法和系统。 传感器放置在程序现场附近。 耦合到诸如激光器的电磁源的光纤被附接到医疗装置。 在此过程中，设备和光纤被插入到光纤照亮程序现场的过程部位，其厚度约为2mm。 为了提供实时指导，获取光声图像以使程序现场可视化，因为程序正在进行。 该系统适用于多种手术和介入手术，如经蝶窦手术。