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公开(公告)号：US08690894B2
公开(公告)日：2014-04-08
申请号：US13112171
申请日：2011-05-20
IPC分类号： A61B17/34
CPC分类号： A61B34/10 , A61B17/32053 , A61B17/3468 , A61B34/30 , A61B34/32 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2017/00752 , A61B2034/107 , A61B2090/064 , A61B2090/363 , A61B2090/371 , A61M37/0076
摘要： An automated system for harvesting or implanting follicular units, including a moveable arm; a harvesting and/or implantation tool mounted on the moveable arm; one or more cameras mounted on the moveable arm; a processor configured to receive and process images acquired by the one or more cameras; and a controller operatively associated with the processor and configured to position the moveable arm based, at least in part, on processed images acquired by the one or more cameras, wherein the moveable arm is positionable such that the tool may be positioned at a desired orientation relative to an adjacent body surface.
摘要翻译： 用于收获或植入滤泡单元的自动化系统，包括可动臂; 安装在可移动臂上的收获和/或植入工具; 安装在可移动臂上的一个或多个相机; 处理器，被配置为接收和处理由所述一个或多个摄像机获取的图像; 以及控制器，其与所述处理器可操作地相关联并且被配置为至少部分地基于由所述一个或多个照相机获取的经处理的图像来定位所述可移动臂，其中所述可移动臂可定位成使得所述工具可以被定位在期望的取向 相对于相邻的身体表面。
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32.发明授权Systems and methods for harvesting and implanting hair using image-generated topological skin models 有权使用图像生成的拓扑皮肤模型收获和植入头发的系统和方法公开(公告)号：US08454627B2
公开(公告)日：2013-06-04
申请号：US13345542
申请日：2012-01-06
IPC分类号： A61B17/3205
CPC分类号： A61B34/32 , A61B17/32053 , A61B17/3468 , A61B34/10 , A61B34/30 , A61B2017/00752 , A61B2034/101 , A61B2034/105 , A61B2034/107 , A61F2/10
摘要： Systems and methods are provided for determining the need to change and/or changing orientation of a tool relative to an object on a body in at least partially automated procedure. Also, systems and methods are provided for orienting a hair harvesting tool relative to a follicular unit to be harvested. Further, systems and methods of implanting follicular units are provided, which are based on the orientation of the existing follicular units or based on pre-determined insertion angle. The provided systems and methods use image processing and image-generated topological skin models. In some embodiments surface fit is performed using, for example, a planar fit, quadric fit, cubic fit, mesh fit and parametric fit.
摘要翻译： 提供的系统和方法用于确定在至少部分自动化过程中改变和/或改变工具相对于身体上的物体的取向的需要。 而且，提供了系统和方法，用于使头发收获工具相对于待收获的滤泡单元定向。 此外，提供植入滤泡单元的系统和方法，其基于现有滤泡单元的取向或基于预定的插入角度。 所提供的系统和方法使用图像处理和图像生成的拓扑皮肤模型。 在一些实施例中，使用例如平面拟合，二次拟合，立方拟合，网格拟合和参数拟合来执行表面拟合。
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公开(公告)号：US20120230561A1
公开(公告)日：2012-09-13
申请号：US13472631
申请日：2012-05-16
IPC分类号： G06K9/40
CPC分类号： G06K9/00 , A61B2017/00752 , A61F2/10 , G06K9/00127 , G06K9/36 , G06T7/0012 , G06T2207/20036 , G06T2207/30088 , G06T2207/30242
摘要： A system and method for counting follicular units using an automated system comprises acquiring an image of a body surface having skin and follicular units, filtering the image to remove skin components in the image, processing the resulted image to segment it, and filtering noise to eliminate all elements other than hair follicles of interest so that hair follicles in an area of interest can be counted. The system may comprise an image acquisition device and an image processor for performing the method. In another aspect, the system and method also classifies the follicular units based on the number of hairs in the follicular unit.
摘要翻译： 使用自动化系统计数滤泡单位的系统和方法包括获取具有皮肤和滤泡单位的身体表面的图像，过滤图像以去除图像中的皮肤成分，处理所得到的图像以将其分割，并且滤除噪声以消除 除了感兴趣的毛囊之外的所有元素，使得可以计算感兴趣区域中的毛囊。 该系统可以包括用于执行该方法的图像获取装置和图像处理器。 在另一方面，系统和方法还根据滤泡单位中毛发的数量对滤泡单位进行分类。
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公开(公告)号：US08104480B2
公开(公告)日：2012-01-31
申请号：US12871281
申请日：2010-08-30
申请人： Mohan Bodduluri
发明人： Mohan Bodduluri
IPC分类号： A61B19/00
CPC分类号： G16H50/50 , A61B34/25 , A61B2017/00752 , A61B2034/104 , A61B2034/105 , A61F2/10 , G06F19/00
摘要： A system for planning transplantation of follicular units in a body surface of a patient includes a user interface comprising a software-controlled processor, a monitor, and an input device, wherein the system is configured for acquiring images of the body surface, processing the images to produce a three-dimensional model of the body surface, displaying a graphic rendering of the body surface model on the monitor, and displaying on the body surface model a proposed recipient area for implanting follicular units based at least in part on an actual or desired physical characteristic of the patient.
摘要翻译： 用于规划在患者体表中移植卵泡单位的系统包括包括软件控制的处理器，监视器和输入设备的用户界面，其中所述系统被配置用于获取身体表面的图像，处理图像 以产生身体表面的三维模型，在监视器上显示身体表面模型的图形呈现，以及至少部分地基于实际或期望的在身体表面上显示用于植入滤泡单元的建议的接收区域 患者的身体特征。
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公开(公告)号：US20110224693A1
公开(公告)日：2011-09-15
申请号：US13112171
申请日：2011-05-20
IPC分类号： A61B17/00
CPC分类号： A61B34/10 , A61B17/32053 , A61B17/3468 , A61B34/30 , A61B34/32 , A61B34/70 , A61B90/36 , A61B90/361 , A61B2017/00752 , A61B2034/107 , A61B2090/064 , A61B2090/363 , A61B2090/371 , A61M37/0076
摘要： An automated system for harvesting or implanting follicular units, including a moveable arm; a harvesting and/or implantation tool mounted on the moveable arm; one or more cameras mounted on the moveable arm; a processor configured to receive and process images acquired by the one or more cameras; and a controller operatively associated with the processor and configured to position the moveable arm based, at least in part, on processed images acquired by the one or more cameras, wherein the moveable arm is positionable such that the tool may be positioned at a desired orientation relative to an adjacent body surface.
摘要翻译： 用于收获或植入滤泡单元的自动化系统，包括可动臂; 安装在可移动臂上的收获和/或植入工具; 安装在可移动臂上的一个或多个相机; 处理器，被配置为接收和处理由所述一个或多个摄像机获取的图像; 以及控制器，其与所述处理器可操作地相关联并且被配置为至少部分地基于由所述一个或多个照相机获取的经处理的图像来定位所述可移动臂，其中所述可移动臂可定位成使得所述工具可以被定位在期望的取向 相对于相邻的身体表面。
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公开(公告)号：US07860550B2
公开(公告)日：2010-12-28
申请号：US10881315
申请日：2004-06-30
申请人： Michael Saracen , James Wang , Euan Thomson , Eric Earnst , Chris Raanes , Mohan Bodduluri
发明人： Michael Saracen , James Wang , Euan Thomson , Eric Earnst , Chris Raanes , Mohan Bodduluri
IPC分类号： A61B5/05
CPC分类号： A61B6/0457 , A61B6/548 , A61N5/1049 , A61N5/107 , A61N2005/105
摘要： A robotic patient positioning assembly for therapeutic radiation treatment includes a robotic positioning device for moving and supporting the patient during treatment, a sensor system for detecting the position of the robotic positioning device, and a controller operatively connected with the sensor system for receiving position data of the robotic positioning device and operatively connected to the robotic positioning device for controlling the motions of the robotic positioning device. The controller is adapted for controlling the motion of the robotic positioning device in response to information representative of the position of the robotic positioning device received from the sensor system, so that the treatment target within a patient loaded on the robotic positioning device is properly aligned with a radiation source of a therapeutic radiation treatment system.
摘要翻译： 用于治疗性放射治疗的机器人患者定位组件包括用于在治疗期间移动和支撑患者的机器人定位装置，用于检测机器人定位装置的位置的传感器系统，以及与传感器系统可操作地连接的控制器，用于接收位置数据 机器人定位装置，并且可操作地连接到机器人定位装置，用于控制机器人定位装置的运动。 控制器适于响应于表示从传感器系统接收的机器人定位装置的位置的信息来控制机器人定位装置的运动，使得装载在机器人定位装置上的患者内的治疗目标与 治疗放射治疗系统的辐射源。
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公开(公告)号：US20100237257A1
公开(公告)日：2010-09-23
申请号：US12793467
申请日：2010-06-03
申请人： Michael Saracen , James Wang , Euan Thomson , Eric Earnst , Chris Raanes , Mohan Bodduluri
发明人： Michael Saracen , James Wang , Euan Thomson , Eric Earnst , Chris Raanes , Mohan Bodduluri
IPC分类号： A61B6/04
CPC分类号： A61B6/0457 , A61B6/548 , A61N5/1049 , A61N5/107 , A61N2005/105
摘要： A method of robotic patient positioning for radiation treatment using a radiation source with an arm assembly rotatably connected to a support device is described. The method includes moving the support device with respect to the radiation source in at least five degrees of freedom to align a treatment target with respect to the radiation source. Moving the support device includes rotating the support device about first, second and third rotational axes and rotating the arm assembly about fourth and fifth rotational axes. Rotations about the fourth and fifth rotational axes translate the support device for fourth and fifth degrees of freedom of the at least five degrees of freedom.
摘要翻译： 描述了使用具有可旋转地连接到支撑装置的臂组件的辐射源进行放射治疗的机器人患者定位的方法。 该方法包括以至少五个自由度相对于辐射源移动支撑装置，以使处理对象相对于辐射源对准。 移动支撑装置包括围绕第一，第二和第三旋转轴旋转支撑装置，并使臂组件围绕第四和第五旋转轴线旋转。 围绕第四和第五旋转轴线的旋转使支撑装置平移至少五个自由度的第四和第五自由度。
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公开(公告)号：US20090306498A1
公开(公告)日：2009-12-10
申请号：US12477444
申请日：2009-06-03
CPC分类号： A61B5/0066 , A61B5/446 , A61B34/25 , A61B34/30 , A61B90/30 , A61B90/361 , A61B2017/00106 , A61B2017/00752 , A61B2090/378 , G06T5/50 , G06T2207/20016
摘要： Tools and methods are provided for dissecting and/or removing biological units, such as hair follicles, from the body surface based on the images both above and below a body surface to reduce potential damage to the removed biological unit. The invention may be used in fully automated systems and also in a hand-held devices and systems. A system may produce a series of three-dimensional images of the body surface indicating follicular unit size, shape, position, and orientation both above and below the skin surface. The images may be utilized by an automated follicular unit harvesting tool, or maybe stored for later use. Imaging techniques include devices that sense light in the visible or infrared spectrums, optical coherence tomography, and ultrahigh frequency ultrasound.
摘要翻译： 提供了工具和方法，用于基于身体表面上方和下方的图像从身体表面解剖和/或去除生物单位，例如毛囊，以减少对去除的生物单位的潜在损害。 本发明可以用于全自动化系统中，也可用于手持设备和系统中。 系统可以产生一系列身体表面的三维图像，指示皮肤表面上方和下方的滤泡单位尺寸，形状，位置和取向。 图像可以由自动滤泡单元收获工具使用，或者可以存储以供以后使用。 成像技术包括感知可见光或红外光谱中的光，光学相干断层扫描和超高频超声的装置。
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公开(公告)号：US07620144B2
公开(公告)日：2009-11-17
申请号：US11478047
申请日：2006-06-28
申请人： Mohan Bodduluri
发明人： Mohan Bodduluri
CPC分类号： G03C9/00 , A61B6/02 , A61B6/022 , A61B6/4007 , A61N5/1049 , A61N2005/1061 , A61N2005/1062 , G06T7/248 , G06T2207/10021 , G06T2207/10081 , G06T2207/10116
摘要： A method and apparatus in an image-guided radiation treatment system for determining an in-treatment 3-D position of a patient and for registering the 3-D in-treatment position of the patient with a pre-treatment 3-D scan of the patient.
摘要翻译： 一种图像引导放射治疗系统中的方法和装置，用于确定患者的治疗中3-D位置并且用于登记患者的3-D治疗位置，其中 患者。
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公开(公告)号：US07477782B2
公开(公告)日：2009-01-13
申请号：US11467268
申请日：2006-08-25
IPC分类号： G06K9/00
CPC分类号： G06K9/00127 , G06T7/0012 , G06T7/12 , G06T2207/20044 , G06T2207/30088
摘要： A system and method for classifying follicular units based on the number of hairs in a follicular unit of interest comprises (i) acquiring a digital image of a body surface having a follicular unit of interest; (ii) selecting a region of interest with the digital image which contains the follicular unit; (iii) segmenting the selected image to produce a binary image wherein the binary image defines a contour of the follicular unit; (iv) calculating an outline profile of the binary image which disregards concavities in the contour; and (v) determining the number of defects in the outline profile to determine the number of hairs in the follicular unit. The system and method may also adjust for hairs which converge beneath the skin and for images which appear as a single wide hair but which are actually multiple hairs.
摘要翻译： 根据感兴趣的滤泡单位中的毛发数量对滤泡单位进行分类的系统和方法包括：（i）获取具有毛囊感兴趣单位的体表的数字图像; （ii）用包含滤泡单元的数字图像选择感兴趣区域; （iii）分割所选择的图像以产生二进制图像，其中二进制图像定义滤泡单元的轮廓; （iv）计算忽略轮廓中的凹面的二值图像的轮廓线; 和（v）确定轮廓轮廓中的缺陷的数量以确定滤泡单位中毛发的数量。 该系统和方法还可以调节收敛于皮肤下面的毛发以及出现为单个宽毛但实际上是多根毛的图像。
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