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1.发明授权Device and method for superimposing patterns on images in real time, particularly for guidance by location 有权实时地将图像叠加在图像上的装置和方法，特别是用于由位置引导公开(公告)号：US08712125B2
公开(公告)日：2014-04-29
申请号：US13299676
申请日：2011-11-18
IPC分类号： G06K9/00
CPC分类号： A61B5/066 , A61B1/00009 , A61B1/04 , A61B5/055 , A61B5/749 , A61B34/10 , A61B34/30 , A61B2034/107 , A61B2034/301 , A61B2090/365 , A61B2090/373 , A61B2090/374 , G06F3/0484 , G06T7/30 , G06T7/60 , G06T2200/24 , G06T2207/10068 , G06T2207/10072 , G06T2207/20092 , G06T2207/30048 , G06T2207/30101 , Y10S128/922
摘要： The invention relates to a device for superimposing known patterns, characteristic of a region, on (real) images of said region. The device comprises, a memory in which patterns are stored, which are representative of a selected region, of known position and orientation with relation to a common reference and processing means, for determining a pattern representative of the selected portion in the memory, on receipt of the designation of at least one portion of an observed image of the selected region, taken at a selected angle and at least one representative attribute of said region, taking account of the attribute selected, then superimposing the determined pattern on the selected portion of the image taking account of the selected angle.
摘要翻译： 本发明涉及一种在所述区域的（真实）图像上叠加已知图案（区域特征）的装置。 该装置包括存储图形的存储器，其中代表选定区域的已知位置和方向与公共参考和处理装置相关，用于在接收时确定表示存储器中所选部分的图案 指定所选择的区域的观察图像的至少一部分，以所选择的角度和所述区域的至少一个代表性属性，考虑所选择的属性，然后将所确定的图案叠加在所选区域的所选部分上 考虑到所选角度的图像。
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2.发明授权Device and method for superimposing patterns on images in real-time, particularly for guiding by localisation 有权用于在图像上实时叠加图案的装置和方法，特别是用于通过定位进行引导公开(公告)号：US08126223B2
公开(公告)日：2012-02-28
申请号：US10557790
申请日：2004-05-13
IPC分类号： G06K9/00
CPC分类号： A61B5/066 , A61B1/00009 , A61B1/04 , A61B5/055 , A61B5/749 , A61B34/10 , A61B34/30 , A61B2034/107 , A61B2034/301 , A61B2090/365 , A61B2090/373 , A61B2090/374 , G06F3/0484 , G06T7/30 , G06T7/60 , G06T2200/24 , G06T2207/10068 , G06T2207/10072 , G06T2207/20092 , G06T2207/30048 , G06T2207/30101 , Y10S128/922
摘要： The invention relates to a device (DS), for superimposing known patterns, characteristic of a region, on (real) images of said region. The device (D) comprises, a memory (21) in which patterns are stored, which are representative of a selected region, of known position and orientation with relation to a common reference and processing means (22), for determining a pattern representative of the selected portion in the memory (21), on receipt of the designation of at least one portion of an observed image of the selected region, taken at a selected angle and at least one representative attribute of said region, taking account of the attribute selected, then superimposing the determined pattern on the selected portion of the image taking account of the selected angle.
摘要翻译： 本发明涉及一种用于将已知模式（区域特征）叠加在所述区域的（实际）图像上的装置（DS）。 设备（D）包括存储器（21），其中存储有图案的图案，其代表所选择的区域，其具有与公共参考和处理装置（22）相关的已知位置和取向，用于确定代表 考虑到所选择的属性，接收到以所选区域的选定角度和所述区域的至少一个代表性属性采集的所选区域的观察图像的至少一部分的指定的存储器（21）中的所选部分 ，然后将所确定的图案叠加在考虑所选择的角度的图像的所选部分上。
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3.发明申请DEVICE AND METHOD FOR SUPERIMPOSING PATTERNS ON IMAGES IN REAL TIME, PARTICULARLY FOR GUIDANCE BY LOCATION 有权实时超图像图像的设备和方法，特别适用于指定位置公开(公告)号：US20120130167A1
公开(公告)日：2012-05-24
申请号：US13299676
申请日：2011-11-18
IPC分类号： A61B1/04
CPC分类号： A61B5/066 , A61B1/00009 , A61B1/04 , A61B5/055 , A61B5/749 , A61B34/10 , A61B34/30 , A61B2034/107 , A61B2034/301 , A61B2090/365 , A61B2090/373 , A61B2090/374 , G06F3/0484 , G06T7/30 , G06T7/60 , G06T2200/24 , G06T2207/10068 , G06T2207/10072 , G06T2207/20092 , G06T2207/30048 , G06T2207/30101 , Y10S128/922
摘要： The invention relates to a device for superimposing known patterns, characteristic of a region, on (real) images of said region. The device comprises, a memory in which patterns are stored, which are representative of a selected region, of known position and orientation with relation to a common reference and processing means, for determining a pattern representative of the selected portion in the memory, on receipt of the designation of at least one portion of an observed image of the selected region, taken at a selected angle and at least one representative attribute of said region, taking account of the attribute selected, then superimposing the determined pattern on the selected portion of the image taking account of the selected angle.
摘要翻译： 本发明涉及一种在所述区域的（真实）图像上叠加已知图案（区域特征）的装置。 该装置包括存储图形的存储器，其中代表选定区域的已知位置和方向与公共参考和处理装置相关，用于在接收时确定表示存储器中所选部分的图案 指定所选择的区域的观察图像的至少一部分，以所选择的角度和所述区域的至少一个代表性属性，考虑所选择的属性，然后将所确定的图案叠加在所选区域的所选部分上 考虑到所选角度的图像。
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4.发明申请Device and method for superimposing patterns on images in real-time, particularly for guiding by localisation 有权用于在图像上实时叠加图案的装置和方法，特别是用于通过定位进行引导公开(公告)号：US20070147707A1
公开(公告)日：2007-06-28
申请号：US10557790
申请日：2004-05-13
CPC分类号： A61B5/066 , A61B1/00009 , A61B1/04 , A61B5/055 , A61B5/749 , A61B34/10 , A61B34/30 , A61B2034/107 , A61B2034/301 , A61B2090/365 , A61B2090/373 , A61B2090/374 , G06F3/0484 , G06T7/30 , G06T7/60 , G06T2200/24 , G06T2207/10068 , G06T2207/10072 , G06T2207/20092 , G06T2207/30048 , G06T2207/30101 , Y10S128/922
摘要： The invention relates to a device (DS), for superimposing known patterns, characteristic of a region, on (real) images of said region. The device (D) comprises, a memory (21) in which patterns are stored, which are representative of a selected region, of known position and orientation with relation to a common reference and processing means (22), for determining a pattern representative of the selected portion in the memory (21), on receipt of the designation of at least one portion of an observed image of the selected region, taken at a selected angle and at least one representative attribute of said region, taking account of the attribute selected, then superimposing the determined pattern on the selected portion of the image taking account of the selected angle.
摘要翻译： 本发明涉及一种用于将已知模式（区域特征）叠加在所述区域的（实际）图像上的装置（DS）。 设备（D）包括存储器（21），其中存储有图案的图案，其代表所选择的区域，其具有与公共参考和处理装置（22）相关的已知位置和取向，用于确定代表 考虑到所选择的属性，接收到以所选区域的选定角度和所述区域的至少一个代表性属性采集的所选区域的观察图像的至少一部分的指定的存储器（21）中的所选部分 ，然后将所确定的图案叠加在考虑所选择的角度的图像的所选部分上。
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5.发明授权Device and method for superimposing patterns on images in real-time, particularly for guiding by localisation 有权用于在图像上实时叠加图案的装置和方法，特别是用于通过定位进行引导公开(公告)号：US08086008B2
公开(公告)日：2011-12-27
申请号：US12908298
申请日：2010-10-20
IPC分类号： G06K9/00
CPC分类号： A61B5/066 , A61B1/00009 , A61B1/04 , A61B5/055 , A61B5/749 , A61B34/10 , A61B34/30 , A61B2034/107 , A61B2034/301 , A61B2090/365 , A61B2090/373 , A61B2090/374 , G06F3/0484 , G06T7/30 , G06T7/60 , G06T2200/24 , G06T2207/10068 , G06T2207/10072 , G06T2207/20092 , G06T2207/30048 , G06T2207/30101 , Y10S128/922
摘要： The invention relates to a device for superimposing known patterns, characteristic of a region, on (real) images of said region. The device comprises, a memory in which patterns are stored, which are representative of a selected region, of known position and orientation with relation to a common reference and processing means, for determining a pattern representative of the selected portion in the memory, on receipt of the designation of at least one portion of an observed image of the selected region, taken at a selected angle and at least one representative attribute of said region, taking account of the attribute selected, then superimposing the determined pattern on the selected portion of the image taking account of the selected angle.
摘要翻译： 本发明涉及一种在所述区域的（真实）图像上叠加已知图案（区域特征）的装置。 该装置包括存储图形的存储器，其中代表选定区域的已知位置和方向与公共参考和处理装置相关，用于在接收时确定表示存储器中所选部分的图案 指定所选择的区域的观察图像的至少一部分，以所选择的角度和所述区域的至少一个代表性属性，考虑所选择的属性，然后将所确定的图案叠加在所选区域的所选部分上 考虑到所选角度的图像。
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6.发明申请Device and Method for Superimposing Patterns on Images in Real-Time, Particularly for Guiding by Localisation 有权用于实时图像叠加图案的设备和方法，特别是通过本地化指导公开(公告)号：US20110060347A1
公开(公告)日：2011-03-10
申请号：US12908298
申请日：2010-10-20
CPC分类号： A61B5/066 , A61B1/00009 , A61B1/04 , A61B5/055 , A61B5/749 , A61B34/10 , A61B34/30 , A61B2034/107 , A61B2034/301 , A61B2090/365 , A61B2090/373 , A61B2090/374 , G06F3/0484 , G06T7/30 , G06T7/60 , G06T2200/24 , G06T2207/10068 , G06T2207/10072 , G06T2207/20092 , G06T2207/30048 , G06T2207/30101 , Y10S128/922
摘要： The invention relates to a device for superimposing known patterns, characteristic of a region, on (real) images of said region. The device comprises, a memory in which patterns are stored, which are representative of a selected region, of known position and orientation with relation to a common reference and processing means, for determining a pattern representative of the selected portion in the memory, on receipt of the designation of at least one portion of an observed image of the selected region, taken at a selected angle and at least one representative attribute of said region, taking account of the attribute selected, then superimposing the determined pattern on the selected portion of the image taking account of the selected angle.
摘要翻译： 本发明涉及一种在所述区域的（真实）图像上叠加已知图案（区域特征）的装置。 该装置包括存储图形的存储器，其中代表选定区域的已知位置和方向与公共参考和处理装置相关，用于在接收时确定表示存储器中所选部分的图案 指定所选择的区域的观察图像的至少一部分，以所选择的角度和所述区域的至少一个代表性属性，考虑所选择的属性，然后将所确定的图案叠加在所选区域的所选部分上 考虑到所选角度的图像。
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7.发明申请DEVICE AND METHOD FOR SUPERIMPOSING PATTERNS ON IMAGES IN REAL-TIME, PARTICULARLY FOR GEOGRAPHIC GUIDANCE 审中-公开实时超图像图像的设备和方法，特别是地理指导公开(公告)号：US20100195919A1
公开(公告)日：2010-08-05
申请号：US12758339
申请日：2010-04-12
IPC分类号： G06K9/62
CPC分类号： A61B5/066 , A61B1/00009 , A61B1/04 , A61B5/055 , A61B5/749 , A61B34/10 , A61B34/30 , A61B2034/107 , A61B2034/301 , A61B2090/365 , A61B2090/373 , A61B2090/374 , G06F3/0484 , G06T7/30 , G06T7/60 , G06T2200/24 , G06T2207/10068 , G06T2207/10072 , G06T2207/20092 , G06T2207/30048 , G06T2207/30101 , Y10S128/922
摘要： A device (DS), for superimposing known patterns, characteristic of a region, on (real) images of the region. The device (D) includes, a memory (21) in which patterns are stored, which are representative of a selected region, of known position and orientation with relation to a common reference and processing element (22), for determining a pattern representative of the selected portion in the memory (21), on receipt of the designation of at least one portion of an observed image of the selected region, taken at a selected angle and at least one representative attribute of the region, taking account of the attribute selected, then superimposing the determined pattern on the selected portion of the image taking account of the selected angle.
摘要翻译： 用于在区域的（实际）图像上叠加已知图案（区域特征）的设备（DS）。 装置（D）包括存储器（21），其中存储图案，其代表所选择的区域，具有与公共参考和处理元件（22）相关的已知位置和取向，用于确定代表 考虑到所选择的属性，在接收到选择的区域的所选区域的观察图像的至少一部分的指定时，存储器（21）中的所选择的部分以选定的角度和该区域的至少一个代表性属性获取 ，然后将所确定的图案叠加在考虑所选择的角度的图像的所选部分上。
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公开(公告)号：US20070293734A1
公开(公告)日：2007-12-20
申请号：US11677747
申请日：2007-02-22
CPC分类号： A61B34/10 , A61B34/25 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/70 , A61B90/361 , A61B90/37 , A61B2034/107 , A61B2034/301 , B25J9/1671 , G05B2219/40418 , G06T1/0014 , G06T7/0012 , G06T2207/10004
摘要： Methods and apparatus for enhancing surgical planning provide enhanced planning of entry port placement and/or robot position for laparoscopic, robotic, and other minimally invasive surgery. Various embodiments may be used in robotic surgery systems to identify advantageous entry ports for multiple robotic surgical tools into a patient to access a surgical site. Generally, data such as imaging data is processed and used to create a model of a surgical site, which can then be used to select advantageous entry port sites for two or more surgical tools based on multiple criteria. Advantageous robot positioning may also be determined, based on the entry port locations and other factors. Validation and simulation may then be provided to ensure feasibility of the selected port placements and/or robot positions. Such methods, apparatus and systems may also be used in non-surgical contexts, such as for robotic port placement in munitions diffusion or hazardous waste handling.
摘要翻译： 用于增强外科手术计划的方法和装置为腹腔镜，机器人和其他微创手术提供进入口放置和/或机器人位置的增强的规划。 机器人手术系统中可以使用各种实施例来识别用于多个机器人手术工具进入患者以进入外科手术部位的入口端口。 通常，诸如成像数据的数据被处理并用于创建手术部位的模型，其可以用于基于多个标准来选择用于两个或更多个外科手术工具的有利进入端口位置。 还可以基于入口位置和其他因素来确定有利的机器人定位。 然后可以提供验证和模拟以确保所选端口布置和/或机器人位置的可行性。 这样的方法，装置和系统也可以用于非外科环境中，例如用于在弹药扩散或危险废物处理中的机器人端口放置。
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