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公开(公告)号：US6031548A
公开(公告)日：2000-02-29
申请号：US23757
申请日：1998-02-13
CPC分类号： G06T17/20
摘要： Disclosed is a representation and file format for a multi-level progressive transmission or display of a triangular mesh, referred to as a Progressive Multi-Level Representation (PMR). Methods are disclosed for generating the PMR, for progressively building a triangular mesh from a PMR representation, and for extracting a particular level of detail of a triangular mesh from the PMR representation.
摘要翻译： 公开了用于多级逐行传输或显示三角形网格的表示和文件格式，称为逐行多级表示（PMR）。 公开了用于生成PMR的方法，用于从PMR表示逐渐构建三角形网格，并且用于从PMR表示提取三角形网格的特定级别的细节。
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公开(公告)号：US5974168A
公开(公告)日：1999-10-26
申请号：US61564
申请日：1998-04-16
CPC分类号： G06T7/0073
摘要： A method and system for obtaining and processing acquired images of an object to extract a small scale geometry (a bump map) of the object that is independent of object curvature. The method includes steps of (a) operating N (where N>3) light sources and an image input device placed at a distance from the object such that different regions of the object are illuminated by each of the multiple light sources; (b) obtaining multiple images of the object, one for each of the light sources with the other light sources turned off; (c) processing the images to derive three images, each corresponding to a component of surface normals of the object relative to directions to three of the light sources; (d) removing an effect of large scale surface shape from the derived images of the surface normals by computing low spatial frequency images from the derived images; (e) for a section or sections of the images for which the small scale geometry is to be acquired, determining transformations from the surface normals represented by the low spatial frequency images to the normals of a planar surface; (f) applying the transformations to the derived surface normal images to obtain the normals of the small scale surface variations applied to a flat plane; (g) adjusting a spacing of the values for the normals to account for foreshortening due to curvature by expanding the distances using directional derivatives computed from the surface normals at each point in the image; and (h) obtaining regularly spaced images of new surface normals by sampling the spatially adjusted images onto a new, regularly spaced image.
摘要翻译： 一种用于获得和处理获取的对象的图像以提取独立于对象曲率的对象的小尺度几何（凹凸贴图）的方法和系统。 该方法包括以下步骤：（a）操作N（其中N≥3）个光源和放置在距物体一定距离处的图像输入装置，使得物体的不同区域被多个光源中的每一个照射; （b）获得物体的多个图像，其中一个用于每个光源，其他光源被关闭; （c）处理图像以导出三个图像，每个图像对应于相对于三个光源的方向的对象的表面法线的分量; （d）通过从导出的图像计算低空间频率图像，从表面法线的导出图像中去除大尺度表面形状的影响; （e）对于要获取小尺度几何的图像的一部分或部分，确定从由低空间频率图像表示的表面法线到平面的法线的转换; （f）将变换应用于导出的表面法线图像，以获得施加到平面的小尺度表面变化的法线; （g）通过使用从图像中的每个点处的表面法线计算的方向导数来扩展距离来调整法线值的距离以考虑由于曲率而缩短的距离; 和（h）通过将空间调整的图像采样到新的规则间隔的图像上来获得新的表面法线的规则间隔的图像。
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3.发明授权
公开(公告)号：US6016153A
公开(公告)日：2000-01-18
申请号：US840001
申请日：1997-04-24
CPC分类号： G06T9/40
摘要： A is a computer implemented method for converting a non-manifold surface to a manifold surface. The method includes the steps of (a) providing data in a memory of a computer for representing a non-manifold polyhedral surface comprised of a plurality of triangles each bounded by edges and having vertices; (b) analyzing the data to determine and record singular edges and singular vertices; and (c) cutting through the singular edges and singular vertices, and optionally other edges and vertices, to provide a plurality of connected polygonal surfaces that are free of singularities. The step of analyzing may include the initial steps of analyzing the data to remove isolated vertices and repeated triangles. The step of cutting operates in accordance with one of a local cutting method or a global cutting method, and may further include a step of stitching the cut surface along boundary edges.
摘要翻译： A是用于将非歧管表面转换成歧管表面的计算机实现方法。 该方法包括以下步骤：（a）在计算机的存储器中提供数据，用于表示包括由边缘限定并具有顶点的多个三角形的非歧管多面体表面; （b）分析数据以确定和记录奇异边和单个顶点; 和（c）切割奇异边缘和奇异顶点以及任选的其它边缘和顶点，以提供多个没有奇异点的连接的多边形表面。 分析步骤可以包括分析数据以去除孤立顶点和重复三角形的初始步骤。 切割步骤根据局部切割方法或全局切割方法中的一种进行操作，并且还可以包括沿着边界边缘缝合切割表面的步骤。
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公开(公告)号：US06275233B1
公开(公告)日：2001-08-14
申请号：US08742641
申请日：1996-11-01
申请人： Andre Pierre Gueziec
发明人： Andre Pierre Gueziec
IPC分类号： G06T1700
CPC分类号： G06T17/20
摘要： Computer systems may be used to generate and display objects represented by triangles defined by coordinates of vertices. The present invention generates coordinates of a simplified vertex based upon coordinates of vertices adjacent to a first vertex and to a second vertex that define an edge of the triangles. First, a set of triangles that are adjacent to the edge is identified, Second, a first volume associated with the set of triangles is calculated. Finally, the coordinates of the simplified vertex are calculated such that a second volume associated with the simplified vertex corresponds to the first volume.
摘要翻译： 计算机系统可用于生成和显示由顶点坐标定义的三角形所表示的对象。 本发明基于与第一顶点相邻的顶点的坐标和定义三角形边缘的第二顶点来生成简化顶点的坐标。 首先，识别与边缘相邻的一组三角形，其次，计算与该组三角形相关联的第一卷。 最后，计算简化顶点的坐标，使得与简化顶点相关联的第二卷对应于第一卷。
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5.发明授权Methods and apparatus for registering CT-scan data to multiple fluoroscopic images 失效将CT扫描数据记录到多个透视图像的方法和装置
公开(公告)号：US5951475A
公开(公告)日：1999-09-14
申请号：US936935
申请日：1997-09-25
CPC分类号： G06T3/0068 , A61B90/36 , Y10S128/922
摘要： A method and system is disclosed for registering two dimensional fluoroscopic images with a three dimensional model of a surgical tissue of interest. The method includes steps of: (a) generating, from CT or MRI data, a three dimensional model of a surgical tissue of interest; (b) obtaining at least two, two dimensional, preferably fluoroscopic, x-ray images representing at least two views of the surgical tissue of interest, the images containing radio-opaque markers for associating an image coordinate system with a surgical (robot) coordinate system; (c) detecting the presence of contours of the surgical tissue of interest in each of the at least two views; (d) deriving bundles of three dimensional lines that pass through the detected contours; and (e) interactively matching three dimensional points on three dimensional silhouette curves obtained from the three dimensional model with the bundles of three dimensional lines until the three dimensional model is registered within the surgical coordinate system to a predetermined level of accuracy. The step of iteratively matching includes steps of: defining a distance between surfaces of the model and a beam of three dimensional lines that approach the surfaces; and finding a pose of the surfaces that minimizes a distance to the lines using, preferably, a statistically robust method, thereby providing a desired registration between a surgical robot and a preoperative treatment plan.
摘要翻译： 公开了一种用于使用感兴趣的外科组织的三维模型记录二维荧光透视图像的方法和系统。 该方法包括以下步骤：（a）从CT或MRI数据生成感兴趣的手术组织的三维模型; （b）获得表示感兴趣的手术组织的至少两个视图的至少两个，二维，优选荧光透视的X射线图像，所述图像包含用于将图像坐标系与手术（机器人）坐标相关联的不透射线标记 系统; （c）在所述至少两个视图中的每一个中检测感兴趣的手术组织的轮廓的存在; （d）导出通过检测到的轮廓的三维线束; 以及（e）将由三维模型获得的三维轮廓曲线上的三维点交互地匹配三维线，直到三维模型在外科坐标系内登记到预定的精度水平。 迭代匹配的步骤包括以下步骤：定义模型的表面之间的距离和接近表面的三维线束; 并且使用优选地统计上鲁棒的方法来找到使距离线的距离最小化的表面的姿态，从而在手术机器人和术前治疗计划之间提供期望的配准。
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公开(公告)号：US06414683B1
公开(公告)日：2002-07-02
申请号：US09225084
申请日：1999-01-04
申请人： Andre Pierre Gueziec
发明人： Andre Pierre Gueziec
IPC分类号： G06T1100
CPC分类号： G06T17/20
摘要： Computer systems may be used to generate and display objects represented by triangles defined by coordinates of vertices. The present invention generates coordinates of a simplified vertex based upon coordinates of vertices adjacent to a first vertex and to a second vertex that define an edge of the triangles. First, a set of triangles that are adjacent to the edge is identified, Second, a first volume associated with the set of triangles is calculated. Finally, the coordinates of the simplified vertex are calculated such that a second volume associated with the simplified vertex corresponds to the first volume. In addition, a technique is presented that generates a second object which is a simplified representation of a first object. The technique begins by identifying first and second vertices that define an edge. The coordinates of a simplified vertex that corresponds to first and second vertices of the edge is determined. Error values and tolerance values are assigned to vertices. First error volumes corresponding to the vertices of a second vertices of the edge. The first error volumes are based upon the error values assigned to vertices of the first set of triangles. A second set of triangles that share the simplified vertex is identified and partitioned into a set of planar polygons. Second error volumes corresponding to vertices of the set of planar polygons are derived based upon the first error volumes. The second error volumes enclose the first error volumes. Third error volumes corresponding to vertices of the second set of triangles are derived. The third error volumes are based upon the first and second error volumes. The third volumes enclose both the first error volumes and the second error volumes. A tolerance volume corresponding to the simplified vertex is derived. Fianllym, the coordinates of the simplified vertex is stored in memory for subsequent reuse based upon a comparison operation of the third error volume corresponding to the simplified vertex and the tolerance volume.
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公开(公告)号：US06175365B1
公开(公告)日：2001-01-16
申请号：US09225085
申请日：1999-01-04
申请人： Andre Pierre Gueziec
发明人： Andre Pierre Gueziec
IPC分类号： G06F1500
CPC分类号： G06T17/20
摘要： Computer systems generate and display objects represented by triangles defined by coordinates of vertices. The present invention generates potential coordinates of a simplified vertex based upon coordinates of a first vertex and a second vertex that define an edge of the triangles. A first set of triangles that are adjacent to the edge are identified, and a first set of error values corresponding to the vertices of the first set of triangles are derived. A second set of triangles tat share the simplified vertex are identified, and a second set of error values corresponding to the vertices of the second set of triangles are derived. The coordinates of the simplified vertex are stored in memory for reuse based upon a predetermined criterion involving the second error values and, preferably, one or more tolerance values. The second error values are derived from error values of a plurality of planar polygons corresponding to the first set of triangles.
摘要翻译： 计算机系统生成和显示由顶点坐标定义的三角形表示的对象。 本发明基于定义三角形边缘的第一顶点和第二顶点的坐标生成简化顶点的潜在坐标。 识别与边缘相邻的第一组三角形，并且导出与第一组三角形的顶点对应的第一组误差值。 识别共享简化顶点的第二组三角形tat，并且导出与第二组三角形的顶点对应的第二组误差值。 基于涉及第二误差值的预定标准，优选地，一个或多个公差值，将简化顶点的坐标存储在存储器中用于再利用。 第二误差值是从对应于第一组三角形的多个平面多边形的误差值导出的。
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