公开(公告)号：US07346385B2

公开(公告)日：2008-03-18

申请号：US10683650

申请日：2003-10-10

申请人： Benedicte Bascle ,  Nassir Navab ,  Bernhard Geiger

发明人： Benedicte Bascle ,  Nassir Navab ,  Bernhard Geiger

IPC分类号： A61B19/00

CPC分类号： A61B90/10 ,  A61B10/0233 ,  A61B34/10 ,  A61B2090/376

摘要： A method for determining the best entry point for a percutaneous procedure, such as with a biopsy needle, comprises selecting first and second arbitrary entry points on a patient; determining the three dimensional (3-D) orientation of the needle at the first arbitrary entry point for pointing the needle at the primary target; determining the 3-D orientation of the needle at the first arbitrary entry point for pointing the needle at the secondary target; determining the 3-D dimensional orientation of the needle at the second arbitrary entry point for pointing the needle at the primary target; determining the 3-D orientation of the needle at the second arbitrary entry point for pointing the needle at the secondary target; determining a 3-D line representing the intersection of a first plane containing the first arbitrary entry point, the primary target point, and the secondary target point, and a second plane containing the second arbitrary entry point, the primary target, and the secondary target point, whereby the 3-D line provides a position and orientation for the needle for performing needle biopsy of the primary target through the secondary target.

摘要翻译： 用于确定经皮程序的最佳入口点的方法，例如用活检针，包括选择患者的第一和第二任意入口点; 确定针在第一任意入口处的针的三维（3-D）取向，用于将针指向主要目标; 确定所述针在所述第一任意入口点处的3-D取向以将所述针指向所述次级靶; 确定针在第二任意入口点处的针的三维尺寸取向以将针指向主要目标; 确定针在第二任意进入点处的针的三维取向以将针指向次级靶; 确定表示包含第一任意入口点，主要目标点和次要目标点的第一平面的交点的3-D线以及包含第二任意入口点，主要目标和次要目标的第二平面 点，其中3-D线提供针的位置和取向，用于通过次级靶进行主要靶的针活检。

公开(公告)号：US07295869B2

公开(公告)日：2007-11-13

申请号：US10683653

申请日：2003-10-10

申请人： Benedicte Bascle ,  Nassir Navab ,  Bernhard Geiger

发明人： Benedicte Bascle ,  Nassir Navab ,  Bernhard Geiger

IPC分类号： A61B19/00

CPC分类号： A61B90/10 ,  A61B10/0233 ,  A61B34/10 ,  A61B2090/376

摘要： A method for determining the best entry point for a percutaneous procedure, such as with a biopsy needle, comprises selecting first and second arbitrary entry points on a patient; determining the three dimensional (3-D) orientation of the needle at the first arbitrary entry point for pointing the needle at the primary target; determining the 3-D orientation of the needle at the first arbitrary entry point for pointing the needle at the secondary target; determining the 3-D dimensional orientation of the needle at the second arbitrary entry point for pointing the needle at the primary target; determining the 3-D orientation of the needle at the second arbitrary entry point for pointing the needle at the secondary target; determining a 3-D line representing the intersection of a first plane containing the first arbitrary entry point, the primary target point, and the secondary target point, and a second plane containing the second arbitrary entry point, the primary target, and the secondary target point, whereby the 3-D line provides a position and orientation for the needle for performing needle biopsy of the primary target through the secondary target.

公开(公告)号：US07295868B2

公开(公告)日：2007-11-13

申请号：US10683652

申请日：2003-10-10

申请人： Benedicte Bascle ,  Nassir Navab ,  Bernhard Geiger

发明人： Benedicte Bascle ,  Nassir Navab ,  Bernhard Geiger

IPC分类号： A61B19/00

CPC分类号： A61B90/10 ,  A61B10/0233 ,  A61B34/10 ,  A61B2090/376

摘要： A method for determining the best entry point for a percutaneous procedure, such as with a biopsy needle, comprises selecting first and second arbitrary entry points on a patient; determining the three dimensional (3-D) orientation of the needle at the first arbitrary entry point for pointing the needle at the primary target; determining the 3-D orientation of the needle at the first arbitrary entry point for pointing the needle at the secondary target; determining the 3-D dimensional orientation of the needle at the second arbitrary entry point for pointing the needle at the primary target; determining the 3-D orientation of the needle at the second arbitrary entry point for pointing the needle at the secondary target; determining a 3-D line representing the intersection of a first plane containing the first arbitrary entry point, the primary target point, and the secondary target point, and a second plane containing the second arbitrary entry point, the primary target, and the secondary target point, whereby the 3-D line provides a position and orientation for the needle for performing needle biopsy of the primary target through the secondary target.

摘要翻译： 用于确定经皮程序的最佳入口点的方法，例如用活检针，包括选择患者的第一和第二任意入口点; 确定针在第一任意入口处的针的三维（3-D）取向，用于将针指向主要目标; 确定所述针在所述第一任意入口点处的3-D取向以将所述针指向所述次级靶; 确定针在第二任意入口点处的针的三维尺寸取向以将针指向主要目标; 确定针在第二任意进入点处的针的三维取向以将针指向次级靶; 确定表示包含第一任意入口点，主要目标点和次要目标点的第一平面的交点的3-D线以及包含第二任意入口点，主要目标和次要目标的第二平面 点，其中3-D线提供针的位置和取向，用于通过次级靶进行主要靶的针活检。

公开(公告)号：US06587783B2

公开(公告)日：2003-07-01

申请号：US09971555

申请日：2001-10-05

申请人： Nassir Navab ,  Xiang Zhang ,  Vijay Kumar ,  Benedicte Bascle

发明人： Nassir Navab ,  Xiang Zhang ,  Vijay Kumar ,  Benedicte Bascle

IPC分类号： G01C2100

CPC分类号： G01C21/20

摘要： A method and system for computer assisted site navigation includes capturing an image of a scene for providing real-time image data, calibrating a camera and localizing the image by utilizing the image data and retrieved marker registration and floor-map data for providing position and orientation data, transmitting the data to a web server, utilizing the image data and information on the scene retrieved from a database for deriving an augmented view, and displaying the augmented view.

摘要翻译： 一种用于计算机辅助站点导航的方法和系统包括：通过利用图像数据捕获场景图像，用于提供实时图像数据，校准相机和定位图像，并且检索标记登记和用于提供位置和方向的地板图数据 数据，将数据发送到网络服务器，利用图像数据和从数据库检索的用于导出增强视图的场景信息，以及显示增强视图。

公开(公告)号：US20050226471A1

公开(公告)日：2005-10-13

申请号：US11091142

申请日：2005-03-28

申请人： Maneesh Singh ,  Kazunori Okada ,  Benedicte Bascle ,  Dorin Comaniciu ,  Gregory Baratoff ,  Thorsten Kohler

发明人： Maneesh Singh ,  Kazunori Okada ,  Benedicte Bascle ,  Dorin Comaniciu ,  Gregory Baratoff ,  Thorsten Kohler

IPC分类号： G06K9/00

CPC分类号： G06K9/00228 ,  G06K9/00288

摘要： Methods for image processing for detecting and recognizing an image object include detecting an image object using pose-specific object detectors, and performing fusion of the outputs from the pose-specific object detectors. The image object is recognized using pose-specific object recognizers that use outputs from the pose-specific object detectors and the fused output of the pose-specific object detectors; and by performing fusion of the outputs of the pose-specific object recognizers to recognize the image object.

摘要翻译： 用于检测和识别图像对象的图像处理的方法包括使用姿势特定对象检测器检测图像对象，并且执行来自姿势特定对象检测器的输出的融合。 使用姿势特定对象识别器识别图像对象，所述对象识别器使用来自姿态特定对象检测器的输出和姿势特定对象检测器的融合输出; 并且通过执行姿态特定对象识别器的输出的融合来识别图像对象。

公开(公告)号：US07881531B2

公开(公告)日：2011-02-01

申请号：US12198349

申请日：2008-08-26

申请人： Benedicte Bascle ,  Dorin Comaniciu ,  Anurag Mittal ,  Visvanathan Ramesh

发明人： Benedicte Bascle ,  Dorin Comaniciu ,  Anurag Mittal ,  Visvanathan Ramesh

IPC分类号： G06K9/34 ,  G06K9/00 ,  G06K9/62 ,  G06K9/68

CPC分类号： G06K9/4633 ,  G06K9/3233

摘要： The present invention comprises using error propagation for building feature spaces with variable uncertainty and using variable-bandwidth mean shift for the analysis of such spaces, to provide peak detection and space partitioning. The invention applies these techniques to construct and analyze Hough spaces for line and geometrical shape detection, as well as to detect objects that are represented by peaks in the Hough space. This invention can be further used for background modeling by taking into account the uncertainty of the transformed image color and uncertainty of the motion flow. Furthermore, the invention can be used to segment video data in invariant spaces, by propagating the uncertainty from the original space and using the variable-bandwidth mean shift to detect peaks. The invention can be used in a variety of applications such as medical, surveillance, monitoring, automotive, augmented reality, and inspection.

摘要翻译： 本发明包括使用用于构建具有可变不确定性的特征空间的误差传播，并且使用可变带宽平均移位来分析这样的空间，以提供峰值检测和空间划分。 本发明应用这些技术来构建和分析用于线和几何形状检测的霍夫空间，以及检测由霍夫空间中的峰表示的对象。 通过考虑到变换图像颜色的不确定性和运动流的不确定性，本发明可以进一步用于背景建模。 此外，本发明可以用于通过从原始空间传播不确定性并使用可变带宽平均偏移来检测峰值来在不变空间中分割视频数据。 本发明可用于医疗，监视，监控，汽车，增强现实和检查等各种应用。

公开(公告)号：US07139685B2

公开(公告)日：2006-11-21

申请号：US10002737

申请日：2001-11-02

申请人： Benedicte Bascle ,  Thomas Ruge ,  Artur Raczynski

发明人： Benedicte Bascle ,  Thomas Ruge ,  Artur Raczynski

IPC分类号： G06F17/50

CPC分类号： G06F3/011 ,  G06F3/0354 ,  G06F3/042 ,  G06F3/0425 ,  G06T19/00 ,  G06T2210/04

摘要： Disclosed is a room planning and design system, comprising a virtual room space comprising a virtual representation of a physical room space, an object library of virtual objects, said virtual objects comprising virtual representations of equipment, machines and objects that may be placed in a room, a user interface comprising a first user interface component for selecting said virtual objects from said virtual library and positioning them in said virtual room space, a second user interface component for manipulating the positions and orientations of said virtual objects within said virtual room space, a workspace comprising a physical model of said physical room space, physical marker objects substantially scaled to said workspace for manual placement and orientation of said markers objects in said workspace, one or more detectors for detecting information regarding the positioning of said marker objects in said workspace and transmitting said information to a visualization module, and said visualization module adapted to receive said information from said detectors and utilize said information for positioning said virtual objects within said virtual room space.

公开(公告)号：US07542592B2

公开(公告)日：2009-06-02

申请号：US11091142

申请日：2005-03-28

申请人： Maneesh Singh ,  Kazunori Okada ,  Benedicte Bascle ,  Dorin Comaniciu ,  Gregory Baratoff ,  Thorsten Köhler

发明人： Maneesh Singh ,  Kazunori Okada ,  Benedicte Bascle ,  Dorin Comaniciu ,  Gregory Baratoff ,  Thorsten Köhler

IPC分类号： G06K9/00

CPC分类号： G06K9/00228 ,  G06K9/00288

摘要： Methods for image processing for detecting and recognizing an image object include detecting an image object using pose-specific object detectors, and performing fusion of the outputs from the pose-specific object detectors. The image object is recognized using pose-specific object recognizers that use outputs from the pose-specific object detectors and the fused output of the pose-specific object detectors; and by performing fusion of the outputs of the pose-specific object recognizers to recognize the image object.

摘要翻译： 用于检测和识别图像对象的图像处理的方法包括使用姿势特定对象检测器检测图像对象，并且执行来自姿势特定对象检测器的输出的融合。 使用姿势特定对象识别器识别图像对象，所述对象识别器使用来自姿态特定对象检测器的输出和姿势特定对象检测器的融合输出; 并且通过执行姿态特定对象识别器的输出的融合来识别图像对象。

公开(公告)号：US07251352B2

公开(公告)日：2007-07-31

申请号：US10222308

申请日：2002-08-16

申请人： Frank Sauer ,  Ali Khamene ,  Benedicte Bascle

发明人： Frank Sauer ,  Ali Khamene ,  Benedicte Bascle

IPC分类号： G06K9/00 ,  G09G5/00

CPC分类号： A61B8/467 ,  A61B8/00 ,  A61B8/462 ,  A61B8/466 ,  A61B8/483 ,  A61B8/5238 ,  A61B17/3403 ,  A61B90/37 ,  A61B2017/3413 ,  G01S7/52034 ,  G01S7/52036 ,  G01S7/52068 ,  G01S7/52084 ,  G01S15/8993

摘要： A method for marking three-dimensional (3D) locations from images obtained from an ultrasound imaging system including a transducer, comprising the steps of: tracking the pose of the transducer with respect to an external 3D coordinate system; obtaining a two-dimensional (2D) ultrasound image from the transducer; marking a desired target with a marker on the 2D ultrasound image; and calculating the 3D position of the marker utilizing data from the step of tracking.

摘要翻译： 一种用于从包括换能器的超声成像系统获得的图像中标记三维（3D）位置的方法，包括以下步骤：跟踪所述换能器相对于外部3D坐标系的姿态; 从换能器获得二维（2D）超声图像; 在2D超声波图像上用标记标记所需目标; 以及利用来自跟踪步骤的数据计算标记的3D位置。

公开(公告)号：US07437006B2

公开(公告)日：2008-10-14

申请号：US10382437

申请日：2003-03-06

申请人： Benedicte Bascle ,  Dorin Comaniciu ,  Anurag Mittal ,  Visvanathan Ramesh

发明人： Benedicte Bascle ,  Dorin Comaniciu ,  Anurag Mittal ,  Visvanathan Ramesh

IPC分类号： G06K9/62 ,  G06K9/74

CPC分类号： G06K9/4633 ,  G06K9/3233

摘要： The present invention comprises using error propagation for building feature spaces with variable uncertainty and using variable-bandwidth mean shift for the analysis of such spaces, to provide peak detection and space partitioning. The invention applies these techniques to construct and analyze Hough spaces for line and geometrical shape detection, as well as to detect objects that are represented by peaks in the Hough space. This invention can be further used for background modeling by taking into account the uncertainty of the transformed image color and uncertainty of the motion flow. Furthermore, the invention can be used to segment video data in invariant spaces, by propagating the uncertainty from the original space and using the variable-bandwidth mean shift to detect peaks. The invention can be used in a variety of applications such as medical, surveillance, monitoring, automotive, augmented reality, and inspection.

摘要翻译： 本发明包括使用用于构建具有可变不确定性的特征空间的误差传播，并且使用可变带宽平均移位来分析这样的空间，以提供峰值检测和空间划分。 本发明应用这些技术来构建和分析用于线和几何形状检测的霍夫空间，以及检测由霍夫空间中的峰表示的对象。 通过考虑到变换图像颜色的不确定性和运动流的不确定性，本发明可以进一步用于背景建模。 此外，本发明可以用于通过从原始空间传播不确定性并使用可变带宽平均偏移来检测峰值来在不变空间中分割视频数据。 本发明可用于医疗，监视，监控，汽车，增强现实和检查等各种应用。