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公开(公告)号：US20100080415A1
公开(公告)日：2010-04-01
申请号：US12240724
申请日：2008-09-29
IPC分类号： G06K9/00
CPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , A61B34/32 , A61B90/17 , A61B2017/00752 , A61B2017/00969 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/363 , A61B2090/3937 , G06F19/00 , G06F19/321 , G06K9/00624 , G06K9/481 , G06K9/6202 , G06K9/6267 , G06K9/78 , G06T7/11 , G06T7/246 , G06T7/248 , G06T7/40 , G06T7/74 , G06T2207/20021 , G06T2207/30088 , G06T2207/30196 , G06T2207/30204 , G06T2207/30241 , G06T2207/30242 , G16H30/20 , G16H50/20 , Y10S901/47
摘要： A system and method for tracking, identifying, and labeling objects or features of interest is provided. In some embodiments, tracking is accomplished using unique signature of the feature of interest and image stabilization techniques. According to some aspects a frame of reference using predetermined markers is defined and updated based on a change in location of the markers and/or specific signature information. Individual objects or features within the frame may also be tracked and identified. Objects may be tracked by comparing two still images, determining a change in position of an object between the still images, calculating a movement vector of the object, and using the movement vector to update the location of an image device.
摘要翻译： 提供了一种用于跟踪，识别和标注感兴趣的对象或特征的系统和方法。 在一些实施例中，使用感兴趣的特征和图像稳定技术的独特签名来实现跟踪。 根据一些方面，使用预定标记的参考帧基于标记和/或特定签名信息的位置的变化来定义和更新。 框架内的单个对象或特征也可能被跟踪和识别。 可以通过比较两个静止图像，确定静止图像之间的对象的位置的变化，计算对象的运动矢量以及使用运动向量来更新图像设备的位置来跟踪对象。
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公开(公告)号：US08848974B2
公开(公告)日：2014-09-30
申请号：US12240724
申请日：2008-09-29
CPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , A61B34/32 , A61B90/17 , A61B2017/00752 , A61B2017/00969 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/363 , A61B2090/3937 , G06F19/00 , G06F19/321 , G06K9/00624 , G06K9/481 , G06K9/6202 , G06K9/6267 , G06K9/78 , G06T7/11 , G06T7/246 , G06T7/248 , G06T7/40 , G06T7/74 , G06T2207/20021 , G06T2207/30088 , G06T2207/30196 , G06T2207/30204 , G06T2207/30241 , G06T2207/30242 , G16H30/20 , G16H50/20 , Y10S901/47
摘要： A system and method for tracking, identifying, and labeling objects or features of interest is provided. In some embodiments, tracking is accomplished using unique signature of the feature of interest and image stabilization techniques. According to some aspects a frame of reference using predetermined markers is defined and updated based on a change in location of the markers and/or specific signature information. Individual objects or features within the frame may also be tracked and identified. Objects may be tracked by comparing two still images, determining a change in position of an object between the still images, calculating a movement vector of the object, and using the movement vector to update the location of an image device.
摘要翻译： 提供了一种用于跟踪，识别和标注感兴趣的对象或特征的系统和方法。 在一些实施例中，使用感兴趣的特征和图像稳定技术的独特签名来实现跟踪。 根据一些方面，使用预定标记的参考帧基于标记和/或特定签名信息的位置的变化来定义和更新。 框架内的单个对象或特征也可能被跟踪和识别。 可以通过比较两个静止图像，确定静止图像之间的对象的位置的变化，计算对象的运动矢量以及使用运动向量来更新图像设备的位置来跟踪对象。
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公开(公告)号：US08811660B2
公开(公告)日：2014-08-19
申请号：US12412753
申请日：2009-03-27
CPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , A61B34/32 , A61B90/17 , A61B2017/00752 , A61B2017/00969 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/363 , A61B2090/3937 , G06F19/00 , G06F19/321 , G06K9/00624 , G06K9/481 , G06K9/6202 , G06K9/6267 , G06K9/78 , G06T7/11 , G06T7/246 , G06T7/248 , G06T7/40 , G06T7/74 , G06T2207/20021 , G06T2207/30088 , G06T2207/30196 , G06T2207/30204 , G06T2207/30241 , G06T2207/30242 , G16H30/20 , G16H50/20 , Y10S901/47
摘要： A system and method for tracking, identifying, and labeling objects or features of interest is provided. In some embodiments, tracking is accomplished using unique signature of the feature of interest and image stabilization techniques. According to some aspects a frame of reference using predetermined markers is defined and updated based on a change in location of the markers and/or specific signature information. Individual objects or features within the frame may also be tracked and identified. Objects may be tracked by comparing two still images, determining a change in position of an object between the still images, calculating a movement vector of the object, and using the movement vector to update the location of an image device.
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公开(公告)号：US20100080417A1
公开(公告)日：2010-04-01
申请号：US12412753
申请日：2009-03-27
CPC分类号： A61B34/10 , A61B34/20 , A61B34/30 , A61B34/32 , A61B90/17 , A61B2017/00752 , A61B2017/00969 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/363 , A61B2090/3937 , G06F19/00 , G06F19/321 , G06K9/00624 , G06K9/481 , G06K9/6202 , G06K9/6267 , G06K9/78 , G06T7/11 , G06T7/246 , G06T7/248 , G06T7/40 , G06T7/74 , G06T2207/20021 , G06T2207/30088 , G06T2207/30196 , G06T2207/30204 , G06T2207/30241 , G06T2207/30242 , G16H30/20 , G16H50/20 , Y10S901/47
摘要： A system and method for tracking, identifying, and labeling objects or features of interest is provided. In some embodiments, tracking is accomplished using unique signature of the feature of interest and image stabilization techniques. According to some aspects a frame of reference using predetermined markers is defined and updated based on a change in location of the markers and/or specific signature information. Individual objects or features within the frame may also be tracked and identified. Objects may be tracked by comparing two still images, determining a change in position of an object between the still images, calculating a movement vector of the object, and using the movement vector to update the location of an image device.
摘要翻译： 提供了一种用于跟踪，识别和标注感兴趣的对象或特征的系统和方法。 在一些实施例中，使用感兴趣的特征和图像稳定技术的独特签名来实现跟踪。 根据一些方面，使用预定标记的参考帧基于标记和/或特定签名信息的位置的变化来定义和更新。 框架内的单个对象或特征也可能被跟踪和识别。 可以通过比较两个静止图像，确定静止图像之间的对象的位置的变化，计算对象的运动矢量以及使用运动向量来更新图像设备的位置来跟踪对象。
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公开(公告)号：US06944584B1
公开(公告)日：2005-09-13
申请号：US09549268
申请日：2000-04-14
CPC分类号： B25J9/1671 , G05B19/0426 , G05B2219/23258 , G05B2219/32128 , G05B2219/40392
摘要： A system that controls devices and integrally simulates the controlled motion of devices. The control and simulation system allows simultaneous development hardware and software in controlled device installations and increase operational ease-of-use and diagnostic capabilities. The control and three dimensional simulation system also allows client computers to remotely control the system and other devices connected to a network.
摘要翻译： 控制设备并整体模拟设备受控运动的系统。 控制和仿真系统允许在受控设备安装中同时开发硬件和软件，并增加操作易用性和诊断功能。 控制和三维模拟系统还允许客户端计算机远程控制系统和连接到网络的其他设备。
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6.发明申请METHODS AND SYSTEMS FOR DIRECTING MOVEMENT OF A TOOL IN HAIR TRANSPLANTATION PROCEDURES 有权用于指导工具在运输移动过程中的运动的方法和系统公开(公告)号：US20120158019A1
公开(公告)日：2012-06-21
申请号：US13174721
申请日：2011-06-30
申请人： John A. Tenney , Mohan Bodduluri , Hui Zhang
发明人： John A. Tenney , Mohan Bodduluri , Hui Zhang
IPC分类号： A61B17/50
CPC分类号： A61B34/30 , A61B17/32053 , A61B34/10 , A61B34/20 , A61B34/25 , A61B90/37 , A61B2017/00752 , A61B2034/101 , A61B2034/107 , A61B2090/3904 , A61B2090/3937
摘要： Methods and systems are provided useful in various procedures, including hair harvesting and implantation, and further including computer-implemented and/or robotic hair transplantation. Methodologies are provided which enable a tool, such as a hair harvesting or a hair implantation tool, to proceed at least under a partial computer control in a selected direction of travel along a donor or recipient area of the patient, as well as changing direction of travel based on desired harvesting and/or implantation criteria.
摘要翻译： 提供的方法和系统可用于各种程序，包括头发收集和植入，并且还包括计算机实现和/或机器人头发移植。 提供了使诸如头发收集或头发植入工具之类的工具至少在部分计算机控制下沿着患者的供体或受体区域的所选择的行进方向进行的方法，以及改变方向 基于所需的收获和/或植入标准进行旅行。
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公开(公告)号：US09188973B2
公开(公告)日：2015-11-17
申请号：US13178867
申请日：2011-07-08
申请人： John A. Tenney , Erik R. Burd , Hui Zhang , Robert F. Biro
发明人： John A. Tenney , Erik R. Burd , Hui Zhang , Robert F. Biro
IPC分类号： H04N13/02 , G05B19/408 , G06T7/00 , B25J9/16
CPC分类号： G06T7/80 , A61B34/30 , B25J9/1697 , G05B19/4086 , G05B2219/39022 , G05B2219/39045 , G06T7/12 , G06T7/73 , G06T7/85 , G06T2207/10012 , G06T2207/30004 , G06T2207/30208 , G06T2207/30244 , H04N7/181 , H04N13/20
摘要： Systems and methods are disclosed that determine a mapping between a first camera system's coordinate system and a second camera system's coordinate system; or determine a transformation between a robot's coordinate system and a camera system's coordinate system, and/or locate, in a robot's coordinate system, a tool extending from an arm of the robot based on the tool location in the camera's coordinate system. The disclosed systems and methods may use transformations derived from coordinates of features found in one or more images. The transformations may be used to interrelate various coordinate systems, facilitating calibration of camera systems, including in robotic systems, such as an image-guided robotic systems for hair harvesting and/or implantation.
摘要翻译： 公开了确定第一相机系统的坐标系和第二相机系统的坐标系之间的映射的系统和方法; 或者确定机器人坐标系和摄像机系统的坐标系之间的变换，和/或在机器人的坐标系中定位基于摄像机坐标系中的工具位置的从机器人臂伸出的工具。 所公开的系统和方法可以使用从在一个或多个图像中发现的特征的坐标导出的变换。 这些变换可以用于相互关联各种坐标系，促进照相机系统的校准，包括在机器人系统中，例如用于头发收集和/或植入的图像引导机器人系统。
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8.发明申请公开(公告)号：US20150066054A1
公开(公告)日：2015-03-05
申请号：US14538362
申请日：2014-11-11
IPC分类号： A61B19/00 , A61B17/3205
CPC分类号： A61B34/30 , A61B17/32053 , A61B34/10 , A61B34/20 , A61B34/25 , A61B90/37 , A61B2017/00752 , A61B2034/101 , A61B2034/107 , A61B2090/3904 , A61B2090/3937
摘要： Methods and systems are provided useful in various procedures, including hair harvesting and implantation, and further including computer-implemented and/or robotic hair transplantation. Methodologies are provided which enable a tool, such as a hair harvesting or a hair implantation tool, to proceed at least under a partial computer control in a selected direction of travel along a donor or recipient area of the patient, as well as changing direction of travel based on desired harvesting and/or implantation criteria.
摘要翻译： 提供的方法和系统可用于各种程序，包括头发收集和植入，并且还包括计算机实现和/或机器人头发移植。 提供了使诸如头发收集或头发植入工具之类的工具至少在部分计算机控制下沿着患者的供体或受体区域的所选择的行进方向进行的方法，以及改变方向 基于所需的收获和/或植入标准进行旅行。
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9.发明授权Methods and systems for directing movement of a tool in hair transplantation procedures 有权用于引导工具在毛发移植程序中的运动的方法和系统公开(公告)号：US08911453B2
公开(公告)日：2014-12-16
申请号：US13174721
申请日：2011-06-30
申请人： John A. Tenney , Mohan Bodduluri , Hui Zhang
发明人： John A. Tenney , Mohan Bodduluri , Hui Zhang
CPC分类号： A61B34/30 , A61B17/32053 , A61B34/10 , A61B34/20 , A61B34/25 , A61B90/37 , A61B2017/00752 , A61B2034/101 , A61B2034/107 , A61B2090/3904 , A61B2090/3937
摘要： Methods and systems are provided useful in various procedures, including hair harvesting and implantation, and further including computer-implemented and/or robotic hair transplantation. Methodologies are provided which enable a tool, such as a hair harvesting or a hair implantation tool, to proceed at least under a partial computer control in a selected direction of travel along a donor or recipient area of the patient, as well as changing direction of travel based on desired harvesting and/or implantation criteria.
摘要翻译： 提供的方法和系统可用于各种程序，包括头发收集和植入，并且还包括计算机实现和/或机器人头发移植。 提供了使诸如头发收集或头发植入工具之类的工具至少在部分计算机控制下沿着患者的供体或受体区域的所选择的行进方向进行的方法，以及改变方向 基于所需的收获和/或植入标准进行旅行。
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公开(公告)号：US20130010081A1
公开(公告)日：2013-01-10
申请号：US13178867
申请日：2011-07-08
申请人： John A. Tenney , Erik R. Burd , Hui Zhang , Robert F. Biro
发明人： John A. Tenney , Erik R. Burd , Hui Zhang , Robert F. Biro
CPC分类号： G06T7/80 , A61B34/30 , B25J9/1697 , G05B19/4086 , G05B2219/39022 , G05B2219/39045 , G06T7/12 , G06T7/73 , G06T7/85 , G06T2207/10012 , G06T2207/30004 , G06T2207/30208 , G06T2207/30244 , H04N7/181 , H04N13/20
摘要： Systems and methods are disclosed that determine a mapping between a first camera system's coordinate system and a second camera system's coordinate system; or determine a transformation between a robot's coordinate system and a camera system's coordinate system, and/or locate, in a robot's coordinate system, a tool extending from an arm of the robot based on the tool location in the camera's coordinate system. The disclosed systems and methods may use transformations derived from coordinates of features found in one or more images. The transformations may be used to interrelate various coordinate systems, facilitating calibration of camera systems, including in robotic systems, such as an image-guided robotic systems for hair harvesting and/or implantation.
摘要翻译： 公开了确定第一相机系统的坐标系和第二相机系统的坐标系之间的映射的系统和方法; 或者确定机器人坐标系和摄像机系统的坐标系之间的变换，和/或在机器人的坐标系中定位基于摄像机坐标系中的工具位置的从机器人臂伸出的工具。 所公开的系统和方法可以使用从在一个或多个图像中发现的特征的坐标导出的变换。 这些变换可以用于相互关联各种坐标系，促进照相机系统的校准，包括在机器人系统中，例如用于头发收集和/或植入的图像引导机器人系统。
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