公开(公告)号：US09456200B2

公开(公告)日：2016-09-27

申请号：US14370713

申请日：2013-01-04

Applicant: THE TRUSTEES OF DARTMOUTH COLLEGE

Inventor： Songbai Ji ,  Xiaoyao Fan ,  Keith D. Paulsen ,  David W. Roberts ,  Alex Hartov

IPC: G06K9/00 ,  H04N13/02 ,  G01C11/02 ,  G01C25/00 ,  G06T3/00 ,  H04N13/00

CPC classification number: H04N13/246 ,  G01C11/02 ,  G01C25/00 ,  G06T3/0093 ,  G06T2200/04 ,  H04N2013/0074

Abstract: A system for, and method of, extracting a surface profile from a stereo pair of images obtained at an arbitrary setting S of an optical system, includes determining surface profile reconstruction parameters for images obtained with the optical system at a reference setting So of the optical system; determining warping parameters for a digital image processor for warping images obtained with the optical system at the arbitrary setting S into images corresponding to the reference setting So; obtaining the stereo pair of images from at least one camera of the optical system; warping the stereo pair of images into images corresponding to the reference setting So, and using the surface profile reconstruction parameters to determine the surface profile. In a particular embodiment, the surface profile is passed to a computer model of tissue deformation and used to determine an intra-surgery location of a tumor or other anatomic feature of tissue.

Abstract translation: 从在光学系统的任意设置S获得的立体图像对中提取表面轮廓的系统和方法包括：在光学系统的参考设置So处确定用光学系统获得的图像的表面轮廓重建参数 系统; 确定用于使用任意设置S处的光学系统获得的图像的数字图像处理器的翘曲参数变为与参考设置So对应的图像; 从所述光学系统的至少一个相机获得立体声图像对; 将立体声对的图像变形成与参考设置So对应的图像，并且使用表面轮廓重建参数来确定表面轮廓。 在特定实施例中，将表面轮廓传递到组织变形的计算机模型，并用于确定肿瘤的手术内部位置或组织的其他解剖特征。

公开(公告)号：US20140362186A1

公开(公告)日：2014-12-11

申请号：US14370713

申请日：2013-01-04

Applicant: THE TRUSTEES OF DARTMOUTH COLLEGE

Inventor： Songbai Ji ,  Xiaoyao Fan ,  Keith D. Paulsen ,  David W. Roberts ,  Alex Hartov

IPC: H04N13/02 ,  G06T3/00

CPC classification number: H04N13/246 ,  G01C11/02 ,  G01C25/00 ,  G06T3/0093 ,  G06T2200/04 ,  H04N2013/0074

Abstract: A system for, and method of, extracting a surface profile from a stereo pair of images obtained at an arbitrary setting S of an optical system, includes determining surface profile reconstruction parameters for images obtained with the optical system at a reference setting So of the optical system; determining warping parameters for a digital image processor for warping images obtained with the optical system at the arbitrary setting S into images corresponding to the reference setting So; obtaining the stereo pair of images from at least one camera of the optical system; warping the stereo pair of images into images corresponding to the reference setting So, and using the surface profile reconstruction parameters to determine the surface profile. In a particular embodiment, the surface profile is passed to a computer model of tissue deformation and used to determine an intra-surgery location of a tumor or other anatomic feature of tissue.

Abstract translation: 从在光学系统的任意设置S获得的立体图像对中提取表面轮廓的系统和方法包括：在光学系统的参考设置So处确定用光学系统获得的图像的表面轮廓重建参数 系统; 确定用于使用任意设置S处的光学系统获得的图像的数字图像处理器的翘曲参数变为与参考设置So对应的图像; 从所述光学系统的至少一个相机获得立体声图像对; 将立体声对的图像变形成与参考设置So对应的图像，并且使用表面轮廓重建参数来确定表面轮廓。 在特定实施例中，将表面轮廓传递到组织变形的计算机模型，并用于确定肿瘤的手术内部位置或组织的其他解剖特征。

公开(公告)号：US20140369584A1

公开(公告)日：2014-12-18

申请号：US14375311

申请日：2013-02-01

Applicant: The Trustees of Dartmouth College

Inventor： Xiaoyao Fan ,  David W. Roberts ,  Keith D. Paulsen ,  Songbai Ji ,  Alex Hartov

IPC: G06T7/00 ,  G06T19/20 ,  A61B19/00 ,  G06K9/60

CPC classification number: G06T7/0012 ,  A61B5/0013 ,  A61B5/0071 ,  A61B5/0075 ,  A61B5/055 ,  A61B5/1077 ,  A61B5/1079 ,  A61B5/7425 ,  A61B6/501 ,  A61B6/5247 ,  A61B8/0808 ,  A61B34/10 ,  A61B34/20 ,  A61B90/20 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2090/367 ,  A61B2090/378 ,  G06K9/60 ,  G06T7/33 ,  G06T17/00 ,  G06T19/20 ,  G06T2200/08 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/30004 ,  G06T2207/30096

Abstract: A system and method for determining intraoperative locations of a lesion in tissue from lesion locations determined in preoperative imaging includes determining three dimensional locations of surface features of the organ in the preoperative images. A preoperative surface map is extracted from stereo images annotated with surface features from preoperative images. An intraoperative surface map of the organ is extracted from stereo images, and surface features are identified in the stereo images corresponding to surface features annotated into the preoperative surface map. Three dimensional displacements of the surface features are determined and used to constrain a computer model of deformation of the organ. In embodiments, the model of deformation is adapted or constrained to model locations and dimensions of surgical cavities using an optical flow method and/or locations of surgical instruments in the organ. The model of deformation is used to determine intraoperative locations for the lesion.

Abstract translation: 用于确定术前成像中确定的病变位置的组织中的病变的术中位置的系统和方法包括确定术前图像中器官的表面特征的三维位置。 从术前图像表面特征注释的立体图像中提取术前表面图。 从立体图像提取器官的术中表面图，并且在对应于注释到术前表面图的表面特征的立体图像中识别表面特征。 确定表面特征的三维位移，并用于约束器官变形的计算机模型。 在实施例中，变形模型被适配或约束以使用手术器械的光学流动方法和/或外科器械的位置对外科腔的位置和尺寸进行建模。 变形模型用于确定病变的术中位置。

公开(公告)号：US09336592B2

公开(公告)日：2016-05-10

申请号：US14375311

申请日：2013-02-01

Applicant: The Trustees of Dartmouth College

Inventor： Xiaoyao Fan ,  David W. Roberts ,  Keith D. Paulsen ,  Songbai Ji ,  Alex Hartov

IPC: G06K9/00 ,  G06T7/00 ,  G06T17/00 ,  A61B6/00 ,  A61B5/00 ,  A61B5/107 ,  G06K9/60 ,  G06T19/20 ,  A61B5/055 ,  A61B19/00 ,  A61B8/08

CPC classification number: G06T7/0012 ,  A61B5/0013 ,  A61B5/0071 ,  A61B5/0075 ,  A61B5/055 ,  A61B5/1077 ,  A61B5/1079 ,  A61B5/7425 ,  A61B6/501 ,  A61B6/5247 ,  A61B8/0808 ,  A61B34/10 ,  A61B34/20 ,  A61B90/20 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2090/367 ,  A61B2090/378 ,  G06K9/60 ,  G06T7/33 ,  G06T17/00 ,  G06T19/20 ,  G06T2200/08 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/30004 ,  G06T2207/30096

Abstract: A system and method for determining intraoperative locations of a lesion in tissue from lesion locations determined in preoperative imaging includes determining three dimensional locations of surface features of the organ in the preoperative images. A preoperative surface map is extracted from stereo images annotated with surface features from preoperative images. An intraoperative surface map of the organ is extracted from stereo images, and surface features are identified in the stereo images corresponding to surface features annotated into the preoperative surface map. Three dimensional displacements of the surface features are determined and used to constrain a computer model of deformation of the organ. In embodiments, the model of deformation is adapted or constrained to model locations and dimensions of surgical cavities using an optical flow method and/or locations of surgical instruments in the organ. The model of deformation is used to determine intraoperative locations for the lesion.

Abstract translation: 用于确定术前成像中确定的病变位置的组织中的病变的术中位置的系统和方法包括确定术前图像中器官的表面特征的三维位置。 从术前图像表面特征注释的立体图像中提取术前表面图。 从立体图像提取器官的术中表面图，并且在对应于注释到术前表面图的表面特征的立体图像中识别表面特征。 确定表面特征的三维位移，并用于约束器官变形的计算机模型。 在实施例中，变形模型被适配或约束以使用手术器械的光学流动方法和/或外科器械的位置对外科腔的位置和尺寸进行建模。 变形模型用于确定病变的术中位置。