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    Robust sparse image matching for robotic surgery
    4.
    发明授权
    Robust sparse image matching for robotic surgery 有权
    用于机器人手术的鲁棒稀疏图像匹配

    公开(公告)号：US08184880B2

    公开(公告)日：2012-05-22

    申请号：US12465029

    申请日：2009-05-13

    申请人： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Di Maio

    发明人： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Di Maio

    IPC分类号： G06T7/00

    CPC分类号： G06K9/6211 ,  G06T7/33

    摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.

    摘要翻译： 系统，方法和设备用于匹配图像。 识别来自第一图像的兴趣点以匹配第二图像。 响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。 当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。 第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 约束可用于评估匹配的兴趣点，例如排除不良点。

    Robust sparse image matching for robotic surgery
    5.
    发明授权
    Robust sparse image matching for robotic surgery 有权
    用于机器人手术的鲁棒稀疏图像匹配

    公开(公告)号：US08639000B2

    公开(公告)日：2014-01-28

    申请号：US13454297

    申请日：2012-04-24

    申请人： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Di Maio

    发明人： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Di Maio

    IPC分类号： G06T7/00

    CPC分类号： G06K9/6211 ,  G06T7/33

    摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.

    摘要翻译： 系统，方法和设备用于匹配图像。 识别来自第一图像的兴趣点以匹配第二图像。 响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。 当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。 第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 约束可用于评估匹配的兴趣点，例如排除不良点。

    VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY
    6.
    发明申请
    VIRTUAL MEASUREMENT TOOL FOR MINIMALLY INVASIVE SURGERY 有权
    用于微创外科手术的虚拟测量工具

    公开(公告)号：US20100317965A1

    公开(公告)日：2010-12-16

    申请号：US12485503

    申请日：2009-06-16

    申请人： BRANDON D. ITKOWITZ ,  Tao Zhao ,  Simon Dimaio ,  Wenyi Zhao ,  Christopher J. Hasser ,  Myrian J. Curet ,  Catherine J. Mohr ,  Hubert Stein

    发明人： BRANDON D. ITKOWITZ ,  Tao Zhao ,  Simon Dimaio ,  Wenyi Zhao ,  Christopher J. Hasser ,  Myrian J. Curet ,  Catherine J. Mohr ,  Hubert Stein

    IPC分类号： A61B5/05 ,  G06K9/00

    CPC分类号： A61B90/06 ,  A61B1/00193 ,  A61B34/25 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/2065 ,  A61B2090/061

    摘要： Robotic and/or measurement devices, systems, and methods for telesurgical and other applications employ input devices operatively coupled to tools so as to allow a system user to manipulate tissues and other structures being measured. The system may make use of three dimensional position information from stereoscopic images. Two or more discrete points can be designated in three dimensions so as to provide a cumulative length along a straight or curving structure, an area measurement, a volume measurement, or the like. The discrete points may be identified by a single surgical tool or by distances separating two or more surgical tools, with the user optionally measuring a structure longer than a field of view of the stereoscopic image capture device by walking a pair of tools “hand-over-hand” along the structure. By allowing the system user to interact with the tissues while designating the tissue locations, and by employing imaging data to determine the measurements, the measurement accuracy and ease of measurement may be enhanced.

    摘要翻译： 用于远程外科手术和其他应用的机器人和/或测量装置，系统和方法使用可操作地耦合到工具的输入装置，以允许系统用户操纵被测量的组织和其他结构。 该系统可以利用来自立体图像的三维位置信息。 可以在三维中指定两个或更多个离散点，以沿着直线或弯曲结构，面积测量，体积测量等提供累积长度。 离散点可以通过单个外科手术工具或通过分离两个或更多个手术工具的距离来识别，用户可选地通过行走一对工具“移交”来测量比立体图像捕获装置的视场更长的结构 - 手“沿结构。 通过允许系统用户在指定组织位置的同时与组织交互，并且通过使用成像数据来确定测量，可以提高测量精度和测量容易度。