-
1.发明授权Tool tracking systems, methods and computer products for image guided surgery 有权用于图像引导手术的工具跟踪系统，方法和计算机产品公开(公告)号：US08073528B2
公开(公告)日：2011-12-06
申请号：US11865016
申请日：2007-09-30
IPC分类号： A61B5/00
CPC分类号： A61B5/061 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B1/3132 , A61B5/1076 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/061 , A61B2090/364 , A61B2090/3983 , B25J9/1656 , B25J9/1689 , B25J13/089 , B25J15/0019 , G06F19/00 , G06F19/3418 , G06F19/3481 , G06K9/00624 , G06K9/3241 , G06K2209/057 , G06T7/246 , G06T2207/10021 , G06T2207/10068 , G06T2207/30004 , G06T2207/30241 , G09B23/28
摘要： In one embodiment of the invention, a tool tracking system is disclosed including a computer usable medium having computer readable program code to receive images of video frames from at least one camera and to perform image matching of a robotic instrument to determine video pose information of the robotic instrument within the images. The tool tracking system further includes computer readable program code to provide a state-space model of a sequence of states of corrected kinematics information for accurate pose information of the robotic instrument. The state-space model receives raw kinematics information of mechanical pose information and adaptively fuses the mechanical pose information and the video pose information together to generate the sequence of states of the corrected kinematics information for the robotic instrument. Additionally disclosed are methods for image guided surgery.
摘要翻译： 在本发明的一个实施例中，公开了一种工具跟踪系统，包括具有计算机可读程序代码的计算机可用介质，用于从至少一个摄像机接收视频帧的图像，并执行机器人仪器的图像匹配以确定视频姿势信息 图像中的机器人仪器。 工具跟踪系统还包括计算机可读程序代码，以提供用于机器人仪器的精确姿态信息的经校正的运动学信息的状态序列的状态空间模型。 状态空间模型接收机械姿态信息的原始运动学信息，并自适应地将机械姿态信息和视频姿态信息融合在一起，以生成机器人仪器的校正运动学信息的状态序列。 另外公开了图像引导手术的方法。
-
2.发明授权Methods of determining tissue distances using both kinematic robotic tool position information and image-derived position information 有权使用运动学机器人工具位置信息和图像导出的位置信息来确定组织距离的方法公开(公告)号：US08792963B2
公开(公告)日：2014-07-29
申请号：US13249821
申请日：2011-09-30
IPC分类号： A61B5/00
CPC分类号： A61B5/061 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B1/3132 , A61B5/1076 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/061 , A61B2090/364 , A61B2090/3983 , B25J9/1656 , B25J9/1689 , B25J13/089 , B25J15/0019 , G06F19/00 , G06F19/3418 , G06F19/3481 , G06K9/00624 , G06K9/3241 , G06K2209/057 , G06T7/246 , G06T2207/10021 , G06T2207/10068 , G06T2207/30004 , G06T2207/30241 , G09B23/28
摘要： In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.
摘要翻译： 在本发明的一个实施例中，公开了一种在机器人视野中定位机器人仪器的方法。 该方法包括在摄像机的视野中捕获顺序图像。 顺序图像在连续视图之间相关。 该方法还包括接收运动学基准以提供机器人仪器的近似位置，然后响应于机器人仪器的大致位置来分析顺序图像。 公开了一种用于机器人系统的附加方法。 还公开了一种用于指示工具进入相机视场的方法。
-
3.发明授权Methods of locating and tracking robotic instruments in robotic surgical systems 有权在机器人手术系统中定位和跟踪机器人仪器的方法公开(公告)号：US08147503B2
公开(公告)日：2012-04-03
申请号：US11865015
申请日：2007-09-30
IPC分类号： A61B17/00
CPC分类号： G06K9/3241 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/371 , G06K2209/057
摘要： In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.
摘要翻译： 在本发明的一个实施例中，公开了一种在机器人视野中定位机器人仪器的方法。 该方法包括在摄像机的视野中捕获顺序图像。 顺序图像在连续视图之间相关。 该方法还包括接收运动学基准以提供机器人仪器的大致位置，然后响应于机器人仪器的大致位置来分析顺序图像。 公开了一种用于机器人系统的附加方法。 还公开了一种用于指示工具进入相机视场的方法。
-
公开(公告)号：US20090088634A1
公开(公告)日：2009-04-02
申请号：US11865016
申请日：2007-09-30
CPC分类号： A61B5/061 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B1/3132 , A61B5/1076 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/061 , A61B2090/364 , A61B2090/3983 , B25J9/1656 , B25J9/1689 , B25J13/089 , B25J15/0019 , G06F19/00 , G06F19/3418 , G06F19/3481 , G06K9/00624 , G06K9/3241 , G06K2209/057 , G06T7/246 , G06T2207/10021 , G06T2207/10068 , G06T2207/30004 , G06T2207/30241 , G09B23/28
摘要： In one embodiment of the invention, a tool tracking system is disclosed including a computer usable medium having computer readable program code to receive images of video frames from at least one camera and to perform image matching of a robotic instrument to determine video pose information of the robotic instrument within the images. The tool tracking system further includes computer readable program code to provide a state-space model of a sequence of states of corrected kinematics information for accurate pose information of the robotic instrument. The state-space model receives raw kinematics information of mechanical pose information and adaptively fuses the mechanical pose information and the video pose information together to generate the sequence of states of the corrected kinematics information for the robotic instrument. Additionally disclosed are methods for image guided surgery.
摘要翻译： 在本发明的一个实施例中，公开了一种工具跟踪系统，包括具有计算机可读程序代码的计算机可用介质，用于从至少一个摄像机接收视频帧的图像，并执行机器人仪器的图像匹配以确定视频姿势信息 图像中的机器人仪器。 工具跟踪系统还包括计算机可读程序代码，以提供用于机器人仪器的精确姿态信息的经校正的运动学信息的状态序列的状态空间模型。 状态空间模型接收机械姿态信息的原始运动学信息，并自适应地将机械姿态信息和视频姿态信息融合在一起，以生成机器人仪器的校正运动学信息的状态序列。 另外公开了图像引导手术的方法。
-
5.发明申请Methods of Locating and Tracking Robotic Instruments in Robotic Surgical Systems 有权在机器人手术系统中定位和跟踪机器人仪器的方法公开(公告)号：US20120020547A1
公开(公告)日：2012-01-26
申请号：US13249821
申请日：2011-09-30
IPC分类号： G06K9/00
CPC分类号： A61B5/061 , A61B1/00193 , A61B1/018 , A61B1/04 , A61B1/3132 , A61B5/1076 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/061 , A61B2090/364 , A61B2090/3983 , B25J9/1656 , B25J9/1689 , B25J13/089 , B25J15/0019 , G06F19/00 , G06F19/3418 , G06F19/3481 , G06K9/00624 , G06K9/3241 , G06K2209/057 , G06T7/246 , G06T2207/10021 , G06T2207/10068 , G06T2207/30004 , G06T2207/30241 , G09B23/28
摘要： In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.
摘要翻译： 在本发明的一个实施例中，公开了一种在机器人视野中定位机器人仪器的方法。 该方法包括在摄像机的视野中捕获顺序图像。 顺序图像在连续视图之间相关。 该方法还包括接收运动学基准以提供机器人仪器的近似位置，然后响应于机器人仪器的大致位置来分析顺序图像。 公开了一种用于机器人系统的附加方法。 还公开了一种用于指示工具进入相机视场的方法。
-
公开(公告)号：US20090088897A1
公开(公告)日：2009-04-02
申请号：US11865014
申请日：2007-09-30
CPC分类号： G06K9/3216 , A61B34/20 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/3612 , A61B2090/371 , A61B2090/3784 , A61B2090/3937 , G05B2219/40557 , G05B2219/45117 , G06K2009/3225 , G06K2209/057
摘要： In one embodiment of the invention, a method for a robotic system is disclosed to track one or more robotic instruments. The method includes generating kinematics information for the robotic instrument within a field of view of a camera; capturing image information in the field of view of the camera; and adaptively fusing the kinematics information and the image information together to determine pose information of the robotic instrument. Additionally disclosed is a robotic medical system with a tool tracking sub-system. The tool tracking sub-system receives raw kinematics information and video image information of the robotic instrument to generate corrected kinematics information for the robotic instrument by adaptively fusing the raw kinematics information and the video image information together.
摘要翻译： 在本发明的一个实施例中，公开了一种用于跟踪一个或多个机器人装置的机器人系统的方法。 该方法包括在摄像机的视野内产生机器人仪器的运动学信息; 拍摄相机视野中的图像信息; 并将运动学信息和图像信息自适应地融合在一起，以确定机器人仪器的姿势信息。 另外公开了具有工具跟踪子系统的机器人医疗系统。 工具跟踪子系统通过将原始运动学信息和视频图像信息自适应地融合在一起，接收机器人仪器的原始运动学信息和视频图像信息，以生成机器人仪器的校正运动学信息。
-
7.发明申请METHODS OF LOCATING AND TRACKING ROBOTIC INSTRUMENTS IN ROBOTIC SURGICAL SYSTEMS 有权定位和跟踪机器人手术系统中的机器人仪器的方法公开(公告)号：US20090088773A1
公开(公告)日：2009-04-02
申请号：US11865015
申请日：2007-09-30
IPC分类号： A61B17/00
CPC分类号： G06K9/3241 , A61B34/20 , A61B34/25 , A61B34/30 , A61B34/37 , A61B90/361 , A61B2034/2065 , A61B2090/371 , G06K2209/057
摘要： In one embodiment of the invention, a method is disclosed to locate a robotic instrument in the field of view of a camera. The method includes capturing sequential images in a field of view of a camera. The sequential images are correlated between successive views. The method further includes receiving a kinematic datum to provide an approximate location of the robotic instrument and then analyzing the sequential images in response to the approximate location of the robotic instrument. An additional method for robotic systems is disclosed. Further disclosed is a method for indicating tool entrance into the field of view of a camera.
摘要翻译： 在本发明的一个实施例中，公开了一种在机器人视野中定位机器人仪器的方法。 该方法包括在摄像机的视野中捕获顺序图像。 顺序图像在连续视图之间相关。 该方法还包括接收运动学基准以提供机器人仪器的大致位置，然后响应于机器人仪器的大致位置来分析顺序图像。 公开了一种用于机器人系统的附加方法。 还公开了一种用于指示工具进入相机视场的方法。
-
公开(公告)号：US08155479B2
公开(公告)日：2012-04-10
申请号：US12058663
申请日：2008-03-28
IPC分类号： G06K9/36
CPC分类号： H04N13/366 , A61B1/00039 , A61B1/00193 , A61B1/042 , A61B34/30 , A61B34/37 , A61B90/361 , A61B90/37 , A61B2017/00477 , A61B2090/371 , H04N13/156 , H04N13/296 , H04N13/383
摘要： In one embodiment of the invention, a digital zoom and panning system for digital video is disclosed including an image acquisition device to capture digital video images; an image buffer to store one or more frames of digital video images as source pixels; a display device having first pixels to display images; a user interface to accept user input including a source rectangle to select source pixels within frames of the digital video images, a destination rectangle to select target pixels within the display device to display images, and a region of interest within the digital video images to display in the destination rectangle; and a digital mapping and filtering device to selectively map and filter source pixels in the region of interest from the image buffer into target pixels of the display device in response to the user input.
摘要翻译： 在本发明的一个实施例中，公开了一种用于数字视频的数字变焦和平移系统，包括用于捕获数字视频图像的图像采集装置; 图像缓冲器，用于存储一个或多个数字视频图像帧作为源像素; 具有显示图像的第一像素的显示装置; 接受包括源矩形的用户输入的用户界面以选择数字视频图像的帧内的源像素，用于选择显示设备内的目标像素以显示图像的目的地矩形，以及数字视频图像内的感兴趣区域以显示 在目的地矩形; 以及数字映射和滤波装置，用于响应于用户输入选择性地将来自图像缓冲器的感兴趣区域中的源像素和滤波器映射并显示到显示装置的目标像素中。
-
公开(公告)号：US08169468B2
公开(公告)日：2012-05-01
申请号：US12164363
申请日：2008-06-30
申请人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
发明人： David Scott , Wenyi Zhao , Christopher J. Hasser , Brian D. Hoffman , Paul Lilagan , Ian McDowall , Catherine J. Mohr , John D. Stern , Tao Zhao
CPC分类号： A61B1/043 , A61B1/00009 , A61B1/0005 , A61B1/00149 , A61B1/00186 , A61B1/00193 , A61B1/05 , A61B1/063 , A61B1/0638 , A61B1/313 , A61B5/0071 , A61B5/0075 , A61B5/0084 , A61B34/30 , A61B34/37 , A61B90/30 , A61B90/361 , A61B2034/301 , A61B2090/364 , G01N21/6456 , H04N13/0239 , H04N13/207 , H04N13/239
摘要： A robotic surgical system positions and holds an endoscope. A visible imaging system is coupled to the endoscope. The visible imaging system captures a visible image of tissue. An alternate imaging system is also coupled to the endoscope. The alternate imaging system captures a fluorescence image of at least a portion of the tissue. A stereoscopic video display system is coupled to the visible imaging system and to the alternate imaging system. The stereoscopic video display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of a fluorescence image associated with the captured fluorescence image, and the visible image.
摘要翻译： 机器人手术系统定位并保持内窥镜。 可见成像系统连接到内窥镜。 可见成像系统捕获组织的可见图像。 替代的成像系统也耦合到内窥镜。 替代成像系统捕获组织的至少一部分的荧光图像。 立体视频显示系统耦合到可见成像系统和替代成像系统。 立体视频显示系统输出包括与所捕获的荧光图像相关联的荧光图像的混合物和可见图像的三维呈现的实时立体图像。
-
公开(公告)号：US20100164950A1
公开(公告)日：2010-07-01
申请号：US12465020
申请日：2009-05-13
申请人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myriam J. Curet , Tao Zhao , Simon Dimaio , Brian D. Hoffman
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myriam J. Curet , Tao Zhao , Simon Dimaio , Brian D. Hoffman
IPC分类号： G06T15/00
CPC分类号： A61B34/25 , A61B34/20 , A61B2034/2057 , A61B2034/2065 , A61B2090/371 , A61B2090/373 , G06T7/593 , G06T11/00 , G06T2207/10068 , G06T2207/20096 , G06T2207/20101 , G06T2207/30004 , H04N13/10 , H04N13/20 , H04N13/30 , H04N2013/0092
摘要： An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译： 一种装置被配置为实时地向外科医生示出3-D的远程化。 监视器被显示为立体图像对的一侧，使得监视器可以在一侧用输入装置绘制远距离信号线。 识别兴趣点以匹配立体图像对的另一侧。 响应于所识别的兴趣点，区域和特征被识别并用于将感兴趣点与另一侧匹配。 区域可用于匹配兴趣点。 第一图像的特征可以匹配第二图像，并且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。 限制可用于评估匹配的兴趣点，例如排除不良点。
-
-
-
-
-
-
-
-
-
搜索结果
47 条记录 (耗时 0.033 秒)
