公开(公告)号：WO2013071437A1

公开(公告)日：2013-05-23

申请号：PCT/CA2012/050813

申请日：2012-11-15

Applicant: MACDONALD DETTWILER & ASSOCIATES INC.

Inventor： UMASUTHAN, Manickam ,  MUKHERJI, Raja ,  SHANG, Limin

IPC: G01B11/00 ,  A61B1/04 ,  A61B5/103 ,  G01S17/66

CPC classification number: A61B1/00149 ,  A61B1/00193 ,  A61B1/06 ,  A61B34/10 ,  A61B34/30 ,  A61B90/10 ,  A61B2034/105 ,  A61B2034/2065 ,  A61B2090/371 ,  G06T7/285

Abstract: The present invention provides a method for real-time tracking of moving flexible surfaces and an image guided surgical robotic system using this tracking method. A vision system acquires an image of the moving flexible surface and identifies and tracks visual features at different times. The method involves computing both rigid and stretching transformations based on the changing positions of the visual features which are then used to track any area of interest on the moving flexible surface as it evolves over time. A robotic surgical system using this real-time tracking is disclosed.

Abstract translation: 本发明提供一种使用该跟踪方法实时跟踪移动柔性表面的方法和使用图像引导的外科手术机器人系统。 视觉系统获取移动柔性表面的图像，并在不同时间识别和跟踪视觉特征。 该方法包括基于视觉特征的改变位置来计算刚性和拉伸变换，然后随着时间的推移，随后将其用于跟踪移动柔性表面上的感兴趣区域。 公开了一种使用该实时跟踪的机器人手术系统。