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21. 发明申请

US20100164950A1 EFFICIENT 3-D TELESTRATION FOR LOCAL ROBOTIC PROCTORING 有权
标题翻译：用于当地机器人处理的高效三维测量
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。

22. 发明申请

US20100034423A1 SYSTEM AND METHOD FOR DETECTING AND TRACKING AN OBJECT OF INTEREST IN SPATIO-TEMPORAL SPACE 有权
标题翻译：用于检测和跟踪空间空间中的兴趣对象的系统和方法
公开(公告)号：US20100034423A1
公开(公告)日：2010-02-11
申请号：US12186702
申请日：2008-08-06
申请人： Tao Zhao , Manoj Aggarwal , Changjiang Yang
发明人： Tao Zhao , Manoj Aggarwal , Changjiang Yang
IPC分类号： G06K9/00 , G06K9/36
CPC分类号： G06K9/3241 , G06K9/00785 , G06K9/4633 , G06T7/12 , G06T7/254 , G06T2207/10016 , G06T2207/20061 , G06T2207/30241
摘要： The present invention provides a system and method for detecting and tracking a moving object. First, robust change detection is applied to find initial candidate regions in consecutive frames. These initial detections in consecutive frames are stacked to produce space-time bands which are extracted by Hough transform and entropy minimization based band detection algorithm.
摘要翻译：本发明提供了一种用于检测和跟踪移动物体的系统和方法。首先，应用鲁棒变化检测来查找连续帧中的初始候选区域。这些连续帧中的这些初始检测被堆叠以产生通过霍夫变换和基于熵最小化的频带检测算法提取的空时频带。

23. 发明申请

US20190197650A1 FULL SCREEN PROCESSING IN MULTI-APPLICATION ENVIRONMENTS 审中-公开
公开(公告)号：US20190197650A1
公开(公告)日：2019-06-27
申请号：US13578355
申请日：2011-06-11
申请人： Tao Zhao , John C. Weast , Brett P. Wang
发明人： Tao Zhao , John C. Weast , Brett P. Wang
IPC分类号： G06T1/20 , G06F9/451 , G06F9/48
摘要： Systems and methods for determining a foreground application and at least one background application from multiple graphics applications executing within an execution environment are disclosed. Pixel data rendered by the foreground application may be displayed in the execution environment while a rendering thread of the background application may be paused.

24. 发明授权

US10085671B2 Systems and methods for deformation compensation using shape sensing 有权
公开(公告)号：US10085671B2
公开(公告)日：2018-10-02
申请号：US13893008
申请日：2013-05-13
申请人： Vincent Duindam , Prashant Chopra , Tao Zhao
发明人： Vincent Duindam , Prashant Chopra , Tao Zhao
IPC分类号： A61B34/10 , A61B5/06 , A61B5/00 , G06F19/00 , A61B17/00 , A61B34/30 , A61B34/20
摘要： A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.

25. 发明授权

US09858475B2 Method and system of hand segmentation and overlay using depth data 有权
公开(公告)号：US09858475B2
公开(公告)日：2018-01-02
申请号：US12780557
申请日：2010-05-14
申请人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
IPC分类号： G06K9/00 , G06T19/00
CPC分类号： G06K9/00375 , G06T19/006 , G06T2207/20112
摘要： In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display.

26. 发明授权

US08830224B2 Efficient 3-D telestration for local robotic proctoring 有权
标题翻译：有效的3-D远程监控用于本地机器人监视
公开(公告)号：US08830224B2
公开(公告)日：2014-09-09
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 , Myrian J. Curet , Tao Zhao , Simon Di Maio , Brian D. Hoffman
发明人： Wenyi Zhao , Chenyu Wu , David Hirvonen , Christopher J. Hasser , Brian E. Miller , Catherine J. Mohr , Myrian J. Curet , Tao Zhao , Simon Di Maio , Brian D. Hoffman
IPC分类号： G06T15/00 , G06K9/68
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。

27. 发明申请

US20130303892A1 Systems and Methods for Navigation Based on Ordered Sensor Records 审中-公开
标题翻译：基于有序传感器记录的导航系统和方法
公开(公告)号：US20130303892A1
公开(公告)日：2013-11-14
申请号：US13892974
申请日：2013-05-13
申请人： Tao Zhao , Prashant Chopra , Vincent Duindam , Dorin Panescu , Lei Fan
发明人： Tao Zhao , Prashant Chopra , Vincent Duindam , Dorin Panescu , Lei Fan
IPC分类号： A61B5/06
CPC分类号： A61B5/061 , A61B5/065 , A61B5/7425 , A61B34/20 , A61B2034/2051 , G06F19/00
摘要： A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history.
摘要翻译：跟踪医疗器械的方法包括接收解剖通道形成的模型并接收用于医疗器械的一组有序传感器记录。该组有序传感器记录提供医疗仪器的路径历史。该方法还包括基于路径历史记录医疗器械与解剖通道形成的模型。

28. 发明授权

US08520027B2 Method and system of see-through console overlay 有权
标题翻译：透视控制台覆盖的方法和系统
公开(公告)号：US08520027B2
公开(公告)日：2013-08-27
申请号：US12780568
申请日：2010-05-14
申请人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
发明人： Brandon D. Itkowitz , Simon P. DiMaio , Tao Zhao
IPC分类号： G06T19/00
CPC分类号： G06T15/503 , G06T2210/41
摘要： In a minimally invasive surgical system, a plurality of video images is acquired. Each video image includes images of the surgeon's hand(s), and of a master manipulator. The images of the surgeon's hand(s) and the master manipulator are segmented from the video image. The segmented images are combined with an acquired surgical site image. The combined image is displayed to the person at the surgeon's console so that the console functions as a see-through console.
摘要翻译：在微创手术系统中，获取多个视频图像。每个视频图像包括外科医生的手的图像和主操纵器的图像。从视频图像分割外科医生的手和主操纵器的图像。分割图像与获取的手术部位图像组合。组合的图像显示给外科医生的控制台上的人员，以便控制台作为透明控制台。

29. 发明申请

US20130187931A1 SYSTEM AND METHOD FOR MULTIPLE NATIVE SOFTWARE APPLICATIONS USER INTERFACE COMPOSITION 审中-公开
标题翻译：多种本机软件应用的系统与方法用户界面组成
公开(公告)号：US20130187931A1
公开(公告)日：2013-07-25
申请号：US13000356
申请日：2010-10-05
申请人： Tao Zhao , Brett Wang , John Weast
发明人： Tao Zhao , Brett Wang , John Weast
IPC分类号： G06F9/30
CPC分类号： G06F9/3004 , G06F8/38
摘要： In an environment with multiple graphics software application framework, a rending application programming interface (API) agent is provided in a rendering API library. The rendering API agent is to find surface information on memory surfaces corresponding to rendering surfaces of the rendering API library and relationship information between the memory surfaces and a process of the redering API application. The rendering API agent is to communicate with a global scene graph library (GSGL) to send the surface information and the relationship information to the GSGL. Binding may be used to transform the memory surfaces to desired rendering API surfaces based on the surface information in GSGL. A user experience application is to manipulate the translated rendering API surfaces to create user experience.
摘要翻译：在具有多个图形软件应用程序框架的环境中，渲染API库中提供了一个渲染应用程序编程接口（API）代理。渲染API代理是在存储器表面上找到与渲染API库的渲染表面相对应的表面信息以及存储器表面之间的关系信息以及烙印API应用程序的过程。渲染API代理与全局场景图库（GSGL）通信，将表面信息和关系信息发送到GSGL。基于GSGL中的表面信息，可以使用绑定将存储器表面转换为所需的渲染API表面。用户体验应用程序是操纵翻译的渲染API表面以创建用户体验。

30. 发明授权

US08228368B2 Augmented stereoscopic visualization for a surgical robot using a captured fluorescence image and captured stereoscopic visible images 有权
标题翻译：使用捕获的荧光图像和捕获的立体可见图像的外科机器人的增强的立体可视化
公开(公告)号：US08228368B2
公开(公告)日：2012-07-24
申请号：US12164976
申请日：2008-06-30
申请人： Wenyi Zhao , Catherine J. Mohr , Christopher J. Hasser , Brian D. Hoffman , John D. Stern , Tao Zhao
发明人： Wenyi Zhao , Catherine J. Mohr , Christopher J. Hasser , Brian D. Hoffman , John D. Stern , Tao Zhao
IPC分类号： H04N13/00
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： An illumination channel, a stereoscopic optical channel and another optical channel are held and positioned by a robotic surgical system. A first capture unit captures a stereoscopic visible image from the first light from the stereoscopic optical channel while a second capture unit captures a fluorescence image from the second light from the other optical channel. An intelligent image processing system receives the captured stereoscopic visible image and the captured fluorescence image and generates a stereoscopic pair of fluorescence images. An augmented stereoscopic display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of the stereoscopic visible image and the stereoscopic pair of fluorescence images.
摘要翻译：照明通道，立体光学通道和另一个光学通道由机器人手术系统保持和定位。第一捕获单元从来自立体光学信道的第一光捕获立体可视图像，而第二捕获单元从来自另一光信道的第二光捕获荧光图像。智能图像处理系统接收捕获的立体可视图像和捕获的荧光图像并产生立体对的荧光图像。增强立体显示系统输出包括立体可视图像和立体视觉对荧光图像的混合的三维呈现的实时立体图像。

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