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1. 发明授权

US08248457B2 Optical device 有权
标题翻译：光学装置
公开(公告)号：US08248457B2
公开(公告)日：2012-08-21
申请号：US09785791
申请日：2001-02-16
申请人： Michael D. Goldstein , Avi Yaron
发明人： Michael D. Goldstein , Avi Yaron
IPC分类号： H04N13/00
CPC分类号： A61B1/041 , G02B21/22 , G02B23/2415 , G02B27/2214 , H04N9/045 , H04N13/10 , H04N13/161 , H04N13/189 , H04N13/194 , H04N13/207 , H04N13/211 , H04N13/229 , H04N13/232 , H04N13/239 , H04N13/254 , H04N13/257 , H04N13/296 , H04N13/305 , H04N13/307 , H04N13/324 , H04N13/334 , H04N13/337 , H04N13/339 , H04N13/341 , H04N13/344 , H04N13/365 , H04N13/398 , H04N2013/0081
摘要： A stereoscopic device including a sensor assembly for detecting a sequence of stereoscopic images of an object, a movement detector for detecting the movements of the sensor assembly relative to the object, and a processing unit connected to the sensor assembly and to the movement detector, wherein the processing unit selects portions of the stereoscopic images, according to a signal received from the movement detector, thereby producing a visually stable sequence of display images.
摘要翻译：一种立体设备，包括用于检测物体的立体图像序列的传感器组件，用于检测传感器组件相对于物体的移动的移动检测器，以及连接到传感器组件和运动检测器的处理单元，其中处理单元根据从移动检测器接收的信号来选择立体图像的部分，从而产生视觉上稳定的显示图像序列。

2. 发明授权

US07990371B2 Method for reconstructing a three-dimensional surface of an object 有权
标题翻译：用于重建物体的三维表面的方法
公开(公告)号：US07990371B2
公开(公告)日：2011-08-02
申请号：US11953686
申请日：2007-12-10
申请人： Meir Bar-Zohar , Avi Yaron
发明人： Meir Bar-Zohar , Avi Yaron
IPC分类号： G09G5/00
CPC分类号： G06T7/593
摘要： Method for determining a disparity value of a disparity of each of a plurality of points on an object, the method including the procedures of detecting by a single image detector, a first image of the object through a first aperture, and a second image of the object through a second aperture, correcting the distortion of the first image, and the distortion of the second image, by applying an image distortion correction model to the first image and to the second image, respectively, thereby producing a first distortion-corrected image and a second distortion-corrected image, respectively, for each of a plurality of pixels in at least a portion of the first distortion-corrected image representing a selected one of the points, identifying a matching pixel in the second distortion-corrected image, and determining the disparity value according to the coordinates of each of the pixels and of the respective matching pixel.
摘要翻译：用于确定物体上的多个点中的每个点的视差的视差值的方法，所述方法包括由单个图像检测器检测的过程，通过第一孔径的物体的第一图像和通过对第一图像和第二图像分别应用图像失真校正模型，从而产生第一失真校正图像，并且通过第二孔径分别对第一图像和第二图像施加图像失真校正模型，校正第一图像的失真和第二图像的失真，分别对表示所选择的一个点的第一失真校正图像的至少一部分中的多个像素中的每一个的第二失真校正图像，识别第二失真校正图像中的匹配像素，以及确定根据每个像素和相应的匹配像素的坐标的视差值。

3. 发明授权

US07935048B2 Method and system for navigating within a flexible organ of the body of a patient 有权
标题翻译：用于在患者的身体的柔性器官内导航的方法和系统
公开(公告)号：US07935048B2
公开(公告)日：2011-05-03
申请号：US11709380
申请日：2007-02-22
申请人： Avi Yaron , Tami Frenkel
发明人： Avi Yaron , Tami Frenkel
IPC分类号： A61B1/00
CPC分类号： G06T19/003 , A61B90/36 , G06F19/00 , G06T7/75 , G06T2207/10021 , G06T2207/30028
摘要： Method for navigating a flexible medical device within a flexible organ of the body of a patient, toward a target region of interest of an inner wall of the flexible organ, by employing a previously acquired global three-dimensional (3D) model of the flexible organ, the method including the procedures of acquiring an initial stereoscopic image of an initial region of the flexible organ and reconstructing an initial local 3D model of the initial region according to the initial stereoscopic image, identifying and registering the initial local 3D model with an initial segment of the previously acquired global 3D model, acquiring a successive stereoscopic image of a successive region of the flexible organ and reconstructing a successive local 3D model of the successive region according to the successive stereoscopic image, identifying and registering the successive local 3D model with a successive segment of the previously acquired global 3D model, detecting the target region of interest by identifying a topography of the target region of interest according to the previously acquired global 3D model in the successive local 3D model, and producing a notification to indicate that the target region of interest is detected when the target region of interest is detected.
摘要翻译：用于通过使用先前获得的柔性器官的全球三维（3D）模型来导航患者身体的柔性器官内的柔性医疗装置朝向柔性器官的内壁的目标感兴趣区域的方法该方法包括获取柔性器官的初始区域的初始立体图像并根据初始立体图像重构初始区域的初始局部3D模型的过程，用初始段识别和登记初始局部3D模型获取先前获得的全局3D模型，获取柔性器官的连续区域的连续立体图像，并根据连续的立体图像重建连续区域的连续局部3D模型，用连续的立体图像识别和登记连续的局部3D模型先前获取的全局3D模型的段，检测目标感兴趣区域b y根据先前获取的连续本地3D模型中的全局3D模型识别目标区域的地形，并且当检测到目标感兴趣区域时产生指示目标感兴趣区域被检测到的通知。

4. 发明申请

US20090022393A1 Method for reconstructing a three-dimensional surface of an object 有权
标题翻译：用于重建物体的三维表面的方法
公开(公告)号：US20090022393A1
公开(公告)日：2009-01-22
申请号：US11953686
申请日：2007-12-10
申请人： Meir Bar-Zohar , Avi Yaron
发明人： Meir Bar-Zohar , Avi Yaron
IPC分类号： G06K9/00
CPC分类号： G06T7/593
摘要： Method for determining a disparity value of a disparity of each of a plurality of points on an object, the method including the procedures of detecting by a single image detector, a first image of the object through a first aperture, and a second image of the object through a second aperture, correcting the distortion of the first image, and the distortion of the second image, by applying an image distortion correction model to the first image and to the second image, respectively, thereby producing a first distortion-corrected image and a second distortion-corrected image, respectively, for each of a plurality of pixels in at least a portion of the first distortion-corrected image representing a selected one of the points, identifying a matching pixel in the second distortion-corrected image, and determining the disparity value according to the coordinates of each of the pixels and of the respective matching pixel.
摘要翻译：用于确定物体上的多个点中的每个点的视差的视差值的方法，所述方法包括由单个图像检测器检测的过程，通过第一孔径的物体的第一图像和通过对第一图像和第二图像分别应用图像失真校正模型，从而产生第一失真校正图像，并且通过第二孔径分别对第一图像和第二图像施加图像失真校正模型，校正第一图像的失真和第二图像的失真，分别对表示所选择的一个点的第一失真校正图像的至少一部分中的多个像素中的每一个的第二失真校正图像，识别第二失真校正图像中的匹配像素，以及确定根据每个像素和相应的匹配像素的坐标的视差值。

5. 发明申请

US20080158343A1 OPTICAL DEVICE 有权
标题翻译：光学装置
公开(公告)号：US20080158343A1
公开(公告)日：2008-07-03
申请号：US11932484
申请日：2007-10-31
申请人： Mark Schechterman , Michael D. Goldstein , Nadav Horesh , Avi Yaron , Martin Abraham
发明人： Mark Schechterman , Michael D. Goldstein , Nadav Horesh , Avi Yaron , Martin Abraham
IPC分类号： H04N13/00
CPC分类号： H04N9/045 , A61B1/00193 , A61B1/041 , G02B21/22 , G02B23/2415 , G02B27/2214 , G03B35/00 , H04N5/23248 , H04N13/10 , H04N13/161 , H04N13/189 , H04N13/194 , H04N13/207 , H04N13/211 , H04N13/214 , H04N13/218 , H04N13/225 , H04N13/229 , H04N13/232 , H04N13/239 , H04N13/254 , H04N13/257 , H04N13/296 , H04N13/305 , H04N13/307 , H04N13/324 , H04N13/334 , H04N13/337 , H04N13/339 , H04N13/341 , H04N13/344 , H04N13/365 , H04N13/398 , H04N2005/2255 , H04N2013/0081
摘要： Stereoscopic device including an image directing assembly, an image differentiator and an image detector, the image directing assembly having a first light inlet for receiving a first image and a second light inlet for receiving a second image, the first light inlet being spaced apart from the second light inlet, the image differentiator differentiating between the first image and the second image, wherein the image directing assembly directs the first image to the image detector via a common path, and wherein the image directing assembly directs the second image to the image detector via the common path.
摘要翻译：所述立体设备包括图像引导组件，图像微分器和图像检测器，所述图像引导组件具有用于接收第一图像的第一光入口和用于接收第二图像的第二光入口，所述第一光入口与第二光入口，区分第一图像和第二图像之间的图像微分器，其中图像引导组件经由公共路径将第一图像引导到图像检测器，并且其中图像引导组件将第二图像引导到图像检测器，经由共同的道路。

6. 发明申请

US20080119728A1 METHOD AND SYSTEM FOR SUPERIMPOSING THREE DIMENSIONAL MEDICAL INFORMATION ON A THREE DIMENSIONAL IMAGE 有权
标题翻译：用于超三维三维图像的三维医学信息的方法和系统
公开(公告)号：US20080119728A1
公开(公告)日：2008-05-22
申请号：US11866828
申请日：2007-10-03
申请人： Tami Frenkel , Avi Yaron
发明人： Tami Frenkel , Avi Yaron
IPC分类号： A61B5/00
CPC分类号： A61B5/103 , A61B5/4504 , A61B5/4528 , A61B6/505 , A61B6/5235 , G06T7/33 , G06T2207/10021 , G06T2207/30008 , G06T2207/30016 , G06T2207/30204
摘要： A system for video based registration between images during a skeletal medical procedure, the system includes a stereoscopic camera, a two dimensional image detector and a registration processor, the stereoscopic camera is associated with a stereoscopic coordinate system, the stereoscopic camera acquires a stereoscopic image pair of a fiducial mark, the fiducial mark is fixed onto a skeletal structure, a first fiducial representation of the fiducial mark is apparent on the stereoscopic image pair, the 2D image detector is associated with a 2D coordinate system and acquires at least two substantially different images of the skeletal structure, a second fiducial representation of the fiducial mark and a first skeletal representation of the skeletal structure is apparent on the two substantially different 2D images, the registration processor is coupled with the stereoscopic camera and with the 2D image detector and registers the stereoscopic coordinate system with a three dimensional (3D) coordinate system associated with a volumetric image detector, and superimposes 3D information on at least one volumetric image acquired by the volumetric image detector, according to the registration, the registration processor registers the stereoscopic coordinate system with the 3D coordinate system by registering the stereoscopic coordinate system with the 2D coordinate system using the first fiducial representation apparent in the stereoscopic image pair, and the second fiducial representation apparent in the two substantially different 2D images, and by registering the 2D coordinate system with the 3D coordinate system using the first skeletal representation apparent in the two substantially different 2D images, and the second skeletal representation apparent in the at least one volumetric image.
摘要翻译：一种用于在骨骼医疗过程中在图像之间进行基于视频的注册的系统，所述系统包括立体相机，二维图像检测器和注册处理器，所述立体相机与立体坐标系相关联，所述立体相机获取立体图像对基准标记固定在骨骼结构上，基准标记的第一基准表示在立体图像对上显而易见，2D图像检测器与2D坐标系相关联并且获取至少两个实质上不同的图像的骨骼结构，基准标记的第二基准表示和骨骼结构的第一骨骼表示在两个基本上不同的2D图像上是显而易见的，所述注册处理器与立体相机和2D图像检测器耦合，并且注册三维立体坐标系（3D ）坐标系，并且根据所述注册将3D信息叠加在由所述体积图像检测器获取的至少一个体积图像上，所述注册处理器通过登记所述立体坐标来记录所述立体坐标系与所述3D坐标系系统，其中使用在立体图像对中显而易见的第一基准表示的2D坐标系，以及在两个基本上不同的2D图像中显而易见的第二基准表示，并且通过使用第一骨架表示将2D坐标系记录到3D坐标系中在两个基本上不同的2D图像中，并且第二骨骼表示在至少一个体积图像中显而易见。

7. 发明申请

US20080009674A1 Method and system for navigating within a flexible organ of the body of a patient 有权
标题翻译：用于在患者的身体的柔性器官内导航的方法和系统
公开(公告)号：US20080009674A1
公开(公告)日：2008-01-10
申请号：US11709380
申请日：2007-02-22
申请人： Avi Yaron
发明人： Avi Yaron
IPC分类号： A61B1/01
CPC分类号： G06T19/003 , A61B90/36 , G06F19/00 , G06T7/75 , G06T2207/10021 , G06T2207/30028
摘要： Method for navigating a flexible medical device within a flexible organ of the body of a patient, toward a target region of interest of an inner wall of the flexible organ, by employing a previously acquired global three-dimensional (3D) model of the flexible organ, the method including the procedures of acquiring an initial stereoscopic image of an initial region of the flexible organ and reconstructing an initial local 3D model of the initial region according to the initial stereoscopic image, identifying and registering the initial local 3D model with an initial segment of the previously acquired global 3D model, acquiring a successive stereoscopic image of a successive region of the flexible organ and reconstructing a successive local 3D model of the successive region according to the successive stereoscopic image, lamp, identifying and registering the successive local 3D model with a successive segment of the previously acquired global 3D model, detecting the target region of interest by identifying a topography of the target region of interest according to the previously acquired global 3D model in the successive local 3D model, and producing a notification to indicate that the target region of interest is detected when the target region of interest is detected.
摘要翻译：用于通过使用先前获得的柔性器官的全球三维（3D）模型来导航患者身体的柔性器官内的柔性医疗装置朝向柔性器官的内壁的目标感兴趣区域的方法该方法包括获取柔性器官的初始区域的初始立体图像并根据初始立体图像重构初始区域的初始局部3D模型的过程，用初始段识别和登记初始局部3D模型获取先前获得的全局3D模型，获取柔性器官的连续区域的连续立体图像，并根据连续的立体图像，灯，重建连续区域的连续局部3D模型，识别和登记连续的局部3D模型，先前获取的全局3D模型的连续段，检测整数的目标区域通过根据先前在连续本地3D模型中获取的全局3D模型来识别目标区域的地形，并且当检测到目标感兴趣区域时产生指示目标感兴趣区域被检测到的通知来休息。

8. 发明授权

US07290880B1 System and method for producing a stereoscopic image of an eye fundus 有权
标题翻译：用于产生眼底立体图像的系统和方法
公开(公告)号：US07290880B1
公开(公告)日：2007-11-06
申请号：US11493200
申请日：2006-07-26
申请人： Avi Yaron , Mark Schechterman
发明人： Avi Yaron , Mark Schechterman
IPC分类号： A61B3/14 , A61B3/10 , A61B3/02
CPC分类号： A61B3/12
摘要： A stereoscopic opthalmoscope for producing a stereoscopic image of an eye fundus, the stereoscopic opthalmoscope including a light source, for emitting a light beam, a light deflector, optically coupled with the light source, for deflecting the light beam into an eye, thereby illuminating the eye fundus of the eye, a relay lens, optically coupled with the eye, for receiving light beams reflected from the eye fundus, thereby producing a relayed three-dimensional image of the fundus, and a stereoscopic imaging apparatus, optically coupled with the relay lens, for stereoscopically acquiring the relayed three-dimensional image. The stereoscopic imaging apparatus includes a dual aperture element, a pixel array image detector and a lenticular lens layer, optically coupled with the pixel array image detector. The lenticular lens layer directs a right view scene of the relayed three dimensional image toward a first plurality of pixels of the pixel array image detector and a left view scene of the relayed three-dimensional image toward a second plurality of pixels of the pixel array image detector.
摘要翻译：一种用于产生眼底立体图像的立体眼镜，所述立体式眼镜包括用于发射光束的光源，与光源光耦合的光偏转器，用于将光束偏转到眼睛中，从而照亮眼睛的眼底，与眼睛光学耦合的中继透镜，用于接收从眼底反射的光束，从而产生眼底的中继的三维图像;以及立体成像装置，与中继透镜光学耦合，用于立体地获取中继的三维图像。立体成像装置包括与像素阵列图像检测器光学耦合的双孔元件，像素阵列图像检测器和双凸透镜层。双凸透镜层将中继的三维图像的右视图场景朝向像素阵列图像检测器的第一多个像素和中继的三维图像的左视场景朝向像素阵列图像的第二多个像素探测器。

9. 发明申请

US20130038691A1 ASYMMETRIC ANGULAR RESPONSE PIXELS FOR SINGLE SENSOR STEREO 有权
标题翻译：用于单传感器立体声的不对称角度响应像素
公开(公告)号：US20130038691A1
公开(公告)日：2013-02-14
申请号：US13404319
申请日：2012-02-24
申请人： Gennadiy Agranov , Dongqing Cao , Avi Yaron
发明人： Gennadiy Agranov , Dongqing Cao , Avi Yaron
IPC分类号： H04N13/02
CPC分类号： H04N13/229 , H04N5/3696
摘要： Depth sensing imaging pixels include pairs of left and right pixels forming an asymmetrical angular response to incident light. A single microlens is positioned above each pair of left and right pixels. Each microlens spans across each of the pairs of pixels in a horizontal direction. Each microlens has a length that is substantially twice the length of either the left or right pixel in the horizontal direction; and each microlens has a width that is substantially the same as a width of either the left or right pixel in a vertical direction. The horizontal and vertical directions are horizontal and vertical directions of a planar image array. A light pipe in each pixel is used to improve light concentration and reduce cross talk.
摘要翻译：深度感测成像像素包括形成对入射光的不对称角度响应的左和右像素对。单个微透镜位于每对左和右像素上方。每个微透镜在水平方向跨越像素对中的每一对。每个微透镜具有基本上在水平方向上的左或右像素长度的两倍的长度; 并且每个微透镜具有与垂直方向上的左或右像素的宽度基本相同的宽度。水平和垂直方向是平面图像阵列的水平和垂直方向。每个像素中的光管用于提高光的集中度并减少串扰。

10. 发明授权

US08149270B1 High resolution endoscope 有权
标题翻译：高分辨率内窥镜
公开(公告)号：US08149270B1
公开(公告)日：2012-04-03
申请号：US11958211
申请日：2007-12-17
申请人： Avi Yaron , Mark Schechterman
发明人： Avi Yaron , Mark Schechterman
IPC分类号： H04N13/00
CPC分类号： A61B1/00193 , H04N13/229 , H04N2005/2255
摘要： A stereoscopic endoscope employing a single light sensor array and a lenticular lens layer located at a proximal end of the endoscope, a pair of periscopic prisms located at a distal end of the endoscope and an optical relay assembly array located between the pair of periscopic prisms and the light sensor array. One prism of the pair of periscopic prisms receives a right view of an object and another prism of the pair receives a left view of the object. The interpupilar distance (IPD) between the right and left view is substantially large, thereby increasing the resolution of a stereoscopic image which is eventually displayed on a display. Another embodiment includes a set of three light sensor arrays, a light director and three lenticular lens layers. Each light sensor array detects light at a predetermined range of wavelengths (e.g. red, green and blue).
摘要翻译：一种使用位于内窥镜的近端的单个光传感器阵列和双凸透镜层的立体内窥镜，位于内窥镜的远端的一对透视棱镜和位于一对透视棱镜之间的光学继电器组件阵列，以及光传感器阵列。一对透视棱镜的一个棱镜接收物体的右视图，另一个棱镜接收对象的左视图。右视图和左视图之间的相邻距离（IPD）基本上大，从而增加最终显示在显示器上的立体图像的分辨率。另一个实施例包括一组三个光传感器阵列，光导向器和三个双凸透镜层。每个光传感器阵列检测预定波长范围（例如，红色，绿色和蓝色）的光。

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