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1. 发明授权

US09265572B2 Methods, systems, and computer readable media for image guided ablation 有权
标题翻译：用于图像引导消融的方法，系统和计算机可读介质
公开(公告)号：US09265572B2
公开(公告)日：2016-02-23
申请号：US12842261
申请日：2010-07-23
申请人： Henry Fuchs , Hua Yang , Tabitha Peck , Anna Bulysheva , Andrei State
发明人： Henry Fuchs , Hua Yang , Tabitha Peck , Anna Bulysheva , Andrei State
IPC分类号： A61B8/00 , A61B18/14 , A61B3/113 , A61B18/02 , A61B18/18 , A61B19/00
CPC分类号： A61B34/20 , A61B3/113 , A61B8/00 , A61B8/4245 , A61B8/4263 , A61B8/4416 , A61B8/462 , A61B18/0218 , A61B18/14 , A61B18/1477 , A61B18/148 , A61B18/18 , A61B34/25 , A61B2018/00577 , A61B2034/2063 , A61B2034/2065 , A61B2090/368 , A61B2090/3784
摘要： The subject matter described herein includes methods, systems, and computer readable media for image guided ablation. One system for image guided ablation includes an ultrasound transducer for producing a real-time ultrasound image of a target volume and of surrounding tissue. The system further includes an ablation probe for ablating the target volume. The system further includes a display for displaying an image to guide positioning of the ablation probe during ablation of the target volume. The system further includes at least one tracker for tracking position and orientation of the ablation probe during the ablation of the target volume. The system further includes a rendering and display module for receiving a pre-ablation image of the target volume and for displaying a combined image on the display, where the combined image includes a motion tracked, rendered image of the ablation probe and an equally motion tracked real-time ultrasound image registered with the pre-ablation image.
摘要翻译：本文描述的主题包括用于图像引导消融的方法，系统和计算机可读介质。用于图像引导消融的一个系统包括用于产生目标体积和周围组织的实时超声图像的超声换能器。该系统还包括用于消融目标体积的消融探针。该系统还包括用于显示图像以引导消融探针在目标体积消融期间的定位的显示器。该系统还包括至少一个跟踪器，用于在目标体积的消融期间跟踪消融探针的位置和取向。该系统还包括渲染和显示模块，用于接收目标体积的预消融图像，并用于在显示器上显示组合图像，其中组合图像包括消融探针的运动跟踪渲染图像和跟踪的等效运动实时超声图像与消融前图像一起注册。

2. 发明申请

US20110046483A1 METHODS, SYSTEMS, AND COMPUTER READABLE MEDIA FOR IMAGE GUIDED ABLATION 有权
标题翻译：方法，系统和计算机可读介质用于图像引导
公开(公告)号：US20110046483A1
公开(公告)日：2011-02-24
申请号：US12842261
申请日：2010-07-23
申请人： Henry Fuchs , Hua Yang , Tabitha Peck , Anna Bulysheva , Andrei State
发明人： Henry Fuchs , Hua Yang , Tabitha Peck , Anna Bulysheva , Andrei State
IPC分类号： A61B8/00 , A61B18/18 , A61B18/02
CPC分类号： A61B34/20 , A61B3/113 , A61B8/00 , A61B8/4245 , A61B8/4263 , A61B8/4416 , A61B8/462 , A61B18/0218 , A61B18/14 , A61B18/1477 , A61B18/148 , A61B18/18 , A61B34/25 , A61B2018/00577 , A61B2034/2063 , A61B2034/2065 , A61B2090/368 , A61B2090/3784
摘要： The subject matter described herein includes methods, systems, and computer readable media for image guided ablation. One system for image guided ablation includes an ultrasound transducer for producing a real-time ultrasound image of a target volume and of surrounding tissue. The system further includes an ablation probe for ablating the target volume. The system further includes a display for displaying an image to guide positioning of the ablation probe during ablation of the target volume. The system further includes at least one tracker for tracking position and orientation of the ablation probe during the ablation of the target volume. The system further includes a rendering and display module for receiving a pre-ablation image of the target volume and for displaying a combined image on the display, where the combined image includes a motion tracked, rendered image of the ablation probe and an equally motion tracked real-time ultrasound image registered with the pre-ablation image.
摘要翻译：本文描述的主题包括用于图像引导消融的方法，系统和计算机可读介质。用于图像引导消融的一个系统包括用于产生目标体积和周围组织的实时超声图像的超声换能器。该系统还包括用于消融目标体积的消融探针。该系统还包括用于显示图像以引导消融探针在目标体积消融期间的定位的显示器。该系统还包括至少一个跟踪器，用于在目标体积的消融期间跟踪消融探针的位置和取向。该系统还包括渲染和显示模块，用于接收目标体积的预消融图像，并用于在显示器上显示组合图像，其中组合图像包括消融探针的运动跟踪渲染图像和跟踪的等效运动实时超声图像与消融前图像一起注册。

3. 发明授权

US09538167B2 Methods, systems, and computer readable media for shader-lamps based physical avatars of real and virtual people 有权
标题翻译：方法，系统和计算机可读介质，用于基于着色器的物理虚拟人物的虚拟人物
公开(公告)号：US09538167B2
公开(公告)日：2017-01-03
申请号：US13254837
申请日：2010-03-08
申请人： Gregory Francis Welch , Henry Fuchs , Peter Lincoln , Andrew Nashel , Andrei State
发明人： Gregory Francis Welch , Henry Fuchs , Peter Lincoln , Andrew Nashel , Andrei State
IPC分类号： G06T15/00 , H04N13/04 , G06T15/04
CPC分类号： H04N13/388 , G06T15/04
摘要： Methods, systems, and computer readable media for shader lamps-based avatars of real and virtual people are disclosed. According to one method, shader lamps-based avatars of real and virtual objects are displayed on physical target objects. The method includes obtaining visual information of a source object and generating at least a first data set of pixels representing a texture image of the source object. At least one of a size, shape, position, and orientation of a 3D physical target object are determined. A set of coordinate data associated with various locations on the surface of the target object are also determined. The visual information is mapped to the physical target object. Mapping includes defining a relationship between the first and second sets of data, wherein each element of the first set is related to each element of the second set. The mapped visual information is displayed on the physical target object using a display module, such as one or more projectors located at various positions around the target object.
摘要翻译：公开了用于基于着色器灯的虚拟人物的方法，系统和计算机可读介质。根据一种方法，在物理目标对象上显示基于着色器的实体和虚拟对象的化身。该方法包括获得源对象的视觉信息并生成表示源对象的纹理图像的至少第一数据像素数据集。确定3D物理目标对象的尺寸，形状，位置和取向中的至少一个。还确定与目标对象的表面上的各种位置相关联的一组坐标数据。视觉信息被映射到物理目标对象。映射包括定义第一和第二组数据之间的关系，其中第一组的每个元素与第二组的每个元素相关。所映射的视觉信息使用显示模块显示在物理目标对象上，诸如位于目标对象周围各个位置的一个或多个投影仪。

4. 发明申请

US20100045783A1 METHODS AND SYSTEMS FOR DYNAMIC VIRTUAL CONVERGENCE AND HEAD MOUNTABLE DISPLAY USING SAME 审中-公开
标题翻译：用于动态虚拟融合的方法和系统和使用相同的头部显示
公开(公告)号：US20100045783A1
公开(公告)日：2010-02-25
申请号：US12609915
申请日：2009-10-30
申请人： Andrei State , Kurtis P. Keller , Jeremy D. Ackerman , Henry Fuchs
发明人： Andrei State , Kurtis P. Keller , Jeremy D. Ackerman , Henry Fuchs
IPC分类号： H04N13/04 , H04N5/225
CPC分类号： A61B90/36 , A61B10/0233 , A61B90/361 , A61B2090/371 , G02B27/017 , G02B2027/0127 , G02B2027/0129 , G02B2027/0138 , G02B2027/014 , G02B2027/0187 , H04N13/128 , H04N13/344 , H04N13/398
摘要： Methods and systems for dynamic virtual convergence (218) and a video see through head mountable display (200) that uses dynamic virtual convergence are disclosed. A dynamic virtual convergence algorithm (218) includes sampling an image with two cameras. The cameras each have a field of view that is larger than a field of view of displays used to display images sampled by the cameras (210). A heuristic is used to estimate the gaze distance of the viewer. The display frustums are transformed so that they converge at the estimated gaze distance. The images sampled by the cameras (210) are then reprojected into the transformed display frustums. The reprojected images are displayed to the user to simulate viewing of close range objects.
摘要翻译：公开了用于动态虚拟融合的方法和系统（218）和使用动态虚拟融合的可头戴式显示器（200）的视频。动态虚拟融合算法（218）包括用两个摄像机对图像进行采样。摄像机各自具有大于用于显示由照相机（210）采样的图像的显示器的视场的视场。启发式用于估计观众的凝视距离。显示性截头锥体被变换，使得它们在估计的注视距离处收敛。然后将由相机（210）采样的图像重新投影到变换的显示平截头体中。将重新投影的图像显示给用户以模拟近距离对象的观看。

5. 发明申请

US20120038739A1 METHODS, SYSTEMS, AND COMPUTER READABLE MEDIA FOR SHADER-LAMPS BASED PHYSICAL AVATARS OF REAL AND VIRTUAL PEOPLE 有权
标题翻译：方法，系统和计算机可读介质，用于基于实体和虚拟人的基于灰度级的物理空间
公开(公告)号：US20120038739A1
公开(公告)日：2012-02-16
申请号：US13254837
申请日：2010-03-08
申请人： Gregory Francis Welch , Henry Fuchs , Peter Lincoln , Andrew Nashel , Andrei State
发明人： Gregory Francis Welch , Henry Fuchs , Peter Lincoln , Andrew Nashel , Andrei State
IPC分类号： H04N7/14 , G06T15/80
CPC分类号： H04N13/388 , G06T15/04
摘要： Methods, systems, and computer readable media for shader lamps-based avatars of real and virtual people are disclosed. According to one method, shader lamps-based avatars of real and virtual objects are displayed on physical target objects. The method includes obtaining visual information of a source object and generating at least a first data set of pixels representing a texture image of the source object. At least one of a size, shape, position, and orientation of a 3D physical target object are determined. A set of coordinate data associated with various locations on the surface of the target object are also determined. The visual information is mapped to the physical target object. Mapping includes defining a relationship between the first and second sets of data, wherein each element of the first set is related to each element of the second set. The mapped visual information is displayed on the physical target object using a display module, such as one or more projectors located at various positions around the target object.
摘要翻译：公开了用于基于着色器灯的虚拟人物的方法，系统和计算机可读介质。根据一种方法，在物理目标对象上显示基于着色器的实体和虚拟对象的化身。该方法包括获得源对象的视觉信息并生成表示源对象的纹理图像的至少第一数据像素数据集。确定3D物理目标对象的尺寸，形状，位置和取向中的至少一个。还确定与目标对象的表面上的各种位置相关联的一组坐标数据。视觉信息被映射到物理目标对象。映射包括定义第一和第二组数据之间的关系，其中第一组的每个元素与第二组的每个元素相关。所映射的视觉信息使用显示模块显示在物理目标对象上，诸如位于目标对象周围各个位置的一个或多个投影仪。

6. 发明授权

US06503195B1 Methods and systems for real-time structured light depth extraction and endoscope using real-time structured light depth extraction 失效
标题翻译：使用实时结构光深度提取的实时结构光深度提取和内窥镜的方法和系统
公开(公告)号：US06503195B1
公开(公告)日：2003-01-07
申请号：US09317932
申请日：1999-05-24
申请人： Kurtis P. Keller , Jeremy D. Ackerman , Michael H. Rosenthal , Henry Fuchs , Andrei State
发明人： Kurtis P. Keller , Jeremy D. Ackerman , Michael H. Rosenthal , Henry Fuchs , Andrei State
IPC分类号： A61B104
CPC分类号： G02B23/2415 , A61B1/00096 , A61B1/00177 , A61B1/00193 , A61B1/042 , A61B1/3132 , G01B11/25 , G06T7/521 , H04N5/7491 , H04N13/344 , H04N13/366 , H04N2005/2255
摘要： A real-time structured light depth extraction system includes a projector for projecting structured light patterns onto an object of interest. A camera positioned off-axis from the projector samples light reflected from the object synchronously with the projection of structured light patterns and outputs digital signals indicative of the reflected light. An image processor/controller receives the digital signals from the camera and processes the digital signals to extract depth information of the object in real time.
摘要翻译：实时结构光深度提取系统包括投影仪，用于将结构化光图案投影到感兴趣的对象上。与投影仪远离投影仪的照相机采用与结构化光图案的投影同步的物体反射的光，并输出表示反射光的数字信号。图像处理器/控制器从摄像机接收数字信号并处理数字信号以实时提取对象的深度信息。

7. 发明申请

US20110057930A1 SYSTEM AND METHOD OF USING HIGH-SPEED, HIGH-RESOLUTION DEPTH EXTRACTION TO PROVIDE THREE-DIMENSIONAL IMAGERY FOR ENDOSCOPY 审中-公开
标题翻译：使用高速，高分辨深度提取提供三维图像进行内窥镜的系统和方法
公开(公告)号：US20110057930A1
公开(公告)日：2011-03-10
申请号：US12943795
申请日：2010-11-10
申请人： Kurtis P. Keller , Sharif A. Razzaque , Andrei State , Caroline K. Green
发明人： Kurtis P. Keller , Sharif A. Razzaque , Andrei State , Caroline K. Green
IPC分类号： G06T15/00
CPC分类号： G06T15/205 , G06T7/521 , G06T2207/10068 , G06T2210/41 , G06T2210/52 , H04N13/239 , H04N13/246 , H04N13/254 , H04N2005/2255
摘要： A system and method for providing high-speed, high-resolution three-dimensional imagery for endoscopy, particularly of a tissue surface at a medical procedure site is disclosed. High-resolution imagery provides greater detail of the tissue surface, but requires high-speed depth-frame imaging to provide timely updated depth information. A pattern of light, such as a point of light for example, may be projected onto the tissue surface and a reflected image analyzed to determine depth information. The point of light can be projected and analyzed quickly to produce faster depth-frame image rates. Three-dimensional structured-light depth resolution information may be generated and combined with either a two-dimensional image or a two-dimensional stereo image to provide three-dimensional imagery of the tissue surface. Switching between three-dimensional images and one of the two-dimensional image and a two-dimensional stereo image may also be provided. Further, the three-dimensional structured- light depth information may be further optimized by combining it with three-dimensional stereo-correspondence depth information to generate hybrid three-dimensional imagery.
摘要翻译：公开了一种用于提供用于内窥镜检查的高速，高分辨率三维图像的系统和方法，特别是在医疗程序部位的组织表面。高分辨率图像提供组织表面的更多细节，但需要高速深度帧成像，以及时更新深度信息。诸如光点的光的图案可以被投影到组织表面上，并且分析反射图像以确定深度信息。可以快速投影和分析光线，以产生更快的深度帧图像速率。可以生成三维结构光深度分辨率信息并与二维图像或二维立体图像组合以提供组织表面的三维图像。还可以提供三维图像与二维图像之一和二维立体图像之间的切换。此外，三维结构光深度信息可以通过将其与三维立体对应深度信息组合来进一步优化以产生混合三维图像。

8. 发明授权

US07728868B2 System and method of providing real-time dynamic imagery of a medical procedure site using multiple modalities 有权
标题翻译：使用多种方式提供医疗程序现场实时动态图像的系统和方法
公开(公告)号：US07728868B2
公开(公告)日：2010-06-01
申请号：US11833134
申请日：2007-08-02
申请人： Sharif A. Razzaque , Kurtis P. Keller , Andrei State , Caroline K. Green , Jeremy D. Ackerman
发明人： Sharif A. Razzaque , Kurtis P. Keller , Andrei State , Caroline K. Green , Jeremy D. Ackerman
IPC分类号： H04N7/18
CPC分类号： G06T3/0087 , A61B1/0005 , A61B1/042 , A61B1/313 , A61B8/12 , A61B8/463 , A61B8/5238 , H04N7/181
摘要： A system and method of providing composite real-time dynamic imagery of a medical procedure site from multiple modalities which continuously and immediately depicts the current state and condition of the medical procedure site synchronously with respect to each modality and without undue latency is disclosed. The composite real-time dynamic imagery may be provided by spatially registering multiple real-time dynamic video streams from the multiple modalities to each other. Spatially registering the multiple real-time dynamic video streams to each other may provide a continuous and immediate depiction of the medical procedure site with an unobstructed and detailed view of a region of interest at the medical procedure site at multiple depths. As such, a surgeon, or other medical practitioner, may view a single, accurate, and current composite real-time dynamic imagery of a region of interest at the medical procedure site as he/she performs a medical procedure, and thereby, may properly and effectively implement the medical procedure.
摘要翻译：公开了一种从多种模式提供医疗程序现场的复合实时动态图像的系统和方法，其连续并立即描绘了相对于每个模态并且没有不适当延迟的医疗程序现场的当前状态和状况。复合实时动态图像可以通过将来自多个模态的多个实时动态视频流空间注册到彼此来提供。将多个实时动态视频流空间注册到彼此可以提供医疗程序站点的连续且立即的描述，其中在医疗程序站点的多个深度处，不受阻碍地和详细地观察感兴趣的区域。因此，外科医生或其他医生可以在执行医疗程序时在医疗程序现场查看感兴趣区域的单一，准确和当前的复合实时动态图像，从而可以适当地有效实施医疗程序。

9. 发明申请

US20080030578A1 SYSTEM AND METHOD OF PROVIDING REAL-TIME DYNAMIC IMAGERY OF A MEDICAL PROCEDURE SITE USING MULTIPLE MODALITIES 有权
标题翻译：使用多种模式提供医疗程序实时动态图像的系统和方法
公开(公告)号：US20080030578A1
公开(公告)日：2008-02-07
申请号：US11833134
申请日：2007-08-02
申请人： Sharif Razzaque , Kurtis Keller , Andrei State , Caroline Green , Jeremy Ackerman
发明人： Sharif Razzaque , Kurtis Keller , Andrei State , Caroline Green , Jeremy Ackerman
IPC分类号： H04N7/18
CPC分类号： G06T3/0087 , A61B1/0005 , A61B1/042 , A61B1/313 , A61B8/12 , A61B8/463 , A61B8/5238 , H04N7/181
摘要： A system and method of providing composite real-time dynamic imagery of a medical procedure site from multiple modalities which continuously and immediately depicts the current state and condition of the medical procedure site synchronously with respect to each modality and without undue latency is disclosed. The composite real-time dynamic imagery may be provided by spatially registering multiple real-time dynamic video streams from the multiple modalities to each other. Spatially registering the multiple real-time dynamic video streams to each other may provide a continuous and immediate depiction of the medical procedure site with an unobstructed and detailed view of a region of interest at the medical procedure site at multiple depths. As such, a surgeon, or other medical practitioner, may view a single, accurate, and current composite real-time dynamic imagery of a region of interest at the medical procedure site as he/she performs a medical procedure, and thereby, may properly and effectively implement the medical procedure.
摘要翻译：公开了一种从多种模式提供医疗程序现场的复合实时动态图像的系统和方法，其连续并立即描绘了相对于每个模态并且没有不适当延迟的医疗程序现场的当前状态和状况。复合实时动态图像可以通过将来自多个模态的多个实时动态视频流空间注册到彼此来提供。将多个实时动态视频流空间注册到彼此可以提供医疗程序站点的连续且立即的描述，其中在医疗程序站点的多个深度处，不受阻碍地和详细地观察感兴趣的区域。因此，外科医生或其他医生可以在执行医疗程序时在医疗程序现场查看感兴趣区域的单一，准确和当前的复合实时动态图像，从而可以适当地有效实施医疗程序。

10. 发明授权

US09282947B2 Imager focusing based on intraoperative data 有权
标题翻译：基于术中数据的成像仪聚焦
公开(公告)号：US09282947B2
公开(公告)日：2016-03-15
申请号：US12949449
申请日：2010-11-18
申请人： Sharif Razzaque , Andrei State , Kurtis Keller
发明人： Sharif Razzaque , Andrei State , Kurtis Keller
IPC分类号： A61B5/05 , A61B8/08 , A61B8/00 , G01S7/52 , G01S15/89 , A61B5/06
CPC分类号： A61B8/5238 , A61B5/06 , A61B5/062 , A61B5/067 , A61B8/0833 , A61B8/0841 , A61B8/4245 , A61B8/4254 , G01S7/52034 , G01S15/8979 , G01S15/8988 , G01S15/8993
摘要： Various embodiments herein provide for imager focusing based on intraoperative data. Ideally, an imaging plane of an ultrasound transducer would be truly planar. That is not the case, though. Instead, ultrasound transducers image a volume that is closer to a rectangular volume, but that has focal depths or areas in the imaged volume that are “thinner” and provide a better resolution. In general, embodiments herein may include determining the pose of an imager, such as an ultrasound transducer, and the pose of a location of interest. Based on those poses, a focal adjustment may be determined in order to, for example, better focus the imager on the object of interest. Then data is generated and the focus of the imager is adjusted. Additionally, imaging data and/or the object of interest may be displayed. In other embodiments, estimated projections of medical devices are displayed to allow for better intraoperative planning.
摘要翻译：本文中的各种实施例提供了基于术中数据的成像器聚焦。理想地，超声换能器的成像平面将是真正的平面的。不是这样的。相反，超声波传感器对更接近于矩形体积的体积进行成像，但是成像体积中的焦点深度或区域“更薄”并提供更好的分辨率。通常，本文的实施例可以包括确定诸如超声换能器的成像器的姿态和感兴趣位置的姿态。基于这些姿势，可以确定焦点调整，以便例如更好地将成像器重点放在感兴趣的对象上。然后生成数据，并调整成像器的焦点。此外，可以显示成像数据和/或感兴趣的对象。在其他实施例中，显示医疗装置的估计投影以允许更好的术中规划。

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