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1. 发明授权

US09717480B2 Method of verifying a surgical operation image matching and method of compensating a surgical operation image matching 有权
公开(公告)号：US09717480B2
公开(公告)日：2017-08-01
申请号：US14344812
申请日：2013-04-22
申请人： KOH YOUNG TECHNOLOGY INC. , KYUNGPOOK NATIONAL UNIVERSITY INDUSTRY—ACADEMIC COOPERATION FOUNDATION
发明人： Hyun-Ki Lee , Min-Young Kim , Jae-Heon Chung
IPC分类号： G06F19/00 , A61B8/08 , G09B23/28 , G06F17/50 , A61B90/00 , A61B34/10
CPC分类号： A61B8/5238 , A61B2034/105 , A61B2090/364 , G06F17/50 , G06F19/00 , G09B23/28 , G16H50/50
摘要： In order to verify a surgical operation image matching, a model of a target is manufactured. Then, a reference body is attached to the model. Then, three-dimensional reference data regarding to the model is obtained. Then, grid patterned light is emitted onto the model to obtain reflection image. Then, three-dimensional shape is measured from the reflection image, and measurement image is obtained from the three-dimensional shape. Then, the measurement image and previously obtained three-dimensional reference data are matched. Then, reference position of the target in the three-dimensional reference data is compared with estimated position of the target, which is estimated by the reference body in the measurement image. Therefore, the matching of the surgical operation can be verified.

2. 发明授权

US09423603B2 Stereo microscope 有权
标题翻译：立体显微镜
公开(公告)号：US09423603B2
公开(公告)日：2016-08-23
申请号：US14239007
申请日：2013-04-19
申请人： KOH YOUNG TECHNOLOGY INC. , KYUNGPOOK NATIONAL UNIVERSITY INDUSTRY—ACADEMIC COOPERATION FOUNDATION
发明人： Jong-Kyu Hong , Hyun-Ki Lee , Min-Young Kim , Jae-Heon Chung
IPC分类号： G02B21/22 , G02B21/02 , G02B5/04
CPC分类号： G02B21/22 , G02B5/04 , G02B21/025
摘要： A stereo microscope capable of not only adjusting the three dimensional effect of stereoscopic image but also focusing exactly even when the three dimensional effect of stereoscopic image is adjusted, is provided. A spacing distance of a pair of zoom unit can be adjusted so that a user can adjust three dimensional effect of image seen through an ocular lens according to personal tendency to improve convenience. Additionally, an object with a depth such as a hole can be exactly observed without interference of a boundary. Further, even though the three dimensional effect of an image is adjusted by adjusting the spacing distance of the pair of zoom units, the focus of optical system can be exactly adjusted.
摘要翻译：提供了即使在立体图像的三维效果被调整的情况下，也能够不仅调整立体图像的三维效果而且精确地进行聚焦的立体显微镜。可以调节一对变焦单元的间隔距离，使得用户可以根据个人倾向来调整通过眼镜看到的图像的三维效果，从而提高方便性。此外，可以精确地观察具有诸如孔的深度的物体，而不会有边界的干扰。此外，即使通过调整一对变焦单元的间隔距离来调整图像的三维效果，也可以精确地调整光学系统的焦点。

3. 发明授权

US10307210B2 Optical tracking system and tracking method using the same 有权
公开(公告)号：US10307210B2
公开(公告)日：2019-06-04
申请号：US14391447
申请日：2014-04-29
申请人： KOH YOUNG TECHNOLOGY INC. , KYUNGPOOK NATIONAL UNIVERSITY INDUSTRY ACADEMIC COOPERATION FOUNDATION
发明人： Jong-Kyu Hong , Hyun-Ki Lee , Min-Young Kim , You-Seong Chae
IPC分类号： A61B5/00 , A61B34/20 , A61B90/00
摘要： An optical tracking system and a method using the same capable of detecting an exact spatial position and a direction of a target regardless of the distance from the target to be calculated is disclosed. The optical tracking system and a method using the same according to an embodiment of the present invention has an effect of expanding an available area by detecting an exact spatial position and a direction of a target regardless of the distance from the target to be calculated, as well as, a system downsizing is also achieved by significantly reducing size of the marker unit compared with conventional system.

4. 发明申请

US20150043065A1 STEREO MICROSCOPE 有权
标题翻译：立体显微镜
公开(公告)号：US20150043065A1
公开(公告)日：2015-02-12
申请号：US14239007
申请日：2013-04-19
申请人： KYUNGPOOK NATIONAL UNIVERSITY INDUSTRY- ACADEMIC COOPERATION FOUNDATION , KOH YOUNG TECHNOLOGY INC.
发明人： Jong-Kyu Hong , Hyun-Ki Lee , Min-Young Kim , Jae-Heon Chung
IPC分类号： G02B21/22 , G02B21/02
CPC分类号： G02B21/22 , G02B5/04 , G02B21/025
摘要： A stereo microscope capable of not only adjusting the three dimensional effect of stereoscopic image but also focusing exactly even when the three dimensional effect of stereoscopic image is adjusted, is provided. A spacing distance of a pair of zoom unit can be adjusted so that a user can adjust three dimensional effect of image seen through an ocular lens according to personal tendency to improve convenience. Additionally, an object with a depth such as a hole can be exactly observed without interference of a boundary. Further, even though the three dimensional effect of an image is adjusted by adjusting the spacing distance of the pair of zoom units, the to focus of optical system can be exactly adjusted.
摘要翻译：提供了即使在立体图像的三维效果被调整的情况下，也能够不仅调整立体图像的三维效果而且精确地进行聚焦的立体显微镜。可以调节一对变焦单元的间隔距离，使得用户可以根据个人倾向来调整通过眼镜看到的图像的三维效果，从而提高方便性。此外，可以精确地观察具有诸如孔的深度的物体，而不会有边界的干扰。此外，即使通过调整一对变焦单元的间隔距离来调整图像的三维效果，也可以精确地调整光学系统的焦点。

5. 发明授权

US09576366B2 Tracking system and tracking method using the same 有权
标题翻译：跟踪系统和跟踪方法使用相同
公开(公告)号：US09576366B2
公开(公告)日：2017-02-21
申请号：US14370549
申请日：2014-01-07
申请人： KOH YOUNG TECHNOLOGY INC. , KYUNGPOOK NATIONAL UNIVERSITY INDUSTRY-ACADEMIC COOPERATION FOUNDATION
发明人： Jong-Kyu Hong , Hyun-Ki Lee , Min-Young Kim , Jae-Heon Chung
IPC分类号： H04N13/00 , H04N13/02 , G06T7/00
CPC分类号： G06T7/74 , A61B34/20 , A61B34/30 , A61B90/39 , A61B2034/2055 , A61B2034/2057 , A61B2090/363 , A61B2090/3937 , A61B2090/3945 , A61B2090/3983 , G06T2207/10028 , G06T2207/30004 , G06T2207/30204 , H04N13/271 , H04N13/296
摘要： A tracking system and method using the same is disclosed which is capable of minimizing a restriction of surgical space by achieving a lightweight of the system as well as a reduction of a manufacturing cost through calculating a three-dimensional coordinates of each of makers using one image forming unit. In the tracking system and method using the same, lights emitted from the markers are transferred to one image forming unit through two optical paths, an image sensor of the image forming unit forms two images (direct image and reflection image) of the two optical paths of the markers, and therefore, the system and method using the same has an effect of reducing a manufacturing cost of the tracking system with small and lightweight, and relatively low restriction of surgical space comparing with conventional tracking system since it is possible to calculate a spatial position and direction of the markers attached on a target by using one image forming unit.
摘要翻译：公开了一种使用该系统的跟踪系统和方法，其能够通过实现系统的轻量化来最小化手术空间的限制，并且通过使用一个图像计算每个制造者的三维坐标来降低制造成本成型单元。在使用其的跟踪系统和方法中，从标记发出的光通过两条光路传送到一个图像形成单元，图像形成单元的图像传感器形成两个光路的两个图像（直接图像和反射图像）的标记物，因此，与传统的跟踪系统相比，使用该标记物的系统和方法具有降低跟踪系统的制造成本的效果，其具有小的且重量轻且相对较低的手术空间限制，因为可以计算一个通过使用一个图像形成单元来附着在目标上的标记的空间位置和方向。

6. 发明申请

US20150260972A1 STEREO MICROSCOPE SYSTEM 审中-公开
标题翻译：立体显微镜系统
公开(公告)号：US20150260972A1
公开(公告)日：2015-09-17
申请号：US14368639
申请日：2013-07-30
申请人： KOH YOUNG TECHNOLOGY INC. , KYUNGPOOK NATIONAL UNIVERSITY INDUSTRY-ACADEMIC COOPERATION FOUNDATION
发明人： Jong-Kyu Hong , Hyun-Ki Lee , Min-Young Kim , Jae-Heon Chung
IPC分类号： G02B21/22 , G02B21/02
CPC分类号： G02B21/22 , G02B5/005 , G02B21/025 , G02B21/365
摘要： The present invention relates to a stereo microscope system, at least one optical axis system and a camera is used, and a first image through the first beam path and a second image through the second beam path have identical coordinates in which the first and second images are obtained from the camera, therefore, it is not required to revise an image during image registration, and as well as, to match mechanical compensation of coordinates of cameras, since the first image and second image have identical coordinates. According to the present invention, it is possible to provide a stereoscopic image with minimized loss of stereo effect and as well as, it is possible to observe a stereoscopic image more comfortable since an eye fatigue is minimized.
摘要翻译：本发明涉及立体显微镜系统，使用至少一个光轴系统和照相机，通过第一光束路径的第一图像和通过第二光束路径的第二图像具有相同的坐标，其中第一和第二图像因此，由于第一图像和第二图像具有相同的坐标，因此在图像配准期间不需要修改图像，并且还要匹配相机的坐标的机械补偿。根据本发明，可以提供具有立体声效果损失最小的立体图像，并且由于眼睛疲劳最小化，可以观察到更舒适的立体图像。

7. 发明申请

US20150109458A1 METHOD OF REGISTRATING A CAMERA OF A SURGICAL NAVIGATION SYSTEM FOR AN AUGMENTED REALITY 有权
标题翻译：注册现有的手术导航系统相机的方法
公开(公告)号：US20150109458A1
公开(公告)日：2015-04-23
申请号：US14402370
申请日：2013-05-27
申请人： KOH YOUNG TECHNOLOGY INC.
发明人： Hyun-Ki Lee
IPC分类号： H04N17/00 , G06T19/00
CPC分类号： G06T7/74 , A61B2017/00725 , A61B2034/2055 , A61B2034/2065 , A61B2090/365 , G06T7/80 , G06T2207/30204 , G06T2207/30244
摘要： A method of registering a camera of a surgical navigation system for an augmented reality which realizes an augmented reality with lowered error range is disclosed. The method of registering the camera of the surgical navigation system for the augmented reality enables single person to do the work by calculating and adjusting the coordinate of the optical center of the camera by moving the optical tracker, the camera, or the pattern board with a second marker attached on the pattern board, not manually attached on the pattern board. And, there is an effect of improving accuracy and safety of a surgery by realizing an augmented reality without generating an accumulated error by the second marker, since the spatial coordinate of the second marker attached on the pattern board maintains uniform.
摘要翻译：公开了一种用于实现具有降低的误差范围的增强现实的增强现实的外科导航系统的照相机的方法。登记用于增强现实的外科导航系统的照相机的方法使得单人能够通过用光学跟踪器，相机或图案板移动来计算和调整相机的光学中心的坐标来进行工作附着在图案板上的第二标记，不是手动地附着在图案板上。并且，由于附着在图案板上的第二标记的空间坐标保持均匀，所以通过实现增强现实而不产生第二标记的累积误差，具有提高手术的精度和安全性的效果。

8. 发明授权

US09773312B2 Method of registrating a camera of a surgical navigation system for an augmented reality 有权
公开(公告)号：US09773312B2
公开(公告)日：2017-09-26
申请号：US14402370
申请日：2013-05-27
申请人： KOH YOUNG TECHNOLOGY INC.
发明人： Hyun-Ki Lee
IPC分类号： G06T7/00 , G06T7/80 , G06T7/73 , A61B17/00 , A61B34/20 , A61B90/00
CPC分类号： G06T7/74 , A61B2017/00725 , A61B2034/2055 , A61B2034/2065 , A61B2090/365 , G06T7/80 , G06T2207/30204 , G06T2207/30244
摘要： A method of registering a camera of a surgical navigation system for an augmented reality which realizes an augmented reality with lowered error range is disclosed. The method of registering the camera of the surgical navigation system for the augmented reality enables single person to do the work by calculating and adjusting the coordinate of the optical center of the camera by moving the optical tracker, the camera, or the pattern board with a second marker attached on the pattern board, not manually attached on the pattern board. And, there is an effect of improving accuracy and safety of a surgery by realizing an augmented reality without generating an accumulated error by the second marker, since the spatial coordinate of the second marker attached on the pattern board maintains uniform.

9. 发明申请

US20150141793A1 METHOD OF TRACKING AN AFFECTED AREA AND A SURGICAL EQUIPMENT 审中-公开
标题翻译：跟踪受影响区域和手术设备的方法
公开(公告)号：US20150141793A1
公开(公告)日：2015-05-21
申请号：US14241959
申请日：2013-04-19
申请人： KYUNGPOOK NATIONAL UNIVERSITY INDUSITRY-ACADEMIC COOPERATION FOUNDATION , KOH YOUNG TECHNOLOGY INC.
发明人： Jong-Kyu Hong , Hyun-Ki Lee , Min-Young Kim , Jae-Heon Chung
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B5/0059 , A61B5/061 , A61B5/1114 , A61B90/20 , A61B2034/2055
摘要： A method of tracking an affected area and a surgical equipment, which is capable of tracing positions of the affected area and the surgical equipment more precisely through a stereo scope by using images of the affected area and the surgical equipment traced in macro scale after tracing the affected area and the surgical equipment in macro scale. The method of tracking an affected area and a surgical equipment, includes a step of macro tracking in which energy emitted from a plurality of markers attached to the affected area and the surgical equipment is sensed to trace positions of the affected are and the surgical equipment; a step of image input in which images of the affected area and the surgical equipment that are traced in the step of macro tracking step are captured by the tracking sensor and the images of the affected area and the surgical equipment , which are captured by the tracking sensor, are inputted to a stereo display part of a microscope; and a step of micro tracking in which the positions of the affected area and the surgical equipment are traced based on a coordinate of the microscope by using macro images of the stereo display part of the microscope.
摘要翻译：跟踪受影响区域和手术设备的方法，其能够通过使用受影响区域的图像和在宏观尺度上追踪的手术设备的图像来更精确地跟踪受影响区域和手术设备的位置。受影响的区域和手术设备。跟踪受影响区域和手术设备的方法包括宏观跟踪的步骤，其中感测从附接到受影响区域的多个标记和外科设备发射的能量以跟踪受影响的位置和外科设备; 图像输入的步骤，其中在跟踪传感器步骤中跟踪的受影响区域和外科设备的图像由跟踪传感器捕获并且由跟踪捕获的受影响区域和外科设备的图像传感器，被输入到显微镜的立体显示部分; 以及通过使用显微镜的立体显示部分的宏观图像，基于显微镜的坐标来跟踪受影响区域和外科设备的位置的微跟踪步骤。

10. 发明授权

US09105092B2 Registration method of images for surgery 有权
标题翻译：手术图像注册方法
公开(公告)号：US09105092B2
公开(公告)日：2015-08-11
申请号：US14001793
申请日：2012-10-26
申请人： KOH YOUNG TECHNOLOGY INC.
发明人： Hyun-Ki Lee , Hae-Yong Yang , Young-Sik Kwon , Nozomu Matsumoto
IPC分类号： G06T3/00 , A61B5/00 , A61B5/055 , A61B6/03 , G06T7/00
CPC分类号： G06T3/0068 , A61B5/0037 , A61B5/055 , A61B6/032 , G06T7/0012 , G06T7/337 , G06T2207/10081 , G06T2207/10088 , G06T2207/30008
摘要： In order for registration of images for surgery, first, a three-dimensional reference image of a surgical area of a patient before surgery is acquired. Then, a grating-pattern light is provided towards the surgical area to acquire a first measurement image. Thereafter, a preliminary registration is performed between the acquired first measurement image and a pre-acquired three-dimensional reference image. Then, a grating-pattern light is provided towards the surgical area after cutting out the surgical area to acquire a second measurement image. Thereafter, a fine registration is performed between the acquired second measurement image and the pre-acquired three-dimensional reference image based on the preliminary registration result. Thus, an accurate registration result may be acquired at low cost in a short period of time.
摘要翻译：为了进行手术用图像的登记，首先，获取手术前患者的手术区域的三维参考图像。然后，向手术区域提供光栅图案光以获得第一测量图像。此后，在所获取的第一测量图像和预先获取的三维参考图像之间执行初步登记。然后，在切除手术区域之后，朝向外科手术区域设置光栅图案光以获取第二测量图像。此后，基于预备登记结果，在获取的第二测量图像与预先获取的三维参考图像之间执行精细配准。因此，可以在短时间内以低成本获得精确的配准结果。

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