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1. 发明申请

US20120237095A1 ROBUST SPARSE IMAGE MATCHING FOR ROBOTIC SURGERY 有权
标题翻译：用于机器人手术的稳健的SPARSE图像匹配
公开(公告)号：US20120237095A1
公开(公告)日：2012-09-20
申请号：US13454297
申请日：2012-04-24
申请人： WENYI ZHAO , CHENYU WU , DAVID HIRVONEN , TAO ZHAO , BRIAN D. HOFFMAN , SIMON DIMAIO
发明人： WENYI ZHAO , CHENYU WU , DAVID HIRVONEN , TAO ZHAO , BRIAN D. HOFFMAN , SIMON DIMAIO
IPC分类号： G06K9/00
CPC分类号： G06K9/6211 , G06T7/33
摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.
摘要翻译：系统，方法和设备用于匹配图像。识别来自第一图像的兴趣点以匹配第二图像。响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。第一图像的特征可以匹配第二图像，并且这些匹配的特征可以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。约束可用于评估匹配的兴趣点，例如排除不良点。

2. 发明申请

US20100168763A1 CONFIGURATION MARKER DESIGN AND DETECTION FOR INSTRUMENT TRACKING 有权
标题翻译：配置标记设计和检测仪器跟踪
公开(公告)号：US20100168763A1
公开(公告)日：2010-07-01
申请号：US12428691
申请日：2009-04-23
申请人： TAO ZHAO , WENYI ZHAO , WILLIAM C. NOWLIN
发明人： TAO ZHAO , WENYI ZHAO , WILLIAM C. NOWLIN
IPC分类号： A61B19/00 , A61B5/05
CPC分类号： A61B34/20 , A61B34/30 , A61B34/37 , A61B90/94 , A61B2034/102 , A61B2034/2065 , A61B2090/371 , A61B2090/3983
摘要： The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool located reference features. A method includes: directing illuminating light from a light source onto a robotic surgical tool within a patient body, wherein the tool includes a plurality of primitive features having known positions on the tool, and wherein each feature includes a spherical reflective surface; capturing stereo images of the plurality of primitive features when the tool is within the patient body, wherein the stereo images are captured by an image capture device adjacent the illumination source so that the illumination light reflected from the imaged primitive features toward the image capture device substantially aligns with spherical centers of the surfaces of the imaged primitive features, and determining a position for the tool by processing the stereo images so as to locate the spherical centers of the imaged primitive features by using the reflected light.
摘要翻译：本公开涉及使用来自一个或多个工具定位的参考特征的图像衍生数据的工具跟踪的系统，方法和工具。一种方法包括：将来自光源的照明光引导到患者体内的机器人手术工具上，其中所述工具包括在所述工具上具有已知位置的多个原始特征，并且其中每个特征包括球形反射表面; 当所述工具在患者身体内时，捕获所述多个基本特征的立体图像，其中所述立体图像由邻近所述照明源的图像捕获装置捕获，使得从被成像原始图像反射的照明光特征朝向所述图像捕获装置基本上与成像原始特征的表面的球面中心对准，并且通过处理立体图像来确定工具的位置，以便通过使用反射光来定位成像原始特征的球面中心。

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