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41. 发明授权

US09646423B1 Systems and methods for providing augmented reality in minimally invasive surgery 有权
公开(公告)号：US09646423B1
公开(公告)日：2017-05-09
申请号：US15273926
申请日：2016-09-23
申请人： Yu Sun , Jaime E. Sanchez , Xiaoning Qian , Bingxiong Lin
发明人： Yu Sun , Jaime E. Sanchez , Xiaoning Qian , Bingxiong Lin
IPC分类号： G06T19/00 , G06T17/00 , G06T15/60 , G06T7/00 , A61B6/03 , A61B1/04 , A61B1/313 , A61B1/00 , A61B34/20
CPC分类号： G06T19/006 , A61B1/00147 , A61B1/04 , A61B1/3132 , A61B6/032 , A61B34/20 , A61B2034/2046 , G06T7/0032 , G06T7/0046 , G06T15/60 , G06T17/00 , G06T2207/10068 , G06T2207/10081 , G06T2207/30004
摘要： In one embodiment, a method for providing augmented reality in minimally invasive surgery includes capturing pre-operative image data of internal organs of a patient, capturing intra-operative image data of the internal organs with an endoscope during a surgical procedure, registering the pre-operative image data and the intra-operative data in real time during the surgical procedure, tracking the position and orientation of the endoscope during the surgical procedure, and augmenting the intra-operative image data captured by the endoscope in real time with a rendering of at least a portion of an internal organ of the patient that is in registration with the real time intra-operative image data from the endoscope but outside of the field of view of the endoscope.

42. 发明授权

US09547940B1 Systems and methods for providing augmented reality in minimally invasive surgery 有权
标题翻译：在微创手术中提供增强现实的系统和方法
公开(公告)号：US09547940B1
公开(公告)日：2017-01-17
申请号：US14852501
申请日：2015-09-12
申请人： Yu Sun , Jaime E. Sanchez , Xiaoning Qian , Bingxiong Lin
发明人： Yu Sun , Jaime E. Sanchez , Xiaoning Qian , Bingxiong Lin
IPC分类号： G06T19/00 , G06T7/00 , G06T15/60 , G06T17/00
CPC分类号： G06T19/006 , A61B1/00147 , A61B1/04 , A61B1/3132 , A61B6/032 , A61B34/20 , A61B2034/2046 , G06T7/0032 , G06T7/0046 , G06T15/60 , G06T17/00 , G06T2207/10068 , G06T2207/10081 , G06T2207/30004
摘要： In one embodiment, a method for providing augmented reality in minimally invasive surgery includes capturing pre-operative image data of internal organs of a patient, capturing intra-operative image data of the internal organs with an endoscope during a surgical procedure, registering the pre-operative image data and the intra-operative data in real time during the surgical procedure, tracking the position and orientation of the endoscope during the surgical procedure, and augmenting the intra-operative image data captured by the endoscope in real time with a rendering of an internal organ of the patient.
摘要翻译：在一个实施例中，用于在微创手术中提供增强现实的方法包括捕获患者的内部器官的术前图像数据，在外科手术过程中用内窥镜捕获内部器官的手术中图像数据，在外科手术过程中实时地进行手术图像数据和手术内数据的跟踪，在外科手术过程中跟踪内窥镜的位置和取向，并且实时地增加由内窥镜捕获的手术中图像数据，患者的内脏器官

43. 发明授权

US09519971B2 Position and orientation measurement device and position and orientation measurement method 有权
标题翻译：位置和方向测量装置及位置和方位测量方法
公开(公告)号：US09519971B2
公开(公告)日：2016-12-13
申请号：US13323504
申请日：2011-12-12
申请人： Daisuke Kotake , Keisuke Tateno , Shinji Uchiyama
发明人： Daisuke Kotake , Keisuke Tateno , Shinji Uchiyama
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06T7/0046 , G06T7/75 , G06T2207/10004 , G06T2207/10028
摘要： A position and orientation measurement device includes a grayscale image input unit that inputs a grayscale image of an object, a distance image input unit that inputs a distance image of the object, an approximate position and orientation input unit that inputs an approximate position and orientation of the object with respect to the position and orientation measurement device, and a position and orientation calculator that updates the approximate position and orientation. The position and orientation calculator calculates a first position and orientation so that an object image on an image plane and a projection image of the three-dimensional shape model overlap each other, associates the three-dimensional shape model with the image features of the grayscale image and the distance image, and calculates a second position and orientation on the basis of a result of the association.
摘要翻译：位置和姿态测量装置包括灰度图像输入单元，输入物体的灰度图像，输入物体的距离图像的距离图像输入单元，输入近似位置和方位的近似位置和方向输入单元，相对于位置和方向测量装置的对象，以及更新近似位置和方向的位置和方向计算器。位置和姿态计算器计算第一位置和方向，使得图像平面上的对象图像和三维形状模型的投影图像彼此重叠，将三维形状模型与灰度图像的图像特征相关联和距离图像，并且基于关联的结果来计算第二位置和取向。

44. 发明授权

US09478035B2 2D/3D localization and pose estimation of harness cables using a configurable structure representation for robot operations 有权
公开(公告)号：US09478035B2
公开(公告)日：2016-10-25
申请号：US14840374
申请日：2015-08-31
申请人： Seiko Epson Corporation
发明人： Yuanyuan Ding , Jing Xiao , Kenji Fukasawa
IPC分类号： G06K9/00 , G06T7/00 , H04N13/02 , G06T17/10 , G06K9/46 , G06K9/62
CPC分类号： G06T7/0046 , G06K9/00214 , G06K9/4671 , G06K9/6211 , G06K2209/19 , G06T7/11 , G06T7/187 , G06T7/593 , G06T7/75 , G06T17/10 , G06T2207/10012 , G06T2207/10028 , G06T2207/30108 , H04N13/239 , H04N13/25 , H04N13/275
摘要： A robot is made to recognize and manipulate different types of cable harnesses in an assembly line. This is achieved by using a stereo camera system to define a 3D cloud of a given cable harness. Pose information of specific parts of the cable harness are determined from the 3D point cloud, and the cable harness is then re-presented as a collection of primitive geometric shapes of known dimensions, whose positions and orientations follow the spatial position of the represented cable harness. The robot can then manipulate the cable harness by using the simplified representation as a reference.

45. 发明授权

US09471987B2 Automatic planning for medical imaging 有权
标题翻译：医学影像自动计划
公开(公告)号：US09471987B2
公开(公告)日：2016-10-18
申请号：US14337262
申请日：2014-07-22
申请人： Siemens Aktiengesellschaft
发明人： Martin Harder , Yiqiang Zhan , Heiko Meyer , Shu Liao
IPC分类号： G06T7/00 , G06K9/32 , G06K9/20 , H04N5/321
CPC分类号： G06T7/0046 , G06K9/2027 , G06K9/3233 , G06K2209/05 , G06T7/75 , G06T2207/20081 , G06T2207/30008 , G06T2207/30048 , G06T2207/30172 , H04N5/321
摘要： Disclosed herein is a framework for facilitating automatic planning for medical imaging. In accordance with one aspect, the framework receives first image data of a subject. One or more imaging parameters may then be derived using a geometric model and at least one reference anatomical primitive detected in the first image data. The geometric model defines a geometric relationship between the detected reference anatomical primitive and the one or more imaging parameters. The one or more imaging parameters may be presented, via a user interface, for use in acquisition, reconstruction or processing of second image data of the subject.
摘要翻译：本文公开了用于促进医学成像的自动规划的框架。根据一个方面，框架接收主体的第一图像数据。然后可以使用几何模型和在第一图像数据中检测到的至少一个参考解剖学原语来导出一个或多个成像参数。几何模型定义检测到的参考解剖基元与一个或多个成像参数之间的几何关系。可以经由用户界面呈现一个或多个成像参数，以用于获取，重建或处理对象的第二图像数据。

46. 发明授权

US09449392B2 Estimator training method and pose estimating method using depth image 有权
公开(公告)号：US09449392B2
公开(公告)日：2016-09-20
申请号：US14280990
申请日：2014-05-19
申请人： SAMSUNG ELECTRONICS CO., LTD. , IMPERIAL INNOVATIONS LTD.
发明人： Jae Joon Han , Danhang Tang , Tae Kyun Kim , Seung Ju Han , Byung In Yoo , Chang Kyu Choi , Alykhan Tejani , Hyung Jin Chang
IPC分类号： G06T7/00 , G06K9/00 , G06K9/62
CPC分类号： G06T7/0046 , G06K9/00382 , G06K9/00389 , G06K9/6219 , G06K9/6256 , G06K9/6259 , G06K9/627 , G06K9/6282 , G06K2209/05 , G06T7/75 , G06T2207/10028 , G06T2207/20081 , G06T2207/30196
摘要： An estimator training method and a pose estimating method using a depth image are disclosed, in which the estimator training method may train an estimator configured to estimate a pose of an object, based on an association between synthetic data and real data, and the pose estimating method may estimate the pose of the object using the trained estimator.

47. 发明申请

US20160180538A1 LANDMARK BASED POSITIONING 有权
公开(公告)号：US20160180538A1
公开(公告)日：2016-06-23
申请号：US15054750
申请日：2016-02-26
申请人： QUALCOMM Incorporated
发明人： Jiajian Chen , Hui Chao
IPC分类号： G06T7/00 , G01C21/26 , G06T19/20 , G06T11/00 , G06T15/00
CPC分类号： G06T7/0046 , G01C21/20 , G01C21/206 , G01C21/26 , G06T7/11 , G06T7/344 , G06T7/75 , G06T11/001 , G06T11/203 , G06T11/40 , G06T15/005 , G06T15/40 , G06T19/20 , G06T2200/04 , G06T2207/10004 , G06T2207/10032 , G06T2207/30204 , G06T2219/2004 , G06T2219/2012
摘要： Disclosed are devices, methods and storage media for use in determining position information for imaging devices or mobile devices. In some implementations, a landmark is identified in an image which is obtained from an imaging device which in turn is positioned at a location and in a pose. A virtual two-dimensional image that would be visible from the landmark is determined based, at least in part, on the pose. The location or position information is based, at least in part, on the virtual two-dimensional image.

48. 发明授权

US09269151B2 Manufacturing line monitoring 有权
标题翻译：生产线监控
公开(公告)号：US09269151B2
公开(公告)日：2016-02-23
申请号：US14178162
申请日：2014-02-11
申请人： MICROSOFT TECHNOLOGY LICENSING, LLC
发明人： Brannon Zahand
IPC分类号： G06K9/00 , G06T7/00 , G06T7/20
CPC分类号： G06T7/0046 , F16P3/142 , G06K9/00382 , G06K9/00771 , G06T2207/10021 , G06T2207/30196 , G06T2207/30232
摘要： Systems and method for monitoring a workstation region of a manufacturing line are provided. In one example, depth image data is received from one or more depth cameras trained on the workstation region, with the data comprising a temporal sequence of images of an operator. Using the depth image data, a series of movements of the operator is tracked in 3D space of the workstation region. Operational status data is received from the manufacturing line indicating the manufacturing line is operating. Using the series of movements, the operator is determined to be within a predetermined distance of a hazard. In response, a command is issued to the manufacturing line to cease operating.
摘要翻译：提供了用于监测生产线的工作区域的系统和方法。在一个示例中，从在工作站区域训练的一个或多个深度摄像机接收深度图像数据，其中数据包括操作者的时间序列图像。使用深度图像数据，在工作站区域的3D空间中跟踪操作者的一系列移动。从生产线接收到指示生产线正在运行的操作状态数据。使用一系列运动，确定操作者处于危险的预定距离之内。作为回应，向生产线发出指令以停止运行。

49. 发明授权

US09159134B2 Method and apparatus for estimating a pose 有权
标题翻译：用于估计姿势的方法和装置
公开(公告)号：US09159134B2
公开(公告)日：2015-10-13
申请号：US14365222
申请日：2011-12-16
申请人： Thomas Martinetz , Kristian Ehlers , Fabian Timm , Erhardt Barth , Sascha Klement
发明人： Thomas Martinetz , Kristian Ehlers , Fabian Timm , Erhardt Barth , Sascha Klement
IPC分类号： G06K9/00 , G06T7/00 , G06T7/20
CPC分类号： G06T7/0046 , G06T7/251 , G06T7/75 , G06T2207/10028 , G06T2207/20044 , G06T2207/20081 , G06T2207/30196
摘要： The invention relates to a real time-capable analysis of a sequence of electronic images for estimating the pose of a movable object captured by means of the images. The invention further relates to implementing the invention in software and, in this connection, to a computer-readable medium that stores commands, the execution of which causes the method according to the invention to be carried out. The invention proceeds from a skeleton model, which is described by a small number of nodes in 3D space and permits a good data compression of the image information when the co-ordinates of the nodes describe at any time the position of predetermined parts of the moving object. The skeleton model simultaneously represents previous knowledge of the object, by defining e.g. node pairs and optionally also node triplets in the skeleton model that describe cohesive object parts or optionally object surfaces, which are contained in the measured 2½-D image information, i.e. are visible to the camera. The skeleton model is to be fitted quickly and accurately into the image information. The fitting is effected between two images of an image sequence by the continuous displacement of the nodes and the continuous updating of the skeleton model.
摘要翻译：本发明涉及用于估计通过图像捕获的可移动物体的姿态的电子图像序列的实时分析。本发明还涉及以软件实现本发明，并且在这方面，涉及存储指令的计算机可读介质，其执行导致执行根据本发明的方法。本发明从由3D空间中的少量节点描述的骨架模型进行，并且当节点的坐标在任何时刻描述移动的预定部分的位置时允许图像信息的良好数据压缩目的。骨架模型同时表示对象的先前知识，通过定义例如骨架模型中的节点对和可选地还包括节点三联体，其描述包含在所测量的2 1/2-D图像信息中的粘性对象部分或可选的对象表面，即对于相机是可见的。骨架模型要快速，准确地适应图像信息。通过节点的连续位移和骨架模型的连续更新，对图像序列的两个图像进行拟合。

50. 发明授权

US09154773B2 2D/3D localization and pose estimation of harness cables using a configurable structure representation for robot operations 有权
标题翻译：使用机器人操作的可配置结构表示的线束电缆的2D / 3D定位和姿态估计
公开(公告)号：US09154773B2
公开(公告)日：2015-10-06
申请号：US13838819
申请日：2013-03-15
申请人： Seiko Epson Corporation
发明人： Yuanyuan Ding , Jing Xiao , Kenji Fukasawa
IPC分类号： G06T15/00 , H04N13/02 , G06T7/00 , G06T17/10 , G06K9/00 , G06K9/46 , G06K9/62
CPC分类号： G06T7/0046 , G06K9/00214 , G06K9/4671 , G06K9/6211 , G06K2209/19 , G06T7/11 , G06T7/187 , G06T7/593 , G06T7/75 , G06T17/10 , G06T2207/10012 , G06T2207/10028 , G06T2207/30108 , H04N13/239 , H04N13/25 , H04N13/275
摘要： A robot is made to recognize and manipulate different types of cable harnesses in an assembly line. This is achieved by using a stereo camera system to define a 3D cloud of a given cable harness. Pose information of specific parts of the cable harness are determined from the 3D point cloud, and the cable harness is then re-presented as a collection of primitive geometric shapes of known dimensions, whose positions and orientations follow the spatial position of the represented cable harness. The robot can then manipulate the cable harness by using the simplified representation as a reference.
摘要翻译：制造机器人以识别和操纵装配线中的不同类型的电缆线束。这是通过使用立体相机系统来定义给定电缆线束的3D云来实现的。电缆线束的特定部分的姿态信息从3D点云确定，然后电缆线束被重新呈现为已知尺寸的原始几何形状的集合，其位置和取向遵循所表示的电缆线束的空间位置。然后，机器人可以使用简化的表示作为参考来操纵电缆线束。

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