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1. 发明申请

US20130002842A1 Systems and Methods for Motion and Distance Measurement in Gastrointestinal Endoscopy 审中-公开
标题翻译：胃肠内窥镜检查中运动和距离测量的系统与方法
公开(公告)号：US20130002842A1
公开(公告)日：2013-01-03
申请号：US13457305
申请日：2012-04-26
申请人： Dipankar Das , Marcus O. Filipovich , Jason J. Corso , Gregory D. Hager
发明人： Dipankar Das , Marcus O. Filipovich , Jason J. Corso , Gregory D. Hager
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , G06T7/0012 , G06T2207/10016 , G06T2207/10024 , G06T2207/10068 , G06T2207/30028 , G06T2207/30092
摘要： Systems and methods for extracting and measuring motion from images capture during capsule endoscopy in accordance with embodiments of the invention are disclosed. In one embodiment of the invention, an endoscope system configured to generate a spatial index of images captured along a passageway includes a processor and a camera configured to capture a plurality of images as the camera moves along a passageway, wherein the processor is configured to compare sets of at least two images from the plurality of images, determine motion of the camera along the passageway using the sets of at least two images, determine the distance the camera traveled along the passageway at the point at which an image in each of the sets of at least two images was captured, and generate a spatial index for the plurality of images by associating distances traveled along the passageway with the images.
摘要翻译：公开了根据本发明的实施例的用于在胶囊内窥镜检查期间从图像捕获提取和测量运动的系统和方法。在本发明的一个实施例中，被配置为产生沿着通道捕获的图像的空间索引的内窥镜系统包括处理器和照相机，所述处理器和照相机配置成当所述照相机沿着通道移动时捕获多个图像，其中所述处理器被配置为比较确定来自多个图像的至少两个图像的集合，使用至少两个图像的集合来确定相机沿着通道的运动，确定相机在每个集合中的图像的点处沿着通道行进的距离捕获至少两个图像，并且通过将沿着通道行进的距离与图像相关联来生成多个图像的空间索引。

2. 发明授权

US09196176B2 Systems and methods for training one or more training users 有权
标题翻译：培训一个或多个培训用户的系统和方法
公开(公告)号：US09196176B2
公开(公告)日：2015-11-24
申请号：US13257517
申请日：2010-03-19
申请人： Gregory D. Hager , Carol E. Reiley , Balakrishnan Varadarajann , Sanjeev Pralhad Khudanpur , Henry C. Lin , Rajesh Kumar
发明人： Gregory D. Hager , Carol E. Reiley , Balakrishnan Varadarajann , Sanjeev Pralhad Khudanpur , Henry C. Lin , Rajesh Kumar
IPC分类号： G09B23/28 , G09B7/00
CPC分类号： G09B23/28 , G06F19/00 , G09B5/00 , G09B5/02 , G09B7/00 , G09B19/00
摘要： Systems and methods for training users. Surgical data related to surgical procedures done by expert level users is collected from surgical robots. The surgical data is segmented into surgemes and dexemes. The training users are trained at a level of the surgemes and/or a level of the dexemes by guiding the training users with surgical simulators to practice the surgemes and/or the dexemes, wherein the surgical simulators simulate surgery done by an expert level user.
摘要翻译：用户培训的系统和方法。从外科手术机器人收集与专家级用户完成的外科手术相关的外科手术数据。外科手术数据分为手术和手术。训练用户通过引导训练用户使用外科手术模拟器来练习外科手术和/或术语，训练用户的外科手术水平和/或一级水平，其中手术模拟器模拟由专家级用户完成的手术。

3. 发明申请

US20120130258A1 PROGRAMMABLE MULTIPSPECTRAL ILLIUMINATION SYSTEM FOR SURGERY AND VISUALIZATION OF LIGHT-SENSITIVE TISSUES 有权
标题翻译：用于手术和可视化的光敏组织的可编程多重照射系统
公开(公告)号：US20120130258A1
公开(公告)日：2012-05-24
申请号：US13387950
申请日：2010-08-05
申请人： Russell H. Taylor , Seth D. Billings , Peter L. Gehlbach , Gregory D. Hager , James T. Handa , Jin Ung Kang , Balazs Vagvolgyi , Raphael Sznitman , Zachary Pezzementi
发明人： Russell H. Taylor , Seth D. Billings , Peter L. Gehlbach , Gregory D. Hager , James T. Handa , Jin Ung Kang , Balazs Vagvolgyi , Raphael Sznitman , Zachary Pezzementi
IPC分类号： A61B6/00
CPC分类号： A61B3/0008 , A61B3/0025 , A61B3/0041 , A61B3/0075 , A61B3/13 , A61B3/132 , A61B3/14 , A61B3/145 , A61B3/18
摘要： An observation system for viewing light-sensitive tissue includes an illumination system configured to illuminate the light-sensitive tissue, an imaging system configured to image at least a portion of the light-sensitive tissue upon being illuminated by the illumination system, and an image display system in communication with the imaging system to display an image of the portion of the light-sensitive tissue. The illumination system is configured to illuminate the light-sensitive tissue with a reduced amount of light within a preselected wavelength range compared to multispectral illumination light, and the image of the portion of the light-sensitive tissue is compensated for the reduced amount of light within the preselected frequency range to approximate an image of the light-sensitive tissue under the multispectral illumination
摘要翻译：用于观察感光组织的观察系统包括被配置为照亮感光组织的照明系统，被配置为在由照明系统照亮的情况下对感光组织的至少一部分进行成像的成像系统，以及图像显示系统与成像系统通信以显示感光组织的该部分的图像。照明系统被配置为与多光谱照明光相比，在预选波长范围内以较少量的光照亮感光组织，并且补偿光敏组织部分的图像中的减少量的光在多光谱照射下预选的频率范围近似于感光组织的图像

4. 发明申请

US20120075296A1 System and Method for Constructing a 3D Scene Model From an Image 审中-公开
标题翻译：从图像构建3D场景模型的系统和方法
公开(公告)号：US20120075296A1
公开(公告)日：2012-03-29
申请号：US13310672
申请日：2011-12-02
申请人： Eliot Leonard Wegbreit , Gregory D. Hager
发明人： Eliot Leonard Wegbreit , Gregory D. Hager
IPC分类号： G06T15/00
CPC分类号： G06T17/00 , G06T19/20 , G06T2200/08 , G06T2219/2021
摘要： A method for constructing one or more 3D scene models comprising 3D objects and representing a scene, based upon a prior 3D scene model and a model of scene changes, is described. The method comprises the steps of acquiring an image of the scene; initializing the computed 3D scene model to the prior 3D scene model; and modifying the computed 3D scene model to be consistent with the image, possibly constructing and modifying alternative 3D scene models. In some embodiments, a single 3D scene model is chosen and is the result; in other embodiments, the result is a set of 3D scene models. In some embodiments, a set of possible prior scene models is considered.
摘要翻译：描述了基于先前的3D场景模型和场景变化的模型来构造包括3D对象并且表示场景的一个或多个3D场景模型的方法。该方法包括以下步骤：获取场景的图像; 将所计算的3D场景模型初始化为先前的3D场景模型; 并将计算出的3D场景模型修改为与图像一致，可能构建和修改替代3D场景模型。在一些实施例中，选择单个3D场景模型并且是结果; 在其他实施例中，结果是一组3D场景模型。在一些实施例中，考虑一组可能的先前场景模型。

5. 发明申请

US20080269604A1 Ultrasound Calibration and Real-Time Quality Assurance Based on Closed Form Formulation 有权
标题翻译：基于封闭式配方的超声校准和实时质量保证
公开(公告)号：US20080269604A1
公开(公告)日：2008-10-30
申请号：US11578071
申请日：2005-04-15
申请人： Emad M. Boctor , Gregory D. Hager , Gabor Fichtinger , Anand Viswanathan
发明人： Emad M. Boctor , Gregory D. Hager , Gabor Fichtinger , Anand Viswanathan
IPC分类号： A61B8/00
CPC分类号： A61B8/00 , A61B8/4245 , A61B8/483 , A61B8/587 , G01S7/5205
摘要： Disclosed is a system and method for intra-operatively spatially calibrating an ultrasound probe. The method includes determining the relative changes in ultrasound images of a phantom, or high-contrast feature points within a target volume, for three different ultrasound positions. Spatially calibrating the ultrasound probe includes measuring the change in position and orientation of the probe and computing a calibration matrix based on the measured changes in probe position and orientation and the estimated changes in position and orientation of the phantom.
摘要翻译：公开了一种用于在手术室内空间校准超声探头的系统和方法。该方法包括：针对三个不同的超声位置确定目标体积中的体模超声图像或高对比度特征点的相对变化。空间校准超声波探头包括测量探头的位置和方向的变化，并根据测量的探头位置和方向的变化以及估计的体模位置和取向的变化来计算校准矩阵。

6. 发明申请

US20130321583A1 IMAGING SYSTEM AND METHOD FOR USE OF SAME TO DETERMINE METRIC SCALE OF IMAGED BODILY ANATOMY 有权
标题翻译：成像系统及其使用方法用于确定成像体细胞分辨率的量度
公开(公告)号：US20130321583A1
公开(公告)日：2013-12-05
申请号：US13895813
申请日：2013-05-16
申请人： Gregory D. Hager , Masaru Ishii , Eric M. Meisner , Daniel J. Marota , Haluk N. Tokgozoglu
发明人： Gregory D. Hager , Masaru Ishii , Eric M. Meisner , Daniel J. Marota , Haluk N. Tokgozoglu
IPC分类号： G06T7/00 , H04N13/02
CPC分类号： G06T7/0012 , G06T7/579 , G06T7/62 , G06T7/73 , G06T19/00 , G06T2200/08 , G06T2207/10068 , G06T2207/20076 , G06T2207/30061 , G06T2207/30241 , G06T2207/30244 , G06T2210/41 , H04N13/20
摘要： Repositionable imaging system and method for creating a 3D image of a closed cavity of a patient's anatomy containing the imaging system, estimating characteristics of motion of the system within the cavity, and determining a metric dimension characterizing the cavity without the use of mechanical measurement. The system may include tracking device located externally with respect to the cavity to determine a scale measurement of the system's motion and the structure of the cavity. The system's computer processor is configured to determine triangulated features of the cavity and recover motion scale data with the use of data received from the tracking device. A specific imaging system includes an endoscope (equipped with an electrical coil and complemented with an external electromagnetic tracker).
摘要翻译：可重新定位的成像系统和方法，用于创建包含成像系统的患者解剖结构的闭合腔的3D图像，估计腔内运动的特征，以及在不使用机械测量的情况下确定表征腔的度量尺寸。系统可以包括位于外部相对于空腔的跟踪装置，以确定系统运动的尺度测量和腔的结构。系统的计算机处理器被配置为确定空腔的三角测量特征并且使用从跟踪设备接收的数据来恢复运动量表数据。特定的成像系统包括内窥镜（配备有电线圈并与外部电磁跟踪器配合）。

7. 发明授权

US07103212B2 Acquisition of three-dimensional images by an active stereo technique using locally unique patterns 有权
标题翻译：通过使用本地独特的图案的主动立体声技术来获取三维图像
公开(公告)号：US07103212B2
公开(公告)日：2006-09-05
申请号：US10703831
申请日：2003-11-07
申请人： Gregory D. Hager , Eliot Leonard Wegbreit
发明人： Gregory D. Hager , Eliot Leonard Wegbreit
IPC分类号： G06K9/00 , G06K9/20 , G06K9/64 , G01B11/24 , H04N15/00 , H04N7/18
CPC分类号： G06K9/32 , G01B11/2545 , G06T7/596
摘要： A system and method for acquiring three-dimensional (3-D) images of a scene. The system includes a projection device for projecting a locally unique pattern (LUP) onto a scene, and sensors for imaging the scene containing the LUP at two or more viewpoints. A computing device matches corresponding pixels in the images by using the local uniqueness of the pattern to produce a disparity map. A range map can then be generated by triangulating points in the imaged scene.
摘要翻译：一种用于获取场景的三维（3-D）图像的系统和方法。该系统包括用于将局部唯一图案（LUP）投影到场景上的投影装置，以及用于在两个或更多个视点对包含LUP的场景成像的传感器。计算设备通过使用模式的本地唯一性来产生视差图匹配图像中的对应像素。然后可以通过在成像场景中的三角测量点来生成范围图。

8. 发明授权

US07929775B2 System and method for recognition in 2D images using 3D class models 有权
标题翻译：使用3D类模型识别2D图像的系统和方法
公开(公告)号：US07929775B2
公开(公告)日：2011-04-19
申请号：US11452815
申请日：2006-06-13
申请人： Gregory D. Hager , Eliot Leonard Wegbreit
发明人： Gregory D. Hager , Eliot Leonard Wegbreit
IPC分类号： G06K9/62 , G06K9/00
CPC分类号： G06K9/00208 , G06F17/30256 , G06K9/00214
摘要： A system and method for recognizing instances of classes in a 2D image using 3D class models and for recognizing instances of objects in a 2D image using 3D class models. The invention provides a system and method for constructing a database of 3D class models comprising a collection of class parts, where each class part includes part appearance and part geometry. The invention also provides a system and method for matching portions of a 2D image to a 3D class model. The method comprises identifying image features in the 2D image; computing an aligning transformation between the class model and the image; and comparing, under the aligning transformation, class parts of the class model with the image features. The comparison uses both the part appearance and the part geometry.
摘要翻译：一种用于使用3D类模型识别2D图像中的类的实例并使用3D类模型来识别2D图像中的对象的实例的系统和方法。本发明提供了一种用于构建3D类模型的数据库的系统和方法，其包括类零件的集合，其中每个类零件包括零件外观和零件几何形状。本发明还提供了一种将2D图像的部分与3D类模型相匹配的系统和方法。该方法包括识别2D图像中的图像特征; 计算类模型和图像之间的对齐变换; 并且在对齐变换下，将类模型的类部分与图像特征进行比较。比较使用零件外观和零件几何。

9. 发明授权

US07867167B2 Ultrasound calibration and real-time quality assurance based on closed form formulation 有权
标题翻译：基于封闭式配方的超声校准和实时质量保证
公开(公告)号：US07867167B2
公开(公告)日：2011-01-11
申请号：US11578071
申请日：2005-04-15
申请人： Emad M. Boctor , Gregory D. Hager , Gabor Fichtinger , Anand Viswanathan
发明人： Emad M. Boctor , Gregory D. Hager , Gabor Fichtinger , Anand Viswanathan
IPC分类号： A61B8/00 , G01B7/00
CPC分类号： A61B8/00 , A61B8/4245 , A61B8/483 , A61B8/587 , G01S7/5205
摘要： Disclosed is a system and method for intra-operatively spatially calibrating an ultrasound probe. The method includes determining the relative changes in ultrasound images of a phantom, or high-contrast feature points within a target volume, for three different ultrasound positions. Spatially calibrating the ultrasound probe includes measuring the change in position and orientation of the probe and computing a calibration matrix based on the measured changes in probe position and orientation and the estimated changes in position and orientation of the phantom.
摘要翻译：公开了一种用于在手术室内空间校准超声探头的系统和方法。该方法包括：针对三个不同的超声位置确定目标体积中的体模超声图像或高对比度特征点的相对变化。空间校准超声波探头包括测量探头的位置和方向的变化，并根据测量的探头位置和方向的变化以及估计的体模位置和取向的变化来计算校准矩阵。

10. 发明申请

US20100085358A1 System and method for constructing a 3D scene model from an image 审中-公开
标题翻译：从图像构建3D场景模型的系统和方法
公开(公告)号：US20100085358A1
公开(公告)日：2010-04-08
申请号：US12287315
申请日：2008-10-08
申请人： Eliot Leonard Wegbreit , Gregory D. Hager
发明人： Eliot Leonard Wegbreit , Gregory D. Hager
IPC分类号： G06T17/00
CPC分类号： G06T19/20 , G06T2219/2021
摘要： A system and method for constructing a 3D scene model comprising 3D objects and representing a scene, based upon a prior 3D scene model. The method comprises the steps of acquiring an image of the scene; initializing the computed 3D scene model to the prior 3D scene model; and modifying the computed 3D scene model to be consistent with the image. The step of modifying the computed 3D scene models consists of the sub-steps of comparing data of the image with objects of the 3D scene model, resulting in associated data and unassociated data; using the unassociated data to compute new objects that are not in the 3D scene model and adding the new objects to the 3D scene model; and using the associated data to detect objects in the prior 3D scene model that are absent and removing the absent objects from the 3D scene model. The present invention may also be used to construct multiple alternative 3D scene models.
摘要翻译：一种用于基于先前的3D场景模型构建包括3D对象并且表示场景的3D场景模型的系统和方法。该方法包括以下步骤：获取场景的图像; 将所计算的3D场景模型初始化为先前的3D场景模型; 并将所计算的3D场景模型修改为与图像一致。修改计算的3D场景模型的步骤包括将图像的数据与3D场景模型的对象进行比较的子步骤，导致相关联的数据和不相关的数据; 使用未关联的数据来计算不在3D场景模型中的新对象，并将新对象添加到3D场景模型中; 并使用关联的数据来检测先前3D场景模型中不存在的对象，并从3D场景模型中移除缺少的对象。本发明还可以用于构建多个替代3D场景模型。

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