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1. 发明授权

US09336592B2 Method and apparatus for determining tumor shift during surgery using a stereo-optical three-dimensional surface-mapping system 有权
标题翻译：用于使用立体光学三维表面映射系统确定手术期间肿瘤移位的方法和装置
公开(公告)号：US09336592B2
公开(公告)日：2016-05-10
申请号：US14375311
申请日：2013-02-01
申请人： The Trustees of Dartmouth College
发明人： Xiaoyao Fan , David W. Roberts , Keith D. Paulsen , Songbai Ji , Alex Hartov
IPC分类号： G06K9/00 , G06T7/00 , G06T17/00 , A61B6/00 , A61B5/00 , A61B5/107 , G06K9/60 , G06T19/20 , A61B5/055 , A61B19/00 , A61B8/08
CPC分类号： G06T7/0012 , A61B5/0013 , A61B5/0071 , A61B5/0075 , A61B5/055 , A61B5/1077 , A61B5/1079 , A61B5/7425 , A61B6/501 , A61B6/5247 , A61B8/0808 , A61B34/10 , A61B34/20 , A61B90/20 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2090/367 , A61B2090/378 , G06K9/60 , G06T7/33 , G06T17/00 , G06T19/20 , G06T2200/08 , G06T2207/10021 , G06T2207/10028 , G06T2207/30004 , G06T2207/30096
摘要： A system and method for determining intraoperative locations of a lesion in tissue from lesion locations determined in preoperative imaging includes determining three dimensional locations of surface features of the organ in the preoperative images. A preoperative surface map is extracted from stereo images annotated with surface features from preoperative images. An intraoperative surface map of the organ is extracted from stereo images, and surface features are identified in the stereo images corresponding to surface features annotated into the preoperative surface map. Three dimensional displacements of the surface features are determined and used to constrain a computer model of deformation of the organ. In embodiments, the model of deformation is adapted or constrained to model locations and dimensions of surgical cavities using an optical flow method and/or locations of surgical instruments in the organ. The model of deformation is used to determine intraoperative locations for the lesion.
摘要翻译：用于确定术前成像中确定的病变位置的组织中的病变的术中位置的系统和方法包括确定术前图像中器官的表面特征的三维位置。从术前图像表面特征注释的立体图像中提取术前表面图。从立体图像提取器官的术中表面图，并且在对应于注释到术前表面图的表面特征的立体图像中识别表面特征。确定表面特征的三维位移，并用于约束器官变形的计算机模型。在实施例中，变形模型被适配或约束以使用手术器械的光学流动方法和/或外科器械的位置对外科腔的位置和尺寸进行建模。变形模型用于确定病变的术中位置。

2. 发明授权

US11129562B2 Surgical navigation with stereovision and associated methods 有权
公开(公告)号：US11129562B2
公开(公告)日：2021-09-28
申请号：US16785882
申请日：2020-02-10
申请人： The Trustees of Dartmouth College
发明人： David W. Roberts , Keith D. Paulsen , Alexander Hartov , Songbai Ji , Xiaoyao Fan
IPC分类号： H04N13/239 , A61B34/10 , A61B5/055 , A61B5/377 , G06T3/00 , H04N13/257 , A61B5/00 , G06T7/33 , A61B90/00 , A61B5/369
摘要： A surgical guidance system has two cameras to provide stereo image stream of a surgical field; and a stereo viewer. The system has a 3D surface extraction module that generates a first 3D model of the surgical field from the stereo image streams; a registration module for co-registering annotating data with the first 3D model; and a stereo image enhancer for graphically overlaying at least part of the annotating data onto the stereo image stream to form an enhanced stereo image stream for display, where the enhanced stereo stream enhances a surgeon's perception of the surgical field. The registration module has an alignment refiner to adjust registration of the annotating data with the 3D model based upon matching of features within the 3D model and features within the annotating data; and in an embodiment, a deformation modeler to deform the annotating data based upon a determined tissue deformation.

3. 发明授权

US11406471B1 Hand-held stereovision system for image updating in surgery 有权
公开(公告)号：US11406471B1
公开(公告)日：2022-08-09
申请号：US16595377
申请日：2019-10-07
申请人： The Trustees of Dartmouth College
发明人： Keith D. Paulsen , Xiaoyao Fan , Songbai Ji , Sohail K. Mirza
IPC分类号： H04N13/246 , H04N13/239 , A61B34/20 , A61B90/00 , A61B90/50
摘要： This invention provides a hand-held stereovision (HHS) system that is an efficient, accurate, and radiation-free imaging device to acquire intraoperative profiles of the exposed spine in prone position. The reconstructed intraoperative stereovision surfaces (iSV) are registered with preoperative CT (pCT; supine position) in a nonrigid fashion to generate updated CT images (uCT) and correct for vertebral posture and alignment changes. Updated CT images are uploaded to a commercial navigation system for surgical navigation.

4. 发明授权

US10568535B2 Surgical navigation with stereovision and associated methods 有权
公开(公告)号：US10568535B2
公开(公告)日：2020-02-25
申请号：US15367243
申请日：2016-12-02
申请人： The Trustees of Dartmouth College
发明人： David W. Roberts , Keith D. Paulsen , Alexander Hartov , Songbai Ji , Xiaoyao Fan
IPC分类号： G06T3/00 , H04N13/257 , H04N13/239 , A61B34/10 , A61B5/0484 , A61B5/00 , G06T7/33 , A61B90/00 , A61B5/0476 , A61B5/055
摘要： A surgical guidance system has two cameras to provide stereo image stream of a surgical field; and a stereo viewer. The system has a 3D surface extraction module that generates a first 3D model of the surgical field from the stereo image streams; a registration module for co-registering annotating data with the first 3D model; and a stereo image enhancer for graphically overlaying at least part of the annotating data onto the stereo image stream to form an enhanced stereo image stream for display, where the enhanced stereo stream enhances a surgeon's perception of the surgical field. The registration module has an alignment refiner to adjust registration of the annotating data with the 3D model based upon matching of features within the 3D model and features within the annotating data; and in an embodiment, a deformation modeler to deform the annotating data based upon a determined tissue deformation.

5. 发明授权

US09456200B2 Method and apparatus for calibration of stereo-optical three-dimensional surface-mapping system 有权
标题翻译：用于校准立体光学三维表面映射系统的方法和装置
公开(公告)号：US09456200B2
公开(公告)日：2016-09-27
申请号：US14370713
申请日：2013-01-04
申请人： THE TRUSTEES OF DARTMOUTH COLLEGE
发明人： Songbai Ji , Xiaoyao Fan , Keith D. Paulsen , David W. Roberts , Alex Hartov
IPC分类号： G06K9/00 , H04N13/02 , G01C11/02 , G01C25/00 , G06T3/00 , H04N13/00
CPC分类号： H04N13/246 , G01C11/02 , G01C25/00 , G06T3/0093 , G06T2200/04 , H04N2013/0074
摘要： A system for, and method of, extracting a surface profile from a stereo pair of images obtained at an arbitrary setting S of an optical system, includes determining surface profile reconstruction parameters for images obtained with the optical system at a reference setting So of the optical system; determining warping parameters for a digital image processor for warping images obtained with the optical system at the arbitrary setting S into images corresponding to the reference setting So; obtaining the stereo pair of images from at least one camera of the optical system; warping the stereo pair of images into images corresponding to the reference setting So, and using the surface profile reconstruction parameters to determine the surface profile. In a particular embodiment, the surface profile is passed to a computer model of tissue deformation and used to determine an intra-surgery location of a tumor or other anatomic feature of tissue.
摘要翻译：从在光学系统的任意设置S获得的立体图像对中提取表面轮廓的系统和方法包括：在光学系统的参考设置So处确定用光学系统获得的图像的表面轮廓重建参数系统; 确定用于使用任意设置S处的光学系统获得的图像的数字图像处理器的翘曲参数变为与参考设置So对应的图像; 从所述光学系统的至少一个相机获得立体声图像对; 将立体声对的图像变形成与参考设置So对应的图像，并且使用表面轮廓重建参数来确定表面轮廓。在特定实施例中，将表面轮廓传递到组织变形的计算机模型，并用于确定肿瘤的手术内部位置或组织的其他解剖特征。

6. 发明申请

US20140362186A1 METHOD AND APPARATUS FOR CALIBRATION OF STEREO-OPTICAL THREE-DIMENSIONAL SURFACE-MAPPING SYSTEM 有权
标题翻译：立体光学三维表面绘图系统的校准方法与装置
公开(公告)号：US20140362186A1
公开(公告)日：2014-12-11
申请号：US14370713
申请日：2013-01-04
申请人： THE TRUSTEES OF DARTMOUTH COLLEGE
发明人： Songbai Ji , Xiaoyao Fan , Keith D. Paulsen , David W. Roberts , Alex Hartov
IPC分类号： H04N13/02 , G06T3/00
CPC分类号： H04N13/246 , G01C11/02 , G01C25/00 , G06T3/0093 , G06T2200/04 , H04N2013/0074
摘要： A system for, and method of, extracting a surface profile from a stereo pair of images obtained at an arbitrary setting S of an optical system, includes determining surface profile reconstruction parameters for images obtained with the optical system at a reference setting So of the optical system; determining warping parameters for a digital image processor for warping images obtained with the optical system at the arbitrary setting S into images corresponding to the reference setting So; obtaining the stereo pair of images from at least one camera of the optical system; warping the stereo pair of images into images corresponding to the reference setting So, and using the surface profile reconstruction parameters to determine the surface profile. In a particular embodiment, the surface profile is passed to a computer model of tissue deformation and used to determine an intra-surgery location of a tumor or other anatomic feature of tissue.
摘要翻译：从在光学系统的任意设置S获得的立体图像对中提取表面轮廓的系统和方法包括：在光学系统的参考设置So处确定用光学系统获得的图像的表面轮廓重建参数系统; 确定用于使用任意设置S处的光学系统获得的图像的数字图像处理器的翘曲参数变为与参考设置So对应的图像; 从所述光学系统的至少一个相机获得立体声图像对; 将立体声对的图像变形成与参考设置So对应的图像，并且使用表面轮廓重建参数来确定表面轮廓。在特定实施例中，将表面轮廓传递到组织变形的计算机模型，并用于确定肿瘤的手术内部位置或组织的其他解剖特征。

7. 发明授权

US09655545B2 Apparatus for measuring in-vivo mechanical properties of biological tissues 有权
公开(公告)号：US09655545B2
公开(公告)日：2017-05-23
申请号：US14345029
申请日：2012-09-17
申请人： The Trustees of Dartmouth College
发明人： Songbai Ji , David W. Roberts , Keith D. Paulsen
IPC分类号： A61B5/107 , A61B5/00 , G02B21/00 , G02B21/36 , A61B90/20 , G06T7/33 , A61B19/00 , G06T7/00 , A61B90/00
CPC分类号： A61B5/1079 , A61B5/0053 , A61B5/0077 , A61B90/20 , A61B2090/364 , A61B2090/371 , G02B21/0012 , G02B21/367 , G06T7/344 , G06T2200/04 , G06T2207/10012 , G06T2207/10056 , G06T2207/30016
摘要： An apparatus and method for measuring mechanical properties of tissue has a stereo optical surgical microscope with at least one objective lens and at least two digital cameras such that paired images obtained from the digital cameras form stereo pairs, and a digital image processing system adapted to determine surface topography of tissue from the stereo pairs of images and a resulting surface displacement map as a result from indentation. The apparatus has an one indenter; and mechanical modeling routines stored in memory of the image processing system, the mechanical modeling routines capable of constructing computer models of mechanical properties of tissue, and fitting parameters of the computer model to observed surface displacement maps generated by coregistering surface topography of tissue with and without the indenter positioned on the tissue. In an embodiment, fitted parameters of the computer model are displayed and used to adjust a surgical plan. An apparatus and method for measuring mechanical properties of tissue has a stereo optical surgical microscope with at least one objective lens and at least two digital cameras such that paired images obtained from the digital cameras form stereo pairs, and a digital image processing system adapted to determine surface topography of tissue from the stereo pairs of images and a resulting surface displacement map as a result from indentation. The apparatus has an one indenter; and mechanical modeling routines stored in memory of the image processing system, the mechanical modeling routines capable of constructing computer models of mechanical properties of tissue, and fitting parameters of the computer model to observed surface displacement maps generated by coregistering surface topography of tissue with and without the indenter positioned on the tissue. In an embodiment, fitted parameters of the computer model are displayed and used to adjust a surgical plan.

8. 发明申请

US20160321425A1 MODEL AND APPARATUS FOR PREDICTING BRAIN TRAUMA FROM APPLIED FORCES TO THE HEAD USING PRE-COMPUTED PRESSURE AND STRAIN ATLASES VIA SUPERPOSITION AND INTERPOLATION 审中-公开
标题翻译：使用预处理压力和应变板进行超声和插值预测应用于大脑的头部的模型和装置
公开(公告)号：US20160321425A1
公开(公告)日：2016-11-03
申请号：US15209237
申请日：2016-07-13
申请人： THE TRUSTEES OF DARTMOUTH COLLEGE
发明人： Songbai Ji , Wei Zhao
IPC分类号： G06F19/00 , G06F17/50
CPC分类号： G06F17/5018 , A61B5/0002 , A61B5/11 , A61B5/6803 , G16H50/50
摘要： A system for evaluating head injury or personal protective systems uses instrumented helmets or instrumented dummies to transmit accelerometer readings to a computing system having code to determine impact accelerations. The code reads and interpolates separately for pressure and strain between precomputed simulation results nearest the impact in a database of precomputed head impact model simulation results, then combines these to give a combined result. In embodiments, the precomputed result includes strain on neural tracts, a pressure map, or both strain and pressure map. A method of evaluating an impact includes transmitting accelerometer readings from instrumented helmets or dummies to a computing system upon impact; determining angle and acceleration of the impact from the readings; reading and interpolating between precomputed simulation result in the database of strain and pressure simulation results nearest in angle and acceleration to the impact; and displaying information from the simulation.
摘要翻译：用于评估头部受伤或个人防护系统的系统使用仪表头盔或仪器化虚拟仪将加速度计读数传输到具有确定冲击加速度的代码的计算系统。代码读取和内插分别用于预计算的模拟结果之间的压力和应变，最接近预计算头部影响模型模拟结果的数据库的影响，然后将它们组合起来给出合并结果。在实施例中，预计算结果包括对神经束的应变，压力图或应变和压力图。一种评估影响的方法包括：在撞击时将加速度计读数从仪表头盔或虚拟物传送到计算系统; 确定读数的影响角度和加速度; 在预先计算的模拟结果之间读取和内插数据库中的应变和压力模拟结果最接近角度和加速度的影响; 并显示模拟信息。

9. 发明申请

US20150080766A1 Model And Apparatus For Predicting Brain Trauma From Applied Forces To The Head 审中-公开
标题翻译：用于预测从应用部队到头部的脑创伤的模型和装置
公开(公告)号：US20150080766A1
公开(公告)日：2015-03-19
申请号：US14490313
申请日：2014-09-18
申请人： The Trustees of Dartmouth College
发明人： Songbai Ji , Wei Zhao
IPC分类号： A61B5/11 , A61B5/00
CPC分类号： A61B5/11 , A61B5/0002 , A61B5/6803
摘要： A system for evaluating head injury uses instrumented helmets to transmit accelerometer readings to a computing system configured with machine readable code to determine angle and acceleration of impacts. The system has code to compare the angle and acceleration of the impact to thresholds and read at least one precomputed simulation result corresponding to entries near the impact in a database of precomputed head impact model simulations; and for displaying interpolations from the precomputed simulation result. In particular embodiments, the simulation result includes strain on neural tracts. A method of evaluating an impact includes transmitting accelerometer readings from instrumented helmets or any other sensors to the computing system upon impact to the sensors; determining at least angle and acceleration of the impact from the accelerometer readings; reading at least one precomputed simulation result corresponding to an entry in the database nearest in angle and acceleration to the impact; and displaying information from the simulation.
摘要翻译：用于评估头部损伤的系统使用仪表头盔将加速度计读数传输到配置有机器可读代码的计算系统，以确定影响的角度和加速度。该系统具有将影响的角度和加速度与阈值进行比较的代码，并读取至少一个预先计算的模拟结果，对应于预计算头部影响模型模拟数据库中影响附近的条目; 并用于从预先计算的模拟结果显示内插。在特定实施例中，模拟结果包括对神经束的应变。一种评估影响的方法包括：将传感器上的加速度计读数从仪表头盔或任何其他传感器传送到计算系统; 确定来自加速度计读数的冲击的至少角度和加速度; 读取至少一个预先计算的模拟结果，对应于数据库中最接近角度和加速度的影响; 并显示模拟信息。

10. 发明申请

US20140371600A1 Apparatus For Meausring In-Vivo Mechanical Properties of Biological Tissues 有权
公开(公告)号：US20140371600A1
公开(公告)日：2014-12-18
申请号：US14345029
申请日：2012-09-17
申请人： The Trustees of Dartmouth College
发明人： Songbai Ji , David W. Roberts , Keith D. Paulsen
IPC分类号： A61B5/107 , G06T7/00 , G02B21/36 , G02B21/00 , A61B5/00 , A61B19/00
CPC分类号： A61B5/1079 , A61B5/0053 , A61B5/0077 , A61B90/20 , A61B2090/364 , A61B2090/371 , G02B21/0012 , G02B21/367 , G06T7/344 , G06T2200/04 , G06T2207/10012 , G06T2207/10056 , G06T2207/30016
摘要： An apparatus and method for measuring mechanical properties of tissue has a stereo optical surgical microscope with at least one objective lens and at least two digital cameras such that paired images obtained from the digital cameras form stereo pairs, and a digital image processing system adapted to determine surface topography of tissue from the stereo pairs of images and a resulting surface displacement map as a result from indentation. The apparatus has an one indenter; and mechanical modeling routines stored in memory of the image processing system, the mechanical modeling routines capable of constructing computer models of mechanical properties of tissue, and fitting parameters of the computer model to observed surface displacement maps generated by coregistering surface topography of tissue with and without the indenter positioned on the tissue. In an embodiment, fitted parameters of the computer model are displayed and used to adjust a surgical plan. An apparatus and method for measuring mechanical properties of tissue has a stereo optical surgical microscope with at least one objective lens and at least two digital cameras such that paired images obtained from the digital cameras form stereo pairs, and a digital image processing system adapted to determine surface topography of tissue from the stereo pairs of images and a resulting surface displacement map as a result from indentation. The apparatus has an one indenter; and mechanical modeling routines stored in memory of the image processing system, the mechanical modeling routines capable of constructing computer models of mechanical properties of tissue, and fitting parameters of the computer model to observed surface displacement maps generated by coregistering surface topography of tissue with and without the indenter positioned on the tissue. In an embodiment, fitted parameters of the computer model are displayed and used to adjust a surgical plan.

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