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1. 发明申请

WO2003096307A1 "A surgical training simulator" 审中-公开
标题翻译： “外科训练模拟器”
公开(公告)号：WO2003096307A1
公开(公告)日：2003-11-20
申请号：PCT/IE2003/000069
申请日：2003-05-12
申请人： HAPTICA LIMITED , LACEY, Gerard , YOUNG, Derek , CASSIDY, Derek , SLEVIN, Fiona , RYAN, Donncha
发明人： LACEY, Gerard , YOUNG, Derek , CASSIDY, Derek , SLEVIN, Fiona , RYAN, Donncha
IPC分类号： G09B23/28
CPC分类号： G09B23/285 , A61B90/36 , A61B2017/00707 , G06F19/00
摘要： A simulator (1) has a body form apparatus (2) with a skin-like panel (4) through which laproscopic instruments (5) are inserted. Cameras (10) capture video images of internal movement of the instruments (5) and a computer (6) processes them. 3D positional data is generated using stereo triangulation and is linked with the associated video images. A graphics engine (60) uses the 3D data to generate graphical representations of internal scenes. A blending function (70) blends real and recorded images, or real and simulated images to allow demonstration of effects such as internal bleeding or suturing.
摘要翻译：模拟器（1）具有带有皮肤状的面板（4）的身体形状装置（2），通过该模板（4）插入腹腔镜器械（5）。摄像机（10）捕获仪器（5）的内部运动的视频图像，并且计算机（6）处理它们。使用立体三角测量生成3D位置数据，并与相关的视频图像相关联。图形引擎（60）使用3D数据来生成内部场景的图形表示。混合功能（70）将真实和记录的图像，或真实和模拟图像混合，以显示诸如内部出血或缝合的效果。

2. 发明申请

WO2002075251A1 METHOD AND SYSTEM FOR GUIDING A VEHICLE 审中-公开
标题翻译：用于引导车辆的方法和系统
公开(公告)号：WO2002075251A1
公开(公告)日：2002-09-26
申请号：PCT/IE2002/000031
申请日：2002-03-15
申请人： HAPTICA LIMITED , LACEY, Gerard , MACNAMARA, Shane
发明人： LACEY, Gerard , MACNAMARA, Shane
IPC分类号： G01C21/20
CPC分类号： G01S13/93 , A61H3/04 , A61H3/061 , B62D51/02 , B63H25/00 , G01C21/20 , G01S19/19 , G01S19/51 , G05D1/0206 , G05D1/0212 , G05D1/0248 , G05D1/0255 , G05D1/0257 , G05D1/0278
摘要： Movement of a vehicle such as a boat (30) is guided by dynamically monitoring parameters and generating instructions for the operator. The instructions are at a level to attain a number of sub-goals to reach a goal position (33) from a current position (32). Each sub-goal is attained in a single vehicle manoeuvre such as straight-ahead or rotation, each manoeuvre being instructable to the operator. The instructions are generated using a space model (12) of the space around the vehicle, an operator model (11) of operator vehicle control characteristics, and a vehicle model (12) of vehicle movement characteristics.
摘要翻译：诸如船（30）的车辆的移动通过动态地监视参数并为操作者生成指令来引导。这些指令处于达到从当前位置（32）到达目标位置（33）的多个子目标的水平。每个子目标都可以在一个单一的车辆行驶中达到，例如直行或旋转，每个操作都可以向操作者指示。使用车辆周围的空间的空间模型（12），操作者车辆控制特性的操作者模型（11）以及车辆运动特性的车辆模型（12）来生成指令。

3. 发明申请

WO2009128055A1 ENDOSCOPY SYSTEM WITH MOTION SENSORS 审中-公开
标题翻译：内窥镜系统与运动传感器
公开(公告)号：WO2009128055A1
公开(公告)日：2009-10-22
申请号：PCT/IE2009/000018
申请日：2009-04-15
申请人： PROVOST FELLOWS AND SCHOLARS OF THE COLLEGE OF THE HOLY AND UNDIVIDED TRINITY OF QUEEN ELIZABETH NEAR DUBLIN , LACEY, Gerard , VILARINO, Fernando
发明人： LACEY, Gerard , VILARINO, Fernando
IPC分类号： A61B1/005
CPC分类号： A61B1/0005 , A61B1/00154 , A61B1/31 , A61B5/065 , G06F19/00 , G06T7/0012 , G06T2200/24 , G06T2207/10016 , G06T2207/10068 , G06T2207/30032
摘要： An endoscopy system (1) comprises an endoscope (2) with a camera (3) at its tip. The endoscope extends through an endoscope guide (4) for guiding movement of the endoscope and for measurement of its movement as it enters the body. The guide (4) comprises a generally conical body (5) having a through passage (105) through which the endoscope (2) extends. A motion sensor comprises an optical transmitter (7) and a detector (8) mounted alongside the passage (105) to measure the insertion- withdrawal linear motion and also rotation of the endoscope by the endoscopist's hand. The system (1) also comprises a flexure controller (10) having wheels operated by the endoscopist. The camera (3), the motion sensor (7/8), and the flexure controller (10) are all connected to a processor (11) which feeds a display.
摘要翻译：内窥镜检查系统（1）包括在其尖端处具有照相机（3）的内窥镜（2）。内窥镜延伸穿过内窥镜引导件（4），用于引导内窥镜的运动并且用于当其进入身体时测量其运动。引导件（4）包括具有内窥镜（2）延伸穿过的通道（105）的大致锥形的主体（5）。运动传感器包括光学发射器（7）和安装在通道（105）旁边的检测器（8），以测量插入取出线性运动以及内窥镜手的内窥镜旋转。系统（1）还包括具有由内窥镜医师操作的轮的挠曲控制器（10）。相机（3），运动传感器（7/8）和挠曲控制器（10）都连接到馈送显示器的处理器（11）。

4. 发明申请

WO2007129289A1 A HAND WASHING MONITORING SYSTEM 审中-公开
标题翻译：手洗监控系统
公开(公告)号：WO2007129289A1
公开(公告)日：2007-11-15
申请号：PCT/IE2007/000051
申请日：2007-05-04
申请人： PROVOST FELLOWS AND SCHOLARS OF THE COLLEGE OF THE HOLY AND UNDIVIDED TRINITY OF QUEEN ELIZABETH NEAR DUBLIN , LACEY, Gerard , LLORCA, David, Fernandez
发明人： LACEY, Gerard , LLORCA, David, Fernandez
IPC分类号： A47K5/00 , G08B21/24 , G06K9/00
CPC分类号： G06K9/00355 , G08B21/245
摘要： A hand washing monitoring system (1) comprising a camera (2), a processor (4), the processor being adapted to receive from the camera images of hand washing activity. The processor analyses mutual motion of hands to determine if the hands mutually move in desired poses, and if so, the durations of the patterns; and generates a hand washing quality indication according to the analysis. The processor extracts information features from the images and generates feature vectors based on the features, including bimanual hand and arm shape vectors, and executes a classifier with the vectors to determine the poses. The processor uses edge segmentation and pixel spatio-temporal measurements to form at least some of the feature vectors.
摘要翻译：一种洗手监视系统（1），包括相机（2），处理器（4），所述处理器适于从相机接收手洗活动图像。处理器分析手的相互运动以确定手是否以期望的姿态相互移动，如果是，则模式的持续时间; 并根据分析产生洗手质量指示。处理器从图像中提取信息特征，并基于特征（包括双手和手臂形状向量）生成特征向量，并执行具有向量的分类器以确定姿态。处理器使用边缘分割和像素时空测量来形成至少一些特征向量。

5. 发明申请

WO2012062813A3 RECOVERY OF 3D SCENE STRUCTURE AND CAMERA MOTION FROM A VIDEO SEQUENCE 审中-公开
标题翻译：从视频序列恢复3D场景结构和相机运动
公开(公告)号：WO2012062813A3
公开(公告)日：2012-07-12
申请号：PCT/EP2011069762
申请日：2011-11-09
申请人： TRINITY COLLEGE DUBLIN , YOUS SOFIANE , REDMOND PETER , LACEY GERARD
发明人： YOUS SOFIANE , REDMOND PETER , LACEY GERARD
IPC分类号： G06T7/00
CPC分类号： G06T7/2033 , G06T7/246 , G06T7/55 , G06T7/73 , G06T2207/10016 , G06T2207/30244
摘要： An improved method and a system are disclosed for recovering a three-dimensional (3D) scene structure from a plurality of two-dimensional (2D) image frames obtained from imaging means. Sets of 2D features are extracted from the image frames, and sets corresponding to successive image frames are matched, such that at least one pair of matched 2D features refers to a same 3D point in a 3D scene captured in 2D in the image frames. A 3D ray is generated by back-projection from each 2D feature, and the generated 3D rays are subjected to an anchor-based minimization process, for determining camera motion parameters and 3D scene points coordinates, thereby recovering a structure of the 3D scene.
摘要翻译：公开了一种改进的方法和系统，用于从从成像装置获得的多个二维（2D）图像帧中恢复三维（3D）场景结构。从图像帧中提取2D特征的集合，并且对应于连续图像帧的集合进行匹配，使得至少一对匹配的2D特征指向在图像帧中2D中捕获的3D场景中的相同3D点。通过从每个2D特征的背投产生3D射线，并且生成的3D射线经受基于锚的最小化处理，用于确定相机运动参数和3D场景点坐标，从而恢复3D场景的结构。

6. 发明申请

WO2012062813A2 METHOD AND SYSTEM FOR RECOVERY OF 3D SCENE STRUCTURE AND CAMERA MOTION FROM A VIDEO SEQUENCE 审中-公开
标题翻译：从视频序列恢复3D场景结构和摄像机运动的方法和系统
公开(公告)号：WO2012062813A2
公开(公告)日：2012-05-18
申请号：PCT/EP2011/069762
申请日：2011-11-09
申请人： THE PROVOST, FELLOWS, AND SCHOLARS OF THE COLLEGE OF THE HOLY AND UNDIVIDED TRINITY OF QUEEN ELIZABETH, NEAR DUBLIN , YOUS, Sofiane , REDMOND, Peter , LACEY, Gerard
发明人： YOUS, Sofiane , REDMOND, Peter , LACEY, Gerard
CPC分类号： G06T7/2033 , G06T7/246 , G06T7/55 , G06T7/73 , G06T2207/10016 , G06T2207/30244
摘要： An improved method and a system are disclosed for recovering a three-dimensional (3D) scene structure from a plurality of two-dimensional (2D) image frames obtained from imaging means. Sets of 2D features are extracted from the image frames, and sets corresponding to successive image frames are matched, such that at least one pair of matched 2D features refers to a same 3D point in a 3D scene captured in 2D in the image frames. A 3D ray is generated by back-projection from each 2D feature, and the generated 3D rays are subjected to an anchor-based minimization process, for determining camera motion parameters and 3D scene points coordinates, thereby recovering a structure of the 3D scene.
摘要翻译：公开了一种改进的方法和系统，用于从从成像装置获得的多个二维（2D）图像帧中恢复三维（3D）场景结构。从图像帧提取2D特征的集合，并且对应于连续图像帧的集合进行匹配，使得至少一对匹配的2D特征参考在图像帧中2D中捕获的3D场景中的相同3D点。通过来自每个2D特征的反投影产生3D射线，并且所生成的3D射线经受基于锚的最小化处理，用于确定相机运动参数和3D场景点坐标，从而恢复3D场景的结构。

7. 发明申请

WO2006016348A1 A METHOD AND SYSTEM FOR GENERATING A SURGICAL TRAINING MODULE 审中-公开
标题翻译：一种用于产生手术训练模块的方法和系统
公开(公告)号：WO2006016348A1
公开(公告)日：2006-02-16
申请号：PCT/IE2005/000081
申请日：2005-08-12
申请人： HAPTICA LIMITED , LACEY, Gerard , RYAN, Donncha, Mary , CASSIDY, Derek , GRIFFIN, John , GRIFFIN, Laurence
发明人： LACEY, Gerard , RYAN, Donncha, Mary , CASSIDY, Derek , GRIFFIN, John , GRIFFIN, Laurence
IPC分类号： G09B7/00
CPC分类号： G09B23/28 , G09B7/00 , G09B9/00
摘要： A system (1) comprises a physical surgical simulator (11) which transmits data concerning physical movement of training devices to an analysis engine (12). The engine (12) automatically generates rules for a rule base (13a) in a learning system (13). The learning system (13) also comprises content objects (13b) and 3D scenario objects (13c). A linked set of a 3D scenario object (13c), a rule base (13a), and a content object (13b) are together a lesson (10). Another simulator (14) is operated by a student. This transmits data concerning physical movement of training devices by a student to a verification engine (15). The verification engine (15) interfaces with the rule base (13a) to display the lesson in the manner defined by the lesson rule base (13a). It calculates performance measures defined in the lesson rule base (13a). It also records the performance measures into a lesson record (18) and it adapts the display of the lesson in line with the parameters defined in the lesson rule base (13a).
摘要翻译：系统（1）包括物理外科模拟器（11），其将关于训练装置的物理运动的数据发送到分析引擎（12）。引擎（12）在学习系统（13）中自动生成规则库（13a）的规则。学习系统（13）还包括内容对象（13b）和3D场景对象（13c）。一个3D场景对象（13c），一个规则库（13a）和一个内容对象（13b）的链接集合在一起（10）。另一个模拟器（14）由学生操作。这将有关学生的训练装置的身体移动的数据发送到验证引擎（15）。验证引擎（15）与规则库（13a）接口以由课程规则库（13a）定义的方式显示课程。它计算课程规则库（13a）中定义的绩效指标。它还将性能测量记录到课程记录（18）中，并且使课程的显示符合课程规则库（13a）中定义的参数。

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