The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Aug. 11, 2015
Filed:
Mar. 20, 2014
Applicant:
Macdonald Dettwiler & Associates, Brampton, CA;
Inventors:
Assignee:
MACDONALD, DETTWILER AND ASSOCIATES INC., Brampton, ON, CA;
Attorneys:
Primary Examiner:
Int. Cl.
CPC ...
G06K 9/00 (2006.01); A61B 1/00 (2006.01); A61B 19/00 (2006.01); A61B 1/06 (2006.01); G06T 7/20 (2006.01);
U.S. Cl.
CPC ...
A61B 1/00149 (2013.01); A61B 1/00193 (2013.01); A61B 1/06 (2013.01); A61B 19/20 (2013.01); A61B 19/2203 (2013.01); A61B 19/50 (2013.01); G06T 7/2086 (2013.01); A61B 2019/505 (2013.01); A61B 2019/5227 (2013.01); A61B 2019/5265 (2013.01);
Abstract
The present invention provides a method for real-time tracking of moving flexible surfaces and an image guided surgical robotic system using this tracking method. A vision system acquires an image of the moving flexible surface and identifies and tracks visual features at different times. The method involves computing both rigid and stretching transformations based on the changing positions of the visual features which are then used to track any area of interest on the moving flexible surface as it evolves over time. A robotic surgical system using this real-time tracking is disclosed.