Method of real-time tracking of moving/flexible surfaces
US8693730B2 · kind B2 · utility
224Cited by
2References
21Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Nov 15, 2012 |
| Grant date | Apr 8, 2014 |
| Priority date | — |
| Expiry date | Nov 15, 2032 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/371
- WIPO fieldMedical technology
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.