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1. 发明授权

US09786202B2 Robot assisted surgical training 有权
公开(公告)号：US09786202B2
公开(公告)日：2017-10-10
申请号：US13582907
申请日：2011-03-04
申请人： Weimin Huang , Jiang Liu , Jiayin Zhou , Jing Zhang , Beng Hai Lee , Wing Kee Wong , Ngan Meng Tan , Zhuo Zhang , Fengshou Yin , Stephen Chang , Chee Kong Chui , Yi Su
发明人： Weimin Huang , Jiang Liu , Jiayin Zhou , Jing Zhang , Beng Hai Lee , Wing Kee Wong , Ngan Meng Tan , Zhuo Zhang , Fengshou Yin , Stephen Chang , Chee Kong Chui , Yi Su
IPC分类号： G09B23/28 , G09B23/30
CPC分类号： G09B23/28 , G06F19/00 , G09B23/30
摘要： A surgical training system and method. The system comprises means for recording reference data representing a reference manipulation of a computer generated model of an object by a master user; means for physically guiding a trainee user based on the recorded reference data during a training manipulation of the model of the object by the trainee user; and means for recording assessment data representing an assessment manipulation of the model of the object by the trainee user without guidance.

2. 发明申请

US20130196300A1 ROBOT ASSISTED SURGICAL TRAINING 有权
标题翻译：机器人辅助手术训练
公开(公告)号：US20130196300A1
公开(公告)日：2013-08-01
申请号：US13582907
申请日：2011-03-04
申请人： Weimin Huang , Jiang Liu , Jiayin Zhou , Jing Zhang , Beng Hai Lee , Wing Kee Wong , Ngan Meng Tan , Zhou Zhang , Fengshou Yin , Stephen Chang , Chee Kong Chui , Yi Su
发明人： Weimin Huang , Jiang Liu , Jiayin Zhou , Jing Zhang , Beng Hai Lee , Wing Kee Wong , Ngan Meng Tan , Zhou Zhang , Fengshou Yin , Stephen Chang , Chee Kong Chui , Yi Su
IPC分类号： G09B23/28
CPC分类号： G09B23/28 , G06F19/00 , G09B23/30
摘要： A surgical training system and method. The system comprises means for recording reference data representing a reference manipulation of a computer generated model of an object by a master user; means for physically guiding a trainee user based on the recorded reference data during a training manipulation of the model of the object by the trainee user; and means for recording assessment data representing an assessment manipulation of the model of the object by the trainee user without guidance.
摘要翻译：外科手术训练系统及方法该系统包括用于记录表示由主用户计算机生成的对象的模型的参考操纵的参考数据的装置; 用于在由所述受训用户对所述对象的模型的训练操纵期间基于所记录的参考数据物理地引导所述受训用户的装置; 以及用于在没有指导的情况下记录代表对象的模型的评估操纵的评估数据的方法。

3. 发明申请

US20130224710A1 ROBOTIC DEVICE FOR USE IN IMAGE-GUIDED ROBOT ASSISTED SURGICAL TRAINING 有权
标题翻译：用于图像引导机器人辅助手术训练的机器人装置
公开(公告)号：US20130224710A1
公开(公告)日：2013-08-29
申请号：US13820065
申请日：2011-09-01
申请人： Tao Yang , Liangjing Yang , Jiang Liu , Chee Kong Chui , Weimin Huang , Jing Zhang , Jiayin Zhou , Beng Hai Lee , Ngan Meng Tan , Wing Kee Damon Wong , Fengshou Yin , Kin Yong Chang , Yi Su
发明人： Tao Yang , Liangjing Yang , Jiang Liu , Chee Kong Chui , Weimin Huang , Jing Zhang , Jiayin Zhou , Beng Hai Lee , Ngan Meng Tan , Wing Kee Damon Wong , Fengshou Yin , Kin Yong Chang , Yi Su
IPC分类号： G09B23/28 , B25J3/04 , B25J7/00
CPC分类号： G09B23/28 , A61B34/30 , B25J3/04 , B25J7/00 , G09B23/285
摘要： A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising a manual interface structure configured to simulate handling of a surgical tool; a translational mechanism for translational motion of the manual interface structure; a rotational mechanism for rotational motion of the manual interface structure; and a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates, wherein a linkage between the rotational mechanism, the rotational mechanism and the spherical mechanism, and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism.
摘要翻译：一种用于图像引导机器人辅助外科手术训练的机器人装置，所述机器人装置包括被配置为模拟外科手术工具的处理的手动界面结构; 手动界面结构的平移运动的平移机制; 用于手动接口结构的旋转运动的旋转机构; 以及球面机构，被配置为将手动界面结构的取向分离成空间坐标，其中旋转机构，旋转机构和球面机构之间的联动以及手动界面结构设置在俯仰的交叉点的相对侧上轴和球面机构的偏转轴。

4. 发明授权

US08764448B2 Robotic device for use in image-guided robot assisted surgical training 有权
标题翻译：用于图像引导机器人辅助外科手术的机器人装置
公开(公告)号：US08764448B2
公开(公告)日：2014-07-01
申请号：US13820065
申请日：2011-09-01
申请人： Tao Yang , Liangjing Yang , Jiang Liu , Chee Kong Chui , Weimin Huang , Jing Zhang , Jiayin Zhou , Beng Hai Lee , Ngan Meng Tan , Wing Kee Damon Wong , Fengshou Yin , Kin Yong Chang , Yi Su
发明人： Tao Yang , Liangjing Yang , Jiang Liu , Chee Kong Chui , Weimin Huang , Jing Zhang , Jiayin Zhou , Beng Hai Lee , Ngan Meng Tan , Wing Kee Damon Wong , Fengshou Yin , Kin Yong Chang , Yi Su
IPC分类号： G09B23/28 , A61B17/00 , G06G7/58 , A61B19/00
CPC分类号： G09B23/28 , A61B34/30 , B25J3/04 , B25J7/00 , G09B23/285
摘要： A robotic device for use in image-guided robot assisted surgical training, the robotic device comprising a manual interface structure configured to simulate handling of a surgical tool; a translational mechanism for translational motion of the manual interface structure; a rotational mechanism for rotational motion of the manual interface structure; and a spherical mechanism configured to decouple the orientation of the manual interface structure into spatial coordinates, wherein a linkage between the rotational mechanism, the rotational mechanism and the spherical mechanism, and the manual interface structure are disposed on opposing sides of an intersection of a pitch axis and a yaw axis of the spherical mechanism.
摘要翻译：一种用于图像引导机器人辅助外科手术训练的机器人装置，所述机器人装置包括被配置为模拟外科手术工具的处理的手动界面结构; 手动界面结构的平移运动的平移机制; 用于手动接口结构的旋转运动的旋转机构; 以及球面机构，被配置为将手动界面结构的取向分离成空间坐标，其中旋转机构，旋转机构和球面机构之间的联动以及手动界面结构设置在俯仰的交叉点的相对侧上轴和球面机构的偏转轴。

5. 发明授权

US09107617B2 Obtaining data for automatic glaucoma screening, and screening and diagnostic techniques and systems using the data 有权
标题翻译：获取自动青光眼筛查数据，以及使用数据的筛选和诊断技术和系统
公开(公告)号：US09107617B2
公开(公告)日：2015-08-18
申请号：US13510290
申请日：2010-11-16
申请人： Jiang Liu , Zhuo Zhang , Wing Kee Damon Wong , Ngan Meng Tan , Fengshou Yin , Beng Hai Lee , Huiqi Li , Joo Hwee Lim , Carol Cheung , Tin Aung , Tien Yin Wong , Ziyang Liang , Jun Cheng , Baskaran Mani
发明人： Jiang Liu , Zhuo Zhang , Wing Kee Damon Wong , Ngan Meng Tan , Fengshou Yin , Beng Hai Lee , Huiqi Li , Joo Hwee Lim , Carol Cheung , Tin Aung , Tien Yin Wong , Ziyang Liang , Jun Cheng , Baskaran Mani
IPC分类号： A61B3/12 , A61B5/02 , A61B5/00
CPC分类号： A61B3/0025 , A61B3/12 , A61B5/02007 , A61B5/7264 , A61B5/7267 , A61B5/7275 , G06T7/0012 , G06T7/40 , G06T2207/30041
摘要： A non-stereo fundus image is used to obtain a plurality of glaucoma indicators. Additionally, genome data for the subject is used to obtain genetic marker data relating to one or more genes and/or SNPs associated with glaucoma. The glaucoma indicators and genetic marker data are input into an adaptive model operative to generate an output indicative of a risk of glaucoma in the subject. In combination, the genetic indicators and genome data are more informative about the risk of glaucoma than either of the two in isolation. The adaptive model may be a two-stage model, having a first stage in which individual genetic indicators are combined with respective portions of the genome data by first adaptive model modules to form respective first outputs, and a second stage in which the first outputs are combined by a second adaptive mode. Texture analysis is performed on the fundus images to classify them based on their quality, and only images which are determined to meet a quality criterion are subjected to an analysis to determine if they exhibit glaucoma indicators. Also, the images are put into a standard format. The system may include estimating the position of the optic cup by combining results from multiple optic cup segmentation techniques. The system may include estimating the position of the optic disc by applying edge detection to the funds image, excluding edge points that are unlikely to be optic disc boundary points, and estimating the position of an optic disc by fitting an ellipse to the remaining edge points.
摘要翻译：使用非立体眼底图像来获得多个青光眼指示符。此外，用于受试者的基因组数据用于获得与与青光眼相关的一个或多个基因和/或SNP相关的遗传标记数据。青光眼指标和遗传标记数据被输入到适应模型中，该模型用于产生指示受试者青光眼风险的输出。综合来看，遗传指标和基因组数据对于青光眼的风险比孤立的两者之一更有信息。自适应模型可以是两阶段模型，其具有第一阶段，其中通过第一自适应模型模块将个体遗传指标与基因组数据的相应部分组合以形成相应的第一输出，第二阶段中，第一输出是通过第二自适应模式组合。对眼底图像进行纹理分析，根据其质量对其进行分类，仅对满足质量标准的图像进行分析，以确定其是否呈现青光眼指标。此外，图像被放入标准格式。该系统可以包括通过组合来自多个光学杯分割技术的结果来估计光学杯的位置。该系统可以包括通过对资金图像应用边缘检测来估计视盘的位置，排除不太可能是视盘边界点的边缘点，以及通过将椭圆拟合到剩余边缘点来估计视盘的位置。

6. 发明申请

US20120230564A1 OBTAINING DATA FOR AUTOMATIC GLAUCOMA SCREENING, AND SCREENING AND DIAGNOSTIC TECHNIQUES AND SYSTEMS USING THE DATA 有权
标题翻译：获取用于自动GLAUCOMA筛选的数据，以及使用数据的筛选和诊断技术和系统
公开(公告)号：US20120230564A1
公开(公告)日：2012-09-13
申请号：US13510290
申请日：2010-11-16
申请人： Jiang Liu , Zhuo Zhang , Wing Kee Damon Wong , Ngan Meng Tan , Fengshou Yin , Beng Hai Lee , Huiqi Li , Joo Hwee Lim , Carol Cheung , Tin Aung , Tien Yin Wong , Ziyang Liang , Jun Cheng , Baskaran Mani
发明人： Jiang Liu , Zhuo Zhang , Wing Kee Damon Wong , Ngan Meng Tan , Fengshou Yin , Beng Hai Lee , Huiqi Li , Joo Hwee Lim , Carol Cheung , Tin Aung , Tien Yin Wong , Ziyang Liang , Jun Cheng , Baskaran Mani
IPC分类号： G06K9/46
CPC分类号： A61B3/0025 , A61B3/12 , A61B5/02007 , A61B5/7264 , A61B5/7267 , A61B5/7275 , G06T7/0012 , G06T7/40 , G06T2207/30041
摘要： A non-stereo fundus image is used to obtain a plurality of glaucoma indicators. Additionally, genome data for the subject is used to obtain genetic marker data relating to one or more genes and/or SNPs associated with glaucoma. The glaucoma indicators indicators and genetic marker data are input into an adaptive model operative to generate an output indicative of a risk of glaucoma in the subject. In combination, the genetic indicators and genome data are more informative about the risk of glaucoma than either of the two in isolation. The adaptive model may be a two-stage model, having a first stage in which individual genetic indicators are combined with respective portions of the genome data by first adaptive model modules to form respective first outputs, and a second stage in which the first outputs are combined by a second adaptive mode. Texture analysis is performed on the fundus images to classify them based on their quality, and only images which are determined to meet a quality criterion are subjected to an analysis to determine if they exhibit glaucoma indicators. Also, the images are put into a standard format. The system may include estimating the position of the optic cup by combining results from multiple optic cup segmentation techniques. The system may include estimating the position of the optic disc by applying edge detection to the funds image, excluding edge points that are unlikely to be optic disc boundary points, and estimating the position of an optic disc by fitting an ellipse to the remaining edge points.
摘要翻译：使用非立体眼底图像来获得多个青光眼指示符。此外，用于受试者的基因组数据用于获得与与青光眼相关的一个或多个基因和/或SNP相关的遗传标记数据。青光眼指标指标和遗传标记数据被输入到适应模型中，该模型用于产生指示受试者青光眼风险的输出。综合来看，遗传指标和基因组数据对于青光眼的风险比孤立的两者之一更有信息。自适应模型可以是两阶段模型，其具有第一阶段，其中通过第一自适应模型模块将个体遗传指标与基因组数据的相应部分组合以形成相应的第一输出，第二阶段中，第一输出是通过第二自适应模式组合。对眼底图像进行纹理分析，根据其质量对其进行分类，仅对满足质量标准的图像进行分析，以确定其是否呈现青光眼指标。此外，图像被放入标准格式。该系统可以包括通过组合来自多个光学杯分割技术的结果来估计光学杯的位置。该系统可以包括通过对资金图像应用边缘检测来估计视盘的位置，不包括不太可能是视盘边界点的边缘点，以及通过将椭圆拟合到剩余边缘点来估计视盘的位置。

7. 发明授权

US08958621B2 Corneal graft evaluation based on optical coherence tomography image 有权
标题翻译：基于光学相干断层扫描图像的角膜移植评估
公开(公告)号：US08958621B2
公开(公告)日：2015-02-17
申请号：US13814236
申请日：2011-08-03
申请人： Beng Hai Lee , Jun Cheng , Jiang Liu , Wing Kee Damon Wong , Ngan Meng Tan , Jodhbir Singh Mehta , Tiang Hwee Donald Tan , Tien Yin Wong
发明人： Beng Hai Lee , Jun Cheng , Jiang Liu , Wing Kee Damon Wong , Ngan Meng Tan , Jodhbir Singh Mehta , Tiang Hwee Donald Tan , Tien Yin Wong
IPC分类号： G06K9/00 , G06T7/00 , A61B3/10 , A61F2/14
CPC分类号： G06T7/0012 , A61B3/102 , A61F2/142 , G06T7/12 , G06T7/149 , G06T2207/10101 , G06T2207/30041
摘要： An OCT image of an eye which has been subject to a DSAEK corneal transplant, in which a Descement's membrane in the cornea has been replaced by a graft, is processed to identify the outline of the graft. The process includes the steps of: computationally extracting the boundary of the cornea including the graft; computationally detecting the corners of the graft; computationally extracting points on the boundary between the graft and the original cornea; and computationally fitting the points on the boundary between the graft and the original cornea smoothly into a curve. The outline of the graft is then displayed. A graft profile may be generated, indicating the thickness of the graft at each point along its length.
摘要翻译：已经进行DSAEK角膜移植的眼睛的OCT图像被处理以鉴定移植物的轮廓，其中角膜中的Descement膜被移植物代替。该过程包括以下步骤：计算提取包括移植物的角膜的边界; 计算检测移植物的角部; 在移植物和原始角膜之间的边界上计算提取点; 并将计算上将移植物和原始角膜之间的边界点拟合成曲线。然后显示移植物的轮廓。可以产生移植物轮廓，指示沿其长度的每个点处移植物的厚度。

8. 发明申请

US20130251230A1 CORNEAL GRAFT EVALUATION BASED ON OPTICAL COHERENCE TOMOGRAPHY IMAGE 有权
标题翻译：基于光学相干图像的角膜评估
公开(公告)号：US20130251230A1
公开(公告)日：2013-09-26
申请号：US13814236
申请日：2011-08-03
申请人： Beng Hai Lee , Jun Cheng , Jiang Liu , Wing Kee Damon Wong , Ngan Meng Tan , Jodhbir Singh Mehta , Tiang Hwee Donald Tan , Tien Yin Wong
发明人： Beng Hai Lee , Jun Cheng , Jiang Liu , Wing Kee Damon Wong , Ngan Meng Tan , Jodhbir Singh Mehta , Tiang Hwee Donald Tan , Tien Yin Wong
IPC分类号： G06T7/00
CPC分类号： G06T7/0012 , A61B3/102 , A61F2/142 , G06T7/12 , G06T7/149 , G06T2207/10101 , G06T2207/30041
摘要： An OCT image of an eye which has been subject to a DSAEK corneal transplant, in which a Descement's membrane in the cornea has been replaced by a graft, is processed to identify the outline of the graft. The process includes the steps of: computationally extracting the boundary of the cornea including the graft; computationally detecting the corners of the graft; computationally extracting points on the boundary between the graft and the original cornea; and computationally fitting the points on the boundary between the graft and the original cornea smoothly into a curve. The outline of the graft is then displayed. A graft profile may be generated, indicating the thickness of the graft at each point along its length.
摘要翻译：已经进行DSAEK角膜移植的眼睛的OCT图像被处理以鉴定移植物的轮廓，其中角膜中的Descement膜被移植物代替。该过程包括以下步骤：计算提取包括移植物的角膜的边界; 计算检测移植物的角部; 在移植物和原始角膜之间的边界上计算提取点; 并将计算上将移植物和原始角膜之间的边界点拟合成曲线。然后显示移植物的轮廓。可以产生移植物轮廓，指示沿其长度的每个点处移植物的厚度。

9. 发明授权

US08428322B2 Method and system for determining the position of an optic cup boundary 失效
标题翻译：用于确定视杯边界位置的方法和系统
公开(公告)号：US08428322B2
公开(公告)日：2013-04-23
申请号：US13140011
申请日：2008-12-15
申请人： Wing Kee Damon Wong , Jiang Liu , Joo Hwee Lim , Huiqi Li , Ngan Meng Tan , Tien Yin Wong
发明人： Wing Kee Damon Wong , Jiang Liu , Joo Hwee Lim , Huiqi Li , Ngan Meng Tan , Tien Yin Wong
IPC分类号： G06K9/00
CPC分类号： A61B3/12 , G06T7/12 , G06T2207/20161 , G06T2207/30041
摘要： A method for determining the position of an optic cup boundary in a 2D retinal image. The method includes detecting kinks in blood vessels at an estimated boundary of the optic cup and the optic disc, and determining the position of the optic cup boundary in the 2D retinal image based on the detected kinks. The determined optic cup boundary may be used for determining a CDR which may in turn be used for determining a risk of contracting glaucomatous.
摘要翻译：一种用于确定2D视网膜图像中视杯边界的位置的方法。该方法包括在光学杯和视盘的估计边界处检测血管中的扭结，以及基于检测到的扭结来确定视网膜边界在2D视网膜图像中的位置。确定的视杯边界可以用于确定CDR，其可以用于确定青光眼感染的风险。

10. 发明申请

US20110091083A1 AUTOMATIC CUP-TO-DISC RATIO MEASUREMENT SYSTEM 失效
标题翻译：自动CUP-TO-DISC比例测量系统
公开(公告)号：US20110091083A1
公开(公告)日：2011-04-21
申请号：US12992299
申请日：2008-05-14
申请人： Jiang Liu , Joo Hwee Lim , Wing Kee Wong , Huiqi Li , Tien Yin Wong
发明人： Jiang Liu , Joo Hwee Lim , Wing Kee Wong , Huiqi Li , Tien Yin Wong
IPC分类号： G06K9/00
CPC分类号： G06T7/0012 , A61B3/12 , G06T7/11 , G06T2207/10101 , G06T2207/20084 , G06T2207/20221 , G06T2207/30041
摘要： A two-dimensional retinal fundus image of the retinal fundus of an eye is processed by optic disc segmentation (2) followed by cup segmentation 4. Data derived from the optic disc segmentation (i.e. the output of the disc segmentation (2) and/or data derived from the output of the optic disc segmentation step, e.g. by a smoothing operation 3) and data derived from the out-put of the optic cup segmentation (i.e. the output of the cup segmentation (4) and/or data derived from the output of the optic disc segmentation, e.g. by a smoothing operation 5) are fed (6) to an adaptive model which has been trained to generate from such inputs a value indicative of cup-to-disc ratio (CDR) of the eye. The CDR is indicative of glaucoma. Thus, the method can be used to screen patients for glaucoma.
摘要翻译：通过视盘分割（2）处理视网膜眼底的二维视网膜眼底图像，随后进行杯分割4.从视盘分割得到的数据（即，椎间盘分割（2）和/或从光盘分割步骤的输出得到的数据，例如通过平滑操作3）和从视杯分割（即，杯分割（4）的输出）和/或来自例如通过平滑操作5）将光盘分割的输出（6）馈送（6）到自适应模型，该自适应模型已被训练以从这样的输入生成指示眼睛的杯 - 盘比（CDR）的值。 CDR指示青光眼。因此，该方法可用于筛选患者青光眼。

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