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1. 发明申请

US20130038691A1 ASYMMETRIC ANGULAR RESPONSE PIXELS FOR SINGLE SENSOR STEREO 有权
标题翻译：用于单传感器立体声的不对称角度响应像素
公开(公告)号：US20130038691A1
公开(公告)日：2013-02-14
申请号：US13404319
申请日：2012-02-24
申请人： Gennadiy Agranov , Dongqing Cao , Avi Yaron
发明人： Gennadiy Agranov , Dongqing Cao , Avi Yaron
IPC分类号： H04N13/02
CPC分类号： H04N13/229 , H04N5/3696
摘要： Depth sensing imaging pixels include pairs of left and right pixels forming an asymmetrical angular response to incident light. A single microlens is positioned above each pair of left and right pixels. Each microlens spans across each of the pairs of pixels in a horizontal direction. Each microlens has a length that is substantially twice the length of either the left or right pixel in the horizontal direction; and each microlens has a width that is substantially the same as a width of either the left or right pixel in a vertical direction. The horizontal and vertical directions are horizontal and vertical directions of a planar image array. A light pipe in each pixel is used to improve light concentration and reduce cross talk.
摘要翻译：深度感测成像像素包括形成对入射光的不对称角度响应的左和右像素对。单个微透镜位于每对左和右像素上方。每个微透镜在水平方向跨越像素对中的每一对。每个微透镜具有基本上在水平方向上的左或右像素长度的两倍的长度; 并且每个微透镜具有与垂直方向上的左或右像素的宽度基本相同的宽度。水平和垂直方向是平面图像阵列的水平和垂直方向。每个像素中的光管用于提高光的集中度并减少串扰。

2. 发明授权

US10015471B2 Asymmetric angular response pixels for single sensor stereo 有权
公开(公告)号：US10015471B2
公开(公告)日：2018-07-03
申请号：US13404319
申请日：2012-02-24
申请人： Gennadiy Agranov , Dongqing Cao , Avi Yaron
发明人： Gennadiy Agranov , Dongqing Cao , Avi Yaron
IPC分类号： H04N13/02 , H04N5/369
CPC分类号： H04N13/229 , H04N5/3696
摘要： Depth sensing imaging pixels include pairs of left and right pixels forming an asymmetrical angular response to incident light. A single microlens is positioned above each pair of left and right pixels. Each microlens spans across each of the pairs of pixels in a horizontal direction. Each microlens has a length that is substantially twice the length of either the left or right pixel in the horizontal direction; and each microlens has a width that is substantially the same as a width of either the left or right pixel in a vertical direction. The horizontal and vertical directions are horizontal and vertical directions of a planar image array. A light pipe in each pixel is used to improve light concentration and reduce cross talk.

3. 发明授权

US08149270B1 High resolution endoscope 有权
标题翻译：高分辨率内窥镜
公开(公告)号：US08149270B1
公开(公告)日：2012-04-03
申请号：US11958211
申请日：2007-12-17
申请人： Avi Yaron , Mark Schechterman
发明人： Avi Yaron , Mark Schechterman
IPC分类号： H04N13/00
CPC分类号： A61B1/00193 , H04N13/229 , H04N2005/2255
摘要： A stereoscopic endoscope employing a single light sensor array and a lenticular lens layer located at a proximal end of the endoscope, a pair of periscopic prisms located at a distal end of the endoscope and an optical relay assembly array located between the pair of periscopic prisms and the light sensor array. One prism of the pair of periscopic prisms receives a right view of an object and another prism of the pair receives a left view of the object. The interpupilar distance (IPD) between the right and left view is substantially large, thereby increasing the resolution of a stereoscopic image which is eventually displayed on a display. Another embodiment includes a set of three light sensor arrays, a light director and three lenticular lens layers. Each light sensor array detects light at a predetermined range of wavelengths (e.g. red, green and blue).
摘要翻译：一种使用位于内窥镜的近端的单个光传感器阵列和双凸透镜层的立体内窥镜，位于内窥镜的远端的一对透视棱镜和位于一对透视棱镜之间的光学继电器组件阵列，以及光传感器阵列。一对透视棱镜的一个棱镜接收物体的右视图，另一个棱镜接收对象的左视图。右视图和左视图之间的相邻距离（IPD）基本上大，从而增加最终显示在显示器上的立体图像的分辨率。另一个实施例包括一组三个光传感器阵列，光导向器和三个双凸透镜层。每个光传感器阵列检测预定波长范围（例如，红色，绿色和蓝色）的光。

4. 发明授权

US08320992B2 Method and system for superimposing three dimensional medical information on a three dimensional image 有权
标题翻译：三维医学信息叠加在三维图像上的方法和系统
公开(公告)号：US08320992B2
公开(公告)日：2012-11-27
申请号：US11866828
申请日：2007-10-03
申请人： Tami Frenkel , Avi Yaron
发明人： Tami Frenkel , Avi Yaron
IPC分类号： A61B5/05
CPC分类号： A61B5/103 , A61B5/4504 , A61B5/4528 , A61B6/505 , A61B6/5235 , G06T7/33 , G06T2207/10021 , G06T2207/30008 , G06T2207/30016 , G06T2207/30204
摘要： A system for video based registration between images during a skeletal medical procedure includes a stereoscopic camera, a two dimensional image detector and a registration processor. The camera is associated with a stereoscopic coordinate system, the camera acquires a stereoscopic image pair of fiducial marks fixed onto a skeletal structure. Fiducial representations of the fiducial marks appear on the stereoscopic image pair, and a skeletal representation of the skeletal structure appears on two different 2D images. The registration processor registers a stereoscopic coordinate system with a 3D coordinate system associated with a volumetric image detector, and superimposes 3D information on at least one volumetric image. The registration processor registers the stereoscopic coordinate system with the 3D coordinate system by registering the stereoscopic coordinate system with the 2D coordinate system and by registering the 2D coordinate system with the 3D coordinate system.
摘要翻译：在骨骼医疗过程期间用于在图像之间进行基于视频的注册的系统包括立体摄像机，二维图像检测器和配准处理器。相机与立体坐标系相关联，摄像机获取固定在骨架结构上的基准标记的立体图像对。基准标记的基准表示出现在立体图像对上，并且骨骼结构的骨骼表示出现在两个不同的2D图像上。注册处理器将具有与体积图像检测器相关联的3D坐标系统的立体坐标系统注册，并且将3D信息叠加在至少一个体积图像上。注册处理器通过将立体坐标系与2D坐标系对应，并通过将2D坐标系与3D坐标系对应而将立体坐标系登记到3D坐标系。

5. 发明授权

US08212858B2 Optical device 有权
公开(公告)号：US08212858B2
公开(公告)日：2012-07-03
申请号：US11932417
申请日：2007-10-31
申请人： Mark Schechterman , Michael Goldstein , Nadav Horesh , Avi Yaron , Martin Abraham
发明人： Mark Schechterman , Michael Goldstein , Nadav Horesh , Avi Yaron , Martin Abraham
IPC分类号： H04N13/00
CPC分类号： H04N9/045 , A61B1/00193 , A61B1/041 , G02B21/22 , G02B23/2415 , G02B27/2214 , G03B35/00 , H04N5/23248 , H04N13/10 , H04N13/161 , H04N13/189 , H04N13/194 , H04N13/207 , H04N13/211 , H04N13/214 , H04N13/218 , H04N13/225 , H04N13/229 , H04N13/232 , H04N13/239 , H04N13/254 , H04N13/257 , H04N13/296 , H04N13/305 , H04N13/307 , H04N13/324 , H04N13/334 , H04N13/337 , H04N13/339 , H04N13/341 , H04N13/344 , H04N13/365 , H04N13/398 , H04N2005/2255 , H04N2013/0081
摘要： Stereoscopic device including an image directing assembly, an image differentiator and an image detector, the image directing assembly having a first light inlet for receiving a first image and a second light inlet for receiving a second image, the first light inlet being spaced apart from the second light inlet, the image differentiator differentiating between the first image and the second image, wherein the image directing assembly directs the first image to the image detector via a common path, and wherein the image directing assembly directs the second image to the image detector via the common path.

6. 发明授权

US07683926B2 Optical device 有权
标题翻译：光学装置
公开(公告)号：US07683926B2
公开(公告)日：2010-03-23
申请号：US10145418
申请日：2002-05-13
申请人： Mark Schechterman , Michael Goldstein , Nadav Horesh , Avi Yaron , Martin Abraham
发明人： Mark Schechterman , Michael Goldstein , Nadav Horesh , Avi Yaron , Martin Abraham
IPC分类号： H04N13/00
CPC分类号： H04N9/045 , A61B1/00193 , A61B1/041 , G02B21/22 , G02B23/2415 , G02B27/2214 , G03B35/00 , H04N5/23248 , H04N13/10 , H04N13/161 , H04N13/189 , H04N13/194 , H04N13/207 , H04N13/211 , H04N13/214 , H04N13/218 , H04N13/225 , H04N13/229 , H04N13/232 , H04N13/239 , H04N13/254 , H04N13/257 , H04N13/296 , H04N13/305 , H04N13/307 , H04N13/324 , H04N13/334 , H04N13/337 , H04N13/339 , H04N13/341 , H04N13/344 , H04N13/365 , H04N13/398 , H04N2005/2255 , H04N2013/0081
摘要： Stereoscopic device including an image directing assembly, an image differentiator and an image detector, the image directing assembly having a first light inlet for receiving a first image and a second light inlet for receiving a second image, the first light inlet being spaced apart from the second light inlet, the image differentiator differentiating between the first image and the second image, wherein the image directing assembly directs the first image to the image detector via a common path, and wherein the image directing assembly directs the second image to the image detector via the common path.
摘要翻译：所述立体设备包括图像引导组件，图像微分器和图像检测器，所述图像引导组件具有用于接收第一图像的第一光入口和用于接收第二图像的第二光入口，所述第一光入口与第二光入口，区分第一图像和第二图像之间的图像微分器，其中图像引导组件经由公共路径将第一图像引导到图像检测器，并且其中图像引导组件将第二图像引导到图像检测器，经由共同的道路。

7. 发明申请

US20080158344A1 OPTICAL DEVICE 有权
公开(公告)号：US20080158344A1
公开(公告)日：2008-07-03
申请号：US11932502
申请日：2007-10-31
申请人： Mark Schechterman , Michael D. Goldstein , Nadav Horesh , Avi Yaron , Martin Abraham
发明人： Mark Schechterman , Michael D. Goldstein , Nadav Horesh , Avi Yaron , Martin Abraham
IPC分类号： H04N13/02
CPC分类号： H04N9/045 , A61B1/00193 , A61B1/041 , G02B21/22 , G02B23/2415 , G02B27/2214 , G03B35/00 , H04N5/23248 , H04N13/10 , H04N13/161 , H04N13/189 , H04N13/194 , H04N13/207 , H04N13/211 , H04N13/214 , H04N13/218 , H04N13/225 , H04N13/229 , H04N13/232 , H04N13/239 , H04N13/254 , H04N13/257 , H04N13/296 , H04N13/305 , H04N13/307 , H04N13/324 , H04N13/334 , H04N13/337 , H04N13/339 , H04N13/341 , H04N13/344 , H04N13/365 , H04N13/398 , H04N2005/2255 , H04N2013/0081
摘要： Stereoscopic device including an image directing assembly, an image differentiator and an image detector, the image directing assembly having a first light inlet for receiving a first image and a second light inlet for receiving a second image, the first light inlet being spaced apart from the second light inlet, the image differentiator differentiating between the first image and the second image, wherein the image directing assembly directs the first image to the image detector via a common path, and wherein the image directing assembly directs the second image to the image detector via the common path.

8. 发明授权

US06704043B2 Optical device 有权
标题翻译：光学装置
公开(公告)号：US06704043B2
公开(公告)日：2004-03-09
申请号：US10014755
申请日：2001-12-10
申请人： Michael D. Goldstein , Avi Yaron , Shay Ghilai
发明人： Michael D. Goldstein , Avi Yaron , Shay Ghilai
IPC分类号： H04N1500
CPC分类号： G02B23/2415 , G02B21/22 , H04N9/045 , H04N13/10 , H04N13/161 , H04N13/189 , H04N13/194 , H04N13/211 , H04N13/229 , H04N13/232 , H04N13/239 , H04N13/254 , H04N13/257 , H04N13/296 , H04N13/305 , H04N13/307 , H04N13/324 , H04N13/334 , H04N13/337 , H04N13/341 , H04N13/344 , H04N13/365 , H04N13/398 , H04N2013/0081
摘要： Stereoscopic device including a lenticular lens layer and light sensor array, the lenticular lens layer includes a plurality of lenticular elements, the sight sensor array includes a plurality of light sensors, wherein selected ones of the light sensors detect light at a predetermined range of wavelengths and wherein at least selected others of the light sensors detect light at at least another predetermined range of wavelengths and wherein each of the lenticular elements is located in front of a selected group of the light sensors, thereby directing light from different directions to different light sensors within the selected group of the light sensors.
摘要翻译：包括双凸透镜层和光传感器阵列的立体设备，双凸透镜层包括多个透镜元件，视觉传感器阵列包括多个光传感器，其中选定的光传感器检测波长为预定范围的光，其中所述光传感器中的至少其他选定的其他光传感器在至少另一预定波长范围内检测光，并且其中每个所述透镜元件位于所选择的一组光传感器的前面，从而将来自不同方向的光引导到不同光传感器内所选组的光传感器。

9. 发明授权

US08795157B1 Method and system for navigating within a colon 有权
标题翻译：冒号内导航的方法和系统
公开(公告)号：US08795157B1
公开(公告)日：2014-08-05
申请号：US11870277
申请日：2007-10-10
申请人： Avi Yaron , Tami Frenkel
发明人： Avi Yaron , Tami Frenkel
IPC分类号： A61B1/04
CPC分类号： A61B1/00193 , A61B1/00009 , A61B1/0005 , A61B1/00147 , A61B1/31 , G06T7/593 , G06T2207/10021 , G06T2207/10068 , G06T2207/30028
摘要： Method for advancing a colonoscope within a colon of the body of a patient, the method including the procedures of acquiring a stereoscopic image pair of a region of the interior of the colon, identifying topographical features in the stereoscopic image pair, determining the depth of each of the topographical features in the stereoscopic image pair, and indicating the appropriate direction to advance the colonoscope, the direction being toward at least a selected one of the topographical features with greater depth than others of the topographical features.
摘要翻译：用于推进结肠镜在患者体内的结肠中的方法，该方法包括获取结肠内部区域的立体图像对的步骤，识别立体图像对中的外形特征，确定每个的立体图像对中的形貌特征，并且指示推进结肠镜的适当方向，所述方向朝着至少一个所述地形特征中的所选择的一个具有比其他形貌特征更深的深度。

10. 发明授权

US08243056B2 Method for reconstructing a three-dimensional surface of an object 有权
标题翻译：用于重建物体的三维表面的方法
公开(公告)号：US08243056B2
公开(公告)日：2012-08-14
申请号：US13196651
申请日：2011-08-02
申请人： Meir Bar-Zohar , Avi Yaron
发明人： Meir Bar-Zohar , Avi Yaron
IPC分类号： G09G5/00
CPC分类号： G06T7/593
摘要： Method for determining a disparity value of a disparity of each of a plurality of points on an object, the method including the procedures of detecting by a single image detector, a first image of the object through a first aperture, and a second image of the object through a second aperture, correcting the distortion of the first image, and the distortion of the second image, by applying an image distortion correction model to the first image and to the second image, respectively, thereby producing a first distortion-corrected image and a second distortion-corrected image, respectively, for each of a plurality of pixels in at least a portion of the first distortion-corrected image representing a selected one of the points, identifying a matching pixel in the second distortion-corrected image, and determining the disparity value according to the coordinates of each of the pixels and of the respective matching pixel.
摘要翻译：用于确定物体上的多个点中的每个点的视差的视差值的方法，所述方法包括由单个图像检测器检测的过程，通过第一孔径的物体的第一图像和通过对第一图像和第二图像分别应用图像失真校正模型，从而产生第一失真校正图像，并且通过第二孔径分别对第一图像和第二图像施加图像失真校正模型，校正第一图像的失真和第二图像的失真，分别对表示所选择的一个点的第一失真校正图像的至少一部分中的多个像素中的每一个的第二失真校正图像，识别第二失真校正图像中的匹配像素，以及确定根据每个像素和相应的匹配像素的坐标的视差值。

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