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1.发明申请公开(公告)号：US20170354472A1
公开(公告)日：2017-12-14
申请号：US15688731
申请日：2017-08-28
Applicant: Restoration Robotics, Inc.
Inventor： John A. Tenney , (Radhika) Mohan Bodduluri , Hui Zhang
CPC classification number: A61B34/30 , A61B17/32053 , A61B34/10 , A61B34/20 , A61B34/25 , A61B90/37 , A61B2017/00752 , A61B2034/101 , A61B2034/107 , A61B2090/3904 , A61B2090/3937
Abstract: Methods and systems are provided useful in various procedures, including hair harvesting and implantation, and further including computer-implemented and/or robotic hair transplantation. Methodologies are provided which enable a tool, such as a hair harvesting or a hair implantation tool, to proceed at least under a partial computer control in a selected direction of travel along a donor or recipient area of the patient, as well as changing direction of travel based on desired harvesting and/or implantation criteria.
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公开(公告)号：US20170128137A1
公开(公告)日：2017-05-11
申请号：US15410264
申请日：2017-01-19
Applicant: Restoration Robotics, Inc.
Inventor： Shehrzad A. Qureshi , Kyle R. Breton , John A. Tenney
IPC: A61B34/10 , A61B34/32 , G06F19/00 , G06T7/73 , G06K9/48 , G06K9/62 , G06T7/40 , G06K9/78 , G06T7/246 , A61B34/20 , G06T7/11
CPC classification number: A61B34/10 , A61B34/20 , A61B34/30 , A61B34/32 , A61B90/17 , A61B2017/00752 , A61B2017/00969 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/363 , A61B2090/3937 , G06F19/00 , G06F19/321 , G06K9/00624 , G06K9/481 , G06K9/6202 , G06K9/6267 , G06K9/78 , G06T7/11 , G06T7/246 , G06T7/248 , G06T7/40 , G06T7/74 , G06T2207/20021 , G06T2207/30088 , G06T2207/30196 , G06T2207/30204 , G06T2207/30241 , G06T2207/30242 , G16H30/20 , G16H50/20 , Y10S901/47
Abstract: Systems and methods for tracking, identifying, labeling and/or classifying objects or features of interest, such as follicular units are provided. In some embodiments the identified and labeled features of interest, such as follicular units, may be used for planning hair harvesting, hair implantation and/or performing hair transplantation procedures.
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公开(公告)号：US10022191B2
公开(公告)日：2018-07-17
申请号：US15410264
申请日：2017-01-19
Applicant: Restoration Robotics, Inc.
Inventor： Shehrzad A. Qureshi , Kyle R. Breton , John A. Tenney
IPC: G06K9/00 , A61B34/10 , A61B34/20 , A61B34/32 , G06F19/00 , G06T7/73 , G06T7/11 , G06K9/62 , G06T7/40 , G06K9/78 , G06T7/246 , G06K9/48 , G16H50/20 , A61B17/00
Abstract: Systems and methods for tracking, identifying, labeling and/or classifying objects or features of interest, such as follicular units are provided. In some embodiments the identified and labeled features of interest, such as follicular units, may be used for planning hair harvesting, hair implantation and/or performing hair transplantation procedures.
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公开(公告)号：US09589368B2
公开(公告)日：2017-03-07
申请号：US15193594
申请日：2016-06-27
Applicant: Restoration Robotics, Inc.
Inventor： Shehrzad A. Qureshi , Kyle R. Breton , John A. Tenney
CPC classification number: A61B34/10 , A61B34/20 , A61B34/30 , A61B34/32 , A61B90/17 , A61B2017/00752 , A61B2017/00969 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/363 , A61B2090/3937 , G06F19/00 , G06F19/321 , G06K9/00624 , G06K9/481 , G06K9/6202 , G06K9/6267 , G06K9/78 , G06T7/11 , G06T7/246 , G06T7/248 , G06T7/40 , G06T7/74 , G06T2207/20021 , G06T2207/30088 , G06T2207/30196 , G06T2207/30204 , G06T2207/30241 , G06T2207/30242 , G16H30/20 , G16H50/20 , Y10S901/47
Abstract: A system and method for tracking, identifying, and labeling objects or features of interest, such as follicular units is provided. In some embodiments, tracking is accomplished using unique signature of the follicular unit and image stabilization techniques. According to some aspects pixel data of a region of interest in a first image is compared to pixel data of the regions of interest in a second image, and based on a result of the comparison of pixel data in the region of interest in the first and second images and the signature of the follicular unit, locating the follicular unit in the second image. In some embodiments the follicular unit is searched for in the direction of a motion vector.
Abstract translation: 提供了用于跟踪，识别和标记感兴趣的对象或特征的系统和方法，例如滤泡单元。 在一些实施例中，使用滤泡单元和图像稳定技术的独特签名来实现跟踪。 根据一些方面，将第一图像中的感兴趣区域的像素数据与第二图像中的感兴趣区域的像素数据进行比较，并且基于第一图像中感兴趣区域中的像素数据的比较结果，以及 第二图像和毛囊单位的签名，将滤泡单位定位在第二图像中。 在一些实施例中，在运动矢量的方向上搜索滤泡单位。
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5.发明申请公开(公告)号：US20140276092A1
公开(公告)日：2014-09-18
申请号：US13804320
申请日：2013-03-14
Applicant: RESTORATION ROBOTICS, INC.
Inventor： John A. Tenney , Mohan (a.k.a. Radhika Mohan) Bodduluri , Gabriele Zingaretti , Clifford A. Oostman, JR.
CPC classification number: A61B5/1072 , A61B5/0059 , A61B10/02 , A61B34/30 , A61B90/02 , A61B90/94 , A61B90/96 , A61B2017/00752 , A61B2034/2065 , A61B2090/0807 , A61B2090/363 , A61B2090/3937
Abstract: A method of detecting a change in tension of a body surface during a medical procedure is provided. In some embodiments the method may be carried out without additional invasive devices or procedures being required. In one example the methodology is applied when using any type of body surface tensioning device. The tensioning device comprises fiducials that are visible to an image acquisition device. In another example of an embodiment of the current application, the methodology may be applied by attaching fiducials directly to the body surface. The relative motion of the fiducials relative to one another may be utilized to determine a change in body surface tension.
Abstract translation: 提供了一种在医疗过程中检测身体表面张力变化的方法。 在一些实施例中，该方法可以在不需要额外的侵入性装置或程序的情况下进行。 在一个示例中，当使用任何类型的身体表面张紧装置时应用该方法。 张紧装置包括对于图像采集装置可见的基准。 在当前应用的实施例的另一示例中，可以通过将基准直接附接到身体表面来应用该方法。 基准体相对于彼此的相对运动可用于确定体表张力的变化。
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Patent Agency Ranking
公开(公告)号：US09743988B2
公开(公告)日：2017-08-29
申请号：US14538362
申请日：2014-11-11
Applicant: Restoration Robotics, Inc.
Inventor： John A. Tenney , Mohan Bodduluri , Hui Zhang
IPC: A61B19/00 , A61B17/3205 , A61B34/20 , A61B34/30 , A61B17/00 , A61B34/10 , A61B90/00 , A61B34/00
CPC classification number: A61B34/30 , A61B17/32053 , A61B34/10 , A61B34/20 , A61B34/25 , A61B90/37 , A61B2017/00752 , A61B2034/101 , A61B2034/107 , A61B2090/3904 , A61B2090/3937
Abstract: Methods and systems are provided useful in various procedures, including hair harvesting and implantation, and further including computer-implemented and/or robotic hair transplantation. Methodologies are provided which enable a tool, such as a hair harvesting or a hair implantation tool, to proceed at least under a partial computer control in a selected direction of travel along a donor or recipient area of the patient, as well as changing direction of travel based on desired harvesting and/or implantation criteria.
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公开(公告)号：US20140355834A1
公开(公告)日：2014-12-04
申请号：US14459968
申请日：2014-08-14
Applicant: Restoration Robotics, Inc.
Inventor： Shehrzad A. Qureshi , Kyle R. Breton , John A. Tenney
CPC classification number: A61B34/10 , A61B34/20 , A61B34/30 , A61B34/32 , A61B90/17 , A61B2017/00752 , A61B2017/00969 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/363 , A61B2090/3937 , G06F19/00 , G06F19/321 , G06K9/00624 , G06K9/481 , G06K9/6202 , G06K9/6267 , G06K9/78 , G06T7/11 , G06T7/246 , G06T7/248 , G06T7/40 , G06T7/74 , G06T2207/20021 , G06T2207/30088 , G06T2207/30196 , G06T2207/30204 , G06T2207/30241 , G06T2207/30242 , G16H30/20 , G16H50/20 , Y10S901/47
Abstract: A system and method for tracking, identifying, and labeling objects or features of interest, such as follicular units is provided. In some embodiments, tracking is accomplished using unique signature of the follicular unit and image stabilization techniques. According to some aspects pixel data of a region of interest in a first image is compared to pixel data of the regions of interest in a second image, and based on a result of the comparison of pixel data in the region of interest in the first and second images and the signature of the follicular unit, locating the follicular unit in the second image. In some embodiments the follicular unit is searched for in the direction of a motion vector.
Abstract translation: 提供了用于跟踪，识别和标记感兴趣的对象或特征的系统和方法，例如滤泡单元。 在一些实施例中，使用滤泡单元和图像稳定技术的独特签名来实现跟踪。 根据一些方面，将第一图像中的感兴趣区域的像素数据与第二图像中的感兴趣区域的像素数据进行比较，并且基于第一图像中感兴趣区域中的像素数据的比较结果，以及 第二图像和毛囊单位的签名，将滤泡单位定位在第二图像中。 在一些实施例中，在运动矢量的方向上搜索滤泡单位。
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公开(公告)号：US09405971B2
公开(公告)日：2016-08-02
申请号：US14459968
申请日：2014-08-14
Applicant: Restoration Robotics, Inc.
Inventor： Shehrzad A. Qureshi , Kyle R. Breton , John A. Tenney
CPC classification number: A61B34/10 , A61B34/20 , A61B34/30 , A61B34/32 , A61B90/17 , A61B2017/00752 , A61B2017/00969 , A61B2034/105 , A61B2034/2057 , A61B2034/2065 , A61B2090/363 , A61B2090/3937 , G06F19/00 , G06F19/321 , G06K9/00624 , G06K9/481 , G06K9/6202 , G06K9/6267 , G06K9/78 , G06T7/11 , G06T7/246 , G06T7/248 , G06T7/40 , G06T7/74 , G06T2207/20021 , G06T2207/30088 , G06T2207/30196 , G06T2207/30204 , G06T2207/30241 , G06T2207/30242 , G16H30/20 , G16H50/20 , Y10S901/47
Abstract: A system and method for tracking, identifying, and labeling objects or features of interest, such as follicular units is provided. In some embodiments, tracking is accomplished using unique signature of the follicular unit and image stabilization techniques. According to some aspects pixel data of a region of interest in a first image is compared to pixel data of the regions of interest in a second image, and based on a result of the comparison of pixel data in the region of interest in the first and second images and the signature of the follicular unit, locating the follicular unit in the second image. In some embodiments the follicular unit is searched for in the direction of a motion vector.
Abstract translation: 提供了用于跟踪，识别和标记感兴趣的对象或特征的系统和方法，例如滤泡单元。 在一些实施例中，使用滤泡单元和图像稳定技术的独特签名来实现跟踪。 根据一些方面，将第一图像中的感兴趣区域的像素数据与第二图像中的感兴趣区域的像素数据进行比较，并且基于第一图像中感兴趣区域中的像素数据的比较结果，以及 第二图像和毛囊单位的签名，将滤泡单位定位在第二图像中。 在一些实施例中，在运动矢量的方向上搜索滤泡单位。
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9.发明授权公开(公告)号：US09392965B2
公开(公告)日：2016-07-19
申请号：US13804320
申请日：2013-03-14
Applicant: Restoration Robotics, Inc.
Inventor： John A. Tenney , Mohan Bodduluri , Gabriele Zingaretti , Clifford A. Oostman, Jr.
CPC classification number: A61B5/1072 , A61B5/0059 , A61B10/02 , A61B34/30 , A61B90/02 , A61B90/94 , A61B90/96 , A61B2017/00752 , A61B2034/2065 , A61B2090/0807 , A61B2090/363 , A61B2090/3937
Abstract: A method of detecting a change in tension of a body surface during a medical procedure is provided. In some embodiments the method may be carried out without additional invasive devices or procedures being required. In one example the methodology is applied when using any type of body surface tensioning device. The tensioning device comprises fiducials that are visible to an image acquisition device. In another example of an embodiment of the current application, the methodology may be applied by attaching fiducials directly to the body surface. The relative motion of the fiducials relative to one another may be utilized to determine a change in body surface tension.
Abstract translation: 提供了一种在医疗过程中检测身体表面张力变化的方法。 在一些实施例中，可以在不需要额外的侵入性装置或程序的情况下执行该方法。 在一个示例中，当使用任何类型的身体表面张紧装置时应用该方法。 张紧装置包括对于图像采集装置可见的基准。 在当前应用的实施例的另一示例中，可以通过将基准直接附接到身体表面来应用该方法。 基准体相对于彼此的相对运动可用于确定体表张力的变化。
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公开(公告)号：US20160035079A1
公开(公告)日：2016-02-04
申请号：US14881457
申请日：2015-10-13
Applicant: Restoration Robotics, Inc.
Inventor： John A. Tenney , Erik R. Burd , Hui Zhang , Robert F. Biro
CPC classification number: G06T7/80 , A61B34/30 , B25J9/1697 , G05B19/4086 , G05B2219/39022 , G05B2219/39045 , G06T7/12 , G06T7/73 , G06T7/85 , G06T2207/10012 , G06T2207/30004 , G06T2207/30208 , G06T2207/30244 , H04N7/181 , H04N13/20
Abstract: Systems and methods are disclosed that determine a mapping between a first camera system's coordinate system and a second camera system's coordinate system; or determine a transformation between a robot's coordinate system and a camera system's coordinate system, and/or locate, in a robot's coordinate system, a tool extending from an arm of the robot based on the tool location in the camera's coordinate system. The disclosed systems and methods may use transformations derived from coordinates of features found in one or more images. The transformations may be used to interrelate various coordinate systems, facilitating calibration of camera systems, including in robotic systems, such as an image-guided robotic systems for hair harvesting and/or implantation.
Abstract translation: 公开了确定第一相机系统的坐标系和第二相机系统的坐标系之间的映射的系统和方法; 或者确定机器人坐标系和摄像机系统的坐标系之间的变换，和/或在机器人的坐标系中定位基于摄像机坐标系中的工具位置的从机器人臂伸出的工具。 所公开的系统和方法可以使用从在一个或多个图像中发现的特征的坐标导出的变换。 这些变换可以用于相互关联各种坐标系，促进照相机系统的校准，包括在机器人系统中，例如用于头发收集和/或植入的图像引导机器人系统。
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