US 12,270,983 B2
Method and apparatus for determination of a trajectory and imaging device
Maciej Szkulmowski, Torun (PL); Krzysztof Dalasinski, Torun (PL); Michal Meina, Torun (PL); Maciej Nowakowski, Torun (PL); Krystian Wrobel, Torun (PL); Maciej Bartuzel, Pszenno (PL); Szymon Tamborski, Torun (PL); and Patrycjusz Stremplewski, Torun (PL)
Assigned to Inoko Vision Spółka z ograniczon odpowiedzialnościa, Torun (PL)
Appl. No. 17/794,579
Filed by Inoko Vision Spółka z ograniczon odpowiedzialnościa, Torun (PL)
PCT Filed Jan. 29, 2021, PCT No. PCT/IB2021/050732
§ 371(c)(1), (2) Date Jul. 21, 2022,
PCT Pub. No. WO2021/152537, PCT Pub. Date Aug. 5, 2021.
Claims priority of application No. 20154381 (EP), filed on Jan. 29, 2020.
Prior Publication US 2023/0147006 A1, May 11, 2023
Int. Cl. G06T 19/20 (2011.01); G02B 21/36 (2006.01)
CPC G02B 21/367 (2013.01) [G06T 2207/20221 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for determining a trajectory and controlling a position of a living tissue, the method comprising:
acquiring subsequent frames representing images of the living tissue by a first imaging device having a frame acquisition rate of at least 500 FPS and a frame size of at least 1000 pixels and a field of view of at least 1° in X plane and Y plane;
determining, by a processing unit, at least a first segment of the trajectory of the living tissue using relative displacements of at least a first subset of subsequent frames;
recalculating, by the processing unit, the relative displacements to coordinates corresponding to time of frame acquisition to form a vector Tm of elements tm, wherein element tm is at least one coordinate of the living; and
controlling, by the processing unit, a movement of the living tissue based on the determined trajectory.