US 12,138,043 B2
Medical camera assembly comprising range camera and thermographic camera
Hagen Kaiser, Munich (DE); and Kajetan Berlinger, Munich (DE)
Assigned to Brainlab AG, Munich (DE)
Filed by Brainlab AG, Munich (DE)
Filed on Apr. 26, 2023, as Appl. No. 18/139,478.
Application 18/139,478 is a continuation of application No. 16/953,803, filed on Nov. 20, 2020, granted, now 11,666,250.
Application 16/953,803 is a continuation of application No. 15/308,962, granted, now 10,874,331, issued on Dec. 29, 2020, previously published as PCT/EP2015/059542, filed on Apr. 30, 2015.
Claims priority of application No. PCT/EP2014/076287 (WO), filed on Dec. 2, 2014; and application No. PCT/EP2015/059171 (WO), filed on Apr. 28, 2015.
Prior Publication US 2023/0255513 A1, Aug. 17, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 5/11 (2006.01); A61B 5/00 (2006.01); A61B 5/01 (2006.01); A61B 5/055 (2006.01); A61B 5/113 (2006.01); A61B 6/00 (2024.01); A61B 6/03 (2006.01); A61N 5/10 (2006.01); G01J 5/00 (2022.01); G03B 35/02 (2021.01); G06T 7/00 (2017.01); G06T 7/33 (2017.01); G06T 7/70 (2017.01); H04N 13/204 (2018.01); G01J 5/10 (2006.01); G01J 5/48 (2022.01); H04N 13/00 (2018.01); H04N 13/239 (2018.01)
CPC A61B 5/1128 (2013.01) [A61B 5/0035 (2013.01); A61B 5/0064 (2013.01); A61B 5/0077 (2013.01); A61B 5/015 (2013.01); A61B 5/055 (2013.01); A61B 5/11 (2013.01); A61B 5/113 (2013.01); A61B 5/7292 (2013.01); A61B 6/032 (2013.01); A61B 6/5247 (2013.01); A61N 5/1049 (2013.01); A61N 5/1068 (2013.01); G01J 5/00 (2013.01); G03B 35/02 (2013.01); G06T 7/0012 (2013.01); G06T 7/33 (2017.01); G06T 7/70 (2017.01); H04N 13/204 (2018.05); A61B 2560/0223 (2013.01); A61B 2576/00 (2013.01); A61B 2576/02 (2013.01); A61N 5/1069 (2013.01); G01J 2005/0077 (2013.01); G01J 5/10 (2013.01); G01J 5/48 (2013.01); G06T 2207/10004 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/10048 (2013.01); G06T 2207/10081 (2013.01); G06T 2207/30196 (2013.01); H04N 2013/0081 (2013.01); H04N 13/239 (2018.05)] 19 Claims
OG exemplary drawing
 
1. A camera assembly for use in medical tracking applications, comprising:
a range camera configured to acquire a first image of an object at a first moment in time and a second image of the object at a second moment in time, wherein the second moment in time is after the first moment in time, and wherein the first image defines a first point cloud and the second image defines a second point cloud
a thermographic camera configured to acquire a first thermal image of the object at the first moment in time and a second thermal image of the object at the second moment in time; and
a processor configured to:
identify a first point pair including a first point in the first thermal image and a second point in the second thermal image, wherein the first point and the second point correspond to a same point on a surface of the object;
map points of the first point pair to the first point cloud and the second point cloud, respectively, to provide a second point pair, wherein points of the first point pair and points of the second point pair correspond to the same point on the surface of the object; and
calculate a movement of the object between the first moment of time and the second moment of time from the first point cloud and the second point cloud based on the second point pair.