Granted Patent B2

US 10,925,493 · App. 14/214,414 · Granted Feb 23, 2021

Inventors: Alison M. Forsyth (Boston, MA); Daniel Vlasic (Cambridge, MA); Ben Frantzdale (Shrewsbury, MA); Alban de Brouchoven de Bergeyck (Cambridge, MA); Xiaowei Chen (Cambridge, MA); Manas Menon (Boston, MA); Federico Frigerio (Chestnut Hill, MA)

Assignee: LANTOS TECHNOLOGIES, INC.

A61B5/0071A61B1/227A61B5/0064A61B5/0084A61B5/6817A61B5/1076A61B5/4887C08K3/04Y10T428/1345

Abstract

Claims (39)

1. An apparatus comprising:

a balloon membrane comprising an opening, an exterior surface, and an interior surface,

wherein the interior surface of the balloon membrane comprises one or more fiducial markers forming a predetermined pattern,

wherein portions of the predetermined pattern comprise encoded information of an absolute location on the interior surface of the balloon membrane and wherein the encoded information is electronically readable,

wherein a first portion of the predetermined pattern comprises encoded information of a first location on the interior surface of the balloon membrane and a second portion of the predetermined pattern comprises encoded information of a second location on the interior surface of the balloon membrane; and

wherein portions of the balloon membrane having the one or more fiducial markers and portions of the balloon membrane without the one or more fiducial markers are configured for different ratios of absorption of two different wavelengths of light;

a scanner coupled to the opening of the balloon membrane, wherein the scanner images a plurality of portions of the interior surface of the balloon membrane, including the one or more fiducial markers forming the predetermined pattern when the balloon membrane is inflated with a wavelength-selective medium;

wherein the first portion of the predetermined pattern is included in a first imaged frame of the interior surface of the balloon membrane and the second portion of the predetermined pattern is included in a second imaged frame of the interior surface of the balloon membrane,

wherein the scanner calculates a distance through the wavelength-selective medium to a point on the interior surface of the balloon membrane based on a ratio of absorption of two different wavelengths of light, and

wherein the scanner determines depth information using a first ratio of absorption for the portions of the balloon membrane with the one or more fiducial markers and a second ratio of absorption for the portions of the balloon membrane without the one or more fiducial markers, and

wherein a three-dimensional representation of the interior surface of the balloon membrane is formed by the depth information and electronically reading and decoding the encoded information included in the first imaged frame and the second imaged frame by a processor.

2. The apparatus of claim 1 , wherein the one or more fiducial markers forming the predetermined pattern encode location information indicating relative locations within the predetermined pattern.

3. The apparatus of claim 2 , wherein the location information is encoded based on at least one missing fiducial marker.

4. The apparatus of claim 3 , wherein the at least one missing fiducial marker indicates a relative location on the predetermined pattern and on the interior surface of the balloon membrane.

5. The apparatus of claim 1 , wherein the one or more fiducial markers are applied to the interior surface of the balloon membrane by at least one of pad-printing or photo-bleaching.

6. The apparatus of claim 1 , wherein the predetermined pattern comprises fiducial markers of different sizes and wherein the predetermined pattern includes smaller fiducial markers with an overlaid grid of larger fiducial markers.

7. A method comprising:

encoding, within a pattern of fiducials, information of an absolute location on an interior surface of a membrane to form an encoded pattern, wherein a first portion of the encoded pattern comprises encoded information of a first location on the interior surface of the membrane and wherein a second portion of the encoded pattern comprises encoded information of a second location on the interior surface of the membrane wherein the encoded information of the first location and the encoded information of the second location is electronically readable, and

wherein portions of the membrane having the pattern of fiducials and portions of the membrane without the pattern of fiducials are configured for different ratios of absorption of two different wavelengths of light;

generating, by a scanner coupled to an opening of the membrane, a first imaged frame of the interior surface of the membrane and a second imaged frame of the interior surface of the membrane, wherein the scanner images a plurality of portions of the interior surface of the membrane including the first imaged frame and the second imaged frame, when the membrane is inflated with a wavelength-selective medium,

wherein the scanner calculates a distance through the wavelength-selective medium to a point on the interior surface of the membrane based on a ratio of absorption of two different wavelengths of light, and

wherein the scanner determines depth information using a first ratio of absorption for the portions of the membrane with the pattern of fiducials and a second ratio of absorption for the portions of the membrane without the pattern of fiducials;

receiving a first data representative of the first imaged frame of the interior surface of the membrane and a second data representative of the second imaged frame of the interior surface of the membrane;

electronically reading and decoding the first portion of the encoded pattern included in the first imaged frame to reveal that the first imaged frame corresponds to the first location on the interior surface of the membrane;

electronically reading and decoding the second portion of the encoded pattern included in the second imaged frame to reveal that the second imaged frame corresponds to the second location on the interior surface of the membrane; and

forming a three-dimensional representation of the interior surface of the membrane by at least combining, based at least on respective decoded locations of the first imaged frame and the second imaged frame, the depth information, the first data and the second data.

8. The method of claim 7 , wherein the fiducials forming the encoded pattern encode location information indicating relative locations within the pattern.

9. The method of claim 8 , wherein the location information is encoded based on at least one missing fiducial marker.

10. The method of claim 9 , wherein the at least one missing fiducial marker indicates a relative location on the encoded pattern and on the interior surface of the membrane.

11. The method of claim 7 , wherein the fiducials are applied to the interior surface of the membrane by at least one of pad-printing or photo-bleaching.

12. A non-transitory computer-readable storage medium including code, which when executed by at least one processor circuitry provided operations comprising:

receiving a first data representative of a first imaged frame of an interior surface of a membrane inflated with a wavelength-selective medium and a second data representative of a second imaged frame of the interior surface of the membrane inflated with a wavelength-selective medium, wherein the interior surface includes one or more fiducial markers forming an electronically readable encoded pattern, wherein a first portion of the encoded pattern comprises encoded information of a first absolute location on the interior surface of the membrane, wherein a second portion of the encoded pattern comprises a second absolute location on the interior surface of the membrane, and wherein the first imaged frame includes the first portion of the encoded pattern and the second imaged frame includes the second portion of the encoded pattern, wherein portions of the membrane having the one or more fiducial markers and portions of the membrane without the one or more fiducial markers are configured for different ratios of absorption of two different wavelengths of light;

calculating a distance through the wavelength-selective medium to a point on the interior surface of the membrane based on a ratio of absorption of two different wavelengths of light, and

determining depth information using a first ratio of absorption for the portions of the membrane with the one or more fiducial markers and a second ratio of absorption for the portions of the membrane without the one or more fiducial markers;

electronically reading and decoding the first portion of the encoded pattern included in the first imaged frame to reveal that the first imaged frame corresponds to the first absolute location on the interior surface of the membrane;

electronically reading and decoding the second portion of the encoded pattern included in the second imaged frame to reveal that the second imaged frame corresponds to the second absolute location on the interior surface of the membrane; and

forming a three-dimensional representation of the interior surface of the membrane by at least combining, based at least on respective decoded locations of the first imaged frame and the second imaged frame, the depth information, the first data and the second data.

13. The apparatus of claim 1 , wherein the predetermined pattern includes a first fiducial marker that is smaller relative to a second fiducial marker, wherein the second fiducial marker is adapted to facilitate an initial determination of respective decoded locations of the first imaged frame and the second imaged frame, and wherein the first fiducial marker is adapted to enable a fine-tuning of the initial determination of the respective decoded locations of the first imaged frame and the second imaged frame.

14. The method of claim 7 , wherein the encoded pattern comprises at least one of a shape, a size, an orientation, a density, or a color of the fiducials.

Assignments (9)

Continuity (2)

Cited By (1)

US 1,093,608