JP2023511670A - 多視点カメラシステムからのデータを用いるなどで深度センサからの深度データを増強する方法及びシステム - Google Patents

多視点カメラシステムからのデータを用いるなどで深度センサからの深度データを増強する方法及びシステム Download PDF

Info

Publication number
JP2023511670A
JP2023511670A JP2022544669A JP2022544669A JP2023511670A JP 2023511670 A JP2023511670 A JP 2023511670A JP 2022544669 A JP2022544669 A JP 2022544669A JP 2022544669 A JP2022544669 A JP 2022544669A JP 2023511670 A JP2023511670 A JP 2023511670A
Authority
JP
Japan
Prior art keywords
depth
data
scene
point cloud
region
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2022544669A
Other languages
English (en)
Japanese (ja)
Other versions
JP2023511670A5 (https=
Inventor
トーマス イヴァン ノン
デヴィッド ジュリオ コルメナレス
ジェイムズ アンドリュー ヨンクイスト
Original Assignee
プロプリオ インコーポレイテッド
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by プロプリオ インコーポレイテッド filed Critical プロプリオ インコーポレイテッド
Publication of JP2023511670A publication Critical patent/JP2023511670A/ja
Publication of JP2023511670A5 publication Critical patent/JP2023511670A5/ja
Priority to JP2025231986A priority Critical patent/JP2026047369A/ja
Pending legal-status Critical Current

Links

Images

Classifications

    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00Three-dimensional [3D] modelling for computer graphics
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00Pattern recognition
    • G06F18/20Analysing
    • G06F18/25Fusion techniques
    • G06F18/253Fusion techniques of extracted features
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00Three-dimensional [3D] modelling for computer graphics
    • G06T17/20Finite element generation, e.g. wire-frame surface description, tesselation
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00Image enhancement or restoration
    • G06T5/50Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00Image enhancement or restoration
    • G06T5/77Retouching; Inpainting; Scratch removal
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/50Depth or shape recovery
    • G06T7/55Depth or shape recovery from multiple images
    • G06T7/557Depth or shape recovery from multiple images from light fields, e.g. from plenoptic cameras
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00Arrangements for image or video recognition or understanding
    • G06V10/70Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/77Processing image or video features in feature spaces; using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]; Blind source separation
    • G06V10/80Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
    • G06V10/806Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level of extracted features
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/20Scenes; Scene-specific elements in augmented reality scenes
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/60Type of objects
    • G06V20/64Three-dimensional [3D] objects
    • G06V20/647Three-dimensional [3D] objects by matching two-dimensional images to three-dimensional objects
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/10Processing, recording or transmission of stereoscopic or multi-view image signals
    • H04N13/106Processing image signals
    • H04N13/111Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
    • H04N13/117Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation the virtual viewpoint locations being selected by the viewers or determined by viewer tracking
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20Image signal generators
    • H04N13/204Image signal generators using stereoscopic image cameras
    • H04N13/243Image signal generators using stereoscopic image cameras using three or more two-dimensional [2D] image sensors
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20Image signal generators
    • H04N13/282Image signal generators for generating image signals corresponding to three or more geometrical viewpoints, e.g. multi-view systems
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00Indexing scheme for image data processing or generation, in general
    • G06T2200/24Indexing scheme for image data processing or generation, in general involving graphical user interfaces [GUIs]
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10028Range image; Depth image; 3D point clouds
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10052Images from lightfield camera
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/20Special algorithmic details
    • G06T2207/20092Interactive image processing based on input by user
    • G06T2207/20104Interactive definition of region of interest [ROI]
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/20Special algorithmic details
    • G06T2207/20212Image combination
    • G06T2207/20221Image fusion; Image merging
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30004Biomedical image processing
    • G06T2207/30008Bone
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30168Image quality inspection
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00Indexing scheme for image generation or computer graphics
    • G06T2210/41Medical
    • GPHYSICS
    • G06COMPUTING OR CALCULATING; COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00Indexing scheme for image generation or computer graphics
    • G06T2210/56Particle system, point based geometry or rendering
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04NPICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N2013/0074Stereoscopic image analysis
    • H04N2013/0081Depth or disparity estimation from stereoscopic image signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Software Systems (AREA)
  • Signal Processing (AREA)
  • Geometry (AREA)
  • Computer Graphics (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Databases & Information Systems (AREA)
  • Computing Systems (AREA)
  • Health & Medical Sciences (AREA)
  • Data Mining & Analysis (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Evolutionary Biology (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Image Processing (AREA)
  • Image Analysis (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Processing Or Creating Images (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Measurement Of Optical Distance (AREA)
JP2022544669A 2020-01-21 2021-01-21 多視点カメラシステムからのデータを用いるなどで深度センサからの深度データを増強する方法及びシステム Pending JP2023511670A (ja)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2025231986A JP2026047369A (ja) 2020-01-21 2025-12-04 多視点カメラシステムからのデータを用いるなどで深度センサからの深度データを増強する方法及びシステム

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US202062963717P 2020-01-21 2020-01-21
US62/963,717 2020-01-21
PCT/US2021/014397 WO2021150741A1 (en) 2020-01-21 2021-01-21 Methods and systems for augmenting depth data from a depth sensor, such as with data from a multiview camera system

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2025231986A Division JP2026047369A (ja) 2020-01-21 2025-12-04 多視点カメラシステムからのデータを用いるなどで深度センサからの深度データを増強する方法及びシステム

Publications (2)

Publication Number Publication Date
JP2023511670A true JP2023511670A (ja) 2023-03-22
JP2023511670A5 JP2023511670A5 (https=) 2024-01-18

Family

ID=76857295

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2022544669A Pending JP2023511670A (ja) 2020-01-21 2021-01-21 多視点カメラシステムからのデータを用いるなどで深度センサからの深度データを増強する方法及びシステム
JP2025231986A Pending JP2026047369A (ja) 2020-01-21 2025-12-04 多視点カメラシステムからのデータを用いるなどで深度センサからの深度データを増強する方法及びシステム

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2025231986A Pending JP2026047369A (ja) 2020-01-21 2025-12-04 多視点カメラシステムからのデータを用いるなどで深度センサからの深度データを増強する方法及びシステム

Country Status (6)

Country Link
US (3) US11682165B2 (https=)
EP (1) EP4094186A4 (https=)
JP (2) JP2023511670A (https=)
AU (2) AU2021211677B2 (https=)
CA (1) CA3168799A1 (https=)
WO (1) WO2021150741A1 (https=)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU2021211677B2 (en) 2020-01-21 2024-01-04 Proprio, Inc. Methods and systems for augmenting depth data from a depth sensor, such as with data from a multiview camera system
US11836940B2 (en) * 2020-06-15 2023-12-05 Zebra Technologies Corporation Three-dimensional sensor acuity recovery assistance
KR102797392B1 (ko) * 2021-08-03 2025-04-21 레이아 인코포레이티드 깊이 맵을 이용한 뷰 합성 시스템 및 방법
US12016642B2 (en) 2021-09-08 2024-06-25 Proprio, Inc. Constellations for tracking instruments, such as surgical instruments, and associated systems and methods
US12357397B2 (en) 2022-05-09 2025-07-15 Proprio, Inc. Methods and systems for calibrating instruments within an imaging system, such as a surgical imaging system
CN114782438B (zh) * 2022-06-20 2022-09-16 深圳市信润富联数字科技有限公司 物体点云修正方法、装置、电子设备和存储介质
CN115100385A (zh) * 2022-06-22 2022-09-23 众趣(北京)科技有限公司 一种三维场景中家具物品替换方法
GB2624621A (en) * 2022-11-15 2024-05-29 Continental Autonomous Mobility Germany GmbH 3-Dimensional (3D) map generation system and method for creating 3D map of surroundings of a vehicle
EP4734830A1 (en) * 2023-06-28 2026-05-06 Abbott Diabetes Care Inc. Systems, methods, and features for analyte monitoring
US11935209B1 (en) * 2023-07-24 2024-03-19 Illuscio, Inc. Systems and methods for dynamic backfilling of a three-dimensional object
WO2025064955A1 (en) * 2023-09-22 2025-03-27 Proprio, Inc. Methods and systems for generating three-dimensional renderings of a scene using a mobile sensor array, such as neural radiance field (nerf) renderings
WO2025171548A1 (en) * 2024-02-15 2025-08-21 Dental Imaging Technologies Corporation Point cloud registration for intraoral scanning applications
CN120910119B (zh) * 2025-10-09 2025-12-09 兰州交通大学 一种基于cbr的山区铁路隧道绿色施工决策方法

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001231019A (ja) * 2000-02-16 2001-08-24 Sony Corp 撮像画像付き表示装置、モニタ装置、テレビ電話装置、プロンプタ付きカメラ装置、テレビ会議装置、並びに、反射エネルギ・モデル化装置
JP2008082707A (ja) * 2006-09-25 2008-04-10 Topcon Corp 測量方法及び測量システム及び測量データ処理プログラム
JP2009300268A (ja) * 2008-06-13 2009-12-24 Nippon Hoso Kyokai <Nhk> 3次元情報検出装置
JP2012248183A (ja) * 2011-05-09 2012-12-13 Toshiba Corp 3d表面形状をキャプチャーするための方法およびシステム
US20150145966A1 (en) * 2013-11-27 2015-05-28 Children's National Medical Center 3d corrected imaging
JP2017056212A (ja) * 2013-06-11 2017-03-23 敦 丹治 外科手術支援システム、外科手術支援装置、外科手術支援方法、外科手術支援プログラムおよび情報処理装置
JP2017163412A (ja) * 2016-03-10 2017-09-14 キヤノン株式会社 画像処理装置およびその制御方法、撮像装置、プログラム
WO2018097831A1 (en) * 2016-11-24 2018-05-31 Smith Joshua R Light field capture and rendering for head-mounted displays
JP2019066906A (ja) * 2017-09-28 2019-04-25 株式会社コロプラ ヘッドマウントデバイスを用いて仮想現実を提供するためにコンピュータで実行されるプログラムおよび情報処理装置
JP2019537303A (ja) * 2016-09-29 2019-12-19 コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. 画像処理

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7389041B2 (en) * 2005-02-01 2008-06-17 Eastman Kodak Company Determining scene distance in digital camera images
DE102006055641B4 (de) * 2006-11-22 2013-01-31 Visumotion Gmbh Anordnung und Verfahren zur Aufnahme und Wiedergabe von Bildern einer Szene und/oder eines Objektes
US8780172B2 (en) * 2009-01-27 2014-07-15 Telefonaktiebolaget L M Ericsson (Publ) Depth and video co-processing
US9191646B2 (en) * 2011-08-29 2015-11-17 Nokia Technologies Oy Apparatus, a method and a computer program for video coding and decoding
CN104919272B (zh) * 2012-10-29 2018-08-03 7D外科有限公司 集成照明及光学表面拓扑检测系统及其使用方法
US9737370B2 (en) * 2014-10-14 2017-08-22 Synaptive Medical (Barbados) Inc. Patient reference tool
US10121064B2 (en) * 2015-04-16 2018-11-06 California Institute Of Technology Systems and methods for behavior detection using 3D tracking and machine learning
GB2556727B (en) 2015-06-22 2021-11-03 Synaptive Medical Inc System and method for mapping navigation space to patient space in a medical procedure
WO2017011892A1 (en) * 2015-07-21 2017-01-26 Synaptive Medical (Barbados) Inc. System and method for mapping navigation space to patient space in a medical procedure
WO2017015739A1 (en) * 2015-07-29 2017-02-02 Synaptive Medical (Barbados) Inc. Handheld scanner for rapid registration in a medical navigation system
US10699476B2 (en) 2015-08-06 2020-06-30 Ams Sensors Singapore Pte. Ltd. Generating a merged, fused three-dimensional point cloud based on captured images of a scene
CN109997170B (zh) 2016-10-18 2023-08-11 弗托斯传感与算法公司 用于从视图中获得距离信息的设备和方法
US20200057778A1 (en) * 2017-04-11 2020-02-20 Siemens Mobility GmbH Depth image pose search with a bootstrapped-created database
US10395418B2 (en) * 2017-08-18 2019-08-27 Microsoft Technology Licensing, Llc Techniques for predictive prioritization of image portions in processing graphics
US10460509B2 (en) * 2017-11-07 2019-10-29 Dolby Laboratories Licensing Corporation Parameterizing 3D scenes for volumetric viewing
EP3804328B1 (en) 2018-06-29 2025-02-19 Proprio, Inc. Synthesizing an image from a virtual perspective using pixels from a physical imager array
US10627901B2 (en) * 2018-09-14 2020-04-21 Facebook Technologies, Llc Vergence determination
AU2021211677B2 (en) 2020-01-21 2024-01-04 Proprio, Inc. Methods and systems for augmenting depth data from a depth sensor, such as with data from a multiview camera system

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001231019A (ja) * 2000-02-16 2001-08-24 Sony Corp 撮像画像付き表示装置、モニタ装置、テレビ電話装置、プロンプタ付きカメラ装置、テレビ会議装置、並びに、反射エネルギ・モデル化装置
JP2008082707A (ja) * 2006-09-25 2008-04-10 Topcon Corp 測量方法及び測量システム及び測量データ処理プログラム
JP2009300268A (ja) * 2008-06-13 2009-12-24 Nippon Hoso Kyokai <Nhk> 3次元情報検出装置
JP2012248183A (ja) * 2011-05-09 2012-12-13 Toshiba Corp 3d表面形状をキャプチャーするための方法およびシステム
JP2017056212A (ja) * 2013-06-11 2017-03-23 敦 丹治 外科手術支援システム、外科手術支援装置、外科手術支援方法、外科手術支援プログラムおよび情報処理装置
US20150145966A1 (en) * 2013-11-27 2015-05-28 Children's National Medical Center 3d corrected imaging
JP2017163412A (ja) * 2016-03-10 2017-09-14 キヤノン株式会社 画像処理装置およびその制御方法、撮像装置、プログラム
JP2019537303A (ja) * 2016-09-29 2019-12-19 コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. 画像処理
WO2018097831A1 (en) * 2016-11-24 2018-05-31 Smith Joshua R Light field capture and rendering for head-mounted displays
JP2019066906A (ja) * 2017-09-28 2019-04-25 株式会社コロプラ ヘッドマウントデバイスを用いて仮想現実を提供するためにコンピュータで実行されるプログラムおよび情報処理装置

Also Published As

Publication number Publication date
US20210225020A1 (en) 2021-07-22
EP4094186A1 (en) 2022-11-30
US11682165B2 (en) 2023-06-20
AU2021211677A1 (en) 2022-08-25
CA3168799A1 (en) 2021-07-29
AU2021211677B2 (en) 2024-01-04
US12243162B2 (en) 2025-03-04
US20240005596A1 (en) 2024-01-04
AU2024202120A1 (en) 2024-05-02
US20250252664A1 (en) 2025-08-07
WO2021150741A1 (en) 2021-07-29
EP4094186A4 (en) 2024-01-24
JP2026047369A (ja) 2026-03-13

Similar Documents

Publication Publication Date Title
JP2023511670A (ja) 多視点カメラシステムからのデータを用いるなどで深度センサからの深度データを増強する方法及びシステム
US12178403B2 (en) Light field capture and rendering for head-mounted displays
US11354840B2 (en) Three dimensional acquisition and rendering
AU2021414195B2 (en) Methods and systems for registering preoperative image data to intraoperative image data of a scene, such as a surgical scene
Mori et al. A survey of diminished reality: Techniques for visually concealing, eliminating, and seeing through real objects
US20250104323A1 (en) METHODS AND SYSTEMS FOR GENERATING THREE-DIMENSIONAL RENDERINGS OF A SCENE USING A MOBILE SENSOR ARRAY, SUCH AS NEURAL RADIANCE FIELD (NeRF) RENDERINGS
US6930685B1 (en) Image processing method and apparatus
CN101729920B (zh) 一种自由视角立体视频显示方法
US9426443B2 (en) Image processing system, terminal device, and image processing method
US20110187827A1 (en) Method and apparatus for creating a stereoscopic image
JP2023153534A (ja) 画像処理装置、画像処理方法、およびプログラム
Kahn Reducing the gap between Augmented Reality and 3D modeling with real-time depth imaging
US20260114931A1 (en) Methods and systems for calibrating instruments within an imaging system, such as a surgical imaging system
JP2018116421A (ja) 画像処理装置および画像処理方法
JP5361758B2 (ja) 画像生成方法、画像生成装置、及びプログラム
CN119071651B (zh) 用于显示和捕获图像的技术
TW201509360A (zh) 單鏡頭內視鏡立體視覺化系統及其方法
JP6984870B2 (ja) 3次元形状測定装置、3次元形状測定方法、及び3次元形状測定プログラム
US20240331329A1 (en) Method and system for superimposing two-dimensional (2d) images over deformed surfaces
Louis et al. Rendering stereoscopic augmented reality scenes with occlusions using depth from stereo and texture mapping
WO2025149320A1 (en) Accurate body keypoint detection using purely synthetic data for workflow support
Trevisan et al. Towards markerless augmented medical visualization
Sun et al. Vision-based augmented reality computer assisted surgery navigation system

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20240110

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20240110

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20250204

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20250210

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20250509

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20250710

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20250804

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20251204

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20260318

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20260423