公开(公告)号：EP2910187B1

公开(公告)日：2018-04-11

申请号：EP14305255.3

申请日：2014-02-24

申请人： Université de Strasbourg (Etablissement Public National à Caractère Scientifique, Culturel et Professionnel) ,  Centre National de la Recherche Scientifique (CNRS) Etablissement Public à Caractère Scientifique et Technologique ,  Institut Hospitalo-Universitaire de Chirurgie Mini-Invasive Guidée par l'Image (Fondation de coopération scientifique

发明人： De Mathelin, Michel ,  Neumann, Markus ,  Cuvillon, Loïc ,  Breton, Elodie

IPC分类号： A61B5/055 ,  A61B5/06 ,  A61B5/00

CPC分类号： A61B90/39 ,  A61B5/0035 ,  A61B5/0077 ,  A61B5/055 ,  A61B5/065 ,  A61B5/066 ,  A61B5/1127 ,  A61B90/13 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2090/364 ,  A61B2090/3937 ,  A61B2090/3954 ,  A61B2090/3995 ,  G01R33/283 ,  G01R33/285 ,  G01R33/287

摘要： The present invention concerns a system for an automatic multimodal real-time tracking of moving instruments for image plane alignment inside a MRI scanner A system (1) comprising: - an MRI scanner (2), - an MRI multi-plane pulse sequence generating means allowing to interactively modify the position and orientation of one or several image planes in real-time, - one or several external optical sensors (3) with high frame rate, preferably a RGB-D sensor or an other similar camera system like a stereovision systems, - a multimodal marker (4) comprising at least one MR visible feature and one visual feature able to be tracked by both the MRI scanner (2) and the at least one external optical sensor (3), - a computer (5) able to process in real-time the images from both MRI and optical sensor in order to fuse the detected marker position and orientation or pose from both modalities, and predict the next image plane position and orientation based on the estimated motion of the moving marker (4).

公开(公告)号：EP2910187A1

公开(公告)日：2015-08-26

申请号：EP14305255.3

申请日：2014-02-24

申请人： Université de Strasbourg (Etablissement Public National à Caractère Scientifique, Culturel et Professionnel) ,  Centre National de la Recherche Scientifique (CNRS) Etablissement Public à Caractère Scientifique et Technologique ,  Institut Hospitalo-Universitaire de Chirurgie Mini-Invasive Guidée par l'Image (Fondation de coopération scientifique

发明人： De Mathelin, Michel ,  Neumann, Markus ,  Cuvillon, Loïc ,  Breton, Elodie

IPC分类号： A61B5/055 ,  A61B5/06 ,  A61B5/00

CPC分类号： A61B90/39 ,  A61B5/0035 ,  A61B5/0077 ,  A61B5/055 ,  A61B5/065 ,  A61B5/066 ,  A61B5/1127 ,  A61B90/13 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2065 ,  A61B2034/2072 ,  A61B2090/364 ,  A61B2090/3937 ,  A61B2090/3954 ,  A61B2090/3995 ,  G01R33/283 ,  G01R33/285 ,  G01R33/287

摘要： The present invention concerns a system for an automatic multimodal real-time tracking of moving instruments for image plane alignment inside a MRI scanner
A system (1) comprising:
- an MRI scanner (2),
- an MRI multi-plane pulse sequence generating means allowing to interactively modify the position and orientation of one or several image planes in real-time,
- one or several external optical sensors (3) with high frame rate, preferably a RGB-D sensor or an other similar camera system like a stereovision systems,
- a multimodal marker (4) comprising at least one MR visible feature and one visual feature able to be tracked by both the MRI scanner (2) and the at least one external optical sensor (3),
- a computer (5) able to process in real-time the images from both MRI and optical sensor in order to fuse the detected marker position and orientation or pose from both modalities, and predict the next image plane position and orientation based on the estimated motion of the moving marker (4).

摘要翻译： 本发明涉及一种系统，用于在移动对像平面对准文书MRI扫描器内部的系统的自动多峰实时跟踪（1），包括： - 在MRI扫描仪（2）， - 在MRI多平面脉冲序列产生装置 允许交互式地修改一个或实时若干图像平面的位置和取向， - 一个或数个外部光学传感器（3）以高帧速率，优选为RGB-D传感器或其它类似的照相机系统，如立体视觉系统 - 多模态标记（4），其包括能够通过两个MRI扫描仪进行跟踪至少一个MR可见特征和一个可视特征（2）和所述至少一个外部光传感器（3）， - 一个计算机（5）能够 在实时处理来自MRI和光学传感器的图像，以便以熔合检测的标记的位置和取向或从两种模态的姿势，并预测基于所述移动标记的所估计的运动的下一个图像平面的位置和取向 （4）。