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11.发明授权Method and system for tracking of a virtual electrode on a coronary sinus catheter in fluoroscopic images 有权用于在荧光镜图像中跟踪冠状静脉窦导管上的虚拟电极的方法和系统公开(公告)号：US08666477B2
公开(公告)日：2014-03-04
申请号：US13413721
申请日：2012-03-07
申请人： Wen Wu , Terrence Chen , Norbert Strobel , Gareth Funka-Lea , Dorin Comaniciu
发明人： Wen Wu , Terrence Chen , Norbert Strobel , Gareth Funka-Lea , Dorin Comaniciu
IPC分类号： A61B5/05
CPC分类号： G06K9/64 , A61B6/12 , A61B6/487 , G06T7/248 , G06T7/277 , G06T2207/10121 , G06T2207/20081 , G06T2207/30021 , G06T2207/30048
摘要： A method and system for detecting a virtual electrode (VE) on a coronary sinus (CS) catheter in a fluoroscopic image sequence is disclosed. User inputs indicating locations of CS catheter electrodes and a location of a VE are received. A catheter electrode model and a VE part model is initialized in a first frame of the fluoroscopic image sequence. The VE is tracked by detecting electrode position candidates and catheter body point candidates in the subsequent frames of the fluoroscopic image sequence using respective trained detectors, tracking the catheter electrode model in the subsequent frames based on the detected electrode position candidates, generating VE part hypotheses in the subsequent frames based on detection of the most proximal electrode (MPE) in each subsequent frame, calculating a probability score for each of the VE part hypotheses, and selecting an VE part hypothesis with the highest probability score.
摘要翻译： 公开了一种用于在透视图像序列中检测冠状窦（CS）导管上的虚拟电极（VE）的方法和系统。 接收指示CS导管电极位置和VE位置的用户输入。 在荧光镜图像序列的第一帧中初始化导管电极模型和VE部分模型。 通过使用各自训练的检测器在荧光镜图像序列的后续帧中检测电极位置候选物和导管体点候选物来跟踪VE，基于检测到的电极位置候选，跟踪随后帧中的导管电极模型，生成VE部分假设 基于在每个后续帧中检测最近端电极（MPE）的后续帧，计算每个VE部分假设的概率分数，以及选择具有最高概率得分的VE部分假设。
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12.发明申请Method and System for Tracking of a Virtual Electrode on a Coronary Sinus Catheter in Fluoroscopic Images 有权用于跟踪在荧光镜图像中的冠状窦导管上的虚拟电极的方法和系统公开(公告)号：US20120232384A1
公开(公告)日：2012-09-13
申请号：US13413721
申请日：2012-03-07
申请人： Wen Wu , Terrence Chen , Norbert Strobel , Gareth Funka-Lea , Dorin Comaniciu
发明人： Wen Wu , Terrence Chen , Norbert Strobel , Gareth Funka-Lea , Dorin Comaniciu
IPC分类号： A61B6/12
CPC分类号： G06K9/64 , A61B6/12 , A61B6/487 , G06T7/248 , G06T7/277 , G06T2207/10121 , G06T2207/20081 , G06T2207/30021 , G06T2207/30048
摘要： A method and system for detecting a virtual electrode (VE) on a coronary sinus (CS) catheter in a fluoroscopic image sequence is disclosed. User inputs indicating locations of CS catheter electrodes and a location of a VE are received. A catheter electrode model and a VE part model is initialized in a first frame of the fluoroscopic image sequence. The VE is tracked by detecting electrode position candidates and catheter body point candidates in the subsequent frames of the fluoroscopic image sequence using respective trained detectors, tracking the catheter electrode model in the subsequent frames based on the detected electrode position candidates, generating VE part hypotheses in the subsequent frames based on detection of the most proximal electrode (MPE) in each subsequent frame, calculating a probability score for each of the VE part hypotheses, and selecting an VE part hypothesis with the highest probability score.
摘要翻译： 公开了一种用于在透视图像序列中检测冠状窦（CS）导管上的虚拟电极（VE）的方法和系统。 接收指示CS导管电极位置和VE位置的用户输入。 在荧光镜图像序列的第一帧中初始化导管电极模型和VE部分模型。 通过使用各自训练的检测器在荧光镜图像序列的后续帧中检测电极位置候选物和导管体点候选物来跟踪VE，基于检测到的电极位置候选，跟踪随后帧中的导管电极模型，生成VE部分假设 基于在每个后续帧中检测最近端电极（MPE）的后续帧，计算每个VE部分假设的概率分数，以及选择具有最高概率得分的VE部分假设。
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公开(公告)号：US20130282005A1
公开(公告)日：2013-10-24
申请号：US13859115
申请日：2013-04-09
IPC分类号： A61B18/14
CPC分类号： A61B18/1492 , A61B90/36 , A61B2018/00375 , A61B2018/00577 , A61B2090/065 , A61B2090/364
摘要： An integrated catheter navigation system (100) and method (200) that combines anatomical imaging (302, 304) with catheter tip-to force information (306, 308) during an ablation procedure.
摘要翻译： 一种在解剖过程中将解剖学成像（302,304）与导管尖端组合以强制信息（306,308）的集成导管导航系统（100）和方法（200）。
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公开(公告)号：US08675996B2
公开(公告)日：2014-03-18
申请号：US12821235
申请日：2010-06-23
申请人： Rui Liao , Norbert Strobel , Chenyang Xu
发明人： Rui Liao , Norbert Strobel , Chenyang Xu
CPC分类号： A61B6/5235 , A61B6/487 , A61B6/504 , A61B6/5247 , A61B18/1492 , A61B90/37 , A61B2090/364 , A61B2090/376 , A61B2090/3764 , G06T3/0068 , G06T7/33 , G06T2207/10072 , G06T2207/10121 , G06T2207/20041 , G06T2207/30048
摘要： A method for registering a two-dimensional image of a cardiocirculatory structure and a three-dimensional image of the cardiocirculatory structure includes acquiring a three-dimensional image including the cardiocirculatory structure using a first imaging modality. The acquired three-dimensional image is projected into two-dimensions to produce a two-dimensional projection image of the cardiocirculatory structure. A structure of interest is segmented either from the three-dimensional image prior to projection or from the projection image subsequent to projection. A two-dimensional image of the cardiocirculatory structure is acquired using a second imaging modality. The structure of interest is segmented from the acquired two-dimensional image. A first distance map is generated based on the two-dimensional projection image and a second distance map is generated based on the acquired two-dimensional image. A registration of the three-dimensional image and the two-dimensional image is performed by minimizing a difference between the first and second distance maps.
摘要翻译： 用于记录心脏循环结构的二维图像和心脏循环结构的三维图像的方法包括使用第一成像模式获取包括心脏循环结构的三维图像。 所获取的三维图像被投影成二维以产生心脏循环结构的二维投影图像。 感兴趣的结构或者从投影之前的三维图像或投影之后的投影图像分割。 使用第二成像模式获取心脏循环结构的二维图像。 感兴趣的结构从获得的二维图像中分割出来。 基于二维投影图像生成第一距离图，并且基于所获取的二维图像生成第二距离图。 通过最小化第一和第二距离图之间的差异来执行三维图像和二维图像的配准。
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公开(公告)号：US20110069063A1
公开(公告)日：2011-03-24
申请号：US12821235
申请日：2010-06-23
申请人： Rui Liao , Norbert Strobel , Chenyang Xu
发明人： Rui Liao , Norbert Strobel , Chenyang Xu
CPC分类号： A61B6/5235 , A61B6/487 , A61B6/504 , A61B6/5247 , A61B18/1492 , A61B90/37 , A61B2090/364 , A61B2090/376 , A61B2090/3764 , G06T3/0068 , G06T7/33 , G06T2207/10072 , G06T2207/10121 , G06T2207/20041 , G06T2207/30048
摘要： A method for registering a two-dimensional image of a cardiocirculatory structure and a three-dimensional image of the cardiocirculatory structure includes acquiring a three-dimensional image including the cardiocirculatory structure using a first imaging modality. The acquired three-dimensional image is projected into two-dimensions to produce a two-dimensional projection image of the cardiocirculatory structure. A structure of interest is segmented either from the three-dimensional image prior to projection or from the projection image subsequent to projection. A two-dimensional image of the cardiocirculatory structure is acquired using a second imaging modality. The structure of interest is segmented from the acquired two-dimensional image. A first distance map is generated based on the two-dimensional projection image and a second distance map is generated based on the acquired two-dimensional image. A registration of the three-dimensional image and the two-dimensional image is performed by minimizing a difference between the first and second distance maps.
摘要翻译： 用于记录心脏循环结构的二维图像和心脏循环结构的三维图像的方法包括使用第一成像模式获取包括心脏循环结构的三维图像。 所获取的三维图像被投影成二维以产生心脏循环结构的二维投影图像。 感兴趣的结构或者从投影之前的三维图像或投影之后的投影图像分割。 使用第二成像模式获取心脏循环结构的二维图像。 感兴趣的结构从获得的二维图像中分割出来。 基于二维投影图像生成第一距离图，并且基于所获取的二维图像生成第二距离图。 通过最小化第一和第二距离图之间的差异来执行三维图像和二维图像的配准。
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16.发明申请TOOLS AND METHODS FOR VISUALIZATION AND MOTION COMPENSATION DURING ELECTROPHYSIOLOGY PROCEDURES 审中-公开电生理过程中可视化和运动补偿的工具和方法公开(公告)号：US20090163800A1
公开(公告)日：2009-06-25
申请号：US12335738
申请日：2008-12-16
申请人： Chenyang Xu , Rui Liao , Liron Yatziv , Norbert Strobel
发明人： Chenyang Xu , Rui Liao , Liron Yatziv , Norbert Strobel
CPC分类号： A61B6/12 , A61B5/0422 , A61B6/466 , A61B6/503 , A61B6/504 , A61B6/5235 , A61B6/541 , A61B6/566 , A61B90/36 , A61B2017/00703 , A61B2090/376
摘要： A method for real-time cardiac visualization includes acquiring fluoroscope imagery from two planes. The location of at least one electrophysiology (EP) device is marked within the fluoroscope imagery from each of the two planes. The location information for the at least one EP device is combined within each of the acquired fluoroscope images from the two planes to determine a 3D location for the at least one EP device. The fluoroscope imagery from at least one of the two planes is displayed with a visual aid superimposed thereon. The visual aid is based on the 3D location of the EP device.
摘要翻译： 一种用于实时心脏可视化的方法包括从两个平面获取荧光成像。 至少一个电生理学（EP）装置的位置被标记在两个平面中的每一个的荧光图像内。 用于至少一个EP设备的位置信息在来自两个平面的所获取的荧光镜图像的每个中组合，以确定用于至少一个EP设备的3D位置。 来自两个平面中的至少一个的荧光图像以其上叠加的视觉辅助物显示。 视觉辅助是基于EP设备的3D位置。
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17.发明授权Localization and tracking of cryo-balloon during interventional fluoroscopy imaging 有权介入性透视成像期间冷冻球囊的定位和跟踪公开(公告)号：US08989463B2
公开(公告)日：2015-03-24
申请号：US13551902
申请日：2012-07-18
CPC分类号： G06T7/0085 , G06T7/0012 , G06T7/13 , G06T7/181 , G06T7/75 , G06T2207/10121 , G06T2207/30021
摘要： A method for the detection of a balloon catheter within a fluoroscopic image, including: removing noise from a fluoroscopic image; detecting edges of a balloon catheter in the fluoroscopic image, wherein the detected edges include subsets of connected edges; extracting an edge subset from the subsets of connected edges; fitting a model to the extracted edge subset; removing outliers of the extracted edge subset based on the fitting of the model; adding the extracted edge subset without the outlier to a data set; repeating the extracting, fitting, removing and adding steps for the remainder of the subsets of connected edges; and fitting the model to the data set, wherein the data set is indicative of the balloon catheter.
摘要翻译： 一种用于检测透视图像内的气囊导管的方法，包括：从透视图像中去除噪声; 在透视图像中检测气囊导管的边缘，其中检测到的边缘包括连接边缘的子集; 从连接边缘的子集中提取边缘子集; 将模型拟合到提取的边缘子集; 基于模型的拟合来去除提取的边缘子集的异常值; 将所提取的边缘子集不带异常值添加到数据集; 重复连续边缘子集的其余部分的提取，拟合，移除和添加步骤; 以及将所述模型拟合到所述数据集，其中所述数据集指示所述球囊导管。
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公开(公告)号：US08538106B2
公开(公告)日：2013-09-17
申请号：US12902412
申请日：2010-10-12
申请人： Julian Ibarz , Norbert Strobel , Liron Yatziv
发明人： Julian Ibarz , Norbert Strobel , Liron Yatziv
IPC分类号： G06K9/00
CPC分类号： G06T7/564 , G06K2209/05 , G06T11/006 , G06T17/00 , G06T2207/10116 , G06T2207/10121 , G06T2207/30092 , G06T2207/30172 , G06T2211/412
摘要： A method for three-dimensional esophageal reconstruction includes acquiring a first X-ray image from a first angle with respect to a subject using a first X-ray imager. At least a second X-ray image is acquired from a second angle, different than the first angle, with respect to the subject using a second X-ray imager. Additional X-ray images may be acquired from additional angle. A three-dimensional model of the esophagus is generated from the at least two X-ray images acquired at different angles. A set of fluoroscopic X-ray images is acquired using either the first X-ray imager or the second X-ray imager. The three-dimensional model of the esophagus is registered to the acquired set of fluoroscopic X-ray images. The three-dimensional model of the esophagus is displayed overlaying the set of fluoroscopic X-ray images.
摘要翻译： 一种用于三维食管重建的方法包括使用第一X射线成像仪从相对于对象的第一角度获取第一X射线图像。 使用第二X射线成像仪相对于被摄体从与第一角度不同的第二角度获取至少第二X射线图像。 可以从附加角度获取附加的X射线图像。 从不同角度获取的至少两个X射线图像产生食管的三维模型。 使用第一X射线成像仪或第二X射线成像仪获取一组荧光X射线图像。 食管的三维模型被记录到所获取的荧光X射线图像组中。 显示食管的三维模型覆盖了一组荧光X线片。
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19.发明申请LOCALIZATION AND TRACKING OF CRYO-BALLOON DURING INTERVENTIONAL FLUOROSCOPY IMAGING 有权常规荧光成像过程中CRYO-BALLOON的定位和跟踪公开(公告)号：US20130083980A1
公开(公告)日：2013-04-04
申请号：US13551902
申请日：2012-07-18
IPC分类号： G06T7/00
CPC分类号： G06T7/0085 , G06T7/0012 , G06T7/13 , G06T7/181 , G06T7/75 , G06T2207/10121 , G06T2207/30021
摘要： A method for the detection of a balloon catheter within a fluoroscopic image, including: removing noise from a fluoroscopic image; detecting edges of a balloon catheter in the fluoroscopic image, wherein the detected edges include subsets of connected edges; extracting an edge subset from the subsets of connected edges; fitting a model to the extracted edge subset; removing outliers of the extracted edge subset based on the fitting of the model; adding the extracted edge subset without the outlier to a data set; repeating the extracting, fitting, removing and adding steps for the remainder of the subsets of connected edges; and fitting the model to the data set, wherein the data set is indicative of the balloon catheter.
摘要翻译： 一种用于检测透视图像内的气囊导管的方法，包括：从透视图像中去除噪声; 在透视图像中检测气囊导管的边缘，其中检测到的边缘包括连接边缘的子集; 从连接边缘的子集中提取边缘子集; 将模型拟合到提取的边缘子集; 基于模型的拟合来去除提取的边缘子集的离群值; 将所提取的边缘子集不带异常值添加到数据集; 重复连续边缘子集的其余部分的提取，拟合，移除和添加步骤; 以及将所述模型拟合到所述数据集，其中所述数据集指示所述气囊导管。
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20.发明授权公开(公告)号：US08073224B2
公开(公告)日：2011-12-06
申请号：US12168199
申请日：2008-07-07
申请人： Norbert Strobel , Liron Yatziv
发明人： Norbert Strobel , Liron Yatziv
IPC分类号： G06K9/00
CPC分类号： A61B6/504 , A61B6/469 , A61B6/481 , G06T7/20 , G06T7/55 , G06T2207/10016 , G06T2207/10116 , G06T2207/30016 , G06T2207/30104
摘要： A method for visualizing temporal phenomena and constructing 3D views from a series of medical images includes providing a first time series of digital images of contrast-enhanced blood flow in a patient, each acquired from a same viewing point with a known epipolar geometry, each said image comprising a plurality of intensities associated with an N-dimensional grid of points, calculating one or more time-density curves from said first time series of digital images, each curve indicative of how the intensity at corresponding points in successive images changes over time, and generating one or more overview images from said time density curves using a color coding technique, wherein said each overview image depict how a physical property value changes from said blood flow at selected corresponding points in said first time series of images.
摘要翻译： 一种用于将时间现象可视化并从一系列医学图像构建3D视图的方法包括：在患者中提供对比度增强的血流数字图像的第一时间序列，每个时间序列由具有已知对极几何形状的相同视点获取， 图像，包括与N维网格点相关联的多个强度，从所述第一时间序列数字图像计算一个或多个时间密度曲线，每个曲线指示连续图像中相应点处的强度如何随时间变化， 以及使用颜色编码技术从所述时间密度曲线生成一个或多个概览图像，其中所述每个概览图像描绘物理属性值如何在所述第一时间序列图像中的选定对应点处从所述血流变化。
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