公开(公告)号：US09911187B2

公开(公告)日：2018-03-06

申请号：US15535958

申请日：2015-09-03

Applicant: Brainlab AG

Inventor： Wolfgang Steinle ,  Christoffer Hamilton ,  Nils Frielinghaus

IPC: G06T7/00 ,  A61B34/10 ,  G06T7/70 ,  G06T11/00 ,  B25J9/16 ,  A61B90/00 ,  A61N5/10 ,  A61B10/02

CPC classification number: A61B34/20 ,  A61B10/0233 ,  A61B34/10 ,  A61B34/30 ,  A61B90/37 ,  A61B90/50 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2034/2057 ,  A61B2034/2059 ,  A61B2034/2063 ,  A61B2034/2068 ,  A61B2090/0481 ,  A61B2090/364 ,  A61B2090/365 ,  A61B2090/3929 ,  A61B2090/397 ,  A61B2090/3975 ,  A61B2090/3979 ,  A61N5/1049 ,  A61N2005/1059 ,  B25J9/1666 ,  B25J9/1676 ,  G06F19/00 ,  G06T7/0012 ,  G06T7/70 ,  G06T11/001 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/10081 ,  G06T2207/10088 ,  G06T2207/30024 ,  G06T2207/30241

Abstract: Disclosed is a computer-implemented method for planning a trajectory (11) through an anatomical body part (1), the trajectory (11) being usable for a medical procedure and the method comprising executing on at least one processor of at least one computer, steps of: •a) acquiring (S1), at a processor, patient image data describing a medical image of a patient anatomical body part being the anatomical body part (1) in a patient's body. •b) acquiring (S2), at a processor, atlas trajectory data describing a model anatomical body part being a model of the patient anatomical body part, and describing the position of at least one predetermined trajectory through the model anatomical body part; •c) acquiring (S3), at a processor, critical structure data describing the position of at least one critical structure (5) in the model anatomical body part or in the patient anatomical body part; •d) determining (S4), by a processor and based on the patient image data and the atlas trajectory data and the critical structure, mapping data describing a mapping of the model anatomical body part, of the position of the at least one predetermined trajectory and of the position of the at least one critical structure (5) onto the medical image of the patient anatomical body part; •e) determining (S5), by a processor and based on the mapping data and the atlas trajectory data and the patient image data, analysis region data describing an analysis region in the patient image data, the analysis region (16) having a position in the patient anatomical body part fulfilling a predetermined spatial condition relative to the position of the mapped predetermined trajectory (6); •f) determining (S6), by the processor and based on the patient image data and the atlas trajectory data and the analysis region data and the critical structure data, straight trajectory data describing a straight line trajectory (11) through the patient anatomical body part having a position fulfilling a predetermined spatial condition relative to the position of at least one critical structure (5) in the patient anatomical body part.

公开(公告)号：US20180056092A1

公开(公告)日：2018-03-01

申请号：US15713201

申请日：2017-09-22

Applicant: Brainlab AG

Inventor： Stefan VILSMEIER

IPC: A61N5/10 ,  A61B34/10

CPC classification number: A61N5/1039 ,  A61B34/10 ,  A61B2034/104 ,  A61B2034/107 ,  A61N5/1031 ,  A61N5/1038 ,  G06F19/00 ,  G06F19/3481 ,  G16H50/50

Abstract: A radiotherapy feedback device is provided which provides one of a plurality of indication signals for presentation to a surgeon based on the status of a current surgical procedure. In some aspects, an indication signal is provided to the surgeon if the surgical procedure on an anatomical structure is of sufficient status so as to respond well to subsequent radiotherapy.

公开(公告)号：US20180028837A1

公开(公告)日：2018-02-01

申请号：US15548059

申请日：2015-10-15

Applicant: Brainlab AG

Inventor： Andreas SCHAETTI ,  Stefan SCHELL ,  Robert GRUMMT

IPC: A61N5/10

CPC classification number: A61N5/103 ,  A61N5/1047 ,  A61N2005/1087

Abstract: Disclosed is a method for determining an irradiation trajectory for the movement of a treatment device for irradiating an anatomical structure with ionising treatment radiation, the method comprising steps ofacquiring medical image data describing a medical image of the anatomical structure; determining, based on the medical image data, image concavity data; acquiring predetermined concavity data; determining, based on the image concavity data and the predetermined concavity data, partition data; determining, based on the medical image data, partition boundary data; and determining, based on the partition boundary data, irradiation trajectory data.

公开(公告)号：US09858674B2

公开(公告)日：2018-01-02

申请号：US15034485

申请日：2013-11-05

Applicant: Brainlab AG

Inventor： Rainer Lachner ,  Rowena Thomson ,  Christina Sladky

IPC: G06T7/187 ,  G06T7/11 ,  G06T7/00 ,  G06T5/00 ,  G06T5/20 ,  G06T7/60 ,  G06T7/174 ,  G06T7/136

CPC classification number: G16H30/40 ,  G06T5/002 ,  G06T5/20 ,  G06T7/001 ,  G06T7/0012 ,  G06T7/11 ,  G06T7/136 ,  G06T7/174 ,  G06T7/187 ,  G06T7/60 ,  G06T2207/10096 ,  G06T2207/20128 ,  G06T2207/20156 ,  G06T2207/20224 ,  G06T2207/30016 ,  G06T2207/30096

Abstract: A data processing method for determining an enhancing structure of interest within an anatomical body part, wherein the structure of interest exhibits an enhanced signal in an image of the anatomical body part generated by a medical imaging method using a contrast agent, said method being designed to be performed by a computer and comprising a region growing algorithm.

公开(公告)号：US09849308B2

公开(公告)日：2017-12-26

申请号：US14759905

申请日：2013-01-09

Applicant: Brainlab AG

Inventor： Kajetan Berlinger ,  Sebastian Knorr ,  Cornel Schlossbauer ,  Joerg Rehs

IPC: A61N5/10 ,  A61B6/04 ,  A61B6/03 ,  A61B6/00 ,  G06T7/00 ,  G06T7/30

CPC classification number: A61N5/1049 ,  A61B6/032 ,  A61B6/04 ,  A61B6/4085 ,  A61N5/1037 ,  A61N5/107 ,  A61N5/1071 ,  A61N5/1077 ,  A61N2005/1061 ,  A61N2005/1062 ,  A61N2005/1072 ,  A61N2005/1074 ,  G06T7/0012 ,  G06T7/30 ,  G06T2207/10072

Abstract: The invention is directed to a data processing method for determining the consistency of registration of the position of a treatment body part to be treated by radiotherapy with a treatment beam arrangement of at least one position of a treatment beam issued by a treatment device, the treatment body part being a soft tissue part of an anatomical structure of a patient's body and the data processing method being constituted to be executed by a computer and comprising the following steps: g) acquiring CT data comprising predetermined CT information about a position of the treatment body part relative to a bony structure of the patient's body and about a first position of the bony structure relative to the treatment beam arrangement; h) acquiring x-ray data comprising x-ray information about a second position of the bony structure relative to the treatment beam arrangement; i) determining, based on the x-ray data and the CT data, bony structure position first transformation data comprising bony structure position first transformation information about a first transformation between the first position and the second position of the bony structure; j) acquiring CBCT data comprising CBCT information about the position of the treatment body part relative to the treatment beam arrangement or relative to the bony structure; k) determining, based on the CBCT data and the CT data, bony structure position second transformation data comprising bony structure position second transformation information about a second transformation between the first position and a third position of the bony structure relative to the treatment beam arrangement; determining, based on the bony structure position first transformation data and the bony structure position second transformation data, transformation difference data comprising transformation difference information about a difference between the first and second transformations.

公开(公告)号：US09836837B2

公开(公告)日：2017-12-05

申请号：US15100965

申请日：2013-12-02

Applicant: Brainlab AG

Inventor： Stefan Milz ,  Johannes Flake

IPC: G06K9/00 ,  G06T7/00 ,  G06K9/62 ,  G06T7/33

CPC classification number: G06T7/0012 ,  G06K9/6202 ,  G06T7/344 ,  G06T2207/30061

Abstract: An image transformation method, performed by a computer, for determining a transformation between two medical images of an anatomical structure, respectively taken at a first and second point in time, said method comprising the steps of: acquiring first and second image datasets which represent the first and second image, respectively; determining an image-based transformation between the first image and the second image; acquiring an elastic model of the anatomical structure at the first point in time, wherein the elastic model comprises a plurality of nodes and the relationships between the nodes; calculating the displacements of a subset of the nodes in accordance with the image-based transformation; calculating the displacements of the other nodes in accordance with the relationships between the nodes as represented by the elastic model, while keeping the displacements of the nodes in the subset of nodes constant; and calculating the transformation from the displacement vectors which represent the displacements of the nodes as compared to their positions at the first point in time.

公开(公告)号：US20170340902A1

公开(公告)日：2017-11-30

申请号：US15534049

申请日：2015-06-25

Applicant: Brainlab AG

Inventor： Stefan VILSMEIER ,  Kajetan BERLINGER

IPC: A61N5/10 ,  A61B6/03 ,  A61B6/00

Abstract: The present application relates to a data processing method for determining the position of a soft tissue body part within a patient's body. The data processing method includes acquiring CT-image data including information about the position of the body part within a coordinate system assigned to a transportable CT-device, wherein the patient's body is positioned relative to the treatment device, and wherein the CT-device is configured to be positioned relative to the patient's body and/or relative to the treatment device, acquiring first transformation data including information about a first transformation between the coordinate system assigned to the CT-device and a coordinate system assigned to the treatment device, and determining, based on the CT-image data and the first transformation data, position data including information about the position of the body part within the coordinate system assigned to the treatment device.

公开(公告)号：US20170340297A1

公开(公告)日：2017-11-30

申请号：US15535657

申请日：2014-12-19

Applicant: Brainlab AG

Inventor： Balint VARKUTI ,  Harald BRAUN

IPC: A61B6/04 ,  A61B90/14 ,  A61B6/03 ,  A61B10/02 ,  A61B90/11 ,  A61B6/00 ,  G06F19/00

CPC classification number: A61B6/0492 ,  A61B6/032 ,  A61B6/0421 ,  A61B6/12 ,  A61B6/501 ,  A61B6/5258 ,  A61B6/547 ,  A61B10/02 ,  A61B90/11 ,  A61B90/14 ,  A61N5/1049 ,  A61N2005/1051 ,  A61N2005/1097 ,  G06F19/321 ,  G06F19/3481 ,  G16H40/63

Abstract: The present invention relates to a method for positioning a patient's body part including a target to be irradiated relative to an irradiation source of a radiation imaging device, that generates a radiation beam directed towards the target, the method being constituted to be executed by a processor of a computer and comprising the following steps: receiving, at the processor, geometry data describing the geometry of at least one structure located in the field of view of the radiation imaging device; receiving, at the processor, tracking data describing the spatial position of the at least one structure within the field of view of the radiation imaging device; determining, with the processor, position data incorporating the geometry data and the tracking data, describing whether a position of the at least one structure lies within a radiation beam trajectory through the target; determining, with the processor, repositioning data describing a position of the at least one structure away from the radiation beam trajectory through the target; outputing, from the processor, the repositioning data allowing for repositioning of the at least one structure. The present invention further relates to a corresponding computer program and system.

公开(公告)号：US09827052B2

公开(公告)日：2017-11-28

申请号：US14440387

申请日：2013-11-04

Applicant: Brainlab AG

Inventor： Maria Fowler ,  Norman Plassky

IPC: A61B5/05 ,  A61B19/08 ,  A61B19/00 ,  F16B2/18 ,  A61B46/00 ,  A61B5/00 ,  A61B5/055 ,  A61B5/06 ,  A61B6/03 ,  A61B8/08 ,  A61B17/00 ,  A61B90/00 ,  A61B34/20

CPC classification number: A61B90/39 ,  A61B5/0059 ,  A61B5/055 ,  A61B5/062 ,  A61B6/032 ,  A61B8/481 ,  A61B46/00 ,  A61B2017/00477 ,  A61B2017/00862 ,  A61B2034/2055 ,  A61B2090/3925 ,  A61B2090/3937 ,  A61B2090/3954 ,  A61B2090/3966 ,  A61B2090/397 ,  A61B2090/3979 ,  A61B2090/3983 ,  A61B2090/3991 ,  F16B2/185

Abstract: The present invention relates to a tracking reference structure for localizing and tracking an object by means of a medical tracking system, said structure comprising: —a first part (1) which forms a support structure for at least one tracking marker (3); and—a second part (2) which is configured to be fixed to said object, wherein a positionally fixed connection between the first part (1) and the second part (2) is established by means of an interface comprising at least one resiliently articulated element (4) on the first part (1) and/or second part (2), which engage(s) with the respective other part (2, 1), and wherein the resiliently articulated element (4) is configured such that its restoring spring force alone is already sufficient to positionally fix the connection. The present invention also relates to a tracking reference system comprising such a tracking reference structure which in turn comprises at least one first part (1), wherein any additional first part(s) (1) support(s) a different type of tracking marker (3) and said different first parts (1) can be interchangeably connected to the second part (2), and wherein the tracking markers (3) of each of said different first parts (1) are in particular placed in the same spatial position when being coupled to the second part (2).

公开(公告)号：US09818175B2

公开(公告)日：2017-11-14

申请号：US14652290

申请日：2012-12-17

Applicant: Brainlab AG

Inventor： Rainer Birkenbach ,  Dieter Ceglarz ,  Till Gerken

IPC: G06K9/00 ,  G06T5/00 ,  G06F19/00 ,  G06T7/33 ,  G06T7/70

CPC classification number: G06T5/00 ,  G06F19/00 ,  G06T5/006 ,  G06T7/33 ,  G06T7/70 ,  G06T2207/10081 ,  G06T2207/10088 ,  G06T2207/20201 ,  G06T2207/30096 ,  G16H40/63

Abstract: A data processing method of determining a transformation for transforming medical image data into a positional reference system, the method being executed by a computer and comprising the following steps: a) acquiring reference position data comprising reference position information describing a reference position of a medical imaging apparatus in an imaging apparatus reference system; b) acquiring imaging geometry data comprising imaging geometry information describing an imaging geometry of the medical imaging apparatus; c) acquiring actual position data comprising actual position information describing different actual positions of the medical imaging apparatus in an imaging apparatus reference system, wherein the medical imaging apparatus takes the actual positions for acquiring medical image data comprising medical image information describing an image of the anatomical region of the patient's body at each of the actual positions; d) determining, based on the reference position data and the imaging geometry data and the actual position data, medical image transformation data comprising medical image transformation information describing a medical image transformation between the actual position of the medical imaging and the reference position.