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    Soft tissue stereo-tracking
    41.
    发明授权
    Soft tissue stereo-tracking 有权

    公开(公告)号：US11042993B2

    公开(公告)日：2021-06-22

    申请号：US16070107

    申请日：2017-10-09

    Applicant: Brainlab AG

    Inventor： Kajetan Berlinger ,  Birte Domnik

    IPC: G06T7/73 ,  A61N5/10 ,  G06T7/285 ,  G06T7/00 ,  G06T11/00

    Abstract: The disclosed method encompasses reconstruction of a three-dimensional position of a tracking structure (which may comprise a target of radiation treatment) as reconstructed tracking structure data from pairs of two-dimensional tracking images which are input as tracking image data. Each tracking image contained in a pair of tracking images is compared to a tracking representation of the tracking structure contained in a search template image generated from the same perspective onto the tracking structure as the associated tracking image and input as search template data. The tracking image having the highest at local degree of similarity to its associated search template image is selected as a starting point (the first tracking image) for computing a corresponding image position (a complement point) in the other tracking image (the second tracking image) on the basis of applying epipolar geometry outgoing from the position in the first tracking image associated with the highest local degree of similarity. The method then continues with determining whether there is a point in the second tracking image having a higher degree of similarity than the complement point. Depending on the result of this analysis, an accumulated value of similarity is determined for each pair of tracking images depending on the sum of similarity values of the maximum similarity points in the first and second tracking images so determined. The position of the tracking structure is determined as the intersection of back-projection lines of the points being associated with the highest sum of associated similarity values. Thereby, the reliability of position determination from stereoscopic two-dimensional x-ray images can be enhanced.

    IMAGE ACQUISITION BASED ON TREATMENT DEVICE POSITION
    42.
    发明申请
    IMAGE ACQUISITION BASED ON TREATMENT DEVICE POSITION 有权

    公开(公告)号：US20210145372A1

    公开(公告)日：2021-05-20

    申请号：US16466383

    申请日：2018-06-12

    Applicant: Brainlab AG

    Inventor： Kajetan Berlinger ,  Stefan Seifert

    IPC: A61B6/02 ,  G06T7/00 ,  A61B6/04 ,  A61B6/00

    Abstract: The disclosed method encompasses acquiring position data. The position data describes predetermined positions of a treatment device. At each of the predetermined positions, an imaging condition is fulfilled. Such an imaging condition is for a free line of sight of two (stereo-)imaging units at the same time. In a next step, the current position of the treatment device is acquired. Then, the current position is compared with the predetermined positions. In case the current position corresponds to a predetermined position, decision data is determined which describes that an image shall be taken. In a next step, control data is determined which describes a control signal for an imaging device to take an image or not to take an image, depending on the decision data.

    Patient pre-positioning in frameless cranial radiosurgery using thermal imaging
    43.
    发明授权
    Patient pre-positioning in frameless cranial radiosurgery using thermal imaging 有权

    公开(公告)号：US10926106B2

    公开(公告)日：2021-02-23

    申请号：US16090607

    申请日：2016-05-04

    Applicant: Brainlab AG

    Inventor： Kajetan Berlinger ,  Hagen Kaiser

    IPC: A61N5/10 ,  A61B6/00 ,  G06T7/73 ,  A61B6/04 ,  G06T7/13 ,  G06T7/33 ,  G06T7/37 ,  G06T7/70 ,  A61B6/03

    Abstract: A method and system supports pre-positioning a patient for treatment by radiotherapy or radiosurgery. The disclosed method encompasses comparing an image of a reference structure having a known position relative to an anatomical body part of a patient, such as a live thermal/infrared image of the reference structure, to a predetermined medical image of the reference structure associated with a known position relative to a reference position, such as a known isocenter of a radiotherapy or radiosurgery apparatus. On that basis, it is determined whether the reference structure has moved relative to the reference position. A decision may be made to determine whether the reference structure and therefore the patient has been correctly positioned and/or kept in his desired position relative to a treatment device, and to compensate for any possible positional deviation by moving the patient.

    System for monitoring the position of a patient receiving 4pi radiation therapy
    44.
    发明授权
    System for monitoring the position of a patient receiving 4pi radiation therapy 有权

    公开(公告)号：US10543381B2

    公开(公告)日：2020-01-28

    申请号：US16438975

    申请日：2019-06-12

    Applicant: Brainlab AG

    Inventor： Kajetan Berlinger ,  Stephan Fröhlich

    IPC: A61N5/10

    Abstract: Disclosed is a method for determining a deviation of the position of an anatomical body part relative to a predetermined position defined by a radiation treatment plan. A monitoring image is taken of the anatomical body part at the instant that a predetermined control point defined in the treatment plan has been reached. The monitoring image is compared to a simulated image simulated from a planning image of the anatomical body from the perspective of a monitoring camera used to generate the monitoring image. The comparison allows for a determination of whether there is a positional deviation.

    X-ray patient position monitoring
    45.
    发明授权
    X-ray patient position monitoring 有权

    公开(公告)号：US10413752B2

    公开(公告)日：2019-09-17

    申请号：US15549091

    申请日：2015-02-09

    Applicant: Brainlab AG

    Inventor： Kajetan Berlinger ,  Jorg Rehs

    IPC: A61N5/10

    Abstract: A data processing method performed by a computer for monitoring the position of a patient, comprising the steps of: acquiring a 3D image dataset of the patient; acquiring an initial real image of the patient from a medical imaging system having a known and fixed location in space, thus defining a known viewing direction of the initial real image in space, the real image being taken at a first point in time; —performing 2D/3D registration by calculating a simulated image from the 3D image dataset which matches the initial real image best, the simulated image having a viewing direction onto the 3D image dataset; storing an initial similarity measure value for the pair of the initial real image and the calculated simulated image; —acquiring a subsequent real image from the medical imaging system taken at a second point in time later than the first point in time; calculating a subsequent similarity measure value for the pair of the subsequent real image and the calculated simulated image; and outputting an indication signal if the difference between the initial similarity measure value and the subsequent similarity measure value fulfills a predetermined criterion.

    Medical image fusion with reduced search space
    46.
    发明授权
    Medical image fusion with reduced search space 有权

    公开(公告)号：US10297042B2

    公开(公告)日：2019-05-21

    申请号：US15547721

    申请日：2016-06-29

    Applicant: Brainlab AG

    Inventor： Kajetan Berlinger ,  Hagen Kaiser

    IPC: G06T7/73 ,  A61B6/00 ,  G06T7/33 ,  A61N5/10 ,  G06T19/20 ,  A61B6/04

    Abstract: A computer implemented method for performing fusion of 3D image data, which represent at least a part of a patient's body, with two 2D images of the patient's body with a known spatial relation between the viewing directions of the 2D images, comprising the steps of: —acquiring the 3D image data, —acquiring the two 2D images, —calculating two virtual images from the 3D image data, the two virtual images corresponding to the two 2D images, —classifying the two 2D images into a primary and a secondary image, —determining a primary alignment between the primary image and the corresponding virtual image such that they match, —calculating a spatial axis relative to the viewing directions of the two 2D images from the primary alignment and a predetermined point which is imaged in the virtual image which corresponds to the primary image, wherein the spatial axis is a line in space on which the predetermined point lies, and —performing fusion of the 3D image data with the two 2D images based on the calculated spatial axis in order to obtain a virtual position of the 3D image data in space.

    Frameless pre-positioning for radiosurgery
    47.
    发明授权
    Frameless pre-positioning for radiosurgery 有权

    公开(公告)号：US10045744B2

    公开(公告)日：2018-08-14

    申请号：US15118724

    申请日：2014-02-14

    Applicant: Brainlab AG

    Inventor： Kajetan Berlinger ,  Stephan Froehlich ,  Eva Maria Gronbach

    IPC: G01T7/00 ,  G06K9/32 ,  A61B6/04 ,  A61N5/10 ,  G06T7/00 ,  G06K9/62 ,  G06K9/00 ,  G06K9/20 ,  A61B6/03 ,  A61B6/00 ,  A61B90/00 ,  A61B34/20 ,  A61B90/10 ,  A61B90/14 ,  G06T7/73

    Abstract: The presently described method is directed to determining a way of positioning a patient before execution of a medical procedure involving irradiating the patient with ionizing treatment radiation based on comparing medical images of the patient with a pre-acquired medical image. The planning computed tomography is searched for an image of the reference structure in order to determine the position of the patient relative to a patient support device. A retroreflective marker device, having a known and advantageously fixed position relative to the base plate, is detected by a navigation system operatively coupled to a motor of the support device. Based on the detected position of the marker device, the motor of the support device is activated to drive the patient into a desired position relative to beam direction along which the treatment radiation is to be issued towards the patient to execute the medical procedure.

    Determining soft-tissue shift taking into account bony shift
    48.
    发明授权
    Determining soft-tissue shift taking into account bony shift 有权

    公开(公告)号：US09855443B2

    公开(公告)日：2018-01-02

    申请号：US14759906

    申请日：2013-05-07

    Applicant: Brainlab AG

    Inventor： Kajetan Berlinger ,  Cornel Schlossbauer ,  Joerg Rehs ,  Stephan Elsner

    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: A medical data processing method for determining a change in the position of a soft tissue body part of a patient's body, the data processing method being constituted to be executed by a computer and comprising the following steps: a) acquiring (S10, S20) bony body part planned position data comprising bony body part planned position information describing a planned position of a bony body part of the patient's body; b) acquiring (S10, S20) soft tissue body part planned position data comprising soft tissue body part planned position information describing a planned position of the soft tissue body part; c) acquiring (S11, S21) bony body part actual position data comprising bony body part actual position information describing an actual position of the bony body part; d) acquiring (S11, S21) soft tissue body part actual position data comprising soft tissue body part actual position information describing an actual position of the soft tissue body part; e) determining (S12, S22), based on the bony body part planned position data and the bony body part actual position data, bony body part position transformation data comprising bony body part position transformation information describing a bony body part position transformation between the planned position and the actual position of the bony body part; f) determining (S13, S23), based on the bony body part position transformation data and the soft tissue body part actual position data, soft tissue transformed actual position data comprising soft tissue transformed actual position information describing a transformed actual position of the soft tissue body part; g) determining (S14, S24), based on the soft tissue transformed actual position data and the soft tissue body part planned position data, soft tissue body part position transformation data comprising soft tissue body part position transformation information describing a soft tissue body part position transformation between the planned position of the of the soft tissue body part and the transformed actual position of the soft tissue body part.

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