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公开(公告)号：US07376214B2
公开(公告)日：2008-05-20
申请号：US10911796
申请日：2004-08-05
CPC分类号： A61B6/4441 , A61B5/0456 , A61B5/7207 , A61B6/503 , A61B6/504 , A61B6/541
摘要： A method is provided to image an organ of the human or animal body using and acquisition device rotating over an angle, in that the rotation speed of the rotating acquisition device is modulated dependent on a reference signal that represents a current movement state of the organ to be imaged. Additionally or alternatively, the measurement interval in which the acquisition of the organ ensures during the rotation can respectively be adapted using the reference signal to a cycle duration of the movement of the organ to be imaged. Moreover, a corresponding apparatus to implement such a method is provided.
摘要翻译： 提供了一种用于使用和采集装置在一个角度上旋转来成像人体或动物体的器官的方法，其中旋转采集装置的旋转速度根据表示器官的当前运动状态的参考信号而被调制， 成像。 附加地或替代地，可以分别使用参考信号将器官的采集确保在旋转期间的测量间隔适应于要成像的器官的运动的周期持续时间。 此外，提供了实现这种方法的相应装置。
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52.发明申请Method for recording X-ray images by means of a robotically controlled C-arm system and recording device for recording X-ray images 有权通过机器人控制的C臂系统记录X射线图像的方法和用于记录X射线图像的记录装置公开(公告)号：US20080037712A1
公开(公告)日：2008-02-14
申请号：US11890402
申请日：2007-08-06
IPC分类号： G03B42/02
CPC分类号： G03B42/02 , A61B6/102 , A61B6/4441 , A61B6/4458 , A61B6/466
摘要： The present invention relates to a method and a device for recording X-ray images by means of a robotically controlled C-arm system which includes an image recording system (9, 10) that can be rotated in a recording plane around a turning center (17) by means of a C-arm (7) and with which, through rotating of the C-arm (7), a plurality of radioscopic images of a region (14) of interest in an object (13) positioned on an object positioning facility (15) are recorded at different rotation angles, from which images one or more cross-sectional images or a three-dimensional image of a region (14) in the object can be reconstructed. With the method, the C-arm (7) is compliantly repositioned in a collision-free manner in synchronism with the rotation such that the region (14) of interest in an object will, at least at each rotation angle at which image recording takes place, be located within a cone beam (16) of an X-ray bundle of the image recording system (9, 10). The method and associated robotically controlled recording device thus enable the three-dimensional image reconstruction also of regions located at the edge of the object's longitudinal center line.
摘要翻译： 本发明涉及一种通过机器人控制的C臂系统来记录X射线图像的方法和装置，该系统包括可在围绕转动中心的记录平面中旋转的图像记录系统（9,10） 通过C臂（7）的旋转，通过C臂（7）的旋转，位于物体（13）上的感兴趣区域（14）的多个放射线图像位于物体 定位设备（15）以不同的旋转角度被记录，从中可以重建图像中的一个或多个横截面图像或区域（14）的三维图像。 利用该方法，C臂（7）以与旋转同步的无碰撞方式顺从地重新定位，使得物体中感兴趣的区域（14）将至少在图像记录所需的每个旋转角度 位置，位于图像记录系统（9,10）的X射线束的锥形束（16）内。 因此，该方法和相关联的机器人控制的记录装置也能够对位于物体的纵向中心线的边缘处的区域进行三维图像重建。
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53.发明申请Method for creation of stereo image pairs of an object under examination with an x-ray system and x-ray system 有权用x射线系统和x射线系统创建检查对象的立体图像对的方法公开(公告)号：US20080031411A1
公开(公告)日：2008-02-07
申请号：US11888207
申请日：2007-07-31
IPC分类号： A61B6/02
CPC分类号： B25J11/00 , A61B6/022 , A61B6/4441 , A61B6/4458 , A61B34/30 , A61B90/36 , A61B2090/364 , A61B2090/376
摘要： To guarantee the ability to create stereo image pairs in real time, the invention relates a method for creating stereo image pairs of an object under examination with an x-ray system, featuring a recording unit comprising an x-ray detector and an x-ray source, with said recording unit being carried by an industrial robot and being able to be rotated around a center of rotation or around an axis of rotation is provided, in which a first x-ray image of the object under examination is recorded at a first angle of rotation of the recording unit around a center of rotation or an axis of rotation and subsequently a second x-ray image of the object under examination is recorded at a second angle of rotation of the recording unit around the center of rotation or the axis of rotation.
摘要翻译： 为了保证实时创建立体图像对的能力，本发明涉及一种用X射线系统创建被检查物体的立体图像对的方法，其特征在于包括x射线检测器和x射线 源，其中所述记录单元由工业机器人承载并且能够围绕旋转中心或围绕旋转轴线旋转，其中被检查对象的第一x射线图像被记录在第一 记录单元围绕旋转中心或旋转轴线的旋转角度以及随后的被检查物体的第二x射线图像的旋转角记录在记录单元围绕旋转中心或轴线的第二旋转角度 的旋转。
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公开(公告)号：US20070287905A1
公开(公告)日：2007-12-13
申请号：US11810974
申请日：2007-06-07
IPC分类号： A61B5/05
CPC分类号： A61B5/055 , A61B6/12 , A61B6/4441 , A61B6/5235 , A61B6/5247
摘要： The invention relates to a method and to a device for visualizing organs, in which a respective functional and anatomical magnetic resonance tomography image record of an organ are created, the anatomical magnetic resonance tomography image record containing visible landmarks and being registered with the functional magnetic resonance tomography image record. X-ray images of the organ are also taken which are then registered with the anatomical magnetic resonance tomography image record by using landmarks. The X-ray images and the images of the functional magnetic resonance tomography image record, which are registered with each other, can subsequently be displayed in a superimposed manner.
摘要翻译： 本发明涉及一种用于可视化器官的方法和装置，其中创建器官的各自的功能和解剖学磁共振断层摄影图像记录，包含可见界标的解剖磁共振断层摄影图像记录并且与功能性磁共振 断层扫描图像记录。 还拍摄器官的X射线图像，然后通过使用地标与解剖磁共振断层摄影图像记录一起登记。 随后可以以叠加的方式显示彼此登记的功能性磁共振断层摄影图像记录的X射线图像和图像。
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公开(公告)号：US20050069083A1
公开(公告)日：2005-03-31
申请号：US10952628
申请日：2004-09-29
摘要： An intuitively manageable method for adjusting at least one parameter (X) that determines the image quality of an X-ray image produced by an X-ray device (1) is provided, wherein, on a user interface (18) of the X-ray device (1) a setting zone (25) for the parameter (X) is shown pictorially, and in relation to the setting zone (25) the current setting (Xact) of the parameter (X) is likewise shown pictorially. At least two sub-zones (32, 33, 34) of the setting zone (25) are differentiated from each other by color, wherein a first sub-zone (32) corresponds to a parameter-setting that guarantees good image quality and a second sub-zone (34) corresponds to a parameter-setting that is critical for the image quality.
摘要翻译： 提供了一种用于调整确定由X射线装置（1）产生的X射线图像的图像质量的至少一个参数（X）的直观可管理的方法，其中，在X射线装置（1）的用户界面（18） 射线设备（1）用于参数（X）的设置区域（25）被示出，并且相对于设置区域（25），参数（X）的当前设置（Xact）同样以图示方式示出。 设置区域（25）的至少两个子区域（32,33,34）通过颜色彼此不同，其中第一子区域（32）对应于保证良好图像质量的参数设置，以及 第二子区域（34）对应于对图像质量至关重要的参数设置。
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56.发明授权Spiral scanning computed tomography apparatus, and method for operating same, for cardiac imaging 有权用于心脏成像的螺旋扫描计算机断层摄影装置及其操作方法公开(公告)号：US06266553B1
公开(公告)日：2001-07-24
申请号：US09151588
申请日：1998-09-11
IPC分类号： A61B505
CPC分类号： A61B6/032 , A61B6/027 , A61B6/541 , G01N23/046 , G01N2223/419 , G01N2223/612
摘要： In a computed tomography apparatus, and a method for operating same, for obtaining cardiac images, a spiral scan of a measurement volume containing a patient's heart is conducted, the production of the scanning data during the spiral scanning being synchronized with an ECG signal from the patient, in order to produce a graphic representation of the examination volume, and thus an image of the patient's heart. The ECG signal is employed to control the generation of the data during the spiral scanning at phase of the cardiac cycle wherein minimum movement of the heart takes place. The chronological correlation between the recording of the scanning data and the ECG signal is fixed, so that within each number of successive time intervals, a dataset is obtained completely within that time interval. The datasets from the successive time intervals are then combined to produce an image of the heart. Since the component images are all obtained in a low-motion phase of the heart, the resulting overall image is particularly sharp.
摘要翻译： 在计算机断层摄影装置及其操作方法中，为了获得心脏图像，进行包含患者心脏的测量体积的螺旋扫描，螺旋扫描期间的扫描数据的产生与来自 患者，以便产生检查体积的图形表示，并因此产生患者心脏的图像。 ECG信号用于在心脏周期的阶段的螺旋扫描期间控制数据的产生，其中发生心脏的最小运动。 扫描数据记录与ECG信号之间的时间顺序相关性是固定的，因此在每个连续时间间隔内，在该时间间隔内完全获得数据集。 然后将来自连续时间间隔的数据集合以产生心脏的图像。 由于分量图像全部在心脏的低运动相位中获得，因此所得到的整体图像特别尖锐。
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公开(公告)号：US08577444B2
公开(公告)日：2013-11-05
申请号：US12075738
申请日：2008-03-13
CPC分类号： A61B6/12 , A61B17/3403 , A61B2090/376
摘要： The invention relates to a method and a device for making correction information for correcting a guidance direction of an instrument. Based on a current position of the tip of the instrument and the current guidance direction of the instrument and the position of a target point in an object, a first straight line indicating the current guidance direction and a second straight line defined by the tip of the instrument and the target point in the object are determined. The second straight line intersects the first straight line and indicates the desired guidance direction. Based on the position of the first and second straight lines relative to one another, a digital item of correction information is specified, wherein the correction image has a correction diagram located in a plane in the perspective of the current guidance direction of the instrument.
摘要翻译： 本发明涉及一种用于校正仪器的引导方向的校正信息的方法和装置。 基于仪器的尖端的当前位置和仪器的当前引导方向以及目标点在物体中的位置，指示当前引导方向的第一直线和由该尖端形成的第二直线 仪器和对象中的目标点被确定。 第二条直线与第一条直线相交，表示所需的引导方向。 基于相对于彼此的第一直线和第二直线的位置，指定校正信息的数字项，其中校正图像具有位于仪器的当前引导方向的透视图中的平面中的校正图。
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58.发明授权公开(公告)号：US08068658B2
公开(公告)日：2011-11-29
申请号：US12431388
申请日：2009-04-28
CPC分类号： A61B6/504 , A61B5/0275 , A61B5/7207 , A61B6/463 , A61B6/481 , A61B6/487 , A61B6/5217 , A61B6/5264 , A61B2090/367 , G06T11/008 , G06T2211/412
摘要： A computer receives a plurality of two-dimensional fluoroscopy images of an examination object, capture time points and projection parameters and combines the images into image groups. Each image group contains all the images, the capture time point of which is between a minimum and a maximum time point specific to the respective image group. When the image groups are sorted by ascending minimum time points, the corresponding maximum time points form a strictly monotonously ascending order. The respective minimum and maximum time points are determined so that the computer reconstructs a three-dimensional object reconstruction of the examination object based on the images assigned to the respective image group. A respective two-dimensional reconstruction display is determined by the respective three-dimensional object reconstruction and outputted to a user in a coding specific to the respective image group by a display device.
摘要翻译： 计算机接收检查对象的多个二维透视图像，捕获时间点和投影参数，并将图像组合成图像组。 每个图像组包含所有图像，其捕获时间点在相应图像组特有的最小和最大时间点之间。 当图像组按升序的最小时间点排序时，对应的最大时间点形成严格的单调升序。 确定相应的最小和最大时间点，使得计算机基于分配给各个图像组的图像重建检查对象的三维物体重建。 相应的二维重建显示由相应的三维物体重建确定，并通过显示装置以特定于各个图像组的编码输出给用户。
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59.发明授权公开(公告)号：US08060186B2
公开(公告)日：2011-11-15
申请号：US12031787
申请日：2008-02-15
申请人： Ashraf Mohamed , Chenyang Xu , Frank Sauer , Marcus Pfister , Andrew F Hall , Klaus Klingenbeck-Regn
发明人： Ashraf Mohamed , Chenyang Xu , Frank Sauer , Marcus Pfister , Andrew F Hall , Klaus Klingenbeck-Regn
IPC分类号： A61B5/05
CPC分类号： G06T19/006 , A61B6/4423 , A61B6/487 , A61B6/504 , A61B34/10 , A61B2034/102 , A61B2034/108 , A61B2090/365 , A61F2/91 , A61F2250/0067 , A61F2310/0097 , G06T7/344 , G06T7/38 , G06T2207/10121 , G06T2207/30101 , G06T2207/30204
摘要： A method for guiding stent deployment during an endovascular procedure includes providing a virtual stent model of a real stent that specifies a length, diameter, shape, and placement of the real stent. The method further includes projecting the virtual stent model onto a 2-dimensional (2D) DSA image of a target lesion, manipulating a stent deployment mechanism to navigate the stent to the target lesion while simultaneously acquiring real-time 2D fluoroscopic images of the stent navigation, and overlaying each fluoroscopic image on the 2D DSA image having the projected virtual stent model image, where the 2D fluoroscopic images are acquired from a C-arm mounted X-ray apparatus, and updating the projection of the virtual stent model onto the fluoroscopic images whenever a new fluoroscopic image is acquired or whenever the C-arm is moved, where the stent is aligned with the virtual stent model by aligning stent end markers with virtual end markers.
摘要翻译： 用于在血管内手术期间引导支架展开的方法包括提供实际支架的虚拟支架模型，其指定真实支架的长度，直径，形状和位置。 该方法还包括将虚拟支架模型投影到目标损伤的二维（2D）DSA图像上，操纵支架展开机构以将支架导航到目标病变，同时获取支架导航的实时2D透视图像 并且将每个透视图像叠加在具有投射的虚拟支架模型图像的2D DSA图像上，其中从C臂安装的X射线装置获取2D透视图像，并且将虚拟支架模型的投影更新到荧光图像上 每当获取新的荧光透视图像或每当C形臂移动时，通过将支架终点标记与虚拟末端标记对齐，支架与虚拟支架模型对准。
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60.发明授权Registering intra-operative image data sets with pre-operative 3D image data sets on the basis of optical surface extraction 有权基于光学表面提取，将手术前图像数据集与术前3D图像数据集进行注册公开(公告)号：US07664542B2
公开(公告)日：2010-02-16
申请号：US11496069
申请日：2006-07-28
CPC分类号： G06T7/55 , G06T7/38 , G06T7/50 , G06T2207/30004
摘要： The invention relates to a method for registering intra-operative image data set with pre-operative 3D image data set, including: spatially calibrating an optical 3D sensor system with an intra-operative imaging modality, intra-operatively detecting the surface of an examination area of interest with the 3D sensor system to produce an intra-operative surface mask, intra-operatively recording the area of interest for examination with the intra-operative modality at least partly containing the intra-operative surface mask to obtain an intra-operative image data set, computing the same surface from the pre-operative 3D image data set containing the detected surface to obtain a pre-operative surface mask, registering the intra-operative and pre-operative surface mask with each other, determining a mapping specification between pre-operative 3D image data set and intra-operative image data set based on the calibration and the registration, and overlaying the intra-operative image data set with the pre-operative 3D data set based on the mapping specification.
摘要翻译： 本发明涉及一种用于记录术前图像数据组与手术前3D图像数据集的方法，所述方法包括：空间校准具有术中成像模态的光学3D传感器系统，操作内检测检查区域的表面 感兴趣的3D传感器系统以产生术中表面掩模，用至少部分地包含术中表面掩模的手术内模式操作内记录用于检查的感兴趣区域以获得手术中图像数据 设置，从包含检测到的表面的术前3D图像数据集计算相同的表面，以获得术前表面掩模，将手术前和手术前表面掩模彼此对准， 基于校准和注册的手术3D图像数据集和手术中图像数据集合，并且将术中图像数据集w 基于映射规范的术前3D数据集。
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