公开(公告)号：US20130066196A1

公开(公告)日：2013-03-14

申请号：US13698772

申请日：2011-04-20

Applicant: Rainer Graumann ,  Gerhard Kleinszig ,  Martin Ringholz

Inventor： Rainer Graumann ,  Gerhard Kleinszig ,  Martin Ringholz

IPC: A61B6/12

CPC classification number: A61B6/12 ,  A61B6/4441 ,  A61B6/547 ,  A61B6/582 ,  A61B34/20 ,  A61B90/39 ,  A61B2017/00725 ,  A61B2034/2055 ,  A61B2034/207 ,  A61B2090/0818 ,  A61B2090/367 ,  A61B2090/3995 ,  G01B15/00 ,  G01B21/042

Abstract: The device enables the detection of positions of the navigation marking elements on a reference star by way of at least two projection images taken by an X-ray system at different pivoting angles of a C-arm. The positions of the navigation marking elements on the reference star are also calculated by a navigation system tracking camera. The transformation from the coordinate system of the navigation system into the coordinate system of the X-ray system is calculated from the position of the reference star detected by the X-ray system and the position of the reference star detected by the tracking camera. The navigation marking elements are located outside of the volume which is reconstructed by way of the imaging process in order to prepare tomographic images. The positions of the navigation marking elements are determined from two-dimensional projections. All the navigation marking elements need only be detected by at least two projection images.

Abstract translation: 该装置能够通过X射线系统以C形臂的不同旋转角拍摄的至少两个投影图像来检测导航标记元件在参考星上的位置。 导航标记元素在参考星上的位置也由导航系统跟踪摄像机计算。 从X射线系统检测到的参考星的位置和由追踪摄像机检测到的参考星的位置，计算从导航系统坐标系到X射线系统坐标系的变换。 导航标记元件位于通过成像过程重建的体积外部，以便准备层析图像。 导航标记元件的位置由二维投影确定。 所有导航标记元件仅需要由至少两个投影图像检测。

公开(公告)号：US20120289821A1

公开(公告)日：2012-11-15

申请号：US13304951

申请日：2011-11-28

Applicant: Rainer Graumann ,  Gerhard Kleinszig ,  Jeffrey Siewerdsen ,  Jongheun Yoo

Inventor： Rainer Graumann ,  Gerhard Kleinszig ,  Jeffrey Siewerdsen ,  Jongheun Yoo

IPC: A61B6/00 ,  H05G1/64 ,  A61B6/03

CPC classification number: A61B6/4405 ,  A61B5/062 ,  A61B6/08 ,  A61B6/12 ,  A61B6/4423 ,  A61B6/4441

Abstract: A medical imaging system and a method electromagnetically track a position of structures with the medical imaging system and a C-arm arrangement. The medical imaging system contains a C-arm, a gantry, and at least one electromagnetic field generator assembly with at least one electromagnetic field generator which interacts with an electromagnetic sensor from receiving the electromagnetic radiation. Preferably, the electromagnetic sensor is positioned within a region of surgical interest in a patient. The electromagnetic field generator is directly embedded into the C-arm.

Abstract translation: 一种医学成像系统和一种利用医学成像系统和C臂装置电磁跟踪结构位置的方法。 医疗成像系统包括C形臂，龙门架和至少一个具有至少一个电磁场发生器的电磁场发生器组件，其与电磁传感器相互作用以接收电磁辐射。 优选地，电磁传感器位于患者的手术感兴趣的区域内。 电磁场发生器直接嵌入C臂。

公开(公告)号：US10751010B2

公开(公告)日：2020-08-25

申请号：US15633991

申请日：2017-06-27

Applicant: Alexander Gemmel ,  Gerhard Kleinszig ,  Wei Wei ,  Markus Weiten

Inventor： Alexander Gemmel ,  Gerhard Kleinszig ,  Wei Wei ,  Markus Weiten

IPC: A61B6/00

Abstract: The disclosure relates to a mobile X-ray device having an equipment cart that is movable on wheels and has a lifting device on which a support assembly is arranged. A C-arm is mounted to the support assembly so as to be displaceable along the circumference of the support assembly, wherein the C-arm has an X-ray source and an X-ray receiver arranged opposite the X-ray source. In order to simplify the handling of a mechanical zoom on mobile X-ray devices, a motion controller is provided by which, in any given pose of the C-arm, a movement of the C-arm is controlled in such a way that the central axis extending between X-ray source and X-ray receiver is fixed in space.

公开(公告)号：US20140051994A1

公开(公告)日：2014-02-20

申请号：US14112951

申请日：2012-04-13

Applicant: Rainer Graumann ,  Gerhard Kleinszig ,  Martin Ringholz

Inventor： Rainer Graumann ,  Gerhard Kleinszig ,  Martin Ringholz

IPC: A61B19/00

CPC classification number: A61B34/10 ,  A61B6/032 ,  A61B6/12 ,  A61B6/4085 ,  A61B6/4441 ,  A61B34/20 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2090/376 ,  A61B2090/3966 ,  A61B2090/3983

Abstract: A method for determining the location, in a coordinate system, of a target position for an invasive medical procedure on a patient. An entry mark that defines the coordinate system and indicates an entry position for the procedure is affixed to the patient. A site marker, which can be identified in a radioscopy image, is fixed in a known relative location in the coordinate system. At least two 2D radioscopy images of the patient, which both depict the respective site marker and the target position, are recorded from different recording directions. The location of the target position in the coordinate system is determined from the representation of the target position and from the representation of the site marker in the 2D radioscopy images and from the relative location of the site marker in the coordinate system.

Abstract translation: 一种用于确定坐标系中位于患者的侵入性医疗程序的目标位置的位置的方法。 定义坐标系并指示过程的入口位置的入口标记被附加到患者身上。 可以在放射成像图像中识别的位点标记被固定在坐标系中已知的相对位置。 从不同的记录方向记录描述相应位置标记和目标位置的患者的至少两个2D放射成像图像。 目标位置在坐标系中的位置由目标位置的表示和2D放射线图像中的站点标记的表示以及坐标系中站点标记的相对位置确定。

公开(公告)号：US20120289826A1

公开(公告)日：2012-11-15

申请号：US13285493

申请日：2011-10-31

Applicant: RAINER GRAUMANN ,  GERHARD KLEINSZIG ,  YOSHITO OTAKE ,  JEFFREY SIEWERDSEN

Inventor： RAINER GRAUMANN ,  GERHARD KLEINSZIG ,  YOSHITO OTAKE ,  JEFFREY SIEWERDSEN

IPC: A61B6/00

CPC classification number: A61B6/032 ,  A61B6/12 ,  A61B6/4441 ,  A61B6/487 ,  A61B6/504 ,  A61B6/505 ,  A61B6/506 ,  A61B6/5235 ,  G06T7/32 ,  G06T2207/10081 ,  G06T2207/10116 ,  G06T2207/10121 ,  G06T2207/10124 ,  G06T2207/30012

Abstract: A method for localization and identification of a structure in a projection image with a system having a known system geometry, includes acquiring a preoperative computer-tomography or CT image of a structure, preprocessing the CT-image to a volume image, acquiring an intraoperative two dimensional or 2D X-ray image, preprocessing the 2D X-ray image to a fix image, estimating an approximate pose of the structure, calculating a digitally reconstructed radiograph or DRR using the volume image, the estimated pose and the system geometry, and calculating a correlation between the generated DRR and the fix image, with a correlation value representing matching between the generated DRR and the fix image. The method significantly decreases the number of wrong-level surgeries and is independent of the surgeon's ability to localize and/or identify a target level in a body.

Abstract translation: 一种利用具有已知系统几何形状的系统对投影图像中的结构进行定位和识别的方法，包括获取结构的术前计算机断层摄影或CT图像，将CT图像预处理到体积图像，获取术中两个 二维或二维X射线图像，将2D X射线图像预处理到固定图像，估计结构的近似姿态，使用体积图像计算数字重建的X射线照片或DRR，估计姿态和系统几何，以及计算 生成的DRR和定影图像之间的相关性，其中相关值表示所生成的DRR和定影图像之间的匹配。 该方法显着减少错误级别手术的数量，并且与外科医生在体内定位和/或识别目标水平的能力无关。

公开(公告)号：US09135696B2

公开(公告)日：2015-09-15

申请号：US13735112

申请日：2013-01-07

Applicant: Shaolei Feng ,  Shaohua Kevin Zhou ,  Gerhard Kleinszig ,  Rainer Graumann

Inventor： Shaolei Feng ,  Shaohua Kevin Zhou ,  Gerhard Kleinszig ,  Rainer Graumann

IPC: G06K9/00 ,  G06T7/00

CPC classification number: G06T7/0012 ,  G06T7/75 ,  G06T2207/10116 ,  G06T2207/30052

Abstract: The pose of an implant represented in a medical image is determined from the medical image. The x-ray image of the implant is compared to a database of the implant viewed at different poses (e.g., viewed from different directions). The implant pose associated with the best match indicates the pose of the implant in the x-ray image.

Abstract translation: 根据医学图像确定在医学图像中表示的植入物的姿势。 将植入物的x射线图像与在不同姿势（例如从不同方向观察）观察的植入物的数据库进行比较。 与最佳匹配关联的植入姿势表示植入物在X射线图像中的姿态。

公开(公告)号：US09064332B2

公开(公告)日：2015-06-23

申请号：US14017344

申请日：2013-09-04

Applicant: Gerardo Hermosillo Valadez ,  Xiang Sean Zhou ,  Gerhard Kleinszig ,  Rainer Graumann

Inventor： Gerardo Hermosillo Valadez ,  Xiang Sean Zhou ,  Gerhard Kleinszig ,  Rainer Graumann

IPC: G06K9/00 ,  G06T11/00 ,  G06T7/00

CPC classification number: G06T11/003 ,  G06T7/0014 ,  G06T2207/30008

Abstract: Disclosed herein is a framework for facilitating fused-image visualization for surgery evaluation. In accordance with one aspect of the framework, at least one pre-operative image and at least one intra-operative image of an anatomical structure are received. A region of interest may be identified in the intra-operative image. The pre-operative image may be straightened, and a symmetric region may be identified in the straightened pre-operative image. The symmetric region is substantially symmetrical to a target region in the straightened pre-operative region. The target region corresponds to the region of interest in the intra-operative image. The symmetric region may be extracted and reflected to generate a reference image. The intra-operative image may be rigidly registered with the reference image to generate registered intra-operative image, which is overlaid on the target region in the straightened pre-operative image to generate a fused image.

Abstract translation: 本文公开了用于促进用于手术评估的融合图像可视化的框架。 根据框架的一个方面，接收解剖结构的至少一个术前图像和至少一个手术内图像。 可以在手术中的图像中识别感兴趣的区域。 可以矫正术前图像，并且可以在矫正的手术前图像中识别对称区域。 对称区域基本对称于矫正术前区域中的目标区域。 目标区域对应于手术中图像中的感兴趣区域。 对称区域可以被提取和反射以产生参考图像。 可以将手术内图像与参考图像刚性地注册，以产生注册的手术中图像，其被覆盖在矫正的术前图像中的目标区域上以产生融合图像。

公开(公告)号：US08886286B2

公开(公告)日：2014-11-11

申请号：US13698772

申请日：2011-04-20

Applicant: Rainer Graumann ,  Gerhard Kleinszig ,  Martin Ringholz

Inventor： Rainer Graumann ,  Gerhard Kleinszig ,  Martin Ringholz

IPC: A61B5/05 ,  A61B6/00 ,  A61B6/12 ,  G01B15/00 ,  G01B21/04 ,  A61B17/00 ,  A61B19/00

CPC classification number: A61B6/12 ,  A61B6/4441 ,  A61B6/547 ,  A61B6/582 ,  A61B34/20 ,  A61B90/39 ,  A61B2017/00725 ,  A61B2034/2055 ,  A61B2034/207 ,  A61B2090/0818 ,  A61B2090/367 ,  A61B2090/3995 ,  G01B15/00 ,  G01B21/042

Abstract: The device enables the detection of positions of the navigation marking elements on a reference star by way of at least two projection images taken by an X-ray system at different pivoting angles of a C-arm. The positions of the navigation marking elements on the reference star are also calculated by a navigation system tracking camera. The transformation from the coordinate system of the navigation system into the coordinate system of the X-ray system is calculated from the position of the reference star detected by the X-ray system and the position of the reference star detected by the tracking camera. The navigation marking elements are located outside of the volume which is reconstructed by way of the imaging process in order to prepare tomographic images. The positions of the navigation marking elements are determined from two-dimensional projections. All the navigation marking elements need only be detected by at least two projection images.

Abstract translation: 该装置能够通过X射线系统以C形臂的不同旋转角拍摄的至少两个投影图像来检测导航标记元件在参考星上的位置。 导航标记元素在参考星上的位置也由导航系统跟踪摄像机计算。 从X射线系统检测到的参考星的位置和由追踪摄像机检测到的参考星的位置，计算从导航系统坐标系到X射线系统坐标系的变换。 导航标记元件位于通过成像过程重建的体积外部，以便准备层析图像。 导航标记元件的位置由二维投影确定。 所有导航标记元件仅需要由至少两个投影图像检测。

公开(公告)号：US07776000B2

公开(公告)日：2010-08-17

申请号：US11170974

申请日：2005-06-30

Applicant: Claus Schaffrath ,  Gerhard Kleinszig ,  Christoph Schenkel

Inventor： Claus Schaffrath ,  Gerhard Kleinszig ,  Christoph Schenkel

IPC: A61F5/00 ,  A61B5/05 ,  A47B13/00

CPC classification number: A61B90/36 ,  A61B34/20 ,  A61B90/17 ,  A61B90/39 ,  A61B2017/00261 ,  A61B2090/3983

Abstract: A fixing system and method for fixing a navigational reference array for image-assisted medical treatment with respect to a patient, wherein the reference array is arranged the patient's body with the assistance of an immobilizing device, and wherein the immobilizing device is a vacuum mattress or a vacuum mattress patient jacket, and at least one anchoring for the reference array is provided on or in the vacuum mattress or a vacuum mattress patient jacket.

Abstract translation: 一种固定系统和方法，用于固定相对于患者的用于图像辅助医疗的导航参考阵列，其中所述参考阵列在固定装置的辅助下布置在患者体内，并且其中所述固定装置是真空床垫或 真空床垫病人护套，并且至少一个用于参考阵列的锚固件设置在真空床垫或真空床垫病人护套上或真空床垫上。

公开(公告)号：US20060264963A1

公开(公告)日：2006-11-23

申请号：US11260507

申请日：2005-10-27

Applicant: Peter Reed ,  Claus Schaffrath ,  Gerhard Kleinszig ,  Gunther Becht

Inventor： Peter Reed ,  Claus Schaffrath ,  Gerhard Kleinszig ,  Gunther Becht

IPC: A61B17/58

CPC classification number: A61B17/025 ,  A61B34/20 ,  A61B90/39 ,  A61B2017/0256 ,  A61B2034/2055

Abstract: A vertebral spreading instrument for moving apart two vertebrae of a spine includes a plurality of spreading fingers and a spreading mechanism for adjusting a distance between the spreading fingers. The spreading mechanism includes a first and a second part, the first and second parts each including a respective marker trackable by a navigation system. Relative positions of the first and second parts change when the distance between the spreading fingers is adjusted, and different relative positions are unequivocally assigned to different distances of the spreading fingers.

Abstract translation: 用于移动分离脊柱的两个椎骨的脊椎扩散器包括多个扩展指状物和用于调节扩展手指之间的距离的扩展机构。 扩展机构包括第一和第二部分，第一和第二部分各自包括可由导航系统跟踪的相应标记。 当扩展手指之间的距离被调整时，第一和第二部分的相对位置改变，并且不同的相对位置被明确地分配给扩展手指的不同距离。