公开(公告)号：US10390754B2

公开(公告)日：2019-08-27

申请号：US14368833

申请日：2013-01-18

Applicant: Alexander Benjamin Brost ,  Sebastian Kaeppler ,  Martin Ostermeier ,  Norbert Strobel ,  Wen Wu ,  Terrence Chen

Inventor： Alexander Benjamin Brost ,  Sebastian Kaeppler ,  Martin Ostermeier ,  Norbert Strobel ,  Wen Wu ,  Terrence Chen

IPC: A61B5/00 ,  A61B5/113 ,  A61B5/11 ,  G06F7/20 ,  G06T7/20 ,  A61B34/20 ,  A61B18/14

Abstract: A method and system for motion estimation modeling for cardiac and respiratory motion compensation is disclosed. Specifically, a coronary sinus catheter is tracked in a plurality of frames of a fluoroscopic image sequence; and cardiac and respiratory motion of a left atrium is estimated in each of the plurality of frames based on tracking results of the coronary sinus catheter using a trained motion estimation model.

公开(公告)号：US20160199135A1

公开(公告)日：2016-07-14

申请号：US14771754

申请日：2013-07-05

Applicant: Martin Willibald KOCH ,  Norbert STROBEL

Inventor： Martin Willibald KOCH ,  Norbert STROBEL

IPC: A61B34/10 ,  A61B5/02 ,  G06T7/00

CPC classification number: A61B34/10 ,  A61B5/02028 ,  A61B5/055 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2576/023 ,  G06T7/0016 ,  G06T7/30 ,  G06T2200/04 ,  G06T2207/20112 ,  G06T2207/20128 ,  G06T2207/20212 ,  G06T2207/30048

Abstract: The invention relates to a method for evaluating treatment-relevant spatial anatomical information among different data sets of the heart, the method comprising the steps of:—determining a reference anatomical 3 dimensional data set of the heart,—providing a first anatomical 3 dimensional data set of the heart, the first anatomical 3 dimensional data set comprising first treatment-relevant spatial anatomical information,—providing a second anatomical 3 dimensional data set of the heart, the second anatomical 3 dimensional data set comprising second treatment-relevant spatial anatomical information,—registering the reference data set to the first and the second data sets,—transferring the treatment relevant spatial anatomical information of the first and the second data set to the reference data set in order to generate a first transferred treatment-relevant spatial anatomical information on the reference data set and a second transferred treatment-relevant spatial anatomical information on the reference data set—evaluating the first and the second transferred treatment-relevant spatial anatomical information.

Abstract translation: 本发明涉及一种用于评估心脏不同数据集之间的治疗相关空间解剖信息的方法，所述方法包括以下步骤： - 确定心脏的参考解剖三维数据集， - 提供第一解剖三维数据 心脏的集合，第一解剖学3维数据集，其包括第一治疗相关的空间解剖信息， - 提供心脏的第二解剖学三维数据集，第二解剖三维数据集，包括第二治疗相关的空间解剖信息， - 将所述参考数据集登记到所述第一和第二数据集， - 将所述第一和第二数据集的所述治疗相关空间解剖信息转移到所述参考数据集，以便产生第一转移的治疗相关的空间解剖信息 参考数据集和第二次转移治疗相关的空间解剖学 关于参考数据集的信息 - 评估第一和第二转移的治疗相关的空间解剖信息。

公开(公告)号：US09173626B2

公开(公告)日：2015-11-03

申请号：US13733395

申请日：2013-01-03

Applicant: Atilla Peter Kiraly ,  Wen Wu ,  Norbert Strobel ,  Alexander Benjamin Brost ,  Terrence Chen

Inventor： Atilla Peter Kiraly ,  Wen Wu ,  Norbert Strobel ,  Alexander Benjamin Brost ,  Terrence Chen

IPC: A61B5/05 ,  A61B6/00 ,  A61B6/12 ,  A61M25/00

CPC classification number: A61B6/5241 ,  A61B6/12 ,  A61B6/466 ,  A61B6/469 ,  A61B6/485 ,  A61B6/503 ,  A61B6/504 ,  A61B6/5235 ,  A61B6/5264 ,  A61M25/0068

Abstract: A method (200, 300) and system (100) for performing real-time, dynamic overlays on fluoroscopic images to aid in navigation and localization during medical procedures.

Abstract translation: 一种方法（200,300）和系统（100），用于在荧光透视图像上执行实时动态叠加以辅助医疗过程中的导航和定位。

公开(公告)号：US08165660B2

公开(公告)日：2012-04-24

申请号：US12431518

申请日：2009-04-28

Applicant: Marcus Pfister ,  Norbert Strobel

Inventor： Marcus Pfister ,  Norbert Strobel

IPC: A61B6/00 ,  A61B19/00 ,  G03B42/02

CPC classification number: A61B6/12 ,  A61B6/4441 ,  A61B6/5229 ,  A61B90/11 ,  A61B90/13 ,  A61B2034/107 ,  A61B2090/364 ,  A61B2090/376 ,  A61N2005/1061 ,  G06F19/00

Abstract: A system for planning a percutaneous procedure provides a patient 3-dimensional image data set within which an instrument trajectory is defined, for example, by selecting a skin entry point and a target point. A line, or “planned path,” is generated between the points. The system determines whether the path can be targeted so an optical axis of a movable arm coincides with the path so that a laser can be used for instrument guidance or whether a planned path can be targeted so that a C-arm can be made to coincide with the path so that the extension of the path is projected onto a radiation detector, using x-ray radiation. If neither laser guidance or x-ray guidance can be used, the path is replanned.

Abstract translation: 用于规划经皮程序的系统提供例如通过选择皮肤入口点和目标点来定义仪器轨迹的患者3维图像数据集。 点之间产生一行或“计划路径”。 该系统确定路径是否可以被定向，使得可移动臂的光轴与路径重合，使得激光可以用于仪器引导，或者是否可以定向计划路径，使得C臂可以重合 具有路径，使得路径的延伸被投射到使用x射线辐射的辐射检测器上。 如果不能使用激光引导或X射线引导，则路径被重新设置。

公开(公告)号：US20120070046A1

公开(公告)日：2012-03-22

申请号：US13229855

申请日：2011-09-12

Applicant: Wen Wu ,  Terrence Chen ,  Peng Wang ,  Norbert Strobel ,  Shaohua Kevin Zhou ,  Dorin Comaniciu

Inventor： Wen Wu ,  Terrence Chen ,  Peng Wang ,  Norbert Strobel ,  Shaohua Kevin Zhou ,  Dorin Comaniciu

IPC: G06K9/00

CPC classification number: G06T7/0014 ,  A61B2034/2065 ,  A61B2090/376 ,  G06K2209/057 ,  G06T7/20 ,  G06T2207/10121 ,  G06T2207/30021 ,  G06T2207/30048

Abstract: A method and system for detecting and tracking coronary sinus (CS) catheter electrodes in a fluoroscopic image sequence is disclosed. An electrode model is initialized in a first frame of the fluoroscopic image sequence based on input locations of CS sinus catheter electrodes in the first frame. The electrode model is tracked in subsequent frames of the fluoroscopic image sequence by detecting electrode position candidates in the subsequent frames of the fluoroscopic image sequence using at least one trained electrode detector, generating electrode model candidates in the subsequent frames based on the detected electrode position candidates, calculating a probability score for each of the electrode model candidates, and selecting an electrode model candidate based on the probability score.

Abstract translation: 公开了一种用于在荧光镜图像序列中检测和跟踪冠状窦（CS）导管电极的方法和系统。 基于第一帧中的CS窦导管电极的输入位置，在荧光镜图像序列的第一帧中初始化电极模型。 通过使用至少一个经过训练的电极检测器检测荧光镜像图像序列的后续帧中的电极位置候选物，在荧光图像序列的后续帧中跟踪电极模型，基于检测到的电极位置候选产生后续帧中的电极模型候选 计算每个电极模型候选的概率分数，并且基于概率分数来选择电极模型候选。

公开(公告)号：US20110082667A1

公开(公告)日：2011-04-07

申请号：US12875191

申请日：2010-09-03

Applicant: Julian Ibarz ,  Liron Yatziv ,  Norbert Strobel

Inventor： Julian Ibarz ,  Liron Yatziv ,  Norbert Strobel

IPC: G06F17/50

CPC classification number: G06T17/00 ,  G06T15/503 ,  G06T2210/62

Abstract: A method for simultaneous visualization of the outside and the inside of a surface model at a selected view orientation includes receiving a digitized representation of a surface of a segmented object, where the surface representation comprises a plurality of points, receiving a selection of a viewing direction for rendering the object, calculating an inner product image be calculating an inner product {right arrow over (n)}p·{right arrow over (d)} at each point on the surface mesh, where {right arrow over (n)}p is a normalized vector representing the normal direction of the surface mesh at a point p towards the exterior of the object and {right arrow over (d)} is a normalized vector representing the view direction, and rendering the object using an opacity that is a function of the denoised inner product image to yield a rendered object, where an interior of the object is rendered.

Abstract translation: 一种用于在选定的视图方向上同时可视化表面模型的外部和内部的方法包括接收分割对象的表面的数字化表示，其中表面表示包括多个点，接收观看方向的选择 为了渲染对象，计算内积图像计算在表面网格上的每个点处的内积{（n）} p·{向右箭头（d）}的内积，其中{right arrow over（n）} p是表示在点p处朝向物体外部的表面网格的法线方向的归一化向量，{（d）}的右箭头是表示视图方向的归一化矢量，并且使用不透明度 去噪的内部产品图像的函数以产生渲染对象，其中渲染对象的内部。

公开(公告)号：US20110069063A1

公开(公告)日：2011-03-24

申请号：US12821235

申请日：2010-06-23

Applicant: Rui Liao ,  Norbert Strobel ,  Chenyang Xu

Inventor： Rui Liao ,  Norbert Strobel ,  Chenyang Xu

IPC: G06T15/00 ,  G06K9/00 ,  G06K9/32

CPC classification number: 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

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20100111389A1

公开(公告)日：2010-05-06

申请号：US12329657

申请日：2008-12-08

Applicant: Norbert Strobel ,  Adam K. Galant ,  Liron Yatziv

Inventor： Norbert Strobel ,  Adam K. Galant ,  Liron Yatziv

IPC: G06K9/00 ,  G01N23/04 ,  H05G1/60 ,  G06T15/00

CPC classification number: A61B6/12 ,  A61B6/027 ,  A61B6/4441 ,  A61B6/5217 ,  A61B6/5235 ,  A61B6/5247 ,  G06T19/00 ,  G06T2210/41 ,  G06T2219/028

Abstract: A system and method are disclosed for planning a percutaneous procedure and for guiding an instrument to engage a target within a patient's body. A patient 3-dimensional image data set is provided, within which a user selects a skin entry point and a target point. A line, or “planned path,” is generated between the points which is used to align a movable arm to achieve a “Bull's Eye View,” in which the two points are superimposed. The instrument is placed at the skin entry point and aligned using the Bull's Eye View along a desired trajectory that intersects the target. Initial alignment is verified using fluoroscopy. Progression fluoroscopic views are used during the insertion procedure to ensure the instrument remains on the planned path. When the instrument reaches the target, a procedure may be performed, such as a biopsy, a drainage procedure, a radiofrequency ablation, or other medical interventional procedure.

Abstract translation: 公开了一种用于规划经皮程序和引导器械使患者身体内的目标接合的系统和方法。 提供了一种患者的三维图像数据集，用户在其中选择皮肤入口点和目标点。 在用于对准可移动臂以实现“Bull's Eye View”的点之间产生线或“计划路径”，其中两个点被叠加。 将仪器放置在皮肤入口点，并使用Bull's Eye View沿着与目标相交的所需轨迹对齐。 使用荧光透视验证初始对准。 在插入过程中使用进展荧光透视图，以确保仪器保持在计划的路径上。 当仪器到达目标时，可以执行程序，例如活检，排水程序，射频消融或其他医疗介入程序。

公开(公告)号：US20090281452A1

公开(公告)日：2009-11-12

申请号：US12429546

申请日：2009-04-24

Applicant: Marcus Pfister ,  Norbert Strobel

Inventor： Marcus Pfister ,  Norbert Strobel

IPC: A61B10/02 ,  A61B6/08

CPC classification number: A61B6/12 ,  A61B6/4441 ,  A61B6/5229 ,  A61B90/11 ,  A61B90/13 ,  A61B2034/107 ,  A61B2090/364 ,  A61B2090/376 ,  A61N2005/1061

Abstract: A system and method for planning and performing a percutaneous medical procedure is described. A three dimensional data set of a patient is registered with respect to a patient position and an interventional apparatus, which may be a C-arm X-ray device. A target within the patient is identified in the image data, and a skin entry point chosen for planning the procedure. The image data set is processed so as to compute a two dimensional fluoroscopic overlay image upon which the target and the skin entry point are displayed. The angulation of the volumetric representation of the C-arm is controlled so as to plan the guiding path for an interventional device, and the planning attempts to achieve one of a bull's eye orientation or a generalized bull's orientation. The interventional device is aligned with the guiding axis to perform the procedure, which may be monitored using X-ray progression views.

Abstract translation: 描述了一种用于规划和执行经皮医疗过程的系统和方法。 关于患者位置和介入装置登记患者的三维数据集，其可以是C臂X射线装置。 在图像数据中识别患者内的目标，以及为规划程序而选择的皮肤入口点。 对图像数据集进行处理，以计算显示目标和皮肤入口点的二维荧光透视叠加图像。 控制C臂的体积表示的角度，以便计划介入装置的引导路径，并且规划尝试实现公牛的眼睛取向或广义的公牛方位。 介入装置与引导轴对齐以执行该过程，其可以使用X射线进程视图来监视。

公开(公告)号：US20090163800A1

公开(公告)日：2009-06-25

申请号：US12335738

申请日：2008-12-16

Applicant: Chenyang Xu ,  Rui Liao ,  Liron Yatziv ,  Norbert Strobel

Inventor： Chenyang Xu ,  Rui Liao ,  Liron Yatziv ,  Norbert Strobel

IPC: A61B6/00 ,  A61B5/05

CPC classification number: A61B6/12 ,  A61B5/0422 ,  A61B6/466 ,  A61B6/503 ,  A61B6/504 ,  A61B6/5235 ,  A61B6/541 ,  A61B6/566 ,  A61B90/36 ,  A61B2017/00703 ,  A61B2090/376

Abstract: 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.

Abstract translation: 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。