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公开(公告)号：US09974615B2
公开(公告)日：2018-05-22
申请号：US14346883
申请日：2011-09-28
申请人： Swen Woerlein , Johannes Manus
发明人： Swen Woerlein , Johannes Manus
CPC分类号： A61B34/20 , A61B5/061 , A61B2034/2055 , A61B2034/2068 , A61B2034/2074
摘要： A method of determining the position of a medical device to be localized, comprising: a) acquiring main position data comprising reference structure position information which describes the position of a reference structure in a global coordinate system, the main position data having been gathered by a main detection device; b) acquiring supplement position data comprising relative position information which describes the position of the medical device relative to the position of the reference structure in a reference coordinate system, the supplement position data having been gathered by a supplement detection device; c) determining, based on the relative position information and the reference structure position information, medical device position data comprising medical device position information which describes the position of the medical device in the global coordinate system.
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公开(公告)号：US08750965B2
公开(公告)日：2014-06-10
申请号：US11747466
申请日：2007-05-11
申请人： Swen Woerlein , Jens Witte , Nils Frielinghaus
发明人： Swen Woerlein , Jens Witte , Nils Frielinghaus
IPC分类号： A61B5/05
CPC分类号： A61B34/20 , A61B34/10 , A61B90/02 , A61B2017/00969 , A61B2034/2055 , A61B2034/2068 , A61B2090/3762 , G06F19/00
摘要： A method for tracking at least one rigid object part of a rigid reference object, wherein the rigid object part can be detached or removed from the rigid reference object is provided. The method includes obtaining a patient data set of a region around the object part, attaching a first reference star in a fixed position relative to the object part situated on the reference object, detecting reference points on the reference object and ascertaining three-dimensional spatial positions of the reference points of the reference object, assigning the three-dimensional spatial positions of the reference points of the reference object to corresponding points in the patient data set, attaching a second reference star to the object part, ascertaining positional information of the second reference star; and ascertaining positional information of the object part or tracking the object part based on the positional information of the second reference star.
摘要翻译： 提供了用于跟踪刚性参考对象的至少一个刚性对象部分的方法，其中可以将刚性对象部分从刚性参考对象拆卸或移除。 该方法包括获得围绕物体部分的区域的患者数据集，将第一参考星相对于位于参考对象上的对象部分固定在固定位置，检测参考对象上的参考点并确定三维空间位置 参考对象的参考点，将参考对象的参考点的三维空间位置分配给患者数据集中的对应点，将第二参考星附加到对象部分，确定第二参考的位置信息 星; 并且基于第二参考星的位置信息来确定对象部分的位置信息或跟踪对象部分。
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公开(公告)号：US20070274589A1
公开(公告)日：2007-11-29
申请号：US11747466
申请日：2007-05-11
申请人： Swen Woerlein , Jens Witte , Nils Frielinghaus
发明人： Swen Woerlein , Jens Witte , Nils Frielinghaus
CPC分类号： A61B34/20 , A61B34/10 , A61B90/02 , A61B2017/00969 , A61B2034/2055 , A61B2034/2068 , A61B2090/3762 , G06F19/00
摘要： A method for tracking at least one rigid object part of a rigid reference object, wherein the rigid object part can be detached or removed from the rigid reference object is provided. The method includes obtaining a patient data set of a region around the object part, attaching a first reference star in a fixed position relative to the object part situated on the reference object, detecting reference points on the reference object and ascertaining three-dimensional spatial positions of the reference points of the reference object, assigning the three-dimensional spatial positions of the reference points of the reference object to corresponding points in the patient data set, attaching a second reference star to the object part, ascertaining positional information of the second reference star; and ascertaining positional information of the object part or tracking the object part based on the positional information of the second reference star.
摘要翻译： 提供了用于跟踪刚性参考对象的至少一个刚性对象部分的方法，其中可以将刚性对象部分从刚性参考对象拆卸或移除。 该方法包括获得围绕物体部分的区域的患者数据集，将第一参考星相对于位于参考对象上的对象部分固定在固定位置，检测参考对象上的参考点并确定三维空间位置 参考对象的参考点，将参考对象的参考点的三维空间位置分配给患者数据集中的对应点，将第二参考星附加到对象部分，确定第二参考的位置信息 星; 并且基于第二参考星的位置信息来确定对象部分的位置信息或跟踪对象部分。
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公开(公告)号：US09044269B2
公开(公告)日：2015-06-02
申请号：US13497127
申请日：2009-09-30
申请人： Swen Woerlein
发明人： Swen Woerlein
CPC分类号： A61B19/54 , A61B46/00 , A61B46/10 , A61B90/39 , A61B90/40 , A61B2017/00876 , A61B2090/3983
摘要： The invention relates to a medical tracking marker (12) for localizing or tracking an object (10) by means of a medical tracking system (30), said marker comprising a first part (1) which is to be fixed on the object (10), and a second part (2) which is to be connected to the first part (1), wherein the first and second parts (1, 2) comprise interconnecting elements (4, 6) which are adapted to provide a positionally determined connection between the first part (1) and the second part (2) while the first part is located under a surgical drape (20) and the second part is located above said surgical drape (20), with the drape (20) placed between the two parts (1, 2). The invention also relates to a method of referencing an object (10) using a medical navigation system, wherein a medical tracking marker such as has been described above is localized or tracked by means of a medical tracking system (30), and wherein the object is registered by means of the first part (1) of the marker (12) in a preliminary referencing step, in particular for imaging purposes, which is later adapted to form a final referencing step for navigation using the second part (2) which has been placed on the first part in a positionally defined, pre-determined manner.
摘要翻译： 本发明涉及一种用于通过医疗跟踪系统（30）定位或跟踪物体（10）的医疗跟踪标记（12），所述标记包括要固定在物体（10）上的第一部分（1） ）和要连接到第一部分（1）的第二部分（2），其中第一和第二部分（1,2）包括互连元件（4,6），其适于提供位置确定的连接 在所述第一部分（1）和所述第二部分（2）之间，而所述第一部分位于外科手术盖（20）下方，并且所述第二部分位于所述外科手术盖（20）上方，其中所述盖（20） 两部分（1,2）。 本发明还涉及使用医疗导航系统来引用对象（10）的方法，其中通过医疗跟踪系统（30）将诸如上面已经描述的医疗跟踪标记定位或跟踪，并且其中所述对象 在初步参考步骤中，借助于标记（12）的第一部分（1）来登记，特别是用于成像目的，其稍后适用于形成用于导航的最终参考步骤，该第二部分（2）具有 被放置在第一部分的位置定义，预先确定的方式。
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公开(公告)号：US20140316257A1
公开(公告)日：2014-10-23
申请号：US14346883
申请日：2011-09-28
申请人： Swen Woerlein , Johannes Manus
发明人： Swen Woerlein , Johannes Manus
CPC分类号： A61B34/20 , A61B5/061 , A61B2034/2055 , A61B2034/2068 , A61B2034/2074
摘要： A method of determining the position of a medical device to be localized, comprising: a) acquiring main position data comprising reference structure position information which describes the position of a reference structure in a global coordinate system, the main position data having been gathered by a main detection device; b) acquiring supplement position data comprising relative position information which describes the position of the medical device relative to the position of the reference structure in a reference coordinate system, the supplement position data having been gathered by a supplement detection device; c) determining, based on the relative position information and the reference structure position information, medical device position data comprising medical device position information which describes the position of the medical device in the global coordinate system.
摘要翻译： 一种确定待定位的医疗装置的位置的方法，包括：a）获取包括参考结构位置信息的主位置数据，所述参考结构位置信息描述参考结构在全局坐标系中的位置，所述主位置数据已被 主检测装置; b）获取包括相对位置信息的补充位置数据，所述相对位置信息描述所述医疗装置相对于参考坐标系中所述参考结构的位置的位置，所述补充位置数据已由补充检测装置收集; c）基于所述相对位置信息和所述参考结构位置信息确定医疗装置位置数据，所述医疗装置位置数据包括描述所述医疗装置在所述全局坐标系中的位置的医疗装置位置信息。
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公开(公告)号：US20070270690A1
公开(公告)日：2007-11-22
申请号：US11750353
申请日：2007-05-18
申请人： Swen Woerlein
发明人： Swen Woerlein
IPC分类号： A61B5/05
CPC分类号： A61B90/36 , A61B34/20 , A61B2034/2055 , A61B2034/2068 , A61B2090/061 , A61B2090/067
摘要： A medical registration device includes a localizing device for detecting a spatial position of a treatment device, treatment-assisting device, patient or patient body part, said localizing device including a data processing unit operative to assign detected spatial positions of the patient or patient body part to corresponding points of an acquired patient image data set, and a distance measuring device communicatively coupled to the data processing unit. A spatial position of the distance measuring device is detected by the localizing device, and the distance measuring device transfers distance data for measured points to the data processing unit. Based on the detected spatial position and the measured distance, a spatial location of the point can be ascertained.
摘要翻译： 医疗登记装置包括用于检测治疗装置，治疗辅助装置，患者或患者身体部位的空间位置的定位装置，所述定位装置包括数据处理单元，该数据处理单元用于分配检测到的患者或患者身体部位的空间位置 到所获取的患者图像数据集的对应点，以及通信地耦合到数据处理单元的距离测量装置。 距离测量装置的空间位置由定位装置检测，距离测量装置将测量点的距离数据传送到数据处理单元。 基于检测到的空间位置和测量距离，可以确定该点的空间位置。
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公开(公告)号：US20150150645A1
公开(公告)日：2015-06-04
申请号：US14391114
申请日：2012-04-12
申请人： Swen Woerlein , Fritz Vollmer , Alexander Urban , Martin Mathis
发明人： Swen Woerlein , Fritz Vollmer , Alexander Urban , Martin Mathis
CPC分类号： A61B5/0064 , A61B34/20 , A61B90/13 , A61B90/39 , A61B2034/2055 , A61B2090/3937 , A61B2090/3983
摘要： A method for sampling surface points on the surface of an object using a medical navigation system and a light beam source, wherein the light beam source generates a light beam which creates a light spot on the surface, and a camera of the medical navigation system records image data from which the location of the light spot is determined as the location of a sample point, said method comprising the steps of: generating a quality measure for a sample point using a quality measurement device which is at least partially attached to the light beam source and used to determine quality measurement data from which the quality measure is determined; and processing the sample point on the basis of the quality measure.
摘要翻译： 一种用于使用医疗导航系统和光束源对物体表面上的表面点进行采样的方法，其中所述光束源产生在所述表面上产生光斑的光束，并且所述医疗导航系统的照相机记录 确定光点的位置的图像数据被确定为采样点的位置，所述方法包括以下步骤：使用至少部分地附接到光束的质量测量装置产生采样点的质量测量 来源并用于确定质量测量的质量测量数据; 并根据质量度量处理采样点。
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公开(公告)号：US20120184839A1
公开(公告)日：2012-07-19
申请号：US13497127
申请日：2009-09-30
申请人： Swen Woerlein
发明人： Swen Woerlein
CPC分类号： A61B19/54 , A61B46/00 , A61B46/10 , A61B90/39 , A61B90/40 , A61B2017/00876 , A61B2090/3983
摘要： The invention relates to a medical tracking marker (12) for localizing or tracking an object (10) by means of a medical tracking system (30), said marker comprising a first part (1) which is to be fixed on the object (10), and a second part (2) which is to be connected to the first part (1), wherein the first and second parts (1, 2) comprise interconnecting elements (4, 6) which are adapted to provide a positionally determined connection between the first part (1) and the second part (2) while the first part is located under a surgical drape (20) and the second part is located above said surgical drape (20), with the drape (20) placed between the two parts (1, 2). The invention also relates to a method of referencing an object (10) using a medical navigation system, wherein a medical tracking marker such as has been described above is localized or tracked by means of a medical tracking system (30), and wherein the object is registered by means of the first part (1) of the marker (12) in a preliminary referencing step, in particular for imaging purposes, which is later adapted to form a final referencing step for navigation using the second part (2) which has been placed on the first part in a positionally defined, pre-determined manner.
摘要翻译： 本发明涉及一种用于通过医疗跟踪系统（30）定位或跟踪物体（10）的医疗跟踪标记（12），所述标记包括要固定在物体（10）上的第一部分（1） ）和要连接到第一部分（1）的第二部分（2），其中第一和第二部分（1,2）包括互连元件（4,6），其适于提供位置确定的连接 在所述第一部分（1）和所述第二部分（2）之间，而所述第一部分位于外科手术盖（20）下方，并且所述第二部分位于所述外科手术盖（20）上方，其中所述盖（20） 两部分（1,2）。 本发明还涉及使用医疗导航系统来引用对象（10）的方法，其中通过医疗跟踪系统（30）将诸如上面已经描述的医疗跟踪标记定位或跟踪，并且其中所述对象 在初步参考步骤中，借助于标记（12）的第一部分（1）来登记，特别是为了成像目的，其稍后适用于形成用于导航的最终参考步骤，该第二部分（2）具有 被放置在第一部分的位置定义，预先确定的方式。
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公开(公告)号：US20100286511A1
公开(公告)日：2010-11-11
申请号：US12774876
申请日：2010-05-06
IPC分类号： A61B6/00
CPC分类号： A61B5/0059 , A61B5/06 , A61B5/064 , A61B5/7445 , A61B34/20 , A61B90/39 , A61B2090/3941 , G01N21/6428 , G01N21/6456
摘要： The invention relates to a method for displaying image data of a part of a patient's body, in which the part of the patient's body comprising regions which are provided with a radiation-emitting contrast agent is detected in a first step by means of a detection device, wherein during the first step, the intensity of the radiation emitted by the regions provided with the contrast agent is higher than the intensity of other radiation which can be detected by the detection device and which is emitted by the detected part of the patient's body, wherein a patient image data set is produced on the basis of the detected radiation, and wherein the patient image data set is displayed to a user by means of an output device in a second step. The invention also relates to a device for displaying image data of a part of a patient's body, comprising: a detection device which comprises at least one camera for detecting radiation emitted by regions of the part of the patient's body which are provided with a radiation-emitting contrast agent; a computational unit which produces a patient image data set on the basis of the images detected by the detection device; and an output device for displaying the patient image data set produced.
摘要翻译： 本发明涉及一种用于显示患者身体的一部分的图像数据的方法，其中通过检测装置在第一步骤中检测包括设置有辐射发射造影剂的区域的患者身体的部分 其中，在所述第一步骤期间，由所述造影剂设置的区域发射的辐射的强度高于由所述检测装置检测并由所述检测到的所述患者身体发出的其他辐射的强度， 其中，基于所检测的辐射产生患者图像数据组，并且其中所述患者图像数据集在第二步骤中借助于输出装置显示给用户。 本发明还涉及一种用于显示患者身体的一部分的图像数据的装置，包括：检测装置，其包括用于检测由患者身体的该部分区域发射的辐射的至少一个照相机， 发射造影剂; 计算单元，其基于由所述检测装置检测到的图像产生患者图像数据集; 以及用于显示产生的患者图像数据集的输出装置。
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公开(公告)号：US20100177185A1
公开(公告)日：2010-07-15
申请号：US12664827
申请日：2007-06-18
CPC分类号： A61B90/36 , A61B34/20 , A61B90/20 , A61B2034/2055 , A61B2090/366 , A61B2090/3762
摘要： The application concerns a method of integrating image information (3, 5, 8, 9) from an external source, e.g. an imaging device (1), and an operating microscope (2) before or during an operative procedure on an object (18) or body parts of a patient comprising: positioning an operating microscope (2) before or in the course of said operative procedure at an operative location relative to the patient (18); establishing the spatial relationship among the image information, the patient (18), and the focal plane of a projector (7) or the projection space or the projector (7) itself; introducing the image information and spatial relationship to a computer and reformatting the image information to generate a computer-generated image of the body part at a determined area or plane related to or directly on the surface of the object (18); and projecting the computer-generated image onto the object (18) or patient for coordinated viewing (12) of the computer-generated image and the patient.
摘要翻译： 该应用涉及一种从外部源（例如，图像信号）集成图像信息（3,5,8,9）的方法。 成像装置（1）和操作显微镜（2），其在对象（18）或患者身体部位的手术过程之前或期间包括：在所述手术过程之前或过程中定位手术显微镜（2） 在相对于患者（18）的操作位置处; 建立图像信息，患者（18）和投影仪（7）或投影空间或投影仪（7）本身的焦平面之间的空间关系; 将图像信息和空间关系引入计算机并重新格式化图像信息，以在与物体（18）的表面相关或直接在所述物体（18）的确定的区域或平面上生成身体部位的计算机生成的图像; 以及将所述计算机生成的图像投影到所述对象（18）或患者身上以协调地观看（12）所述计算机生成的图像和所述患者。
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