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1.发明授权Navigation apparatus and surgical operation image acquisition/display apparatus using the same 有权导航装置和使用其的外科手术图像采集/显示装置公开(公告)号：US06456868B2
公开(公告)日：2002-09-24
申请号：US09875628
申请日：2001-06-06
申请人： Akito Saito , Takao Shibasaki , Takeo Asano , Hiroshi Matsuzaki , Yukihito Furuhashi , Akio Kosaka
发明人： Akito Saito , Takao Shibasaki , Takeo Asano , Hiroshi Matsuzaki , Yukihito Furuhashi , Akio Kosaka
IPC分类号： A61B5055
CPC分类号： A61B5/064 , A61B1/0005 , A61B34/20 , A61B90/20 , A61B90/36 , A61B90/361 , A61B2034/2055 , A61B2034/2072 , A61B2090/3983 , G06F19/00
摘要： A navigation apparatus comprises a navigation-related information generating section and a display section. The navigation-related information generating section measures the position and orientation of an object and a target in a three-dimensional space and generate navigation-related information to be used for navigating the object toward the target. The display section displays the navigation-related information generated by the navigation-related information generating section in any of different modes depending on the relationship of the position and orientation of the object and that of the target. A surgical operation image acquisition/display apparatus comprises an observation section, an image display section and a specifying section. The observation section includes a plurality of observation sections whose position and orientation is modifiable. The image display section is adapted to alternatively display any of the images obtained by the observation sections or synthetically combine and display the combined images. The specifying section specifies the image to be displayed to the image display section according to the position and orientation of the observation section.
摘要翻译： 导航装置包括导航相关信息生成部和显示部。 导航相关信息生成部测量三维空间中的对象和目标的位置和方向，并生成导航相关信息，以用于将目标导向目标。 显示部分根据对象的位置和取向与目标的取向的关系，以任何不同的模式显示由导航相关信息生成部生成的导航相关信息。 外科手术图像获取/显示装置包括观察部，图像显示部和指定部。 观察部包括能够修正其位置和取向的多个观察部。 图像显示部分适于交替地显示由观察部分获得的任何图像，或者合成地组合并显示组合的图像。 指定部根据观察部的位置和姿势来指定要显示到图像显示部的图像。
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公开(公告)号：US06724930B1
公开(公告)日：2004-04-20
申请号：US09498963
申请日：2000-02-04
申请人： Akio Kosaka , Akito Saito , Takao Shibasaki , Takeo Asano , Hiroshi Matsuzaki , Yukihito Furuhashi
发明人： Akio Kosaka , Akito Saito , Takao Shibasaki , Takeo Asano , Hiroshi Matsuzaki , Yukihito Furuhashi
IPC分类号： G06K900
CPC分类号： G06K9/6211 , G01B11/002 , G06K9/3208 , G06T7/73
摘要： A three-dimensional position and orientation sensing apparatus including: an image input section which inputs an image acquired by an image acquisition apparatus and showing at least three markers having color or geometric characteristics as one image, three-dimensional positional information of the markers with respect to an object to be measured being known in advance; a region extracting section which extracts a region corresponding to each marker in the image; a marker identifying section which identifies the individual markers based on the color or geometric characteristics of the markers in the extracted regions; and a position and orientation calculating section which calculates the three-dimensional position and orientation of the object to be measured with respect to the image acquisition apparatus, by using positions of the identified markers in the image input to the image input section, and the positional information of the markers with respect to the object to be measured.
摘要翻译： 一种三维位置和方向检测装置，包括：图像输入部，其输入由图像获取装置获取的图像，并且将至少三个具有颜色或几何特征的标记显示为一个图像，所述标记的三维位置信息相对于 预先知道要被测量的物体; 区域提取部，其提取与图像中的每个标记对应的区域; 基于提取区域中的标记的颜色或几何特征来识别各个标记的标记识别部分; 以及位置和姿势计算部分，通过使用输入到图像输入部分的图像中识别的标记的位置来计算相对于图像获取装置的待测量对象的三维位置和取向，以及位置 关于待测量对象的标记的信息。
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3.发明授权公开(公告)号：US06466815B1
公开(公告)日：2002-10-15
申请号：US09533651
申请日：2000-03-22
申请人： Akito Saito , Takao Shibasaki , Takeo Asano , Hiroshi Matsuzaki , Yukihito Furuhashi , Akio Kosaka
发明人： Akito Saito , Takao Shibasaki , Takeo Asano , Hiroshi Matsuzaki , Yukihito Furuhashi , Akio Kosaka
IPC分类号： A61B505
CPC分类号： A61B5/064 , A61B1/0005 , A61B34/20 , A61B90/20 , A61B90/36 , A61B90/361 , A61B2034/2055 , A61B2034/2072 , A61B2090/3983 , G06F19/00
摘要： A navigation apparatus comprises a navigation-related information generating section and a display section. The navigation-related information generating section measures the position and orientation of an object and a target in a three-dimensional space and generate navigation-related information to be used for navigating the object toward the target. The display section displays the navigation-related information generated by the navigation-related information generating section in any of different modes depending on the relationship of the position and orientation of the object and that of the target. A surgical operation image acquisition/display apparatus comprises an observation section, an image display section and a specifying section. The observation section includes a plurality of observation sections whose position and orientation is modifiable. The image display section is adapted to alternatively display any of the images obtained by the observation sections or synthetically combine and display the combined images. The specifying section specifies the image to be displayed to the image display section according to the position and orientation of the observation section.
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公开(公告)号：US06640127B1
公开(公告)日：2003-10-28
申请号：US09590466
申请日：2000-06-09
申请人： Akio Kosaka , Takao Shibasaki , Akito Saito , Takeo Asano , Hiroshi Matsuzaki , Yukihito Furuhashi
发明人： Akio Kosaka , Takao Shibasaki , Akito Saito , Takeo Asano , Hiroshi Matsuzaki , Yukihito Furuhashi
IPC分类号： A61B505
CPC分类号： A61B90/36 , A61B34/20 , A61B90/14 , A61B90/39 , A61B2034/2055 , A61B2034/2072 , A61B2090/364 , A61B2090/3945 , A61B2090/3979 , A61B2090/3983 , A61B2090/3995
摘要： A reference frame adapted to be fitted to a subject of medical treatment and provided with markers for determining the position or the orientation of the subject comprises fitting section for fitting the reference frame with the subject at least three spots (tops of the left and right ears and the nasal projection) along the undulations of the surface thereof and three or more than three markers detectable at least ether in an X-ray image or in an MRI image of the reference frame, the markers being to be arranged at predetermined positions not connectable by a straight line. A surgical operation navigating system determines the coordinates of the markers in a coordinate system defined for the image taken for the purpose of medical examination of the subject who is carrying the reference frame on the basis of the obtained image. Then the corresponding relationship is established between the coordinate system for the image for examination and the coordinate system for the real space containing the markers on the basis of the result of the operation of determining the coordinates of the markers in the coordinate system for the image for examination and the coordinates of the markers in the coordinate system for the real space.
摘要翻译： 适于装配到医疗对象并具有用于确定受试者的位置或取向的标记的参考框架包括用于将参考框架与受试者相配合的装配部分至少三个点（左耳和右耳的顶部 和鼻突起），以及在X射线图像或参考框架的MRI图像中可检测至少为乙醚的三个或三个以上三个标记，标记将被布置在不可连接的预定位置 用直线。 外科手术导航系统基于所获得的图像确定为为进行参考框架的对象的医学检查而拍摄的图像所定义的坐标系中的标记的坐标。 然后，基于确定图像坐标系中的标记坐标的操作结果，在用于检查的图像的坐标系和包含标记的实际空间的坐标系之间建立对应的关系， 检查和坐标系坐标系中的实际空间。
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公开(公告)号：US06906710B2
公开(公告)日：2005-06-14
申请号：US10102120
申请日：2002-03-20
CPC分类号： G06T17/00 , G06K9/00201
摘要： A feature quantity calculation device to calculate a feature quantity for a 3-D object from 3-D object data contained in the 3-D object includes a 3-D object data input module to input the 3-D object data, a 3-D object data analysis module to analyze the input 3-D object data, a volume data conversion module to convert the analyzed 3-D object data to volume data, and a feature quantity calculation module to calculate a feature quantity from the converted volume data.
摘要翻译： 特征量计算装置，用于根据包含在所述3D对象中的3D对象数据来计算3维对象的特征量，包括：3-D对象数据输入模块，用于输入所述3-D对象数据; D对象数据分析模块分析输入的3-D对象数据，将数据转换模块转换为分析的3-D对象数据到卷数据，以及特征量计算模块，以从转换的卷数据计算特征量。
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公开(公告)号：US06681129B2
公开(公告)日：2004-01-20
申请号：US09966972
申请日：2001-09-28
IPC分类号： A61B505
CPC分类号： A61B5/055 , A61B1/0005 , A61B1/04 , A61B5/743
摘要： A surgical operation navigation apparatus comprises a medical image storage section that stores three-dimensional information of a subject measured by a medical image diagnosis unit. A modification information storage section modifies and stores the three-dimensional information of the subject based on predicted modification of the subject. A morphological shape measuring instrument measures a three-dimensional morphological shape of the subject. A morphological shape information storage section compares a three-dimensional morphological shape of a subject with three-dimensional information, and selects and outputs three-dimensional information of the subject that is the most analogous to the morphological shape of the subject. A data image generating section generates data image from the selected, outputted three-dimensional information of the subject. An image superimposing section superimposes a data image from the data image generation section and an image of the subject from the surgical operation utensil, and outputs the superimposed image to an image display device.
摘要翻译： 外科手术导航装置包括医疗图像存储部，其存储由医学图像诊断部测量的被检体的三维信息。 修改信息存储部根据被检体的预测修正来修正并存储被检体的三维信息。 形态测量仪器测量受试者的三维形态。 形态形状信息存储部将被检体的三维形状形状与三维信息进行比较，并且选择并输出与被检体的形态形状最相似的被检体的三维信息。 数据图像生成部从所选择的输出的被检体的三维信息生成数据图像。 图像叠加部将来自数据图像生成部的数据图像和来自外科手术器具的被检体的图像重叠，并将叠加后的图像输出到图像显示装置。
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公开(公告)号：US06526162B2
公开(公告)日：2003-02-25
申请号：US09158335
申请日：1998-09-22
申请人： Takeo Asano , Akito Saito , Takao Shibasaki , Hiroshi Matsuzaki
发明人： Takeo Asano , Akito Saito , Takao Shibasaki , Hiroshi Matsuzaki
IPC分类号： G06K900
CPC分类号： G06T7/60 , A61B34/10 , A61B90/10 , A61B90/37 , G06T2207/30016
摘要： The present invention writes the obtained two-dimensional image data of a body including a diseased portion in a computer or the like, and displays a three-dimensional image of the body including the diseased portion and the related data in the same monitor. The diseased portion data is then converted into a three-dimensional construction with use of a three-dimensional construction reconstructing section. The geometrical center of the three-dimensional constructed image is calculated by a geometrical center calculation section, and a plurality of linear lines or one linear line having the shortest distance directing from the geometrical center to the outside of the body is then calculated. The calculated line/lines is/are displayed to be overlapped on an image of the body including the diseased portion. In this manner, the present invention provides a stereotaxy operation route searching apparatus for showing a guideline of a low-invasive operation strategy to an operator, and the searching method.
摘要翻译： 本发明将所获得的包含病变部分的身体的二维图像数据写入计算机等，并将包括患病部位的身体的三维图像和相关数据显示在同一监视器中。 然后利用三维构造重建部分将病变部分数据转换成三维构造。 然后，通过几何中心计算部计算三维构造图像的几何中心，然后计算从身体的几何中心到外部具有最短距离的多条直线或一条直线。 所计算的线/线被显示为与包括患病部分的身体的图像重叠。 以这种方式，本发明提供了一种立体声操作路径搜索装置，用于向操作者示出低侵入操作策略的指导原则和搜索方法。
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8.发明授权公开(公告)号：US06283763B1
公开(公告)日：2001-09-04
申请号：US09192902
申请日：1998-11-16
申请人： Hiroshi Matsuzaki , Takao Shibasaki , Akito Saito , Takeo Asano
发明人： Hiroshi Matsuzaki , Takao Shibasaki , Akito Saito , Takeo Asano
IPC分类号： G09B2328
CPC分类号： G09B23/286 , G06F19/00
摘要： A medical operation simulator includes a three-dimensional image reconstruction section, an instrument-image forming section, and an approach data presenting section. The three-dimensional image reconstructing section processes data representing slice images, thereby generating three-dimensional image data. The three-dimensional image data is supplied to a display device. The instrument-image forming section forms an image of a medical instrument. The image moves in the same way that a medical instrument provided on an operation input device is manipulated by an operator. The instrument-image forming section supplies data representing the image of the instrument to the display device. The display device displays the image of the instrument together with a three-dimensional image represented by the three-dimensional image data generated by the three-dimensional image reconstructing means. The approach data presenting section converts data showing an approach of the medical instrument toward a region of interest into at least one of an aural sensation, visual sensation, pressure sensation and touch sensation, by performing approach data presentation processing, and then presents at least one of the aural sensation, visual sensation, pressure sensation and touch sensation.
摘要翻译： 医疗操作模拟器包括三维图像重建部分，仪器图像形成部分和方法数据呈现部分。 三维图像重建部分处理表示切片图像的数据，从而生成三维图像数据。 三维图像数据被提供给显示装置。 仪器图像形成部分形成医疗器械的图像。 图像的移动方式与操作输入装置上提供的医疗器械由操作者操纵相同。 仪器图像形成部将表示仪器的图像的数据提供给显示装置。 显示装置与由三维图像重建装置生成的三维图像数据所表示的三维图像一起显示仪器的图像。 方法数据呈现部分通过执行方法数据呈现处理将表示医疗器械朝向感兴趣区域的方法的数据转换为听觉，视觉，压力感觉和触觉中的至少一种，然后呈现至少一个 的听觉，视觉感受，压力感和触感。
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9.发明申请公开(公告)号：US20080166053A1
公开(公告)日：2008-07-10
申请号：US12043674
申请日：2008-03-06
IPC分类号： G06K9/46
CPC分类号： G06F17/30265
摘要： An information presentation system includes an imaging unit, a peripheral information acquisition unit which acquires peripheral information, a storage unit which stores registered information, an analytic basic information construction unit which constructs analytic basic information from the registered information stored in the storage unit, on the basis of the peripheral information acquired in the peripheral information acquisition unit, a pertinent information acquisition unit which acquires information pertinent to the image from the image obtained from the imaging unit and the analytic basic information obtained from the analytic basic information construction unit, and a presentation unit which presents the pertinent information acquired in the pertinent information acquisition unit. The analytic basic information construction unit changes the analytic basic information on the basis of at least one of a time, date, season, weather, temperature, humidity, place, surrounding brightness, average color/color distribution of the acquired image, surrounding sound and model.
摘要翻译： 一种信息呈现系统，包括：成像单元，周边信息获取单元，其获取周边信息;存储单元，存储登记信息;分析基础信息构建单元，其从存储在存储单元中的登记信息构建分析基本信息; 在周边信息获取单元中获取的外围信息的基础，相关信息获取单元，其从从成像单元获得的图像中获取与图像有关的信息，以及从分析基本信息构造单元获得的分析基本信息，以及呈现 其显示在相关信息获取单元中获取的相关信息。 分析基础信息构建单元基于时间，日期，季节，天气，温度，湿度，地点，周围亮度，所获取的图像的平均颜色/颜色分布，周围声音和周围声音中的至少一个来改变分析基本信息， 模型。
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10.发明授权公开(公告)号：US07992181B2
公开(公告)日：2011-08-02
申请号：US12043674
申请日：2008-03-06
CPC分类号： G06F17/30265
摘要： An information presentation system includes an imaging unit, a peripheral information acquisition unit which acquires peripheral information, a storage unit which stores registered information, an analytic basic information construction unit which constructs analytic basic information from the registered information stored in the storage unit, on the basis of the peripheral information acquired in the peripheral information acquisition unit, a pertinent information acquisition unit which acquires information pertinent to the image from the image obtained from the imaging unit and the analytic basic information obtained from the analytic basic information construction unit, and a presentation unit which presents the pertinent information acquired in the pertinent information acquisition unit. The analytic basic information construction unit changes the analytic basic information on the basis of at least one of a time, date, season, weather, temperature, humidity, place, surrounding brightness, average color/color distribution of the acquired image, surrounding sound and model.
摘要翻译： 一种信息呈现系统，包括：成像单元，周边信息获取单元，其获取周边信息;存储单元，存储登记信息;分析基础信息构建单元，其从存储在存储单元中的登记信息构建分析基本信息; 在周边信息获取单元中获取的外围信息的基础，相关信息获取单元，其从从成像单元获得的图像中获取与图像有关的信息，以及从分析基本信息构造单元获得的分析基本信息，以及呈现 其显示在相关信息获取单元中获取的相关信息。 分析基础信息构建单元基于时间，日期，季节，天气，温度，湿度，地点，周围亮度，所获取的图像的平均颜色/颜色分布，周围声音和周围声音中的至少一个来改变分析基本信息， 模型。
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