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1.发明申请公开(公告)号：US20090088830A1
公开(公告)日：2009-04-02
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
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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2.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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公开(公告)号：US20080234575A1
公开(公告)日：2008-09-25
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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4.发明申请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：US20070238952A1
公开(公告)日：2007-10-11
申请号：US11496069
申请日：2006-07-28
IPC分类号： A61B5/05
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, comprising: spatial calibrating an optical 3D sensor system with an intra-operative imaging modality, intra-operative detecting the surface of an examination area of interest with the 3D sensor system to produce an intra-operative surface mask, intra-operative 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，包括：用术中成像模态对光学3D传感器系统进行空间校准，手术中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手术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，并且将术中图像数据集合与t 他基于映射规范进行手术前3D数据集。
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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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6.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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7.发明授权Method and device for separate three-dimensional presentation of arteries and veins in a part of body 有权用于在身体的一部分中单独的立体呈现动脉和静脉的方法和装置公开(公告)号：US08676297B2
公开(公告)日：2014-03-18
申请号：US11724657
申请日：2007-03-15
IPC分类号： A61B5/05
摘要： The invention is directed to a method and a device for separate three-dimensional presentation of arteries and/or veins of a vessel system in a part of the body of a vertebrate by a rotation computer tomography. A masking run of the tomograph is undertaken without contrast media around the part of the body. Then two filling runs with contrast media are executed, with the venous phase of vessel contrasting during the first filling run occurring during the arterial phase of vessel contrasting of the second filling run and vice-versa. The data from the first and second filling run is combined into data sets from the arterial or the venous phases of the vessel contrasting of the filling runs. The data of the masking run is subtracted from the combined data sets to obtain final data sets for a three-dimensional presentation of the arterial or the venous vessel system.
摘要翻译： 本发明涉及一种用于通过旋转计算机断层摄影在脊椎动物身体的一部分中分离地显示血管系统的血管和/或静脉的方法和装置。 在身体部分周围没有造影剂进行断层摄影术的掩蔽运行。 然后执行用造影剂的两次填充运行，在第一次填充运行期间血管对比的静脉期发生在第二次灌注运行的血管对比的动脉期期间，反之亦然。 来自第一次和第二次灌注运行的数据被组合成来自血管的动脉或静脉期的数据集，与填充运行相反。 从组合的数据集中减去掩蔽运行的数据，以获得用于动脉或静脉血管系统的三维呈现的最终数据集。
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8.发明授权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：US07837385B2
公开(公告)日：2010-11-23
申请号：US11890402
申请日：2007-08-06
IPC分类号： H05G1/02
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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公开(公告)号：US07822464B2
公开(公告)日：2010-10-26
申请号：US11291593
申请日：2005-11-30
IPC分类号： A61B5/05
CPC分类号： A61M25/09 , A61B5/0066 , A61B5/06 , A61B5/062 , A61B5/6851 , A61B8/12 , A61B34/20 , A61B2017/22038 , A61B2034/2051 , A61B2090/3954 , A61M2025/0166 , A61M2025/09183
摘要： Guidewire for catheters which can be inserted into cavities, preferably coronary vessels of humans or animals, said guidewire being provided with electromagnetic receive or transmit locate to position its position in conjunction with corresponding external electromagnetic transmit or receive antennas, as well as with signal lines guiding the processing unit controlling the transmit antennas or transmit coils.
摘要翻译： 导丝可以插入空腔中，优选人或动物的冠状血管，所述导丝设置有电磁接收或发射定位，以将其位置与相应的外部电磁发射或接收天线结合，以及信号线引导 处理单元控制发射天线或发射线圈。
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10.发明授权Medical diagnostic system and method for capturing medical image information 有权用于捕获医学图像信息的医疗诊断系统和方法公开(公告)号：US07809106B2
公开(公告)日：2010-10-05
申请号：US11888206
申请日：2007-07-31
IPC分类号： G01N23/04
CPC分类号： G01T1/1615 , A61B6/037 , A61B6/4441
摘要： The invention relates to a medical diagnostic system having two C-arms which are adjustable with the aid of two drive means and serve as retaining devices for one medical measuring system in each case. At least one evaluation unit and at least one display element are provided for each medical measuring system. The first measuring system is an X-ray measuring system comprising an X-ray emitter and an X-ray detector and has a high spatial resolution. The second measuring system is a nuclear medicine measuring system for visualizing tissue functions. Accurate and rapid medical diagnoses and interventions are possible based on image information generated by both measuring systems.
摘要翻译： 本发明涉及一种具有两个C臂的医疗诊断系统，其可借助于两个驱动装置来调节，并且用作在每种情况下用于一个医疗测量系统的保持装置。 为每个医疗测量系统提供至少一个评估单元和至少一个显示元件。 第一测量系统是包括X射线发射器和X射线检测器并具有高空间分辨率的X射线测量系统。 第二测量系统是用于可视化组织功能的核医学测量系统。 基于由两个测量系统生成的图像信息，可以准确快速地进行医学诊断和干预。
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