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1.发明授权Method and apparatus for intravascular localization and imaging without X-rays 失效无X射线的血管内定位和成像的方法和装置公开(公告)号：US06813512B2
公开(公告)日：2004-11-02
申请号：US09976328
申请日：2001-10-12
申请人： Bernd Aldefeld , Friedrich-Karl Beckmann , Holger Eggers , Rolf Udo Dieter Kobs , Erhard Paul Artur Klotz , Michael Harald Kuhn , Dirk Manke , Volker Rasche , Georg Weidinger
发明人： Bernd Aldefeld , Friedrich-Karl Beckmann , Holger Eggers , Rolf Udo Dieter Kobs , Erhard Paul Artur Klotz , Michael Harald Kuhn , Dirk Manke , Volker Rasche , Georg Weidinger
IPC分类号： A61B500
CPC分类号： A61B5/065 , A61B5/055 , A61B5/06 , A61B34/20 , A61B90/361 , A61B90/37 , A61B2017/00243 , A61B2034/2051 , A61B2034/2063 , A61B2090/374 , A61B2090/3782 , A61B2090/3958
摘要： A device for determining the position of a medical instrument that is introduced into an object to be examined is also used for imaging the vicinity of the medical instrument. In order to enable the acquisition of instantaneous position information and image information from the vicinity of the medical instrument for all kinds of medical instruments, a localization device that is arranged in the end zone of the medical instrument that is to be introduced determines the position of the medical instrument within the object to be examined; at the same time image information is acquired in the vicinity of the medical instrument by an image acquisition device that is arranged on the medical instrument and on the basis of the position thus determined the position of the medical instrument (3) is reproduced in a survey image of the object to be examined and images of the vicinity of the object to be examined are displayed on the basis of the image information acquired.
摘要翻译： 用于确定被引入待检查物体的医疗器具的位置的装置也用于对医疗器械附近进行成像。 为了能够从用于各种医疗器械的医疗器械附近获取瞬时位置信息和图像信息，布置在待引入的医疗器械的端部区域中的定位装置决定了 待检对象内的医疗器械; 同时通过布置在医疗器械上的图像获取装置在医疗器械附近获取图像信息，并且基于如此确定的位置，在调查中再现医疗器械（3）的位置 基于所获取的图像信息，显示要被检查的对象的图像和被检查对象的附近的图像。
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公开(公告)号：US06570954B2
公开(公告)日：2003-05-27
申请号：US10050252
申请日：2002-01-16
IPC分类号： H05G160
CPC分类号： A61B6/0457 , A61B6/032
摘要： An X-ray device for the formation of slice images of an object to be examined including an X-ray source, an X-ray detector, a transport device for moving the object during the acquisition of a series of X-ray projection images of the object in a movement plane situated parallel to the imaging plane, and a control device for controlling the acquisition of the X-ray projection images and the transport device. Slice images of the object are formed from the X-ray projection images by a tomosynthesis method. In order to enable the formation of slice images of large objects to be examined, or of large parts thereof, within a period of time which is as short as possible, the X-ray source and the X-ray detector are stationary during the acquisition of the X-ray projection images and the control device is configured such that the speed of motion of the object and the moments of acquisition of the X-ray projection images are such that all points to be examined in an examination zone of the object are imaged in at least 10, but preferably in at least 50 different X-ray projection images.
摘要翻译： 一种用于形成待检查对象的切片图像的X射线装置，包括X射线源，X射线检测器，用于在获取一系列X射线投影图像期间移动物体的输送装置 在与成像平面平行的运动平面中的物体，以及用于控制X射线投影图像和运送装置的获取的控制装置。 通过断层合成法从X射线投影图像形成物体的切片图像。 为了能够在尽可能短的时间内形成要检查的大对象或其大部分的切片图像，在采集期间X射线源和X射线检测器是静止的 的X射线投影图像和控制装置被配置为使得物体的运动速度和X射线投影图像的获取时刻使得在对象的检查区域中要检查的所有点是 在至少10个，但优选至少50个不同的X射线投影图像中成像。
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公开(公告)号：US06869217B2
公开(公告)日：2005-03-22
申请号：US09732200
申请日：2000-12-07
CPC分类号： A61B6/4441 , A61B6/4452 , A61B6/4458 , A61B6/4464
摘要： The invention relates to an X-ray device which includes an X-ray source and an X-ray detector which are mounted at a respective end of a common holding device. The holding device being attached to the room by way of a supporting device. In order to realize a more flexible construction of such X-ray devices that are widely used and are usually provided with a holding device in the form of a C-arm and nevertheless maintain a high positioning accuracy. The invention further relates to a supporting device constructed with a plurality of hinged, serially interconnected supporting members. The supporting device is formed notably by a serial manipulator, for example, a conventional robot arm.
摘要翻译： 本发明涉及一种X射线装置，其包括安装在公共保持装置的相应端部处的X射线源和X射线检测器。 保持装置通过支撑装置附接到房间。 为了实现广泛使用的这种X射线装置的更灵活的构造，并且通常设置有C形臂形式的保持装置，并且保持高的定位精度。 本发明还涉及一种由多个铰接的，串联连接的支撑构件构成的支撑装置。 支撑装置特别地由串联操纵器（例如常规的机器人手臂）形成。
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4.发明授权System and method for enabling selection of an image registration transformation 有权允许选择图像配准变换的系统和方法公开(公告)号：US08380007B2
公开(公告)日：2013-02-19
申请号：US12096648
申请日：2006-12-05
IPC分类号： G06K9/32
CPC分类号： G06T7/38 , G06T7/35 , G06T2207/30004
摘要： System and method for enabling intra-operative selection of an image registration transformation for use in displaying a first image dataset and a second image dataset in correspondence with one another. Image dataset acquisition devices (12, 14) obtain the first and second image datasets. A similarity function indicative of a likelihood that the first and second image datasets are in correspondence with one another is computed by a processor (16) and then a ranking of each of a plurality of local maxima of the similarity function is determined. Registration transformations derived from a plurality of the local maxima are displayed on a display (18), and using a user-interface (22), a physician can select each registration transformation to ascertain visually whether it is the clinically-optimal registration transformation for subsequent use.
摘要翻译： 用于使得能够在操作中选择图像配准变换以用于相互对应地显示第一图像数据集和第二图像数据集的系统和方法。 图像数据集获取装置（12,14）获得第一和第二图像数据集。 由处理器（16）计算指示第一和第二图像数据集彼此对应的可能性的相似度函数，然后确定相似度函数的多个局部最大值中的每一个的等级。 从多个本地最大值导出的登记变换被显示在显示器（18）上，并且使用用户界面（22），医师可以选择每个注册变换以在视觉上确定是否是用于后续的临床优化注册变换 使用。
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公开(公告)号：US08108029B2
公开(公告)日：2012-01-31
申请号：US11997421
申请日：2006-07-12
申请人： Volker Rasche
发明人： Volker Rasche
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B34/20 , A61B90/10 , A61B90/37 , A61B2034/105 , A61B2034/2051 , A61B2034/2068 , A61B2090/376 , A61B2090/3954 , A61B2090/3983
摘要： A method and system for navigation of a medical instrument, including: introducing at least three reference device(s) disposed to at least three reference locations; employing an imaging and guidance system to acquire a plurality of image projections corresponding to a desired anatomy including the reference devices, the plurality of image projections being sufficient to permit generating a three-dimensional modeling or reconstruction images corresponding to the reference devices. The method also includes measuring a position of the reference devices; formulating a transformation matrix based on comparing positions of the reference devices computed from the modeling or reconstruction images with the measured positions of the reference devices; and superimposing an image of a medical instrument in at least one of the plurality of image projections based on the transformation matrix and a position of the medical instrument.
摘要翻译： 一种用于医疗器械导航的方法和系统，包括：引入设置在至少三个参考位置的至少三个参考装置; 使用成像和引导系统来获取对应于包括参考装置的期望解剖结构的多个图像投影，所述多个图像投影足以允许生成对应于参考装置的三维建模或重建图像。 该方法还包括测量参考装置的位置; 基于将从建模或重建图像计算的参考装置的位置与参考装置的测量位置的比较位置来制定变换矩阵; 以及基于所述变换矩阵和所述医疗器械的位置，将所述医疗器械的图像叠加在所述多个图像投影中的至少一个中。
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公开(公告)号：US07845851B2
公开(公告)日：2010-12-07
申请号：US12065616
申请日：2006-09-12
申请人： Volker Rasche
发明人： Volker Rasche
IPC分类号： H05G1/02
CPC分类号： A61B6/0457 , A61B6/4441 , A61B6/469 , A61B6/542
摘要： Iso-centering a volume of interest (VOI) (170) within a patient (168) to undergo examination on a rotational X-ray apparatus (100) is achieved by taking two differently-angled pictures (S210) and updating positional settings (172) for the patient's table (112) responsive to respectively displayed centering of the VOI (152). Alternatively, the operator identifies respective VOI centers (S410, S450) for each of the two displayed pictures, and corresponding table movement is automatically calculated (S420).
摘要翻译： 通过采取两个不同角度的图像（S210）和更新位置设置（172）来实现在患者（168）内对感兴趣的体积（VOI）（170）进行对中以进行旋转X射线装置（100）的检查 ），用于响应于分别显示的VOI的中心点（152）的患者的桌子（112）。 或者，操作者为两个显示的图像中的每一个识别各自的VOI中心（S410，S450），并且自动计算相应的表移动（S420）。
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公开(公告)号：US20090080751A1
公开(公告)日：2009-03-26
申请号：US11576702
申请日：2005-10-06
申请人： Volker Rasche , Roland Proksa
发明人： Volker Rasche , Roland Proksa
IPC分类号： G06K9/00
摘要： The invention relates to an imaging system and a method for generating high-quality X-ray projections (24) of a patient (1). The system comprises a rotational X-ray device (10), for example a cone-beam CT-gantry (12), and an associated data processing unit (20). During a medical intervention, low-dose raw projections (22) of the patient (1) are continuously generated from different directions. A volume of interest (23) is then reconstructed from said projections (22), from which high-quality virtual projections (24) can be calculated for a display on a monitor (25). The number and direction of said virtual projections (24) can be arbitrarily chosen by the user.
摘要翻译： 本发明涉及一种用于产生患者（1）的高质量X射线投影（24）的成像系统和方法。 该系统包括旋转X射线装置（10），例如锥形束CT机架（12）和相关联的数据处理单元（20）。 在医疗干预期间，从不同方向连续地生成患者（1）的低剂量原始投影（22）。 然后从所述投影（22）重建感兴趣的体积（23），从而可以为监视器（25）上的显示计算高质量的虚拟投影（24）。 所述虚拟投影（24）的数量和方向可以由用户任意选择。
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8.发明申请System and Method for Enabling Selection of an Image Registration Transformation 有权用于启用图像注册转换选择的系统和方法公开(公告)号：US20080279430A1
公开(公告)日：2008-11-13
申请号：US12096648
申请日：2006-12-05
IPC分类号： G06T7/00
CPC分类号： G06T7/38 , G06T7/35 , G06T2207/30004
摘要： System and method for enabling intra-operative selection of an image registration transformation for use in displaying a first image dataset and a second image dataset in correspondence with one another. Image dataset acquisition devices (12, 14) obtain the first and second image datasets. A similarity function indicative of a likelihood that the first and second image datasets are in correspondence with one another is computed by a processor (16) and then a ranking of each of a plurality of local maxima of the similarity function is determined. Registration transformations derived from a plurality of the local maxima are displayed on a display (18), and using a user-interface (22), a physician can select each registration transformation to ascertain visually whether it is the clinically-optimal registration transformation for subsequent use.
摘要翻译： 用于使得能够在操作中选择图像配准变换以用于相互对应地显示第一图像数据集和第二图像数据集的系统和方法。 图像数据集获取装置（12,14）获得第一和第二图像数据集。 由处理器（16）计算指示第一和第二图像数据集彼此对应的可能性的相似度函数，然后确定相似度函数的多个局部最大值中的每一个的等级。 从多个本地最大值导出的登记变换被显示在显示器（18）上，并且使用用户界面（22），医师可以选择每个注册变换以在视觉上确定是否是用于后续的临床优化注册变换 使用。
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公开(公告)号：US20060267579A1
公开(公告)日：2006-11-30
申请号：US10553771
申请日：2004-04-14
申请人： Joern Borgert , Volker Rasche
发明人： Joern Borgert , Volker Rasche
IPC分类号： G01R33/025
摘要： Position measurements are often performed using a localization system with a given fixed capture range and accuracy and resolution. Having a fixed capture range often comes at the cost of decreased accuracy and resolution. According to the present invention, at the start, a large capture range is provided where the accuracy and resolution is low. In this large capture area, the target area can be identified and aimed at. With this identification, a smaller capture range is iteratively provided and centered around the region of interest, which leads to an increased accuracy and resolution.
摘要翻译： 位置测量通常使用具有给定的固定捕获范围和精度和分辨率的定位系统执行。 具有固定的捕获范围通常来自降低精度和分辨率的代价。 根据本发明，开始时提供了精度和分辨率低的大的捕获范围。 在这个大的捕获区域，目标区域可以被识别和瞄准。 通过这种识别，迭代地提供较小的捕获范围并以感兴趣的区域为中心，这导致增加的精度和分辨率。
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10.发明授权X-ray imaging method and a 3D-rotational X-ray apparatus for applying this method 失效X射线成像方法和应用该方法的3D旋转X射线装置公开(公告)号：US06959067B2
公开(公告)日：2005-10-25
申请号：US10022383
申请日：2001-10-30
IPC分类号： A61B6/00
摘要： An X-ray imaging method comprises forming 2-dimensional X-ray images of an object to be examined, for example the coronary vascular system of a patient, and reconstruction of a 3-dimensional volume thereof. With a relatively long run length of a scan rotation over substantially 180° of at least 15 sec. and preferably about 20 sec. A sufficient number of images is obtained to perform a more accurate volume reconstruction. This reconstruction method may be combined with existing modelling techniques.
摘要翻译： X射线成像方法包括形成待检查对象的2维X射线图像，例如患者的冠状血管系统，以及其3维体积的重建。 具有在大约180°至少15秒的扫描旋转的相对较长的行程长度。 优选约20秒。 获得足够数量的图像以执行更精确的体积重建。 这种重建方法可以与现有的建模技术相结合。
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