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1.发明授权System and method to determine the location and orientation of an indwelling medical device 有权确定留置医疗器械的位置和方向的系统和方法公开(公告)号：US06263230B1
公开(公告)日：2001-07-17
申请号：US09188049
申请日：1998-11-06
IPC分类号： A61B505
CPC分类号： G01V3/08 , A61B5/062 , A61B34/20 , A61B34/25 , A61B2034/2051 , A61B2090/376 , A61B2090/3958
摘要： A device to detect the location of a plurality of magnets uses a plurality of magnetic sensors, having sensor elements arranged in a known fashion. Each sensor element senses the magnetic field strength generated by each of the plurality of magnets and provides data indicative of the direction of the magnets in a three-dimensional space. The device uses fundamental equations for electricity and magnetism that relate the measured magnetic field strength to the location and strength of the magnetic dipole for each of the plurality of magnets. The device may use an iterative process to determine the actual location and orientation of each magnet. An initial estimation of the location and orientation of each magnet results in the generation of predicted magnetic field values. The predicted magnetic field values are compared with the actual measured values provided by the magnetic sensors. Based on a difference between the predicted values and the measured values, the device estimates a new location for each of the magnets and calculates new predicted magnetic field strength values. The iteration process continues until the predicted values match the measured values within a desired degree of tolerance. At this point, the estimated location and orientation of each of the magnets matches the actual location within a predetermined degree of tolerance.
摘要翻译： 用于检测多个磁体的位置的装置使用具有已知方式布置的传感器元件的多个磁性传感器。 每个传感器元件感测由多个磁体中的每一个产生的磁场强度，并提供指示磁体在三维空间中的方向的数据。 该装置使用将测量的磁场强度与多个磁体中的每一个的磁偶极子的位置和强度相关联的电和磁性的基本方程。 该装置可以使用迭代过程来确定每个磁体的实际位置和取向。 每个磁体的位置和取向的初步估计导致预测的磁场值的产生。 将预测的磁场值与由磁传感器提供的实际测量值进行比较。 基于预测值和测量值之间的差异，设备估计每个磁体的新位置并计算新的预测磁场强度值。 迭代过程一直持续到预期值与期望的公差范围内的测量值相匹配。 在这一点上，每个磁体的估计位置和取向与预定公差范围内的实际位置相匹配。
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2.发明授权System and method to determine the location and orientation of an indwelling medical device 失效确定留置医疗器械的位置和方向的系统和方法
公开(公告)号：US6129668A
公开(公告)日：2000-10-10
申请号：US75280
申请日：1998-05-08
CPC分类号： A61B5/06 , A61B34/20 , A61B2017/00876 , A61B2034/2051 , A61B2090/376 , A61B2090/3958 , A61B34/25
摘要： A device to detect the location of a magnet coupled to an indwelling medical device within a patient uses three or more sets of magnetic sensors each having sensor elements arranged in a known fashion. Each sensor element senses the magnetic field strength generated by the magnet and provides data indicative of the direction of the magnet in a three-dimensional space. The device uses fundamental equations for electricity and magnetism that relate measured magnetic field strength and magnetic field gradient to the location and strength of a magnetic dipole. The device uses an iterative process to determine the actual location and orientation of the magnet. An initial estimate of the location and orientation of the magnet results in the generation of predicted magnetic field values. The predicted magnetic field values are compared with the actual measured values provided by the magnetic sensors. Based on the difference between the predicted values and the measured values, the device estimates a new location of the magnet and calculates new predicted magnetic field strength values. This iteration process continues until the predicted values match the measured values within a desired degree of tolerance. At that point, the estimated location matches the actual location within a predetermined degree of tolerance. A two-dimensional display provides an indication of the location of the magnet with respect to the housing of the detector. A depth indicator portion of the display can be used to provide a relative or absolute indication of the depth of the magnet within the patient.
摘要翻译： 用于检测耦合到患者内的留置医疗装置的磁体的位置的装置使用三组或更多组磁传感器，每组具有以已知方式布置的传感器元件。 每个传感器元件感测由磁体产生的磁场强度，并提供指示磁体在三维空间中的方向的数据。 该设备使用电磁和磁力的基本方程，将测量的磁场强度和磁场梯度与磁偶极子的位置和强度相关联。 该设备使用迭代过程来确定磁体的实际位置和方向。 磁体的位置和取向的初始估计导致预测的磁场值的产生。 将预测的磁场值与由磁传感器提供的实际测量值进行比较。 基于预测值和测量值之间的差异，设备估计磁体的新位置并计算新的预测磁场强度值。 该迭代过程一直持续到预期值与期望的公差范围内的测量值相匹配。 此时，估计位置与预定公差范围内的实际位置相匹配。 二维显示器提供磁体相对于检测器壳体的位置的指示。 显示器的深度指示器部分可用于提供患者内磁体深度的相对或绝对指示。
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3.发明授权Method to determine the location and orientation of an indwelling medical device 有权确定留置医疗设备的位置和方向的方法公开(公告)号：US06216028B1
公开(公告)日：2001-04-10
申请号：US09169194
申请日：1998-10-08
IPC分类号： A61B505
CPC分类号： A61B5/06 , A61B5/062 , A61B34/20 , A61B34/25 , A61B2034/2051 , A61B2090/3958
摘要： A device to detect the location of a magnet coupled to an indwelling medical device within a patient uses three or more sets of magnetic sensors each having sensor elements arranged in a known fashion. Each sensor element senses the magnetic field strength generated by the magnet and provides data indicative of the direction of the magnet in a three-dimensional space. The device uses findamental equations for electricity and magnetism that relate measured magnetic field strength and magnetic field gradient to the location and strength of a magnetic dipole. The device uses an iterative process to determine the actual location and orientation of the magnet. An initial estimate of the location and orientation of the magnet results in the generation of predicted magnetic field values. The predicted magnetic field values are compared with the actual measured values provided by the magnetic sensors. Based on the difference between the predicted values and the measured values, the device estimates a new location of the magnet and calculates new predicted magnetic field strength values. This iteration process continues until the predicted values match the measured values within a desired degree of tolerance. At that point, the estimated location matches the actual location within a predetermined degree of tolerance. A two-dimensional display provides an indication of the location of the magnet with respect to the housing of the detector. A depth indicator portion of the display can be used to provide a relative or absolute indication of the depth of the magnet within the patient.
摘要翻译： 用于检测耦合到患者内的留置医疗装置的磁体的位置的装置使用三组或更多组磁传感器，每组具有以已知方式布置的传感器元件。 每个传感器元件感测由磁体产生的磁场强度，并提供指示磁体在三维空间中的方向的数据。 该装置使用关于测量的磁场强度和磁场梯度与磁偶极子的位置和强度相关的电和磁性的关键方程。 该设备使用迭代过程来确定磁体的实际位置和方向。 磁体的位置和取向的初始估计导致预测的磁场值的产生。 将预测的磁场值与由磁传感器提供的实际测量值进行比较。 基于预测值和测量值之间的差异，设备估计磁体的新位置并计算新的预测磁场强度值。 该迭代过程一直持续到预期值与期望的公差范围内的测量值相匹配。 此时，估计位置与预定公差范围内的实际位置相匹配。 二维显示器提供磁体相对于检测器壳体的位置的指示。 显示器的深度指示器部分可用于提供患者内磁体深度的相对或绝对指示。
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4.发明授权
公开(公告)号：US5879297A
公开(公告)日：1999-03-09
申请号：US852940
申请日：1997-05-08
CPC分类号： A61B5/06 , A61B34/20 , A61B2034/2051 , A61B2090/3958 , A61B34/25
摘要： A device to detect the location of a magnet coupled to an indwelling medical device within a patient uses three or more sets of magnetic sensors each having sensor elements arranged in a known fashion. Each sensor element senses the magnetic field strength generated by the magnet and provides data indicative of the direction of the magnet in a three-dimensional space. The device uses fundamental equations for electricity and magnetism that relate measured magnetic field strength and magnetic field gradient to the location and strength of a magnetic dipole. The device uses an iterative process to determine the actual location and orientation of the magnet. An initial estimate of the location and orientation of the magnet results in the generation of predicted magnetic field values. The predicted magnetic field values are compared with the actual measured values provided by the magnetic sensors. Based on the difference between the predicted values and the measured values, the device estimates a new location of the magnet and calculates new predicted magnetic field strength values. This iteration process continues until the predicted values match the measured values within a desired degree of tolerance. At that point, the estimated location matches the actual location within a predetermined degree of tolerance. A two-dimensional display provides an indication of the location of the magnet with respect to the housing of the detector. A depth indicator portion of the display can be used to provide a relative or absolute indication of the depth of the magnet within the patient.
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5.发明授权Apparatus and method for interactive 3D registration of ultrasound and magnetic resonance images based on a magnetic position sensor 失效基于磁位置传感器的超声和磁共振图像的交互式3D配准的装置和方法公开(公告)号：US06775404B1
公开(公告)日：2004-08-10
申请号：US09526656
申请日：2000-03-15
IPC分类号： G06K900
CPC分类号： G06T3/00 , A61B8/0816 , A61B8/4254 , A61B8/587 , G06T7/35 , G06T7/38 , Y10S128/916
摘要： Intraoperative ultrasound (US) is integrated with stereotactic systems, where a system interactively registers two-dimensional (2D) US and three-dimensional (3D) magnetic resonance (MR) images. The registration is based on tracking a US probe with a bC magnetic position sensor. A transformation algorithm is performed to transform coordinates of points between two different spaces, where MR and US image spaces are independently registered with the position sensor space and where coordinate points can be registered between the MR and US spaces. A calibration procedure can be performed, and a phantom can be used to determine and analyze registration errors. The registered MR images can reconstructed using either zero-order or first-order interpolation.
摘要翻译： 术中超声（US）与立体定向系统集成，其中系统交互注册二维（2D）美国和三维（3D）磁共振（MR）图像。 注册是基于使用bC磁位置传感器跟踪美国探头。 执行变换算法来转换两个不同空间之间的点的坐标，其中MR和US图像空间独立地与位置传感器空间对齐，并且可以在MR和US空间之间登记坐标点。 可以执行校准过程，并且可以使用幻像来确定和分析注册错误。 可以使用零级或一阶插值重建注册的MR图像。
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公开(公告)号：US5605155A
公开(公告)日：1997-02-25
申请号：US624949
申请日：1996-03-29
申请人： Vikram Chalana , Yongmin Kim , David R. Haynor
发明人： Vikram Chalana , Yongmin Kim , David R. Haynor
CPC分类号： A61B5/1075 , A61B8/0866 , G01S7/52036 , G01S7/52073 , A61B8/0816 , G01S7/52061
摘要： An ultrasound system automatically measures fetal head size from ultrasound images. An ultrasound image of the fetal head is detected. A radial maxima point is identified on each of a plurality of radii extending from a substantially common vertex point within the fetal head image. Each radial maxima point corresponds to an ultrasound sample along its corresponding radius, and has a maximum ultrasound echo strength. A first curve is defined from the radial maxima points. The remaining unfiltered radial maxima points are fit to a second curve, and the second curve is the detected curved boundary. The detected curve boundary is modified to define an initial fetal head boundary. An inner fetal head boundary and outer fetal head boundary are derived from the initial fetal head boundary and a predetermined fetal skull thickness, and fetal head size is computed from the inner fetal head boundary and the outer fetal head boundary.
摘要翻译： 超声波系统可以自动测量超声图像中的胎头大小。 检测胎头的超声图像。 在从胎头图像中的基本上共同的顶点延伸的多个半径中的每一个上识别径向最大点。 每个径向最大点对应于沿其相应半径的超声波样本，并且具有最大超声回波强度。 从径向最大点定义第一条曲线。 剩余的未过滤的径向最大点适合于第二曲线，第二曲线是检测到的弯曲边界。 检测到的曲线边界被修改以定义初始胎儿头部边界。 内胎头边界和外胎头边界是从最初的胎儿头部边界和预定的胎儿颅骨厚度得出的，并且胎儿头部大小是从胎儿内部胎头边界和外部胎儿头部边界计算出来的。
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公开(公告)号：US06870945B2
公开(公告)日：2005-03-22
申请号：US09874160
申请日：2001-06-04
申请人： Todd Schoepflin , David R. Haynor , John D. Sahr , Yongmin Kim
发明人： Todd Schoepflin , David R. Haynor , John D. Sahr , Yongmin Kim
CPC分类号： G06T7/254 , G06T7/12 , G06T7/155 , G06T2207/10016
摘要： An object is tracked among a plurality of image frames. In an initial frame an operator selects an object. The object is distinguished from the remaining background portion of the image to yield a background and a foreground. A model of the background is used and updated in subsequent frames. A model of the foreground is used and updated in the subsequent frames. Pixels in subsequent frames are classified as belonging to the background or the foreground. In subsequent frames, decisions are made, including: which pixels do not belong to the background; which pixels in the foreground are to be updated; which pixels in the background were observed incorrectly in the current frame; and which background pixels are being observed for the first time. In addition, mask filtering is performed to correct errors, eliminate small islands and maintain spatial and temporal coherency of a foreground mask.
摘要翻译： 在多个图像帧之间跟踪对象。 在初始帧中，操作者选择一个对象。 该对象与图像的剩余背景部分不同以产生背景和前景。 在随后的帧中使用和更新背景模型。 在后续帧中使用和更新前台的模型。 后续帧中的像素被归类为属于背景或前景。 在随后的帧中，作出决定，包括：哪些像素不属于背景; 要更新前景中的哪些像素; 背景中的像素在当前帧中观察不正确; 并且第一次观察到哪个背景像素。 此外，执行掩模滤波以校正误差，消除小岛并保持前景掩模的空间和时间相干性。
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8.发明申请公开(公告)号：US20130123610A1
公开(公告)日：2013-05-16
申请号：US13486950
申请日：2012-06-01
申请人： Michael J. Stebbins , Peter R. Cavanagh , Baocheng Chu , Michael Fassbind , David R. Haynor , William R. Ledoux
发明人： Michael J. Stebbins , Peter R. Cavanagh , Baocheng Chu , Michael Fassbind , David R. Haynor , William R. Ledoux
IPC分类号： A61B5/055
CPC分类号： A61B5/055 , A61B5/0053 , A61B5/0555 , A61B5/4538
摘要： A method and apparatus for obtaining force versus deformation data for tissue in vivo includes a displacement system that cycles an anatomical member, for example, a foot, repeatedly through a loading/unloading cycle while using a gated imaging procedure such as magnetic resonance imaging to obtain the deformation response of tissues in the foot. The imaging is conducted during the loading/unloading cycle, such that a rate-dependent deformation response is imaged.
摘要翻译： 一种用于获得体内组织的力与变形数据的方法和装置，包括一种位移系统，其在使用诸如磁共振成像的门控成像程序的同时，通过加载/卸载循环来反复地解剖解剖构件，例如脚，以获得 足部组织的变形反应。 成像在加载/卸载循环期间进行，使得对速率依赖的变形响应被成像。
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