公开(公告)号：US07652468B2

公开(公告)日：2010-01-26

申请号：US10598013

申请日：2005-02-11

申请人： Sascha Kruger ,  Hans-Aloys Wischmann ,  Holger Timinger ,  Jorg Sabczynski ,  Jorn Borgert

发明人： Sascha Kruger ,  Hans-Aloys Wischmann ,  Holger Timinger ,  Jorg Sabczynski ,  Jorn Borgert

IPC分类号： G01B7/0004 ,  G01B7/14 ,  A61B5/05

CPC分类号： A61B5/06 ,  A61B5/062 ,  A61B34/20 ,  A61B90/36 ,  A61B2034/2051

摘要： The invention relates to a device and a method for correction of the position (x) of a field sensor (4) measured by means of a magnetic localization device. External field distortions, such as caused for example by the rotating components (1a, 1b) of a computer tomograph (1), are then determined with the help of reference sensor (3) placed at a known position. It is possible to deduce, for example, the current angle of rotation (Φ) of the computer tomograph (1) from the measurement signals of the reference sensor (3). Based on an empirically determined correction (δ(x, Φ)), the uncorrected determined positions (x) of the field sensor (4) can then be converted to corrected positions (x′) in relation to the field distortions. The field generator (2) and the reference sensor (3) are preferably fastened to the gantry in order to eliminate the dependency of the field distortions on an inclination of the gantry.

摘要翻译： 本发明涉及用于校正通过磁定位装置测量的场传感器（4）的位置（x）的装置和方法。 然后借助放置在已知位置的参考传感器（3）来确定诸如由计算机断层摄影机（1）的旋转部件（1a，1b）引起的外部场失真。 例如，可以从参考传感器（3）的测量信号推断计算机断层摄影机（1）的当前旋转角度（Phi）。 基于经验确定的校正（delta（x，Phi）），场传感器（4）的未校正的确定位置（x）可随后被转换为与场失真相关的校正位置（x'）。 场发生器（2）和参考传感器（3）优选地紧固到台架，以消除场失真对台架倾斜的依赖性。

公开(公告)号：US20080157755A1

公开(公告)日：2008-07-03

申请号：US10598013

申请日：2005-02-11

申请人： Sascha Kruger ,  Hans-Aloys Wischmann ,  Holger Timinger ,  Jorg Sabczynski ,  Jorn Borgert

发明人： Sascha Kruger ,  Hans-Aloys Wischmann ,  Holger Timinger ,  Jorg Sabczynski ,  Jorn Borgert

IPC分类号： G01B7/004

CPC分类号： A61B5/06 ,  A61B5/062 ,  A61B34/20 ,  A61B90/36 ,  A61B2034/2051

摘要： The invention relates to a device and a method for correction of the position (x) of a field sensor (4) measured by means of a magnetic localization device. External field distortions, such as caused for example by the rotating components (1a, 1b) of a computer tomograph (1), are then determined with the help of reference sensor (3) placed at a known position. It is possible to deduce, for example, the current angle of rotation (Φ) of the computer tomograph (1) from the measurement signals of the reference sensor (3). Based on an empirically determined correction (δ(x, Φ)), the uncorrected determined positions (x) of the field sensor (4) can then be converted to corrected positions (x′) in relation to the field distortions. The field generator (2) and the reference sensor (3) are preferably fastened to the gantry in order to eliminate the dependency of the field distortions on an inclination of the gantry.

摘要翻译： 本发明涉及用于校正通过磁定位装置测量的场传感器（4）的位置（x）的装置和方法。 然后借助放置在已知位置的参考传感器（3）来确定诸如由计算机断层摄影机（1）的旋转部件（1a，1b）引起的外部场失真。 例如，可以从参考传感器（3）的测量信号推断计算机断层摄影机（1）的当前旋转角度（Phi）。 基于经验确定的校正（delta（x，Phi）），场传感器（4）的未校正的确定位置（x）可随后被转换为与场失真相关的校正位置（x'）。 场发生器（2）和参考传感器（3）优选地紧固到台架，以消除场失真对台架倾斜的依赖性。

公开(公告)号：US20070197905A1

公开(公告)日：2007-08-23

申请号：US10557970

申请日：2004-05-06

申请人： Holger Timinger ,  Jorn Borgert ,  Sascha Kruger

发明人： Holger Timinger ,  Jorn Borgert ,  Sascha Kruger

IPC分类号： A61B5/05

CPC分类号： A61B5/7207 ,  A61B5/06 ,  A61B5/062 ,  A61B34/20 ,  A61B2017/00699 ,  A61B2017/00703 ,  A61B2034/107 ,  A61B2034/2051

摘要： The invention relates to a navigation system for navigating a catheter (3) in a vascular system (10), in which the current spatial position of the catheter (3) is continually measured by a locating device (2). The temporal sequence of the position signals obtained in this way is subjected to a filtering operation in order to compensate for cyclic intrinsic movements of the vascular system which are caused for example by the heartbeat. The filtering may comprise the suppression of amplitude maxima in the frequency spectrum at the heartbeat frequency. Furthermore, the filtering may comprise the calculation of a center of the trajectory in time windows of the length of the heartbeat.

摘要翻译： 本发明涉及用于导航血管系统（10）中的导管（3）的导航系统，其中导管（3）的当前空间位置由定位装置（2）连续测量。 以这种方式获得的位置信号的时间序列经过过滤操作，以补偿例如由心跳引起的血管系统的循环固有运动。 滤波可以包括在心跳频率处抑制频谱中的振幅最大值。 此外，滤波可以包括在心跳长度的时间窗口中的轨迹的中心的计算。

公开(公告)号：US20070135713A1

公开(公告)日：2007-06-14

申请号：US10597980

申请日：2005-02-10

申请人： Jorn Borgert ,  Sascha Kruger ,  Holger Timinger

发明人： Jorn Borgert ,  Sascha Kruger ,  Holger Timinger

IPC分类号： A61M25/00

CPC分类号： A61M25/09 ,  A61B5/06 ,  A61M25/0127 ,  A61M25/04 ,  A61M25/10

摘要： The invention relates to a catheter system comprising a first, outer catheter (1) and a second catheter element contained in it, which can particularly be a guide wire (2). A respective active localizer (4, 5) is placed on the first and on the second catheter element (1, 2), for example sensors of a magnetic tracking system. The first catheter element (1) preferably has a fixing device (3), by means of which it can be fixed relative to the vascular system (7). If the guide wire (2) is, for example, to be navigated through a stenosis (6), the position of its localizer (5) relative to the localizer (4) is measured on the catheter element at rest (1), so that its position relative to the vessel (7) is known. Since interference factors such as organ movement balance each other during the measurement of the relative position of the localizers (4, 5), the navigation can be carried out with very high accuracy.

摘要翻译： 本发明涉及一种包括第一外导管（1）和容纳在其中的第二导管元件的导管系统，其特别可以是导丝（2）。 相应的主动定位器（4,5）被放置在第一和第二导管元件（1,2）上，例如磁跟踪系统的传感器。 第一导管元件（1）优选地具有固定装置（3），通过该装置可以相对于血管系统（7）固定。 如果导丝（2）例如通过狭窄（6）导航，则其定位器（5）相对于定位器（4）的位置在静止（1）处的导管元件上测量，因此 其相对于容器（7）的位置是已知的。 由于诸如器官运动之类的干扰因素在测位定位器（4,5）的相对位置期间彼此平衡，所以导航可以非常高的准确度进行。

公开(公告)号：US20070167738A1

公开(公告)日：2007-07-19

申请号：US10586177

申请日：2005-01-07

申请人： Holger Timinger ,  Sascha Kruger ,  Jorn Borgert

发明人： Holger Timinger ,  Sascha Kruger ,  Jorn Borgert

IPC分类号： A61B5/05 ,  A61B17/00

CPC分类号： A61B90/36 ,  A61B34/20 ,  A61B2017/00243 ,  A61B2017/00292 ,  A61B2017/00699 ,  A61B2017/00703 ,  A61B2034/2051 ,  A61B2090/3958

摘要： The invention relates to a device and a method for navigating a catheter in the vessel system or an intervention needle in an organ of a patient that is subject to a spontaneous movement due to heartbeat and/or respiration. In this connection, a movement model (11) that describes the displacement of points in the vessel system with respect to a reference phase (E0) of the spontaneous movement is kept ready in the memory of a data processing device (10). The spatial positions and orientations of the instrument (4) measured by a locating device (2) in the vessel system of the patient (3) and also the ECG values (E) recorded in parallel therewith are converted by the data processing device (10) with the aid of the movement model (11) into a movement-compensated position (r+Δ) of the instrument that can then be displayed in a static vessel or organ map (12). The movement model (11) can be obtained from a series of three-dimensional recordings of the vessel system. In addition or alternatively, measured positions and orientations of the instrument (4) can be used during times at which the instrument does not travel forwards.

摘要翻译： 本发明涉及一种用于导航血管系统中的导管或患者的器官中的介入针的装置和方法，所述器官由于心跳和/或呼吸而经受自发运动。 在这方面，描述相对于自发运动的参考相位（E> 0 ）的血管系统中的点的位移的运动模型（11）在数据的存储器中保持准备 处理装置（10）。 由患者（3）的血管系统中的定位装置（2）测量的仪器（4）的空间位置和取向以及与其并行记录的ECG值（E）由数据处理装置（10 ），借助于运动模型（11）到仪器的运动补偿位置（r + Delta），然后可以将其显示在静态血管或器官图中（12）。 运动模型（11）可以从容器系统的一系列三维记录中获得。 另外或替代地，仪器（4）的测量位置和取向可以在仪器不向前行进的时间期间使用。

公开(公告)号：US20070055141A1

公开(公告)日：2007-03-08

申请号：US10557968

申请日：2004-05-06

申请人： Sascha Kruger ,  Jorn Borgert ,  Holger Timinger

发明人： Sascha Kruger ,  Jorn Borgert ,  Holger Timinger

IPC分类号： A61B5/05

CPC分类号： A61B5/721 ,  A61B5/06 ,  A61B5/062 ,  A61B5/066 ,  A61B2017/00703

摘要： The invention relates to a navigation system for guiding a catheter in a patient's vascular system, where the spatial position of the catheter and its orientation are continually measured by a locating device. The resulting trajectory (T0) of the catheter contains movement artefacts on account of the heartbeat. In order to suppress said movement artefacts, the electrocardiogram (ECG) is recorded in parallel, and the position and orientation signals are suppressed during phases of strong heart movement (QRS peak). Preferably, extrapolation of the compensated trajectory (Tc) is carried out in the gaps arising as a result of signal suppression.

摘要翻译： 本发明涉及一种用于在患者血管系统中引导导管的导航系统，其中导管的空间位置及其取向由定位装置连续测量。 由于心跳，导管的结果轨迹（T <0> 0 ）包含运动假象。 为了抑制所述运动伪影，心电图（ECG）被并行记录，并且在强心脏运动（QRS峰值）的阶段期间抑制位置和取向信号。 优选地，在由于信号抑制而产生的间隙中执行补偿轨迹（T SUB）的外推。

公开(公告)号：US20070016005A1

公开(公告)日：2007-01-18

申请号：US10556444

申请日：2004-05-06

申请人： Holger Timinger ,  Sascha Kruger ,  Hans-Aloy Wischmann ,  Jorn Borgert ,  Jorg Sabczynski ,  Volker Rasche

发明人： Holger Timinger ,  Sascha Kruger ,  Hans-Aloy Wischmann ,  Jorn Borgert ,  Jorg Sabczynski ,  Volker Rasche

IPC分类号： A61B5/05

CPC分类号： A61B8/0841 ,  A61B5/1135 ,  A61B6/12 ,  A61B8/0833

摘要： The invention relates to an apparatus and a method for recording the movement, caused in particular by breathing, of organs of the body such as the heart (9) for example. A part (3) of the diaphragm (10) is recorded by means of an X-ray device or an ultrasound device and the current position of the diaphragm is detected in the resulting image. Information about the associated position of other internal organs can be obtained from the position of the diaphragm with the aid of a model. This information can in turn be used, in a navigation system for a catheter, to set the spatial coordinates of the latter relative to the vascular system.

摘要翻译： 本发明涉及用于记录诸如心脏（9）的身体器官的特别是通过呼吸引起的运动的装置和方法。 通过X射线装置或超声波装置记录隔膜（10）的一部分（3），并在所得到的图像中检测膜片的当前位置。 借助于模型，可以从隔膜的位置获得关于其他内脏器官相关位置的信息。 在导管的导航系统中，该信息又可以用于设置后者相对于血管系统的空间坐标。

公开(公告)号：US20100069738A1

公开(公告)日：2010-03-18

申请号：US12513183

申请日：2007-11-05

申请人： Holger Timinger

发明人： Holger Timinger

IPC分类号： A61B5/055 ,  G01R33/48

CPC分类号： G01R33/3815 ,  G01R33/288 ,  G01R33/3804 ,  H01F6/02

摘要： The present invention relates to a magnetic resonance examination system (10) comprising a superconducting main magnet (20) surrounding an examination region (18) and generating a main magnetic field in the examination region (18), and further comprising a magnetic field gradient system (30) selectively causing alternating gradient magnetic fields in the examination region (18), said magnetic field gradient system (30) being disposed outside of the main magnet (20). In order to provide a technique to ensure stable operation of the superconducting main magnet (20) of a magnetic resonance examination system (10) with such a magnetic field gradient system (30), it is suggested to provide the magnetic resonance examination system (10) with a predicting device (91) and a preventing device (92), the predicting device (91) being adapted to predict the behavior of the main magnet (20) due to the gradient magnetic fields (eg by calculating the expected heat load of the main magnet caused by an imaging protocol) and the preventing device (92) being adapted to prevent, based on the predicted behavior of the main magnet (20), the main magnet (20) from quenching.

摘要翻译： 本发明涉及一种磁共振检查系统（10），其包括围绕检查区域（18）并在检查区域（18）中产生主磁场的超导主磁体（20），并且还包括磁场梯度系统 （30）选择性地引起所述检查区域（18）中的交变梯度磁场，所述磁场梯度系统（30）设置在所述主磁体（20）的外部。 为了提供使用这种磁场梯度系统（30）确保磁共振检查系统（10）的超导主磁体（20）的稳定操作的技术，建议提供磁共振检查系统（10） ）具有预测装置（91）和防止装置（92），所述预测装置（91）适于预测由于梯度磁场引起的主磁体（20）的行为（例如，通过计算预期的热负荷 由成像协议引起的主磁体）和防止装置（92）适于基于主磁体（20）的预测行为来防止主磁体（20）淬火。

公开(公告)号：US20100063387A1

公开(公告)日：2010-03-11

申请号：US12527946

申请日：2008-02-22

申请人： Holger Timinger

发明人： Holger Timinger

IPC分类号： A61B5/05

CPC分类号： A61B90/36 ,  A61B5/062 ,  A61B5/6843 ,  A61B34/20 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2034/207 ,  A61B2090/065 ,  A61B2090/376 ,  A61B2090/3762 ,  A61B2090/3983

摘要： The invention relates to a pointing device (40) for indicating the spatial position of markers (2) to a localization system (10). The pointing device (40) comprises a sensor (42) that detects if a definite interaction with the marker (2) takes place. The sensor (42) may for example be a pressure sensor (42) that determines if the contact force exceeds a threshold which could lead to undesired shifts of the marker (2). The pointing device (40) is used to determine the spatial coordinates of the marker (2), which can then be registered with the image coordinates of the marker (2) in a stored image, e.g. a CT-image.

摘要翻译： 本发明涉及一种用于指示标记（2）到定位系统（10）的空间位置的指示装置（40）。 指示装置（40）包括检测是否发生与标记（2）的确定的相互作用的传感器（42）。 传感器（42）可以例如是压力传感器（42），其确定接触力是否超过可能导致标记（2）的不期望的移动的阈值。 指示装置（40）用于确定标记（2）的空间坐标，其可以随后以存储的图像例如标记物（2）的图像坐标进行登记。 CT图像。

公开(公告)号：US20060149511A1

公开(公告)日：2006-07-06

申请号：US10537883

申请日：2003-12-05

申请人： Michael Kaus ,  Holger Timinger ,  Vladimir Pekar

发明人： Michael Kaus ,  Holger Timinger ,  Vladimir Pekar

IPC分类号： G06F17/10

CPC分类号： G06T7/149 ,  G06T7/12 ,  G06T2207/10081 ,  G06T2207/20092 ,  G06T2207/30012

摘要： The invention relates to a method of segmenting a three-dimensional structure from a three-dimensional, and in particular medical, data set while making allowance for user corrections. The method is performed with the help of a deformable three-dimensional model whose surface is formed by a network of nodes and mashes that connect these nodes. Once the model has been positioned at the point in the three-dimensional data set at which the structure to be segmented is situated and positions of nodes have, if necessary, been changed by known methods of segmentation, any desired nodes can be displaced manually. The nodes of the model are recalculated by making weighted allowance for the nodes that have been displaced manually.

摘要翻译： 本发明涉及一种从三维特别医疗数据集中分割三维结构同时允许用户校正的方法。 该方法借助于可变形的三维模型来执行，该模型的表面由连接这些节点的节点和捣碎网络形成。 一旦模型已经被定位在要被分割的结构位于的三维数据集中的位置，并且如果需要，节点的位置已经被已知的分割方法改变，任何期望的节点可以手动移位。 通过对已经手动移位的节点进行加权限制来重新计算模型的节点。