公开(公告)号：US20070238952A1

公开(公告)日：2007-10-11

申请号：US11496069

申请日：2006-07-28

申请人： Jan Boese ,  Martin Kleen ,  Klaus Klingenbeck-Regn ,  Marcus Pfister ,  Norbert Rahn

发明人： Jan Boese ,  Martin Kleen ,  Klaus Klingenbeck-Regn ,  Marcus Pfister ,  Norbert Rahn

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。

公开(公告)号：US07664542B2

公开(公告)日：2010-02-16

申请号：US11496069

申请日：2006-07-28

申请人： Jan Boese ,  Martin Kleen ,  Klaus Klingenbeck-Regn ,  Marcus Pfister ,  Norbert Rahn

发明人： Jan Boese ,  Martin Kleen ,  Klaus Klingenbeck-Regn ,  Marcus Pfister ,  Norbert Rahn

IPC分类号： A61B5/05 ,  A61B6/00

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。

公开(公告)号：US20060235295A1

公开(公告)日：2006-10-19

申请号：US11402320

申请日：2006-04-11

申请人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

发明人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

IPC分类号： A61B5/05

CPC分类号： A61B8/5276 ,  A61B5/7285 ,  A61B6/5264 ,  A61B6/527 ,  A61B6/541 ,  A61B8/543 ,  G06T7/20

摘要： In a method for mathematical compensation of a periodic movement of an organ in a first image-generation method used to image said organ, two time series of three-dimensional image data are acquired using gating, one by the first image-generation method and one by the second image-generation method, the image data that have been acquired by the second image-generation method being used to calculate motion fields which are applied for the compensation of the data from the time series which was acquired by the first image-generation method. The compensation encompasses the mathematical inclusion of motion fields and the mapping of the image data to a reference time. All the image data mapped back to the reference time are added together.

公开(公告)号：US20050197559A1

公开(公告)日：2005-09-08

申请号：US11076537

申请日：2005-03-08

申请人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

发明人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

IPC分类号： G01N21/64 ,  A61B5/00 ,  A61B5/05 ,  A61B5/055 ,  A61B5/06 ,  A61B6/00 ,  A61B6/02 ,  A61B6/03 ,  A61B6/12 ,  A61B8/12 ,  A61B19/00 ,  A61M25/095 ,  G01N21/17

CPC分类号： A61B5/06 ,  A61B5/0073 ,  A61B5/0084 ,  A61B5/7207 ,  A61B5/7289 ,  A61B8/12 ,  A61B8/5238

摘要： The present invention relates to a method for imaging using an image-generating, endoluminal instrument (1) by means of which a sequence of 2D image data of a hollow channel (2), in particular a vessel, of an object under investigation is recorded, wherein the images are recorded in a known temporal relation to a periodic movement of the object under investigation and spatial coordinates of the image are captured by means of a position sensor during each recording of an image (5) and stored as position data (9, 10) together with the 2D image data of the image (5). The method is characterized in that first position data (10) which does not lie in a predefinable movement phase of the object under investigation is corrected, before or after being stored, by interpolation between second position data (9) which does lie in the specified movement phase and/or by subtraction or addition of predetermined values. By means of the method a movement correction of the data can be performed without the need to reduce the volume of recorded image material.

摘要翻译： 本发明涉及一种使用图像生成的腔内器械（1）进行成像的方法，通过该方法，记录被调查对象的空心通道（2），特别是血管的2D图像数据的序列 ，其中图像以已知的时间关系记录在被调查对象的周期性运动中，并且在每次记录图像（5）期间通过位置传感器捕获图像的空间坐标，并将其存储为位置数据（9） ，10）与图像（5）的2D图像数据一起。 该方法的特征在于，通过在位于指定的位置的第二位置数据（9）之间的内插来校正不在被调查对象的预定义移动阶段的第一位置数据（10），在存储之前或之后， 移动阶段和/或通过减去或添加预定值。 通过该方法，可以执行数据的移动校正，而不需要减少记录的图像材料的体积。

公开(公告)号：US20050187538A1

公开(公告)日：2005-08-25

申请号：US10966754

申请日：2004-10-15

申请人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

发明人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

IPC分类号： G02B23/24 ,  A61B1/00 ,  A61B8/12 ,  A61B17/00 ,  A61B19/00 ,  A61M25/01 ,  A61M31/00 ,  G05D1/00

CPC分类号： A61B1/00039 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61M25/0136

摘要： The device according to the invention ensures accurate and in particular sensitive navigation of the probe, which can be inserted into a body, despite the fact that the remote control uses simple means, by means of a movement (MR;MB;MP) corresponding intuitively to the navigation of a probe using the control device (1). Intuitive operation can be converted in particular using an inventive U-shaped embodiment of the control device (1). Sensitive controllability can be increased by transmitting the mechanical interaction between the probe and an environment under examination to the control device (1) and thus directly to the operating hand (3) by means of inventive feedback.

摘要翻译： 根据本发明的装置，尽管远程控制使用简单的手段，借助于直观对应的移动（MR; MB; MP），可以确保探头的精确和特别灵敏的导航，其可插入到身体中 使用控制装置（1）到探针的导航。 可以使用控制装置（1）的本发明的U形实施例特别地转换直观的操作。 可以通过发明反馈将探测器和被检查环境之间的机械相互作用传输到控制装置（1），从而直接传递给操作手（3）来增加敏感的可控性。

公开(公告)号：US07641650B2

公开(公告)日：2010-01-05

申请号：US10966754

申请日：2004-10-15

申请人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

发明人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

IPC分类号： A61B17/00

CPC分类号： A61B1/00039 ,  A61B34/70 ,  A61B34/74 ,  A61B34/76 ,  A61B34/77 ,  A61M25/0136

摘要： The device according to the invention ensures accurate and in particular sensitive navigation of the probe, which can be inserted into a body, despite the fact that the remote control uses simple means, by means of a movement (MR;MB;MP) corresponding intuitively to the navigation of a probe using the control device (1). Intuitive operation can be converted in particular using an inventive U-shaped embodiment of the control device (1). Sensitive controllability can be increased by transmitting the mechanical interaction between the probe and an environment under examination to the control device (1) and thus directly to the operating hand (3) by means of inventive feedback.

摘要翻译： 根据本发明的装置，尽管远程控制使用简单的手段，借助于直观对应的移动（MR; MB; MP），可以确保探头的精确和特别灵敏的导航，其可插入到身体中 使用控制装置（1）到探针的导航。 可以使用控制装置（1）的本发明的U形实施例特别地转换直观的操作。 可以通过发明反馈将探测器和被检查环境之间的机械相互作用传输到控制装置（1），从而直接传递给操作手（3）来增加敏感的可控性。

公开(公告)号：US20070083103A1

公开(公告)日：2007-04-12

申请号：US11529681

申请日：2006-09-28

申请人： Jan Boese ,  Martin Kleen ,  Andreas Meyer ,  Marcus Pfister ,  Norbert Rahn

发明人： Jan Boese ,  Martin Kleen ,  Andreas Meyer ,  Marcus Pfister ,  Norbert Rahn

IPC分类号： A61B5/05

CPC分类号： G01B21/20 ,  A61B5/06 ,  A61B5/062 ,  A61B6/4441 ,  A61B6/467 ,  A61B6/5235

摘要： The invention relates to an arrangement having a 3D device, the 3D device being embodied for acquiring an objects and generating a 3D acquisition result representing the object at least partially in at least three dimensions. The arrangement also has a 2D device, the 2D device being embodied for acquiring the object and generating a 2D acquisition result representing the object in at least two dimensions. The 2D acquisition result represents the object at least partially, in particular a top view of the object, a view through the object or a section through the objects. The invention is characterized in that the 3D devices and the 2D devices are connected to one another, mechanically electrically, in such a way that a part of the 3D acquisition result corresponding to an object location can be assigned to a part of the 2D acquisition result corresponding to the same object location.

摘要翻译： 本发明涉及一种具有3D装置的装置，该3D装置被实施为用于获取对象并且至少部分地至少三维地生成表示该对象的3D采集结果。 该装置还具有2D设备，2D设备被实现为用于获取对象并在至少二维中生成表示对象的2D采集结果。 2D采集结果至少部分地表示对象，特别是对象的顶视图，通过对象的视图或通过对象的部分。 本发明的特征在于，3D装置和2D装置彼此机械电连接，使得对应于对象位置的3D采集结果的一部分可被分配给2D采集结果的一部分 对应于相同的对象位置。

公开(公告)号：US07657069B2

公开(公告)日：2010-02-02

申请号：US11076537

申请日：2005-03-08

申请人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

发明人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

IPC分类号： G06K9/00

CPC分类号： A61B5/06 ,  A61B5/0073 ,  A61B5/0084 ,  A61B5/7207 ,  A61B5/7289 ,  A61B8/12 ,  A61B8/5238

摘要： The present invention relates to a method for imaging using an image-generating, endoluminal instrument (1) by means of which a sequence of 2D image data of a hollow channel (2), in particular a vessel, of an object under investigation is recorded, wherein the images are recorded in a known temporal relation to a periodic movement of the object under investigation and spatial coordinates of the image are captured by means of a position sensor during each recording of an image (5) and stored as position data (9, 10) together with the 2D image data of the image (5). The method is characterized in that first position data (10) which does not lie in a predefinable movement phase of the object under investigation is corrected, before or after being stored, by interpolation between second position data (9) which does lie in the specified movement phase and/or by subtraction or addition of predetermined values. By means of the method a movement correction of the data can be performed without the need to reduce the volume of recorded image material.

摘要翻译： 本发明涉及一种使用图像生成的腔内器械（1）进行成像的方法，通过该方法，记录被调查对象的空心通道（2），特别是血管的2D图像数据的序列 ，其中图像以已知的时间关系记录在被调查对象的周期性运动中，并且在每次记录图像（5）期间通过位置传感器捕获图像的空间坐标，并将其存储为位置数据（9） ，10）与图像（5）的2D图像数据一起。 该方法的特征在于，通过在位于指定的位置的第二位置数据（9）之间的内插来校正不在被调查对象的预定义移动阶段的第一位置数据（10），在存储之前或之后， 移动阶段和/或通过减去或添加预定值。 通过该方法，可以执行数据的移动校正，而不需要减少记录的图像材料的体积。

公开(公告)号：US07593558B2

公开(公告)日：2009-09-22

申请号：US11402320

申请日：2006-04-11

申请人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

发明人： Jan Boese ,  Martin Kleen ,  Marcus Pfister ,  Norbert Rahn

IPC分类号： G06K9/00 ,  A61B5/05

CPC分类号： A61B8/5276 ,  A61B5/7285 ,  A61B6/5264 ,  A61B6/527 ,  A61B6/541 ,  A61B8/543 ,  G06T7/20

摘要： In a method for mathematical compensation of a periodic movement of an organ in a first image-generation method used to image said organ, two time series of three-dimensional image data are acquired using gating, one by the first image-generation method and one by the second image-generation method, the image data that have been acquired by the second image-generation method being used to calculate motion fields which are applied for the compensation of the data from the time series which was acquired by the first image-generation method. The compensation encompasses the mathematical inclusion of motion fields and the mapping of the image data to a reference time. All the image data mapped back to the reference time are added together.

摘要翻译： 在用于对所述器官进行成像的第一图像生成方法中的器官的周期性运动的数学补偿的方法中，使用通过第一图像生成方法和第一图像生成方法的选通获取两个时间序列的三维图像数据 通过第二图像生成方法，通过第二图像生成方法获取的图像数据被用于计算从通过第一图像生成获取的时间序列中用于补偿数据的运动场 方法。 补偿包括运动场的数学包含和图像数据到参考时间的映射。 映射回参考时间的所有图像数据都加在一起。

公开(公告)号：US07578787B2

公开(公告)日：2009-08-25

申请号：US11040468

申请日：2005-01-21

申请人： Jan Boese ,  Martin Kleen ,  Norbert Rahn

发明人： Jan Boese ,  Martin Kleen ,  Norbert Rahn

IPC分类号： A61B1/00 ,  A61M31/00 ,  A61M25/00

CPC分类号： A61M25/0105 ,  A61M25/0155 ,  A61M2025/0161

摘要： Catheter device, comprising a catheter (2) for introduction into a hollow organ, especially a vessel, with a number of bending elements (12, 12a-12f, 12a′-12e′) arranged around the longitudinal axis of the catheter and distributed over at least a part of the catheter length, which can be activated separately for a specified change of shape via a control device (5), as well as a number of bending sensors (15, 15a-15e, 15a′-15e′) arranged around the longitudinal axis of the catheter and distributed over at least a part of the catheter length communicating with a control device (5), with the control device (5) being embodied to determine the given geometrical shape of the catheter (2) on the basis of the bending sensor signals and to determine the change of shape of the bending elements (12, 12a-12f, 12a′-12e′) necessary for a movement of the catheter (2) by a forward movement length preferably specifiable on the user side to enable the catheter (2) to move by itself at least in part, by explicit bend-dependent force application to the wall of the organ (16).

摘要翻译： 导管装置，包括用于引入中空器官，特别是血管的导管（2），其具有围绕导管的纵向轴线布置的多个弯曲元件（12,12a-12f，12a'-12e'），并分布在 导管长度的至少一部分，其可以通过控制装置（5）以及多个弯曲传感器（15,15a-15e，15a'-15e'）分别被激活以形成规定的形状变化， 围绕所述导管的纵向轴线并且分布在与控制装置（5）连通的导管长度的至少一部分上，所述控制装置（5）被实施为确定所述导管（2）的给定几何形状 弯曲传感器信号的基础并且确定导管（2）移动所需的弯曲元件（12,12a-12f，12a'-12e'）的形状的变化，该向前移动长度优选地可以在用户上指定 侧使得导管（​​2）至少部分地移动到其自身 明显的弯曲依赖力施加到器官的壁（16）。