公开(公告)号：US20070238947A1

公开(公告)日：2007-10-11

申请号：US11355733

申请日：2006-02-16

申请人： Jeremie Pescatore ,  Benoit Le Ny ,  Sebastien Gorges ,  Marie-Odile Berger

发明人： Jeremie Pescatore ,  Benoit Le Ny ,  Sebastien Gorges ,  Marie-Odile Berger

IPC分类号： A61B5/05

CPC分类号： A61B6/12 ,  A61B6/02 ,  A61B6/583

摘要： A method and apparatus for determining the three-dimensional movement of a patient positioned on a table between an X-ray source and an image receiver of an X-ray imaging apparatus. The apparatus has an X-ray source positioned opposite an image receiver, the X-ray source and the image receiver being driven in rotation about an axis. The method and apparatus has the following operation: at least three radio-opaque markers are placed on the patient's body; at least one first radiographic image of the patient is taken for a first determined fixed position of the imaging apparatus; at least one second radiographic image of the patient is taken for a second determined fixed position of the imaging apparatus; and a matrix of the three-dimensional movement of the patient with respect to the X-ray source of the imaging apparatus is determined on the basis of the two-dimensional movements of the markers in the radiographic images, the X-ray source constituting a fixed reference frame.

摘要翻译： 一种用于确定位于X射线成像装置的X射线源和图像接收器之间的桌子上的患者的三维运动的方法和装置。 该装置具有与图像接收器相对定位的X射线源，X射线源和图像接收器围绕轴线旋转驱动。 该方法和装置具有以下操作：至少将三个不透射线的标记放置在患者身上; 拍摄患者的至少一个第一放射照相图像用于成像装置的第一确定的固定位置; 拍摄患者的至少一个第二放射照相图像用于成像装置的第二确定的固定位置; 并且基于成像装置的X射线源的患者的三维运动的矩阵，基于放射线照相图像中的标记的二维运动来确定，X射线源构成 固定参考系。

公开(公告)号：US20080267490A1

公开(公告)日：2008-10-30

申请号：US11740734

申请日：2007-04-26

申请人： Sebastien Gorges ,  Yves L. Trousset ,  Jeremie Pescatore ,  Vincent Bismuth ,  Marie-Odile Berger ,  Erwan Kerrien

发明人： Sebastien Gorges ,  Yves L. Trousset ,  Jeremie Pescatore ,  Vincent Bismuth ,  Marie-Odile Berger ,  Erwan Kerrien

IPC分类号： G06T17/00

CPC分类号： G06T19/00 ,  G06T15/503 ,  G06T2207/10121 ,  G06T2207/30021

摘要： A system to track movement of an object travelling through an imaged subject is provided. The system includes an imaging system to acquire a fluoroscopic image and operable to create a three-dimensional model of a region of interest of the imaged subject. A controller includes computer-readable program instructions representative of the steps of calculating a probability that an acquired image data is of the object on a per pixel basis in the fluoroscopic image, calculating a value of a blending coefficient per pixel of the fluoroscopic image dependent on the probability, adjusting the fluoroscopic image including multiplying the value of the blending coefficient with one of a greyscale value, a contrast value, and an intensity value for each pixel of the fluoroscopic image. The adjusted fluoroscopic image is combined with the three-dimensional model to create an output image illustrative of the object in spatial relation to the three-dimensional model.

摘要翻译： 提供了跟踪穿过成像对象的物体的运动的系统。 该系统包括用于获取透视图像并且可操作以创建被成像对象的感兴趣区域的三维模型的成像系统。 控制器包括表示以下步骤的计算机可读程序指令：在荧光镜图像中以每像素为基础计算所获取的图像数据为对象的概率的步骤，计算依赖于荧光检查图像的透视图像的每像素的混合系数的值 调整透视图像，包括将混合系数的值与透视图像的每个像素的灰度值，对比度值和强度值之一相乘。 将经调整的透视图像与三维模型组合以创建说明与三维模型呈空间关系的对象的输出图像。

公开(公告)号：US20090022381A1

公开(公告)日：2009-01-22

申请号：US12170465

申请日：2008-07-10

申请人： Sebastien Gorges ,  Yves Lucien Trousset ,  Jeremie Pescatore ,  Erwan Kerrien ,  Marie-Odile Berger

发明人： Sebastien Gorges ,  Yves Lucien Trousset ,  Jeremie Pescatore ,  Erwan Kerrien ,  Marie-Odile Berger

IPC分类号： G06K9/36

CPC分类号： A61B6/583 ,  A61B5/1127 ,  A61B6/4441 ,  A61B6/5235 ,  A61B6/547 ,  G06T7/33 ,  G06T7/38 ,  G06T2207/30101

摘要： A method for the correction of registration of radiography images comprises means to determine a residual rigid transformation in comparing the pre-operation 3D image with a fluoroscopic image. This residual transformation is determined according to a registration based on the content of the image. Once the residual transformation is computed, it is combined with a geometrical registration. The use of the geometrical registration in this combination enables the making of a real-time registration comprising the motion of the C-arm without any additional registration. And the use of the registration based on the content of the image enables the precision of said geometrical registration to be refined.

摘要翻译： 用于校正放射线照相图像的注册的方法包括在将术前3D图像与荧光透视图像进行比较时确定残余刚性变换的装置。 根据基于图像的内容的登记来确定该残差变换。 一旦计算了残差变换，就将其与几何配准结合起来。 在这种组合中使用几何配准使得能够进行包括C形臂的运动的实时记录而不进行任何额外的注册。 并且，基于图像的内容的登记的使用使得可以精简所述几何注册的精度。

公开(公告)号：US20070172033A1

公开(公告)日：2007-07-26

申请号：US11293940

申请日：2005-12-05

申请人： Sebastien Gorges ,  Yves Trousset ,  Jeremie Pescatore ,  Erwan Kerrien ,  Marie-Odile Berger ,  Regis Vaillant

发明人： Sebastien Gorges ,  Yves Trousset ,  Jeremie Pescatore ,  Erwan Kerrien ,  Marie-Odile Berger ,  Regis Vaillant

IPC分类号： G01D18/00

CPC分类号： A61B6/584 ,  A61B6/4441 ,  A61B6/583 ,  G06T11/005

摘要： A method and apparatus for determining acquisition geometry of an imaging system from a set of calibration matrices for an arbitrary position of the system, a projection matrix makes a point in a 2D image correspond to a point of an object in a space. This matrix is produced for any unspecified position of the system from knowledge of a limited number of pre-computed calibration matrices. For instance, a projection matrix may be computed by interpolating coefficients of calibration matrices and/or applying a transformation with a rigid model defined comprehensively or locally to a particular calibration matrix.

摘要翻译： 一种用于从系统的任意位置的一组校准矩阵确定成像系统的获取几何的方法和装置，投影矩阵使2D图像中的点对应于空间中的对象的点。 根据有限数量的预先计算的校准矩阵的知识，对于该系统的任何未指定的位置产生该矩阵。 例如，投影矩阵可以通过内插校准矩阵的系数和/或应用具有全局或局部定义到特定校准矩阵的刚性模型来进行变换来计算。

公开(公告)号：US08180132B2

公开(公告)日：2012-05-15

申请号：US12170465

申请日：2008-07-10

申请人： Sebastien Gorges ,  Yves Lucien Trousset ,  Jeremie Pescatore ,  Erwan Kerrien ,  Marie-Odile Berger

发明人： Sebastien Gorges ,  Yves Lucien Trousset ,  Jeremie Pescatore ,  Erwan Kerrien ,  Marie-Odile Berger

IPC分类号： G06K9/00

CPC分类号： A61B6/583 ,  A61B5/1127 ,  A61B6/4441 ,  A61B6/5235 ,  A61B6/547 ,  G06T7/33 ,  G06T7/38 ,  G06T2207/30101

摘要： A system and method for correcting the registration of a 3D image and a 2D image acquired with medical imaging systems is disclosed. The system and method determines acquisition geometry of the imaging system by calculating an initial projection matrix associated with the 2D image. The system performs a projection of the 3D image using the initial projection matrix resulting in a 2D projection of the 3D image. The system registers the 2D projection of the 3D image and the 2D image. A new projection matrix is determined based on the registration of the 2D image and the 2D projection of the 3D image. The 3D image is then registered with the 2D image using the new projection matrix. An associated medical imaging system is disclosed. Method embodiments use previously acquired 3D images or images acquired using imaging modalities different than the one used to acquire the 2D image.

摘要翻译： 公开了一种用于校正用医学成像系统获取的3D图像和2D图像的配准的系统和方法。 该系统和方法通过计算与2D图像相关联的初始投影矩阵来确定成像系统的采集几何。 该系统使用导致3D图像的2D投影的初始投影矩阵来执行3D图像的投影。 系统注册3D图像和2D图像的2D投影。 基于2D图像的注册和3D图像的2D投影来确定新的投影矩阵。 然后使用新的投影矩阵将3D图像与2D图像一起登记。 公开了一种相关联的医学成像系统。 方法实施例使用先前获取的3D图像或使用与用于获取2D图像的成像模式不同的成像模式获取的图像。

公开(公告)号：US07853061B2

公开(公告)日：2010-12-14

申请号：US11740734

申请日：2007-04-26

申请人： Sebastien Gorges ,  Yves L. Trousset ,  Jeremie Pescatore ,  Vincent Bismuth ,  Marie-Odile Berger ,  Erwan Kerrien

发明人： Sebastien Gorges ,  Yves L. Trousset ,  Jeremie Pescatore ,  Vincent Bismuth ,  Marie-Odile Berger ,  Erwan Kerrien

IPC分类号： G06K9/00 ,  A61B6/02 ,  G21K4/00

CPC分类号： G06T19/00 ,  G06T15/503 ,  G06T2207/10121 ,  G06T2207/30021

摘要： A system to track movement of an object travelling through an imaged subject is provided. The system includes an imaging system to acquire a fluoroscopic image and operable to create a three-dimensional model of a region of interest of the imaged subject. A controller includes computer-readable program instructions representative of the steps of calculating a probability that an acquired image data is of the object on a per pixel basis in the fluoroscopic image, calculating a value of a blending coefficient per pixel of the fluoroscopic image dependent on the probability, adjusting the fluoroscopic image including multiplying the value of the blending coefficient with one of a greyscale value, a contrast value, and an intensity value for each pixel of the fluoroscopic image. The adjusted fluoroscopic image is combined with the three-dimensional model to create an output image illustrative of the object in spatial relation to the three-dimensional model.

摘要翻译： 提供了跟踪穿过成像对象的物体的运动的系统。 该系统包括用于获取透视图像并且可操作以创建被成像对象的感兴趣区域的三维模型的成像系统。 控制器包括表示以下步骤的计算机可读程序指令：在荧光镜图像中以每像素为基础计算所获取的图像数据为对象的概率的步骤，计算依赖于荧光检查图像的透视图像的每像素的混合系数的值 调整透视图像，包括将混合系数的值与透视图像的每个像素的灰度值，对比度值和强度值之一相乘。 将经调整的透视图像与三维模型组合以创建说明与三维模型呈空间关系的对象的输出图像。

公开(公告)号：US20090012390A1

公开(公告)日：2009-01-08

申请号：US11772350

申请日：2007-07-02

申请人： Jeremie Pescatore ,  Sebastien Gorges ,  Yves L. Trousset

发明人： Jeremie Pescatore ,  Sebastien Gorges ,  Yves L. Trousset

IPC分类号： A61B6/03

CPC分类号： A61B6/12 ,  A61B1/0005 ,  A61B1/042 ,  A61B5/055 ,  A61B6/463 ,  A61B6/466 ,  A61B6/5223 ,  A61B6/5235 ,  G06T7/0012 ,  G06T7/73 ,  G06T2200/08 ,  G06T2207/10121 ,  G06T2207/20036 ,  G06T2207/20221 ,  G06T2207/30021 ,  G06T2207/30101

摘要： A system to generate an image dependent on tracking movement of an object travelling through an imaged subject is provided. The system comprises a tracking system operable to detect a position or an orientation of the object travelling through the imaged subject, and an imaging system operable to create a three-dimensional model of a selected anatomical structure of the imaged subject. A controller is operable to store a plurality of computer-readable program instructions for execution by a processor, the plurality of program instructions representative of the steps of: calculating at least one two-dimensional view of a volume of interest extracted from the three-dimensional model, the volume of interest dependent relative to the tracked position of the object, and generating an output image illustrative of the at least one two-dimensional view of the volume of interest.

摘要翻译： 提供了依赖于通过成像对象行进的对象的跟踪运动来生成图像的系统。 该系统包括可操作以检测穿过被成像的对象的物体的位置或取向的跟踪系统，以及可操作以创建被成像的对象的所选解剖结构的三维模型的成像系统。 控制器可操作地存储多个计算机可读程序指令以供处理器执行，所述多个程序指令表示以下步骤：计算从三维提取的感兴趣体积的至少一个二维视图 模型，相对于对象的跟踪位置所依赖的感兴趣体积，以及生成说明该感兴趣体积的至少一个二维视图的输出图像。

公开(公告)号：US20090220132A1

公开(公告)日：2009-09-03

申请号：US12350585

申请日：2009-01-08

申请人： Yves Trousset ,  Jeremie Pescatore ,  Sebastien Gorges ,  Vincent Bismuth ,  Maria Carolina Vanegas Orozo

发明人： Yves Trousset ,  Jeremie Pescatore ,  Sebastien Gorges ,  Vincent Bismuth ,  Maria Carolina Vanegas Orozo

IPC分类号： G06K9/00

CPC分类号： G06T7/33 ,  A61B34/20 ,  A61B2034/2065 ,  A61B2090/367 ,  A61B2576/00 ,  G06T7/20 ,  G06T2207/10121 ,  G06T2207/30021 ,  G06T2207/30101

摘要： An image processing method for interventional imaging in which a region of interest of a patient is viewed. The method comprises acquiring a succession of images of a region of interest of the patient. The method also comprises detecting and tracking, on the successive images, at least one surgical instrument introduced inside the region of interest of the patient, in order to isolate said instrument therein; and comparing two successive images on which the surgical instrument has been isolated in order to identify at least one common shape therein. The method further comprises estimating the displacement of said common shape between both of these successive images; and re-alignment processing of the different successive images depending on the thereby determined estimations of displacements, these displacement estimations being considered as corresponding to the displacement caused by the physiological movement of the patient with the exception of any other movement.

摘要翻译： 一种用于介入成像的图像处理方法，其中观察患者的感兴趣区域。 该方法包括获取患者感兴趣区域的连续图像。 该方法还包括在连续的图像上检测和跟踪在患者的感兴趣区域内引入的至少一个手术器械，以便在其中隔离所述器械; 并比较其上分离了外科器械的两个连续图像，以便在其中识别至少一种共同的形状。 该方法还包括估计这两个连续图像之间的所述公共形状的位移; 并且根据由此确定的位移估计，不同连续图像的重新对准处理，这些位移估计被认为对应于除了任何其它运动之外由患者的生理运动引起的位移。

公开(公告)号：US20080247616A1

公开(公告)日：2008-10-09

申请号：US11695808

申请日：2007-04-03

申请人： Jeremie Pescatore ,  Michel F. Grimaud ,  Gerald L. Beauregard

发明人： Jeremie Pescatore ,  Michel F. Grimaud ,  Gerald L. Beauregard

IPC分类号： G06K9/00

CPC分类号： A61B34/20 ,  A61B34/10 ,  A61B90/36 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2090/364 ,  G06F19/321 ,  G06F19/3481 ,  G06T7/248 ,  G06T2207/30004 ,  G06T2207/30021 ,  G16H50/50

摘要： A system to navigate an image-guided object traveling in an area of interest of an imaged subject in relation to an acquired image of the imaged subject as created by an imaging system is provided. The system includes a navigation system to track movement of the object in the imaged subject in spatial relation to a navigation coordinate system, and a controller. The controller is operable in detecting an image of the object in the at least one image of the imaged subject, calculating a spatial relation between the location of the image of the object and a tracked location of the object, and modifying the spatial relation of the image coordinate system relative to the navigation coordinate system so as to reduce the difference between the location of the image of the object and the tracked location of the object by the navigation system.

摘要翻译： 提供了一种系统，用于相对于由成像系统创建的所拍摄的被摄体的获取图像，导航在成像对象的感兴趣区域中行进的图像引导对象。 该系统包括导航系统，以跟踪与导航坐标系空间关系的成像对象中的对象的移动，以及控制器。 控制器可操作地检测被摄体的至少一个图像中的对象的图像，计算对象的图像的位置与对象的跟踪位置之间的空间关系，以及修改对象的空间关系 相对于导航坐标系的图像坐标系，以便通过导航系统减少对象的图像的位置与对象的跟踪位置之间的差异。

公开(公告)号：US20080118103A1

公开(公告)日：2008-05-22

申请号：US11561727

申请日：2006-11-20

申请人： Jeremie Pescatore ,  Yves Trousset ,  Michel F. Grimaud ,  Daniel E. Groszmann

发明人： Jeremie Pescatore ,  Yves Trousset ,  Michel F. Grimaud ,  Daniel E. Groszmann

IPC分类号： G06K9/00

CPC分类号： A61B90/36 ,  A61B34/20 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2090/376 ,  A61B2090/3762

摘要： A system for navigating an image-guided object through an imaged subject supported on table in relation to an image acquired by an image detector is provided. The system includes a first tracking element attached to the patient, and a second tracking element attached at the table. The first and second tracking elements define first and second coordinate systems. A controller is operable to register the second coordinate system with a third coordinate system defined by the image detector, measure a spatial relation between the first tracking element and the second tracking element, register the first coordinate system with the third local coordinate system defined by the image detector based on the spatial relation between the first and second tracking elements, and generating a composite image comprising a virtual image of the object in spatial relation to the image of the imaged subject acquired by the image detector.

摘要翻译： 提供了一种用于通过相对于由图像检测器获取的图像支持在桌子上的成像对象导航图像引导对象的系统。 系统包括附接到患者的第一跟踪元件和附接在桌子上的第二跟踪元件。 第一和第二跟踪元件限定第一和第二坐标系。 控制器可操作以用由图像检测器定义的第三坐标系寄存第二坐标系，测量第一跟踪元件和第二跟踪元件之间的空间关系，将第一坐标系与第三坐标系定义为第三坐标系 基于第一和第二跟踪元件之间的空间关系的图像检测器，以及生成包括与由图像检测器获取的被成像对象的图像呈空间关系的对象的虚拟图像的合成图像。