公开(公告)号：US20070238981A1

公开(公告)日：2007-10-11

申请号：US11374684

申请日：2006-03-13

申请人： Chuanggui Zhu ,  Kusuma Agusanto

发明人： Chuanggui Zhu ,  Kusuma Agusanto

IPC分类号： A61B5/05

CPC分类号： A61B90/36 ,  A61B6/506 ,  A61B8/4245 ,  A61B34/20 ,  A61B90/361 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2090/365 ,  A61B2090/373

摘要： Methods and apparatuses to record and review a navigation process of image guided surgery. One embodiment includes recording a sequence of positional data to represent a position or position and orientation of a navigation instrument relative to a patient during a surgical navigation process. Another embodiment includes: tracking positions and orientations of a probe during a surgical navigation process; and recording the positions and orientations of the probe, the recording of the positions and orientations to be used to subsequently generate images based on preoperative images of a patient. A further embodiment includes: reading a recorded sequence of locations of a navigational instrument; reading recorded video; generating a sequence of views of three dimensional image data based on the recorded sequence of locations; and combining the sequence of views with corresponding frames of the recorded video.

摘要翻译： 记录和审查图像引导手术导航过程的方法和装置。 一个实施例包括在手术导航过程中记录位置数据序列以表示导航仪器相对于患者的位置或位置和方位。 另一实施例包括：在手术导航过程期间跟踪探针的位置和取向; 并且记录探针的位置和取向，记录要用于随后基于患者的术前图像生成图像的位置和取向。 另一实施例包括：读取导航仪器的记录的位置序列; 阅读录像; 基于记录的位置顺序产生三维图像数据的视图序列; 以及将视频序列与记录的视频的相应帧组合。

公开(公告)号：US20070236514A1

公开(公告)日：2007-10-11

申请号：US11277920

申请日：2006-03-29

申请人： Kusuma Agusanto ,  Chuanggui Zhu

发明人： Kusuma Agusanto ,  Chuanggui Zhu

IPC分类号： G09G5/00

CPC分类号： A61B1/00193 ,  A61B34/20 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/102 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2090/364 ,  A61B2090/365 ,  G02B27/0093 ,  G02B27/017 ,  G02B2027/0134 ,  G02B2027/0138 ,  G02B2027/014 ,  G06T7/73 ,  G06T19/006 ,  G06T2207/30004 ,  G06T2207/30244 ,  G16H50/50 ,  H04N13/111

摘要： Methods and apparatuses to generate stereoscopic views for image guided surgical navigation. One embodiment includes transforming a first image of a scene into a second image of the scene according to a mapping between two views of the scene. Another embodiment includes generating a stereoscopic display of the scene using a first image and a second image of a scene during a surgical procedure, where a position and orientation of an imaging device is at least partially changed to capture the first and second images from different viewpoints. A further embodiment includes: determining a real time location of a probe relative to a patient during a surgical procedure; determining a pair of virtual viewpoints according to the real time location of the probe; and generating a virtual stereoscopic image showing the probe relative to the patient, according to the determined pair of virtual viewpoints.

摘要翻译： 用于产生图像引导外科导航的立体视图的方法和装置。 一个实施例包括根据场景的两个视图之间的映射将场景的第一图像变换成场景的第二图像。 另一个实施例包括在手术过程中使用第一图像和场景的第二图像生成场景的立体显示，其中成像装置的位置和取向至少部分地改变以从不同视点捕获第一和第二图像 。 另一实施例包括：在外科手术期间确定探针相对于患者的实时位置; 根据探针的实时位置确定一对虚拟视点; 以及根据所确定的虚拟视点对，生成示出相对于患者的探针的虚拟立体图像。

公开(公告)号：US20070018975A1

公开(公告)日：2007-01-25

申请号：US11490713

申请日：2006-07-20

申请人： Zhu Chuanggui ,  Kusuma Agusanto

发明人： Zhu Chuanggui ,  Kusuma Agusanto

IPC分类号： G06T15/00

CPC分类号： A61B90/36 ,  A61B34/10 ,  A61B34/20 ,  A61B90/361 ,  A61B2034/105 ,  A61B2034/2055 ,  A61B2090/365

摘要： Systems, apparati and methods for mapping a virtual model of a real object, such as a body part, to the real object are presented. Such virtual model can be generated, for example, from an imaging scan of the object, for example, using MRI, CT, etc. A camera with a probe fixed thereto can be moved relative to the object until a video image of the object captured by the camera appears to coincide on a video screen with the virtual model which is shown fixed on that screen. The position of the camera in a real coordinate system can be sensed, and the position in a virtual coordinate system of the virtual model relative to a virtual camera, by which the view of the virtual model on the screen is notionally captured, can be predetermined and known. From this, the position of the virtual model relative to the object can be mapped and a transform generated to position the object in the virtual coordinate system to approximately coincide with the virtual model. After completion of such an initial registration process, a second, refined, registration process can be initiated. Such refined registration process can include acquiring a large number of real points on the surface of the object. Such points can, for example, then be processed using an iterative closest point measure to generate a second, more accurate transform between the object and its virtual model. Further, the refined registration processing can be iterated and more and more accurate transforms generated until a termination condition is met and a final transform generated. Using the final transform generated by this process the virtual model can be positioned in the real coordinate system to substantially exactly coincide with the object.

摘要翻译： 提出了将真实对象（如身体部位）的虚拟模型映射到真实对象的系统，设备和方法。 这样的虚拟模型可以例如从对象的成像扫描，例如使用MRI，CT等产生。具有固定到其上的探针的相机可以相对于对象移动，直到捕获到的对象的视频图像 相机看起来与视频屏幕重合，该虚拟模型显示固定在该屏幕上。 可以感测相机在真实坐标系中的位置，并且虚拟模型的虚拟坐标系中相对于虚拟相机的位置，通过该虚拟相机可以预测屏幕上的虚拟模型的视图被视为被捕获 已知 由此可以映射虚拟模型相对于对象的位置，并将生成的变换定位在虚拟坐标系中的对象大致与虚拟模型重合。 在完成这样的初始注册过程之后，可以启动第二个精简的注册过程。 这种精细化的注册过程可以包括在对象的表面上获取大量的真实点。 例如，可以使用迭代最近点测量来处理这些点，以在对象和其虚拟模型之间生成第二更准确的变换。 此外，可以迭代精细注册处理，并且生成越来越精确的变换，直到满足终止条件并生成最终变换。 使用由该过程生成的最终变换，可以将虚拟模型定位在实际坐标系中以与对象基本上完全一致。

公开(公告)号：US20060293557A1

公开(公告)日：2006-12-28

申请号：US11375656

申请日：2006-03-13

申请人： Zhu Chuanggui ,  Kusuma Agusanto

发明人： Zhu Chuanggui ,  Kusuma Agusanto

IPC分类号： A61B1/00

CPC分类号： A61B90/36 ,  A61B34/20 ,  A61B34/25 ,  A61B90/20 ,  A61B90/361 ,  A61B90/37 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2068 ,  A61B2090/364 ,  A61B2090/365 ,  A61B2090/371

摘要： An improved system and method for macroscopic and microscopic surgical navigation and visualization are presented. In exemplary embodiments of the present invention an integrated system can include a computer which has stored three dimensional representations of a patient's internal anatomy, a display, a probe and an operation microscope. In exemplary embodiments of the present invention reference markers can be attached to the probe and the microscope, and the system can also include a tracking system which can track the 3D position and orientation of each of the probe and microscope. In exemplary embodiments of the present invention a system can include means for detecting changes in the imaging parameters of the microscope, such as, for example, magnification and focus, which occur as a result of user adjustment and operation of the microscope. The microscope can have, for example, a focal point position relative to the markers attached to the microscope and can, for example, be calibrated in the full range of microscope focus. In exemplary embodiments of the present invention, the position of the microscope can be obtained from the tracking data regarding the microscope and the focus can be obtained from, for example, a sensor integrated with the microscope. Additionally, a tip position of the probe can also be obtained from the tracking data of the reference markers on the probe, and means can be provided for registration of virtual representations of patient anatomical data with real images from one or more cameras on each of the probe and the microscope. In exemplary embodiments of the present invention visualization and navigation can be provided by each of the microscope and the probe, and when both are active the system can intelligently display a microscopic or a macroscopic (probe based) augmented image according to defined rules.

摘要翻译： 提出了一种用于宏观和微观手术导航和可视化的改进的系统和方法。 在本发明的示例性实施例中，集成系统可以包括具有存储患者内部解剖结构的三维表示，显示器，探针和操作显微镜的计算机。 在本发明的示例性实施例中，参考标记可以附接到探针和显微镜，并且系统还可以包括跟踪系统，其可以跟踪每个探针和显微镜的3D位置和取向。 在本发明的示例性实施例中，系统可以包括用于检测显微镜的成像参数的变化的装置，例如由于显微镜的用户调整和操作的结果而发生的放大和聚焦。 显微镜可以具有例如相对于附着到显微镜的标记的焦点位置，并且可以例如在全部的显微镜焦点范围内进行校准。 在本发明的示例性实施例中，可以从关于显微镜的跟踪数据获得显微镜的位置，并且可以从例如与显微镜集成的传感器获得焦点。 此外，还可以从探针上的参考标记的跟踪数据获得探针的尖端位置，并且可以提供装置用于将病人解剖数据的虚拟表示与来自一个或多个摄像机 探针和显微镜。 在本发明的示例性实施例中，可以由显微镜和探针中的每一个提供可视化和导航，并且当两者都是活动时，系统可以根据规定的规则智能地显示基于微观或宏观（基于探针的）增强图像。