公开(公告)号：US09681925B2

公开(公告)日：2017-06-20

申请号：US11107640

申请日：2005-04-15

申请人： Fred S. Azar ,  Ali Khamene ,  Frank Sauer ,  Sebastian Vogt

发明人： Fred S. Azar ,  Ali Khamene ,  Frank Sauer ,  Sebastian Vogt

IPC分类号： A61B5/05 ,  A61B90/00 ,  A61B34/20 ,  A61B90/11 ,  A61B34/10

CPC分类号： A61B90/36 ,  A61B34/10 ,  A61B34/20 ,  A61B90/11 ,  A61B90/361 ,  A61B2034/107 ,  A61B2090/365

摘要： A system and method for instrument placement using an image based navigation system is disclosed. A target of interest is identified in a medical image of a patient. An image plane is displayed that goes through a center of the target. The image plane has a configurable orientation. The image plane is used to select a path for an instrument from a position on the patient's skin to the center of the target. A trajectory plane is viewed from a tip of the instrument to the center of the target. The trajectory plane reflects an orientation of the instrument. A particular trajectory plane is selected that is representative of a desired orientation of the instrument. An image of the particular trajectory plane is frozen. The instrument can then be inserted using a virtual guide and is navigated toward the target.

公开(公告)号：US20050203380A1

公开(公告)日：2005-09-15

申请号：US11056317

申请日：2005-02-11

申请人： Frank Sauer ,  Ali Khamene ,  Sebastian Vogt

发明人： Frank Sauer ,  Ali Khamene ,  Sebastian Vogt

IPC分类号： A61B5/05

CPC分类号： G02B7/002 ,  A61B34/10 ,  A61B34/20 ,  A61B90/20 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2072 ,  A61B2090/371 ,  G02B27/017 ,  G02B2027/0138 ,  G02B2027/0187 ,  G06F3/012

摘要： A method for augmented reality navigation of a medical intervention includes providing a stereoscopic head mounted display, the display including a pair of stereo viewing cameras, at least one tracking camera, and a stereoscopic guidance display. During a medical intervention on a patient, the patient's body pose is determined from a rigid body transformation between the tracking camera and frame markers on the scanning table, and the pose of an intervention instrument with respect to the table is determined. A visual representation of the patient overlaid with an image of the intervention target, the instrument, and a path for guiding the instrument to perform said medical intervention is displayed in the stereoscopic guidance display.

摘要翻译： 用于医疗干预的增强现实导航的方法包括提供立体头戴式显示器，所述显示器包括一对立体观看照相机，至少一个跟踪相机和立体指导显示器。 在患者的医疗干预中，患者的身体姿势由跟踪摄像机和扫描台上的帧标记之间的刚性身体变换确定，并且确定干预仪器相对于桌子的姿势。 在立体指导显示中显示覆盖有介入目标图像，仪器和用于引导仪器执行所述医疗干预的路径的患者的视觉表示。

公开(公告)号：US20050251030A1

公开(公告)日：2005-11-10

申请号：US11107640

申请日：2005-04-15

申请人： Fred Azar ,  Ali Khamene ,  Frank Sauer ,  Sebastian Vogt

发明人： Fred Azar ,  Ali Khamene ,  Frank Sauer ,  Sebastian Vogt

IPC分类号： A61B5/05 ,  A61B6/00 ,  A61B19/00

CPC分类号： A61B90/36 ,  A61B34/10 ,  A61B34/20 ,  A61B90/11 ,  A61B90/361 ,  A61B2034/107 ,  A61B2090/365

摘要： A system and method for instrument placement using an image based navigation system is disclosed. A target of interest is identified in a medical image of a patient. An image plane is displayed that goes through a center of the target. The image plane has a configurable orientation. The image plane is used to select a path for an instrument from a position on the patient's skin to the center of the target. A trajectory plane is viewed from a tip of the instrument to the center of the target. The trajectory plane reflects an orientation of the instrument. A particular trajectory plane is selected that is representative of a desired orientation of the instrument. An image of the particular trajectory plane is frozen. The instrument can then be inserted using a virtual guide and is navigated toward the target.

摘要翻译： 公开了一种使用基于图像的导航系统进行仪器放置的系统和方法。 在患者的医学图像中识别感兴趣的目标。 显示穿过目标中心的图像平面。 图像平面具有可配置的方向。 图像平面用于从患者皮肤上的位置到目标的中心选择仪器的路径。 从仪器的尖端到目标的中心观察轨迹平面。 轨迹平面反映了仪器的方向。 选择代表仪器的期望取向的特定轨迹平面。 特定轨迹平面的图像被冻结。 然后可以使用虚拟指南插入仪器并导航到目标。

公开(公告)号：US07774044B2

公开(公告)日：2010-08-10

申请号：US11056317

申请日：2005-02-11

申请人： Frank Sauer ,  Ali Khamene ,  Sebastian Vogt

发明人： Frank Sauer ,  Ali Khamene ,  Sebastian Vogt

IPC分类号： A61B5/05 ,  G09G5/00

CPC分类号： G02B7/002 ,  A61B34/10 ,  A61B34/20 ,  A61B90/20 ,  A61B90/36 ,  A61B90/361 ,  A61B2034/107 ,  A61B2034/2055 ,  A61B2034/2072 ,  A61B2090/371 ,  G02B27/017 ,  G02B2027/0138 ,  G02B2027/0187 ,  G06F3/012

摘要： A method for augmented reality navigation of a medical intervention includes providing a stereoscopic head mounted display, the display including a pair of stereo viewing cameras, at least one tracking camera, and a stereoscopic guidance display. During a medical intervention on a patient, the patient's body pose is determined from a rigid body transformation between the tracking camera and frame markers on the scanning table, and the pose of an intervention instrument with respect to the table is determined. A visual representation of the patient overlaid with an image of the intervention target, the instrument, and a path for guiding the instrument to perform said medical intervention is displayed in the stereoscopic guidance display.

摘要翻译： 用于医疗干预的增强现实导航的方法包括提供立体头戴式显示器，所述显示器包括一对立体观看照相机，至少一个跟踪相机和立体指导显示器。 在患者的医疗干预中，患者的身体姿势由跟踪摄像机和扫描台上的帧标记之间的刚性身体变换确定，并且确定干预仪器相对于桌子的姿势。 在立体指导显示中显示覆盖有介入目标图像，仪器和用于引导仪器执行所述医疗干预的路径的患者的视觉表示。

公开(公告)号：US20060281971A1

公开(公告)日：2006-12-14

申请号：US11383598

申请日：2006-05-16

申请人： Frank Sauer ,  Ali Khamene ,  Sebastian Vogt

发明人： Frank Sauer ,  Ali Khamene ,  Sebastian Vogt

IPC分类号： A61B1/04

CPC分类号： A61B34/20 ,  A61B1/0005 ,  A61B1/04 ,  A61B90/36 ,  A61B2090/364 ,  A61B2090/376 ,  G16H50/50

摘要： A method and apparatus for presenting three-dimensional data to a physician is provided to facilitate the flexible navigation of an endoscope and surgical instruments with respect to anatomical structures. In accordance with a first embodiment a first set of data corresponding to a three dimensional model of a patient's anatomy is received. This three-dimensional model may be rendered from images taken in CT or MRI scanning, as discussed above In accordance with this embodiment, this model is then combined with a second set of data corresponding to a view obtained from an endoscope. In another embodiment, the view from the illustrative endoscope is displayed as an inset image on the display of the three-dimensional image. In yet another embodiment, the three-dimensional image comprises a graphical representation of at least a first surgical instrument, such as said endoscope. The surgeon may select among various combinations of views and may zoom in or out from any particular view.

摘要翻译： 提供了一种用于向医师呈现三维数据的方法和装置，以便于内窥镜和外科器械相对于解剖结构的灵活导航。 根据第一实施例，接收对应于患者解剖结构的三维模型的第一组数据。 这种三维模型可以从CT或MRI扫描中拍摄的图像呈现，如上所述根据本实施例，该模型然后与对应于从内窥镜获得的视图的第二组数据组合。 在另一个实施例中，来自说明性内窥镜的视图作为插入图像被显示在三维图像的显示器上。 在另一个实施例中，三维图像包括至少第一外科器械（例如所述内窥镜）的图形表示。 外科医生可以在各种视图组合中进行选择，并且可以放大或缩小任何特定视图。

公开(公告)号：US09289267B2

公开(公告)日：2016-03-22

申请号：US11383598

申请日：2006-05-16

申请人： Frank Sauer ,  Ali Khamene ,  Sebastian Vogt

发明人： Frank Sauer ,  Ali Khamene ,  Sebastian Vogt

IPC分类号： A61B1/00 ,  A61B1/04 ,  A62B1/04 ,  A61B19/00 ,  G06F19/00

CPC分类号： A61B34/20 ,  A61B1/0005 ,  A61B1/04 ,  A61B90/36 ,  A61B2090/364 ,  A61B2090/376 ,  G16H50/50

摘要： A method and apparatus for presenting three-dimensional data to a physician is provided to facilitate the flexible navigation of an endoscope and surgical instruments with respect to anatomical structures. In accordance with a first embodiment a first set of data corresponding to a three dimensional model of a patient's anatomy is received. This three-dimensional model may be rendered from images taken in CT or MRI scanning, as discussed above. In accordance with this embodiment, this model is then combined with a second set of data corresponding to a view obtained from an endoscope. In another embodiment, the view from the illustrative endoscope is displayed as an inset image on the display of the three-dimensional image. In yet another embodiment, the three-dimensional image comprises a graphical representation of at least a first surgical instrument, such as said endoscope. The surgeon may select among various combinations of views and may zoom in or out from any particular view.

摘要翻译： 提供了一种用于向医师呈现三维数据的方法和装置，以便于内窥镜和外科器械相对于解剖结构的灵活导航。 根据第一实施例，接收对应于患者解剖结构的三维模型的第一组数据。 如上所述，该三维模型可以从在CT或MRI扫描中拍摄的图像呈现。 根据本实施例，然后将该模型与对应于从内窥镜获得的视图的第二组数据组合。 在另一个实施例中，来自说明性内窥镜的视图作为插入图像被显示在三维图像的显示器上。 在另一个实施例中，三维图像包括至少第一外科器械（例如所述内窥镜）的图形表示。 外科医生可以在各种视图组合中进行选择，并且可以放大或缩小任何特定视图。

公开(公告)号：US07920144B2

公开(公告)日：2011-04-05

申请号：US11328562

申请日：2006-01-10

申请人： Sebastian Vogt ,  Frank Sauer ,  Ali Khamene

发明人： Sebastian Vogt ,  Frank Sauer ,  Ali Khamene

IPC分类号： G06T15/70

CPC分类号： G06T13/20 ,  G06T15/005

摘要： A method for visualization of dynamic three-dimensional (3D) virtual objects comprises storing a plurality of static 3D key-models respectively describing a dynamic 3D object in at least one of a number of poses and shapes; and rendering the dynamic 3D object by interpolation of the 3D key-models by performing the interpolation in a vertex shader program of a programmable graphics processing unit (GPU).

摘要翻译： 一种用于可视化动态三维（3D）虚拟对象的方法包括以多个姿态和形状中的至少一个存储分别描述动态3D对象的多个静态3D关键字模型; 以及通过在可编程图形处理单元（GPU）的顶点着色器程序中执行插值来对3D键模型进行插值来呈现动态3D对象。

公开(公告)号：US20060161572A1

公开(公告)日：2006-07-20

申请号：US11328562

申请日：2006-01-10

申请人： Sebastian Vogt ,  Frank Sauer ,  Ali Khamene

发明人： Sebastian Vogt ,  Frank Sauer ,  Ali Khamene

IPC分类号： G06F17/00 ,  G06F7/00

CPC分类号： G06T13/20 ,  G06T15/005

摘要： A method for visualization of dynamic three-dimensional (3D) virtual objects comprises storing a plurality of static 3D key-models respectively describing a dynamic 3D object in at least one of a number of poses and shapes; and rendering the dynamic 3D object by interpolation of the 3D key-models by performing the interpolation in a vertex shader program of a programmable graphics processing unit (GPU).

摘要翻译： 一种用于动态三维（3D）虚拟对象的可视化的方法包括：以多个姿态和形状中的至少一个存储分别描述动态3D对象的多个静态3D关键模型; 以及通过在可编程图形处理单元（GPU）的顶点着色器程序中执行插值来对3个D键模型进行插值来渲染动态3D对象。

公开(公告)号：US08244332B2

公开(公告)日：2012-08-14

申请号：US11292338

申请日：2005-12-01

申请人： Fred S. Azar ,  Ali Khamene ,  Frank Sauer ,  Bruce Tromberg ,  Albert Cerussi

发明人： Fred S. Azar ,  Ali Khamene ,  Frank Sauer ,  Bruce Tromberg ,  Albert Cerussi

IPC分类号： A61B6/00

CPC分类号： A61B5/4312 ,  A61B5/0091 ,  A61B34/20 ,  A61B2034/105 ,  A61B2034/2051 ,  A61B2034/2055 ,  A61B2090/373 ,  G01N21/359 ,  G01N21/474 ,  G01N21/4795 ,  G01N2021/1787 ,  G01N2021/4745 ,  G01N2201/0221 ,  G01N2201/0612 ,  G01N2201/0691 ,  G01N2201/08

摘要： A diffuse optical spectroscopy system comprises a laser breast scanner, a handheld probe connected to the laser breast scanner for scanning a breast, and a tracking device coupled to the handheld probe, wherein the tracking device determines locations of the handheld probe relative to the breast. The tracking device comprises a magnetic tracking device, an optical tracking device or a laser tracking device.

摘要翻译： 扩散光谱系统包括激光乳房扫描器，连接到用于扫描乳房的激光乳房扫描器的手持式探头以及耦合到手持探针的跟踪装置，其中跟踪装置确定手持式探针相对于乳房的位置。 跟踪装置包括磁跟踪装置，光学跟踪装置或激光跟踪装置。

公开(公告)号：US07711405B2

公开(公告)日：2010-05-04

申请号：US10833742

申请日：2004-04-28

申请人： Ali Khamene ,  Frank Sauer

发明人： Ali Khamene ,  Frank Sauer

IPC分类号： A61B5/05

CPC分类号： G01R33/56 ,  G01R33/5608

摘要： A system and method for registering pre-operative magnetic resonance (MR) images with intra-operative MR images is disclosed. A pre-operative MR image of an object is received. A set of intra-operative MR images of the object is received. The pre-operative MR image is rigidly registered with the initial intra-operative MR image. The subsequent set of intra-operative images is deformably registered. The pre-operative MR image undergoes both rigid and deformation transformation to match specification of each image with in intra-operative MR image set.

摘要翻译： 公开了一种用于将术前磁共振（MR）图像与术中MR图像对准的系统和方法。 接收对象的术前MR图像。 接收对象的一组手术中MR图像。 手术前MR图像与初始手术中MR图像刚性对齐。 随后的一组术中图像可变形地记录。 手术前MR图像经历刚性和变形变换，以在手术中的MR图像组中匹配每个图像的规格。