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公开(公告)号：US06574493B2
公开(公告)日：2003-06-03
申请号：US09792097
申请日：2001-02-23
IPC分类号： A61B505
CPC分类号： A61B6/12 , A61B34/20 , A61B90/36 , A61B90/39 , A61B2034/2065 , A61B2090/376 , A61B2090/3983
摘要： The invention relates to a method enabling the localization of objects, for example surgical instruments, in interventional radiology. The method utilizes the known geometrical shape of the object to be localized in order to simulate projections therefrom for comparison with real projection images. Optimum correspondence between simulation and real image yields the desired object position and object orientation. The invention is based on digital image processing and can be used in conjunction with customary radiological diagnostic apparatus such as C-arm fluoroscopy apparatus, computed tomography apparatus or magnetic resonance tomography apparatus. Objects to be localized can be provided with markers whose spatial position yields an unambiguous projection image.
摘要翻译： 本发明涉及一种使介入放射学中的物体（例如手术器械）能够定位的方法。 该方法利用被定位的已知几何形状的物体来模拟其中的投影，以与实际投影图像进行比较。 模拟和实际图像之间的最佳对应可以产生所需的对象位置和对象方向。 本发明基于数字图像处理，并且可以与诸如C臂荧光透视装置，计算机断层摄影装置或磁共振断层摄影装置的常规放射诊断装置结合使用。 可以提供要定位的对象，其标记的空间位置产生明确的投影图像。
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公开(公告)号：US07729743B2
公开(公告)日：2010-06-01
申请号：US10541624
申请日：2003-12-19
申请人： Jörg Sabczynski , Volker Rasche
发明人： Jörg Sabczynski , Volker Rasche
摘要： The invention relates to a method and an arrangement for the intravascular or intracardial navigation of a catheter (5). Using an X-ray fluoroscopy device (1), firstly an image database of 2D images is generated, where at the same time as each 2D image (I) is taken the associated heartbeat phase is recorded using an ECG (8). During the catheter intervention, the position of the catheter (5) is measured by means of a position measurement unit (6), and at the same time the ECG and preferably also a signal that is dependent on the breathing movement are recorded. The current spatial position of the catheter (5) that is measured is then assigned the 2D image of the image database which corresponds in terms of the heartbeat phase and also possibly in terms of the breathing phase, on which image the position of the catheter can be represented.
摘要翻译： 本发明涉及用于导管（5）的血管内或心内导航的方法和装置。 使用X射线透视装置（1），首先生成2D图像的图像数据库，其中在采用每个2D图像（I）的同时，使用ECG（8）记录相关的心跳相位。 在导管介入期间，通过位置测量单元（6）测量导管（5）的位置，并且同时记录ECG并且优选地还取决于呼吸运动的信号。 然后将所测量的导管（5）的当前空间位置分配给图像数据库的2D图像，该图像数据库在心跳相位方面对应，并且还可以根据呼吸阶段，导管的位置在哪个图像上 被代表。
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公开(公告)号：US06435717B1
公开(公告)日：2002-08-20
申请号：US09661721
申请日：2000-09-14
申请人： Thomas Köhler , Volker Rasche , Jörg Sabczynski
发明人： Thomas Köhler , Volker Rasche , Jörg Sabczynski
IPC分类号： A61B608
CPC分类号： A61B6/107
摘要： The invention relates to an X-ray device, notable a device for X-ray fluoroscopy, which includes an X-ray source and an X-ray detector for the continuous formation of X-ray images of a patient (5) from an invariable position of the X-ray source (2) and the X-ray detector (3). The invention includes indicator means for illuminating and/or monitoring essentially the radiation zone over the patient which is traversed by X-rays. This offers the advantage that for the physician it quasi visualizes or monitors the radiation zone which is traversed by X-rays during a treatment with simultaneous formation of X-ray images so that the physician can make sure that he or she, notably his or her hands, is not inadvertently exposed to a continuous X-ray dose.
摘要翻译： 本发明涉及一种用于X射线荧光透视的X射线装置，其包括用于从不变的连续形成患者（5）的X射线图像的X射线源和X射线检测器 X射线源（2）和X射线检测器（3）的位置。 本发明包括用于照射和/或监测穿过X射线的患者上的辐射区域的指示装置。 这提供了这样的优点：对于医生来说，它可以准确地显示或监视在治疗期间由X射线穿过的辐射区，同时形成X射线图像，使得医生可以确定他或她，特别是他或她 手，不会无意中暴露于持续的X射线剂量。
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4.发明授权System and method for enabling selection of an image registration transformation 有权允许选择图像配准变换的系统和方法公开(公告)号：US08380007B2
公开(公告)日：2013-02-19
申请号：US12096648
申请日：2006-12-05
IPC分类号： G06K9/32
CPC分类号： G06T7/38 , G06T7/35 , G06T2207/30004
摘要： System and method for enabling intra-operative selection of an image registration transformation for use in displaying a first image dataset and a second image dataset in correspondence with one another. Image dataset acquisition devices (12, 14) obtain the first and second image datasets. A similarity function indicative of a likelihood that the first and second image datasets are in correspondence with one another is computed by a processor (16) and then a ranking of each of a plurality of local maxima of the similarity function is determined. Registration transformations derived from a plurality of the local maxima are displayed on a display (18), and using a user-interface (22), a physician can select each registration transformation to ascertain visually whether it is the clinically-optimal registration transformation for subsequent use.
摘要翻译： 用于使得能够在操作中选择图像配准变换以用于相互对应地显示第一图像数据集和第二图像数据集的系统和方法。 图像数据集获取装置（12,14）获得第一和第二图像数据集。 由处理器（16）计算指示第一和第二图像数据集彼此对应的可能性的相似度函数，然后确定相似度函数的多个局部最大值中的每一个的等级。 从多个本地最大值导出的登记变换被显示在显示器（18）上，并且使用用户界面（22），医师可以选择每个注册变换以在视觉上确定是否是用于后续的临床优化注册变换 使用。
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公开(公告)号：US08108029B2
公开(公告)日：2012-01-31
申请号：US11997421
申请日：2006-07-12
申请人： Volker Rasche
发明人： Volker Rasche
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B34/20 , A61B90/10 , A61B90/37 , A61B2034/105 , A61B2034/2051 , A61B2034/2068 , A61B2090/376 , A61B2090/3954 , A61B2090/3983
摘要： A method and system for navigation of a medical instrument, including: introducing at least three reference device(s) disposed to at least three reference locations; employing an imaging and guidance system to acquire a plurality of image projections corresponding to a desired anatomy including the reference devices, the plurality of image projections being sufficient to permit generating a three-dimensional modeling or reconstruction images corresponding to the reference devices. The method also includes measuring a position of the reference devices; formulating a transformation matrix based on comparing positions of the reference devices computed from the modeling or reconstruction images with the measured positions of the reference devices; and superimposing an image of a medical instrument in at least one of the plurality of image projections based on the transformation matrix and a position of the medical instrument.
摘要翻译： 一种用于医疗器械导航的方法和系统，包括：引入设置在至少三个参考位置的至少三个参考装置; 使用成像和引导系统来获取对应于包括参考装置的期望解剖结构的多个图像投影，所述多个图像投影足以允许生成对应于参考装置的三维建模或重建图像。 该方法还包括测量参考装置的位置; 基于将从建模或重建图像计算的参考装置的位置与参考装置的测量位置的比较位置来制定变换矩阵; 以及基于所述变换矩阵和所述医疗器械的位置，将所述医疗器械的图像叠加在所述多个图像投影中的至少一个中。
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公开(公告)号：US07845851B2
公开(公告)日：2010-12-07
申请号：US12065616
申请日：2006-09-12
申请人： Volker Rasche
发明人： Volker Rasche
IPC分类号： H05G1/02
CPC分类号： A61B6/0457 , A61B6/4441 , A61B6/469 , A61B6/542
摘要： Iso-centering a volume of interest (VOI) (170) within a patient (168) to undergo examination on a rotational X-ray apparatus (100) is achieved by taking two differently-angled pictures (S210) and updating positional settings (172) for the patient's table (112) responsive to respectively displayed centering of the VOI (152). Alternatively, the operator identifies respective VOI centers (S410, S450) for each of the two displayed pictures, and corresponding table movement is automatically calculated (S420).
摘要翻译： 通过采取两个不同角度的图像（S210）和更新位置设置（172）来实现在患者（168）内对感兴趣的体积（VOI）（170）进行对中以进行旋转X射线装置（100）的检查 ），用于响应于分别显示的VOI的中心点（152）的患者的桌子（112）。 或者，操作者为两个显示的图像中的每一个识别各自的VOI中心（S410，S450），并且自动计算相应的表移动（S420）。
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公开(公告)号：US20090080751A1
公开(公告)日：2009-03-26
申请号：US11576702
申请日：2005-10-06
申请人： Volker Rasche , Roland Proksa
发明人： Volker Rasche , Roland Proksa
IPC分类号： G06K9/00
摘要： The invention relates to an imaging system and a method for generating high-quality X-ray projections (24) of a patient (1). The system comprises a rotational X-ray device (10), for example a cone-beam CT-gantry (12), and an associated data processing unit (20). During a medical intervention, low-dose raw projections (22) of the patient (1) are continuously generated from different directions. A volume of interest (23) is then reconstructed from said projections (22), from which high-quality virtual projections (24) can be calculated for a display on a monitor (25). The number and direction of said virtual projections (24) can be arbitrarily chosen by the user.
摘要翻译： 本发明涉及一种用于产生患者（1）的高质量X射线投影（24）的成像系统和方法。 该系统包括旋转X射线装置（10），例如锥形束CT机架（12）和相关联的数据处理单元（20）。 在医疗干预期间，从不同方向连续地生成患者（1）的低剂量原始投影（22）。 然后从所述投影（22）重建感兴趣的体积（23），从而可以为监视器（25）上的显示计算高质量的虚拟投影（24）。 所述虚拟投影（24）的数量和方向可以由用户任意选择。
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8.发明申请System and Method for Enabling Selection of an Image Registration Transformation 有权用于启用图像注册转换选择的系统和方法公开(公告)号：US20080279430A1
公开(公告)日：2008-11-13
申请号：US12096648
申请日：2006-12-05
IPC分类号： G06T7/00
CPC分类号： G06T7/38 , G06T7/35 , G06T2207/30004
摘要： System and method for enabling intra-operative selection of an image registration transformation for use in displaying a first image dataset and a second image dataset in correspondence with one another. Image dataset acquisition devices (12, 14) obtain the first and second image datasets. A similarity function indicative of a likelihood that the first and second image datasets are in correspondence with one another is computed by a processor (16) and then a ranking of each of a plurality of local maxima of the similarity function is determined. Registration transformations derived from a plurality of the local maxima are displayed on a display (18), and using a user-interface (22), a physician can select each registration transformation to ascertain visually whether it is the clinically-optimal registration transformation for subsequent use.
摘要翻译： 用于使得能够在操作中选择图像配准变换以用于相互对应地显示第一图像数据集和第二图像数据集的系统和方法。 图像数据集获取装置（12,14）获得第一和第二图像数据集。 由处理器（16）计算指示第一和第二图像数据集彼此对应的可能性的相似度函数，然后确定相似度函数的多个局部最大值中的每一个的等级。 从多个本地最大值导出的登记变换被显示在显示器（18）上，并且使用用户界面（22），医师可以选择每个注册变换以在视觉上确定是否是用于后续的临床优化注册变换 使用。
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公开(公告)号：US20060267579A1
公开(公告)日：2006-11-30
申请号：US10553771
申请日：2004-04-14
申请人： Joern Borgert , Volker Rasche
发明人： Joern Borgert , Volker Rasche
IPC分类号： G01R33/025
摘要： Position measurements are often performed using a localization system with a given fixed capture range and accuracy and resolution. Having a fixed capture range often comes at the cost of decreased accuracy and resolution. According to the present invention, at the start, a large capture range is provided where the accuracy and resolution is low. In this large capture area, the target area can be identified and aimed at. With this identification, a smaller capture range is iteratively provided and centered around the region of interest, which leads to an increased accuracy and resolution.
摘要翻译： 位置测量通常使用具有给定的固定捕获范围和精度和分辨率的定位系统执行。 具有固定的捕获范围通常来自降低精度和分辨率的代价。 根据本发明，开始时提供了精度和分辨率低的大的捕获范围。 在这个大的捕获区域，目标区域可以被识别和瞄准。 通过这种识别，迭代地提供较小的捕获范围并以感兴趣的区域为中心，这导致增加的精度和分辨率。
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10.发明授权X-ray imaging method and a 3D-rotational X-ray apparatus for applying this method 失效X射线成像方法和应用该方法的3D旋转X射线装置公开(公告)号：US06959067B2
公开(公告)日：2005-10-25
申请号：US10022383
申请日：2001-10-30
IPC分类号： A61B6/00
摘要： An X-ray imaging method comprises forming 2-dimensional X-ray images of an object to be examined, for example the coronary vascular system of a patient, and reconstruction of a 3-dimensional volume thereof. With a relatively long run length of a scan rotation over substantially 180° of at least 15 sec. and preferably about 20 sec. A sufficient number of images is obtained to perform a more accurate volume reconstruction. This reconstruction method may be combined with existing modelling techniques.
摘要翻译： X射线成像方法包括形成待检查对象的2维X射线图像，例如患者的冠状血管系统，以及其3维体积的重建。 具有在大约180°至少15秒的扫描旋转的相对较长的行程长度。 优选约20秒。 获得足够数量的图像以执行更精确的体积重建。 这种重建方法可以与现有的建模技术相结合。
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