公开(公告)号：US10010308B2

公开(公告)日：2018-07-03

申请号：US14232979

申请日：2012-07-20

申请人： Yu Zhou ,  Kaarvannan Thiruvalluvan ,  Lukasz Krzeminski ,  William H. Moore ,  Zhigang Xu ,  Zhengrong Liang

发明人： Yu Zhou ,  Kaarvannan Thiruvalluvan ,  Lukasz Krzeminski ,  William H. Moore ,  Zhigang Xu ,  Zhengrong Liang

IPC分类号： A61B6/03 ,  A61B10/04 ,  A61B10/02 ,  A61B6/00 ,  A61B8/08 ,  G01R33/28 ,  G01R33/48 ,  A61B34/30 ,  G06T7/246 ,  A61B34/20 ,  A61B90/00

CPC分类号： A61B10/04 ,  A61B6/032 ,  A61B6/486 ,  A61B6/506 ,  A61B6/5217 ,  A61B8/0841 ,  A61B10/0233 ,  A61B34/20 ,  A61B34/30 ,  A61B90/39 ,  A61B2010/045 ,  A61B2034/2057 ,  A61B2034/2063 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/3937 ,  G01R33/285 ,  G01R33/4812 ,  G01R33/4814 ,  G06T7/251 ,  G06T2207/10081 ,  G06T2207/30064

摘要： An image-guided system and method for performing needle biopsy on a moving lung nodule of a body is provided. CT images of the lung nodule are obtained to generate a motion model, based on which an optimal needle advancing path is determined. The motion of the lung nodule and the motion of a fiducial marker attached to the body are correlated. The motion of the fiducial marker is tracked and monitored by a camera to determine a position of the lung nodule based on the correlation. A time for advancing the needle is determined based on a motion attribute of the reference. The needle is advanced by a robotic needle manipulator at the predetermined time along the path to accomplish the needle placement.

公开(公告)号：US20150073259A1

公开(公告)日：2015-03-12

申请号：US14232979

申请日：2012-07-20

申请人： Yu Zhou ,  Kaarvannan Thiruvalluvan ,  Lukasz Krzeminski ,  William H. Moore ,  Zhigang Xu ,  Zhengrong Liang

发明人： Yu Zhou ,  Kaarvannan Thiruvalluvan ,  Lukasz Krzeminski ,  William H. Moore ,  Zhigang Xu ,  Zhengrong Liang

IPC分类号： A61B10/04 ,  A61B19/00 ,  A61B10/02 ,  G01R33/28 ,  G01R33/48 ,  A61B8/08 ,  G06T7/20 ,  A61B6/03

CPC分类号： A61B10/04 ,  A61B6/032 ,  A61B6/486 ,  A61B6/506 ,  A61B6/5217 ,  A61B8/0841 ,  A61B10/0233 ,  A61B34/20 ,  A61B34/30 ,  A61B90/39 ,  A61B2010/045 ,  A61B2034/2057 ,  A61B2034/2063 ,  A61B2090/374 ,  A61B2090/3762 ,  A61B2090/3937 ,  G01R33/285 ,  G01R33/4812 ,  G01R33/4814 ,  G06T7/251 ,  G06T2207/10081 ,  G06T2207/30064

摘要： An image-guided system and method for performing needle biopsy on a moving lung nodule of a body is provided. CT images of the lung nodule are obtained to generate a motion model, based on which an optimal needle advancing path is determined. The motion of the lung nodule and the motion of a fiducial marker attached to the body are correlated. The motion of the fiducial marker is tracked and monitored by a camera to determine a position of the lung nodule based on the correlation. A time for advancing the needle is determined based on a motion attribute of the reference. The needle is advanced by a robotic needle manipulator at the predetermined time along the path to accomplish the needle placement.

摘要翻译： 提供了一种用于对身体的移动的肺结节进行针刺活检的图像引导系统和方法。 获得肺结节的CT图像以产生运动模型，基于此确定最佳针推进路径。 肺结节的运动和附着于身体的基准标记的运动是相关的。 基准标记的运动由相机进行跟踪和监测，以根据相关性确定肺结节的位置。 基于参考的运动属性确定推进针的时间。 该针在机器人针机械手沿着路径的预定时间前进，以完成针放置。

公开(公告)号：US4916745A

公开(公告)日：1990-04-10

申请号：US827253

申请日：1986-02-07

申请人： Hiram E. Hart ,  Zhengrong Liang

发明人： Hiram E. Hart ,  Zhengrong Liang

IPC分类号： G01S7/52

CPC分类号： G01S7/52046

摘要： A Bayesian image processing method and apparatus take into account supplementary source information previously ignored by most likely source distribution techniques and produce highly accurate results.

摘要翻译： 贝叶斯图像处理方法和装置考虑到由最可能的源分布技术先前忽略的补充源信息，并产生高度准确的结果。

公开(公告)号：US07630750B2

公开(公告)日：2009-12-08

申请号：US10182217

申请日：2001-02-05

申请人： Zhengrong Liang ,  Bin Li ,  Dongqing Chen ,  Eric E. Smouha ,  Clemente T. Roque ,  Arie E. Kaufman ,  Mark R. Wax ,  Kevin Kreeger

发明人： Zhengrong Liang ,  Bin Li ,  Dongqing Chen ,  Eric E. Smouha ,  Clemente T. Roque ,  Arie E. Kaufman ,  Mark R. Wax ,  Kevin Kreeger

IPC分类号： A61B5/05

CPC分类号： G06T19/003 ,  A61B34/10 ,  A61B90/36 ,  G06F19/00 ,  G06F19/321 ,  G06F19/3481 ,  G06T15/08 ,  G06T2210/41 ,  G16H50/50 ,  Y10S128/922

摘要： A method of computer aided treatment planning is performed by generating and manipulating a three dimensional (3D) image of a region which includes at least one anatomical structure for which treatment, such as surgery, biopsy, tissue component analysis, prosthesis implantation, radiation, chemotherapy and the like, is contemplated. A virtual intervention, which simulates at least a portion of the contemplated treatment, is performed in the 3D image. The user can then determine the effect of the intervention and interactively modify the intervention for improved treatment results. Preferably, a warning is automatically provided if the intervention poses a risk of detrimental effect. The user can navigate through the contemplated region in the 3D image and assess the results. The treatment plans can be saved for comparison and post treatment evaluation.

摘要翻译： 计算机辅助治疗计划的方法通过生成和操纵包括至少一个解剖结构的区域的三维（3D）图像来进行，所述解剖结构例如手术，活组织检查，组织成分分析，假体植入，放射，化疗 等等。 在3D图像中执行模拟预期治疗的至少一部分的虚拟介入。 然后，用户可以确定干预的效果并交互地修改干预以改善治疗结果。 优选地，如果干预造成有害影响的风险，则自动提供警告。 用户可以浏览3D图像中的预期区域并评估结果。 治疗计划可以节省进行比较和治疗后评估。

公开(公告)号：US07194117B2

公开(公告)日：2007-03-20

申请号：US09777120

申请日：2001-02-05

申请人： Arie E. Kaufman ,  Zhengrong Liang ,  Mark R. Wax ,  Ming Wan ,  Dongqing Chen ,  Bin Li

发明人： Arie E. Kaufman ,  Zhengrong Liang ,  Mark R. Wax ,  Ming Wan ,  Dongqing Chen ,  Bin Li

IPC分类号： G06K9/00

CPC分类号： A61B5/055 ,  A61B5/726 ,  A61B6/032 ,  A61B8/483 ,  G06T7/11 ,  G06T15/08 ,  G06T19/00 ,  G06T2207/10072 ,  G06T2207/30028 ,  G06T2207/30084 ,  G06T2207/30172 ,  G06T2210/41 ,  G06T2219/028 ,  G06T2219/2004 ,  G09B23/28

摘要： Methods for generating a three-dimensional visualization image of an object, such as an internal organ, using volume visualization techniques are provided. The techniques include a multi-scan imaging method; a multi-resolution imaging method; and a method for generating a skeleton of a complex three dimension object. The applications include virtual cystoscopy, virtual laryngoscopy, virtual angiography, among others.

摘要翻译： 提供了使用体积可视化技术来生成诸如内部器官的对象的三维可视化图像的方法。 该技术包括多扫描成像方法; 多分辨率成像方法; 以及用于生成复杂三维物体的骨架的方法。 应用包括虚拟膀胱镜检查，虚拟喉镜检查，虚拟血管造影等。

公开(公告)号：US07148887B2

公开(公告)日：2006-12-12

申请号：US09974548

申请日：2001-10-10

申请人： Arie E. Kaufman ,  Zhengrong Liang ,  Mark R. Wax ,  Ming Wan ,  Dongquing Chen

发明人： Arie E. Kaufman ,  Zhengrong Liang ,  Mark R. Wax ,  Ming Wan ,  Dongquing Chen

IPC分类号： G06T15/00

CPC分类号： G06T15/08 ,  G06K9/209 ,  G06K9/38 ,  G06K2209/05 ,  G06T7/0012 ,  G06T7/11 ,  G06T15/04 ,  G06T19/20 ,  G06T2207/10081 ,  G06T2207/20156 ,  G06T2207/30032 ,  G06T2210/28 ,  G06T2210/41 ,  G06T2219/2021

摘要： A system and method for generating a three-dimensional visualization image of an object such as an organ using volume visualization techniques and exploring the image using a guided navigation system which allows the operator to travel along a flight path and to adjust the view to a particular portion of the image of interest in order, for example, to identify polyps, cysts or other abnormal features in the visualized organ. An electronic biopsy can also be performed on an identified growth or mass in the visualized object. Virtual colonoscopy can be enhanced by electronically removing residual stool, fluid and non-colonic tissue from the image of the colon, by employing bowel preparation followed by image segmentation operations. Methods are also employed for virtually expanding regions of colon collapse using image segmentation results.

公开(公告)号：US07574024B2

公开(公告)日：2009-08-11

申请号：US10380211

申请日：2001-10-02

申请人： Ingmar Bitter ,  Ming Wan ,  Arie E. Kaufman ,  Frank Dachille ,  Kevin Kreeger ,  Zhengrong Liang ,  Mark R. Wax

发明人： Ingmar Bitter ,  Ming Wan ,  Arie E. Kaufman ,  Frank Dachille ,  Kevin Kreeger ,  Zhengrong Liang ,  Mark R. Wax

IPC分类号： G06K9/00

CPC分类号： G06T19/20 ,  G06T7/12 ,  G06T7/62 ,  G06T7/64 ,  G06T15/08 ,  G06T15/10 ,  G06T2200/04 ,  G06T2207/10072 ,  G06T2207/20044 ,  G06T2207/20132 ,  G06T2207/30028 ,  G06T2207/30061 ,  G06T2207/30172 ,  G06T2210/41 ,  G06T2219/028 ,  G06T2219/2012

摘要： In accordance with the present invention, a method for determining a centerline through a region of interest in a 3D image dataset is provided. The method includes identifying the boundaries of the region of interest and identifying the endpoints of the region of interest. For those points within the boundaries, a penalty value which is a function of the proximity of the point to a boundary is determined. A centerline is then identified by the path connecting the endpoints which has the minimum penalized distance wherein the penalized distance reflects the actual accumulated pathlength and the penalties associated with the points along the path. From the centerline, branches of a complete skeleton can be established by determining branch endpoints and then finding the minimum penalized distance from each endpoint the centerline or another intersecting branch.

摘要翻译： 根据本发明，提供了一种通过3D图像数据集中的感兴趣区域确定中心线的方法。 该方法包括识别感兴趣区域的边界并识别感兴趣区域的端点。 对于边界内的那些点，确定作为点到边界的接近度的函数的惩罚值。 然后通过连接具有最小惩罚距离的端点的路径来识别中心线，其中惩罚距离反映实际累积路径长度和与沿着路径的点相关联的惩罚。 从中心线，可以通过确定分支端点，然后从中心线或另一个相交分支的每个端点找到最小惩罚距离来建立完整骨架的分支。

公开(公告)号：US07486811B2

公开(公告)日：2009-02-03

申请号：US11613297

申请日：2006-12-20

申请人： Arie E. Kaufman ,  Zhengrong Liang ,  Mark R. Wax ,  Ming Wan ,  Dongqing Chen ,  Bin Li

发明人： Arie E. Kaufman ,  Zhengrong Liang ,  Mark R. Wax ,  Ming Wan ,  Dongqing Chen ,  Bin Li

IPC分类号： G06K9/00 ,  A61B6/00

CPC分类号： G06T17/00 ,  G06T7/0012 ,  G06T7/11 ,  G06T7/136 ,  G06T7/64 ,  G06T15/08 ,  G06T19/00 ,  G06T2207/10081 ,  G06T2207/20044 ,  G06T2207/20064 ,  G06T2207/30028 ,  G06T2207/30101

摘要： Methods for generating a three-dimensional visualization image of an object, such as an internal organ, using volume visualization techniques are provided. The techniques include a multi-scan imaging method; a multi-resolution imaging method; and a method for generating a skeleton of a complex three dimension object. The applications include virtual cystoscopy, virtual laryngoscopy, virtual angiography, among others.

公开(公告)号：US20070167718A1

公开(公告)日：2007-07-19

申请号：US11613283

申请日：2006-12-20

申请人： Arie Kaufman ,  Zhengrong Liang ,  Mark Wax ,  Ming Wan ,  Dongqing Chen ,  Bin Li

发明人： Arie Kaufman ,  Zhengrong Liang ,  Mark Wax ,  Ming Wan ,  Dongqing Chen ,  Bin Li

IPC分类号： A61B5/05

CPC分类号： A61B5/055 ,  A61B5/726 ,  A61B6/032 ,  A61B8/483 ,  G06T7/11 ,  G06T15/08 ,  G06T19/00 ,  G06T2207/10072 ,  G06T2207/30028 ,  G06T2207/30084 ,  G06T2207/30172 ,  G06T2210/41 ,  G06T2219/028 ,  G06T2219/2004 ,  G09B23/28

摘要： Methods for generating a three-dimensional visualization image of an object, such as an internal organ, using volume visualization techniques are provided. The techniques include a multi-scan imaging method; a multi-resolution imaging method; and a method for generating a skeleton of a complex three dimension object. The applications include virtual cystoscopy, virtual laryngoscopy, virtual angiography, among others.

摘要翻译： 提供了使用体积可视化技术来生成诸如内部器官的对象的三维可视化图像的方法。 该技术包括多扫描成像方法; 多分辨率成像方法; 以及用于生成复杂三维物体的骨架的方法。 应用包括虚拟膀胱镜检查，虚拟喉镜检查，虚拟血管造影等。

公开(公告)号：US20070103464A1

公开(公告)日：2007-05-10

申请号：US11613306

申请日：2006-12-20

申请人： Arie Kaufman ,  Zhengrong Liang ,  Mark Wax ,  Ming Wan ,  Dongqing Chen ,  Bin Li

发明人： Arie Kaufman ,  Zhengrong Liang ,  Mark Wax ,  Ming Wan ,  Dongqing Chen ,  Bin Li

IPC分类号： G06T17/00

CPC分类号： G06T17/00 ,  G06T7/0012 ,  G06T7/11 ,  G06T7/136 ,  G06T7/64 ,  G06T15/08 ,  G06T19/00 ,  G06T2207/10081 ,  G06T2207/20044 ,  G06T2207/20064 ,  G06T2207/30028 ,  G06T2207/30101

摘要： Methods for generating a three-dimensional visualization image of an object, such as an internal organ, using volume visualization techniques are provided. The techniques include a multi-scan imaging method; a multi-resolution imaging method; and a method for generating a skeleton of a complex three dimension object. The applications include virtual cystoscopy, virtual laryngoscopy, virtual angiography, among others.