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1. 发明申请

WO2005024721A2 2D/3D IMAGE REGISTRATION IN IMAGE-GUIDED RADIOSURGERY 审中-公开
标题翻译：图像导向放射治疗中的2D / 3D图像注册
公开(公告)号：WO2005024721A2
公开(公告)日：2005-03-17
申请号：PCT/US2004/027158
申请日：2004-08-20
申请人： ACCURAY, INC. , KUDUVALLI, Gopinath , FU, Dongshan , QURESHI, Shehrzad
发明人： KUDUVALLI, Gopinath , FU, Dongshan , QURESHI, Shehrzad
IPC分类号： G06T
CPC分类号： A61N5/1049 , A61N5/1067 , A61N5/107 , A61N2005/1061 , A61N2005/1062 , G01N23/04 , G06T7/254 , G06T7/32 , G06T7/38 , G06T2207/10124 , G06T2207/30004
摘要： An image-guided radiosurgery method and system are presented that use 2D/3D image registration to keep the radiosurgical beams properly focused onto a treatment target. A pre-treatment 3D scan of the target is generated at or near treatment planning time. A set of 2D DRRs are generated, based on the pretreatment 3D scan. At least one 2D x-ray image of the target is generated in near real time during treatment. The DRRs are registered with the x-ray images, by computing a set of 3D transformation parameters that represent the change in target position between the 3D scan and the x-ray images. The relative position of the radiosurgical beams and the target is continuously adjusted in near real time in accordance with the 3D transformation parameters. A hierarchical and iterative 2D/3D registration algorithm is used, in which the transformation parameters that are in-plane with respect to the image plane of the x-ray images are computed separately from the out-of-plane transformation parameters.
摘要翻译：提出了一种使用2D / 3D图像配准的图像引导放射外科手术方法和系统，将放射外科手术束适当地聚焦到治疗目标上。在治疗计划时间或附近产生目标的预处理3D扫描。基于预处理3D扫描生成一组2D DRR。在治疗期间，近乎实时地产生目标的至少一个2D X射线图像。通过计算表示3D扫描和X射线图像之间的目标位置的变化的一组3D变换参数，向X射线图像登记DRR。根据3D变换参数，放射外科手术束和目标物的相对位置以近实时的方式连续调整。使用分层和迭代的2D / 3D注册算法，其中相对于x射线图像的像面在平面内的变换参数与面外变换参数分开计算。

2. 发明申请

WO2006006966A2 DRR GENERATION USING A NON-LINEAR ATTENUATION MODEL 审中-公开
标题翻译：使用非线性衰减模型的DRR生成
公开(公告)号：WO2006006966A2
公开(公告)日：2006-01-19
申请号：PCT/US2005/011200
申请日：2005-04-01
申请人： ACCURAY, INC. , FU, Dongshan , KUDUVALLI, Gopinath
发明人： FU, Dongshan , KUDUVALLI, Gopinath
IPC分类号： G06K9/00
CPC分类号： G06T11/008
摘要： A method and system are presented for generating a DRR of an anatomical region so that the visibility within the DRR of one or more skeletal reference structures is enhanced. 3D scan data, which have been obtained from a 3D scan of the object conducted at a 3D scan energy level, are provided. The 3D scan data are modified to compensated for a difference between the ratio of bone-to-tissue attenuation at the 3D scan energy level, and the ratio of bone-to-tissue attenuation at the intensity of the imaging beam which the DRR emulates. The modified 3D scan data are related to the raw 3D scan data by a non-linear, exponential relationship. A plurality of hypothetical rays are cast through the modified 3D scan data, from the known geometry of the imaging beam. The 3D scan data are integrated along each hypothetical ray, and the integrated values are projected onto an imaging plane.
摘要翻译：提出了一种用于生成解剖区域的DRR的方法和系统，使得增强了一个或多个骨骼参考结构的DRR内的可视性。提供了从3D扫描能级进行的对象的3D扫描获得的3D扫描数据。 3D扫描数据被修改以补偿3D扫描能量级别的骨组织衰减比率与DRR模拟的成像束强度之间的骨组织衰减比。经修改的3D扫描数据通过非线性指数关系与原始3D扫描数据相关。通过成像光束的已知几何形状，通过修改的3D扫描数据投射多个假想射线。 3D扫描数据沿着每个假想射线进行积分，并将积分值投影到成像平面上。

3. 发明申请

WO2006011935A2 ROI SELECTION IN IMAGE REGISTRATION 审中-公开
标题翻译：投资选择图像注册
公开(公告)号：WO2006011935A2
公开(公告)日：2006-02-02
申请号：PCT/US2005/010754
申请日：2005-03-30
申请人： ACCURAY, INC. , FU, Dongshan , KUDUVALLI, Gopinath
发明人： FU, Dongshan , KUDUVALLI, Gopinath
IPC分类号： G06K9/32 , G06K9/34 , G06K9/00
CPC分类号： G06K9/3233 , G06T7/238 , G06T7/32 , G06T2207/10116 , G06T2207/10124 , G06T2207/20016 , G06T2207/20021 , G06T2207/20132 , G06T2207/30004
摘要： A method and system is presented for automatically selecting a region of interest (ROI) within an image of an object, for example when performing non-rigid image registration between the image and another image of the object. In this way, the need for user interaction can be minimized or eliminated during image registration. The ROI is determined by defining an entropy measure H of the image, and selecting the region within the image in which the entropy measure is maximized, In this way, the ROI is optimized to contain as much information as possible. In one embodiment, the entropy measure H is a modified Shannon entropy, defined by H = - Σ I P(I) log P(I), where I is the value of the image intensity level, and P(I) is the probability of an image intensity value I occurring within the ROI.
摘要翻译：提出了一种方法和系统，用于在对象的图像内自动选择感兴趣区域（ROI），例如当在图像与对象的另一图像之间执行非刚性图像配准时。以这种方式，可以在图像配准期间最小化或消除用户交互的需要。通过定义图像的熵测量H并选择熵测量最大化的图像内的区域来确定ROI。这样，ROI被优化以包含尽可能多的信息。在一个实施例中，熵测量H是由H = -SIP（I）log P（I）定义的修改的香农熵，其中I是图像强度水平的值，并且P（I）是图像强度值I发生在ROI内。

4. 发明申请

WO2006011925A2 FIDUCIAL-LESS TRACKING WITH NON-RIGID IMAGE REGISTRATION 审中-公开
标题翻译：使用非刚体图像注册进行无缺陷跟踪
公开(公告)号：WO2006011925A2
公开(公告)日：2006-02-02
申请号：PCT/US2005/008659
申请日：2005-03-15
申请人： ACCURAY, INC. , FU, Dongshan , KUDUVALLI, Gopinath
发明人： FU, Dongshan , KUDUVALLI, Gopinath
IPC分类号： G06K9/32
CPC分类号： G06K9/32 , G06K2209/05 , G06T7/344 , G06T2207/10081 , G06T2207/10121 , G06T2207/10124 , G06T2207/30012
摘要： A method and system is presented for tracking patient motion in image guided surgery, using skeletal reference structures instead of fiducial markers. A non-rigid 2D/3D image registration is performed between pre-operative 3D scan data and intra-operative 2D images. The CT numbers are modified to compensate for the difference between the ratio of bone-to-tissue attenuation at the CT scan energy level, and the x-ray projection energy level. DRRs are generated from the modified CT numbers. An ROI, within which the image registration is restricted, is defined within the DRRs by calculating a modified Shannon entropy for each image, and seeking the region in which the image entropy is maximized. The DRRs and 2D images are enhanced by applying a top hat filter to increase the visibility of the skeletal structures. The 2D/3D transformation parameters are determined by generating a full motion field that accounts for non-rigid motions and deformations. The full motion field that accounts for non-rigid motions and deformations. The full motion field is derived by estimating a plurality of local motion fields, using multi-level block matching and a similarity measure based on pattern intensity.
摘要翻译：提出了一种方法和系统，用于跟踪图像引导手术中的患者运动，使用骨骼参考结构而不是基准标记。在手术前3D扫描数据和手术内2D图像之间进行非刚性2D / 3D图像配准。修改CT编号以补偿CT扫描能量级别的骨骼与组织衰减的比率与x射线投影能量水平之间的差异。从修改的CT编号生成DRR。通过对每个图像计算修改的香农熵，并寻找图像熵最大化的区域，在DRR内部定义图像配准受限的ROI。通过应用顶帽过滤器来增加骨架结构的可视性，可以增强DRR和2D图像。 2D / 3D变换参数通过产生考虑非刚性运动和变形的全运动场来确定。导致非刚性运动和变形的全运动场。通过使用多级块匹配和基于图案强度的相似性度量来估计多个局部运动场来导出全运动场。

5. 发明申请

WO2006011928A2 IMAGE ENHANCEMENT METHOD AND SYSTEM FOR FIDUCIAL-LESS TRACKING OF TREATMENT TARGETS 审中-公开
标题翻译：图像增强方法和系统，用于治疗目标的无缺陷跟踪
公开(公告)号：WO2006011928A2
公开(公告)日：2006-02-02
申请号：PCT/US2005/009485
申请日：2005-03-18
申请人： ACCURAY, INC. , FU, Dongshan , KUDUVALLI, Gopinath
发明人： FU, Dongshan , KUDUVALLI, Gopinath
IPC分类号： G06K9/40
CPC分类号： G06T5/30 , A61B6/505 , A61B6/5235 , A61N5/1049 , A61N2005/1061 , A61N2005/1062 , G06T5/008 , G06T7/33 , G06T7/35 , G06T7/38 , G06T2207/10116 , G06T2207/30004
摘要： A method and system are presented for enhancing one or more images of an object, so as to increase the visibility within the images of one or more structures within the object. The object may be an anatomical region of a patient, and may include one or more reference structures, for example skeletal structures or vertebral structures, and one or more treatment targets, for example tumors or lesions. An operator, for example a top-hat filter operator, selects at least a first neighborhood and a second neighborhood within the images. The operator selects within each neighborhood one or more pixels having an optimal pixel value, and eliminates the remaining pixels in these neighborhoods. When the operator is applied to the selected neighborhoods, only the pixels having the greatest pixel values remain in the selected neighborhoods, and the remaining pixels are eliminated in the selected neighborhoods. As a result, desired features can be located and enhanced in the images.
摘要翻译：呈现用于增强对象的一个或多个图像的方法和系统，以便增加对象内的一个或多个结构的图像内的可视性。该对象可以是患者的解剖区域，并且可以包括一个或多个参考结构，例如骨骼结构或椎体结构，以及一个或多个治疗靶，例如肿瘤或病变。运算符，例如顶帽滤波器运算符，选择图像内的至少第一邻域和第二邻域。操作者在每个邻域内选择具有最佳像素值的一个或多个像素，并消除这些邻域中的剩余像素。当操作者被应用于所选择的邻域时，只有具有最大像素值的像素保留在所选择的邻域中，并且在所选择的邻域中消除剩余的像素。因此，可以在图像中定位和增强期望的特征。

6. 发明申请

WO2006011924A3 MOTION FIELD GENERATION FOR NON-RIGID IMAGE REGISTRATION 审中-公开
公开(公告)号：WO2006011924A3
公开(公告)日：2006-02-02
申请号：PCT/US2005/008617
申请日：2005-03-14
申请人： ACCURAY, INC. , FU, Dongshan , KUDUVALLI, Gopinath
发明人： FU, Dongshan , KUDUVALLI, Gopinath
IPC分类号： G06K9/00 , G06K9/36 , G06K9/38
摘要： A method and system is presented for generating a full motion field of an object, when performing non-rigid image registration between a first and a second image of the object. A mesh grid generator (310) generates in the first image a mesh grid having a plurality of mesh nodes, for each of a hierarchy of mesh resolution levels. A nodal motion estimator (320) estimates, for each me node, at least one nodal motion vector that describes a matching of the mesh node with a corresponding mesh node in the second image. At each mesh node, multi-level block matching is performed, using a similarity measure based on pattern intensity. A smoothness constraint is imposed, in order to reconstruct the nodal motion vector for those mesh nodes at which mismatching occurs. A motion field interpolator determines a local motion vector for any desired point of interest within the first image, by interpolating from the nodal motion vectors of the surronding mesh nodes.

7. 发明申请

WO2009088407A1 TARGET TRACKING USING SURFACE SCANNER AND FOUR-DIMENSIONAL DIAGNOSTIC IMAGING DATA 审中-公开
标题翻译：使用表面扫描仪和四维诊断成像数据的目标跟踪
公开(公告)号：WO2009088407A1
公开(公告)日：2009-07-16
申请号：PCT/US2008/012274
申请日：2008-10-28
申请人： ACCURAY INCORPORATED , ZHANG, Hui , FU, Dongshan , KUDUVALLI, Gopinath
发明人： ZHANG, Hui , FU, Dongshan , KUDUVALLI, Gopinath
IPC分类号： A61B5/05
CPC分类号： A61B6/08 , A61B5/113 , A61B6/4458 , A61B6/466 , A61B6/5235 , A61B6/5247 , A61B2090/366 , A61N5/1037 , A61N5/1049 , A61N5/1067 , A61N2005/105 , A61N2005/1059
摘要： A method and apparatus for tracking a pathological anatomy within a patient's body is described. A data model of a skin surface of the patient's body may be acquired using light reflected from the skin surface. The data model can be matched with skin surfaces reconstructed and/or interpolated from four-dimensional (4D) diagnostic imaging data, such as 4D CT data, to determine a temporal phase of the patient's respiratory motion. The identified temporal phase may then be used in conjunction with the diagnostic imaging data to identify a location of the pathological anatomy within the patient's body.
摘要翻译：描述了用于跟踪患者体内的病理解剖结构的方法和装置。可以使用从皮肤表面反射的光获取患者身体的皮肤表面的数据模型。数据模型可以与四维（4D）诊断成像数据（例如4D CT数据）重建和/或内插的皮肤表面匹配，以确定患者呼吸运动的时间阶段。所识别的时间阶段然后可以与诊断成像数据结合使用以识别患者体内的病理解剖结构的位置。

8. 发明申请

WO2007005445A3 PRECISION REGISTRATION OF X-RAY IMAGES TO CONE-BEAM CT SCAN FOR IMAGE-GUIDED RADIATION TREATMENT 审中-公开
公开(公告)号：WO2007005445A3
公开(公告)日：2007-01-11
申请号：PCT/US2006/025120
申请日：2006-06-27
申请人： ACCURAY INCORPORATED , FU, Dongshan , SARACEN, Michael, J. , KUDUVALLI, Gopinath
发明人： FU, Dongshan , SARACEN, Michael, J. , KUDUVALLI, Gopinath
IPC分类号： G06K9/00 , A61B5/00
摘要： A method for precision registration of X-ray images to cone-beam CT scan for image-guided radiosurgery includes acquiring 2-D pre-treatment X-ray images (802) of a region of interest, acquiring a 2-D X-ray image of the region of interest at approximately a time of treatment (804), registering the 2-D X-ray image with a corresponding 2-D pre-treatment X-ray image to obtain a 2-D registration result at approximately the time of treatment (806), and converting the 2-D registration result into a 3-D tracking result to track the region of interest (807).

9. 发明申请

WO2007002926A2 DYNAMIC TRACKING OF SOFT TISSUE TARGETS WITH ULTRASOUND IMAGES, WITHOUT USING FIDUCIAL MARKERS 审中-公开
标题翻译：具有超声图像的软组织目标的动态跟踪，不使用FIDUCAL MARKERS
公开(公告)号：WO2007002926A2
公开(公告)日：2007-01-04
申请号：PCT/US2006/025793
申请日：2006-06-29
申请人： ACCURAY INCORPORATED , FU, Dongshan , KUDUVALLI, Gopinath , ALLISON, John
发明人： FU, Dongshan , KUDUVALLI, Gopinath , ALLISON, John
IPC分类号： A61B5/05
CPC分类号： A61N5/1049 , A61B8/08 , A61N5/1067 , A61N5/107 , A61N2005/1052 , A61N2005/1055 , A61N2005/1058 , A61N2005/1061 , A61N2005/1062
摘要： An apparatus and method of dynamically tracking a soft tissue target with ultrasound images, without the use of fiducial markers.
摘要翻译：用超声图像动态跟踪软组织靶的装置和方法，而不使用基准标记。

10. 发明申请

WO2010039404A1 SUBTRACTION OF A SEGMENTED ANATOMICAL FEATURE FROM AN ACQUIRED IMAGE 审中-公开
标题翻译：从获取的图像中分离出分离的解剖特征
公开(公告)号：WO2010039404A1
公开(公告)日：2010-04-08
申请号：PCT/US2009/056526
申请日：2009-09-10
申请人： ACCURAY INCORPORATED , FU, Dongshan , KUDUVALLI, Gopinath , ZHANG, Hui
发明人： FU, Dongshan , KUDUVALLI, Gopinath , ZHANG, Hui
IPC分类号： G06K9/18
CPC分类号： A61N5/1049 , A61N2005/1062 , G06T5/50 , G06T2207/20224
摘要： A system, method and apparatus for subtracting a synthetically- generated image, including a segmented anatomical feature, from an acquired image.
摘要翻译：一种用于从所获取的图像中减去合成生成的图像（包括分割的解剖特征）的系统，方法和装置。

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