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1. 发明申请

US20140018670A1 X-RAY POSE RECOVERY 有权
公开(公告)号：US20140018670A1
公开(公告)日：2014-01-16
申请号：US14007334
申请日：2012-03-29
申请人： Xin Liu , Ameet Kumar Jain
发明人： Xin Liu , Ameet Kumar Jain
IPC分类号： A61B6/12
CPC分类号： A61B6/12 , A61B6/4441 , A61B6/487 , A61B6/547 , A61B34/20 , A61B2090/367 , A61B2090/376 , A61B2090/3966 , F04C2270/041
摘要： A method, system, and program product are provided for x-ray pose recovery during an endoscopic procedure. An x-ray image is taken with a C-arm at a first pose, capturing a region of an endoscope with fiducials thereon. The C-arm is moved from the first pose to a second pose at another viewing angle while maintaining the position of the endoscope. Anotherx-ray image is taken with the C-arm at the second C-arm pose, capturing the region of the endoscope with the fiducials thereon. The location of the fiducials on each x-ray image is determined using segmentation. An iterative optimization is performed using the locations of the fiducials in the two x-ray images to form two-dimensional projections of the three dimensional curve of the region of the endoscope with fiducials thereon to determine the three-dimensional translation and rotation of the C-arm from the first x-ray pose to the second x-ray pose.
摘要翻译：提供了一种方法，系统和程序产品，用于内窥镜过程中的x射线姿态恢复。以C形臂以第一姿势拍摄x射线图像，在其上捕获具有基准的内窥镜的区域。在维持内窥镜的位置的同时，C臂在另一个视角从第一姿势移动到第二姿态。以C臂在第二C臂姿势拍摄另一张X射线图像，以其上的基准捕获内窥镜的区域。使用分割确定每个X射线图像上的基准点的位置。使用两个x射线图像中的基准点的位置来执行迭代优化，以形成具有基准的内窥镜区域的三维曲线的二维投影，以确定C的三维平移和旋转从第一个x射线姿势到第二个x射线姿势。

2. 发明授权

US09232924B2 X-ray pose recovery 有权
标题翻译： X射线姿态恢复
公开(公告)号：US09232924B2
公开(公告)日：2016-01-12
申请号：US14007334
申请日：2012-03-29
申请人： Xin Liu , Ameet Kumar Jain
发明人： Xin Liu , Ameet Kumar Jain
IPC分类号： A61B6/12 , A61B6/00 , A61B19/00
CPC分类号： A61B6/12 , A61B6/4441 , A61B6/487 , A61B6/547 , A61B34/20 , A61B2090/367 , A61B2090/376 , A61B2090/3966 , F04C2270/041
摘要： A method, system, and program product are provided for x-ray pose recovery during an endoscopic procedure. An x-ray image is taken with a C-arm at a first pose, capturing a region of an endoscope with fiducials thereon. The C-arm is moved from the first pose to a second pose at another viewing angle while maintaining the position of the endoscope. Another x-ray image is taken with the C-arm at the second C-arm pose, capturing the region of the endoscope with the fiducials thereon. The location of the fiducials on each x-ray image is determined using segmentation. An iterative optimization is performed using the locations of the fiducials in the two x-ray images to form two-dimensional projections of the three dimensional curve of the region of the endoscope with fiducials thereon to determine the three-dimensional translation and rotation of the C-arm from the first x-ray pose to the second x-ray pose.
摘要翻译：提供了一种方法，系统和程序产品，用于内窥镜过程中的x射线姿态恢复。以C形臂以第一姿势拍摄x射线图像，在其上捕获具有基准的内窥镜的区域。在维持内窥镜的位置的同时，C臂在另一个视角从第一姿势移动到第二姿态。以C臂在第二C臂姿势拍摄另一X射线图像，以其上的基准捕获内窥镜的区域。使用分割确定每个X射线图像上的基准点的位置。使用两个x射线图像中的基准点的位置来执行迭代优化，以形成具有基准的内窥镜区域的三维曲线的二维投影，以确定C的三维平移和旋转从第一个x射线姿势到第二个x射线姿势。

3. 发明申请

US20130281839A1 VISUALIZATION OF CATHETER OF THREE-DIMENSIONAL ULTRASOUND 有权
标题翻译：三维超声波导管的可视化
公开(公告)号：US20130281839A1
公开(公告)日：2013-10-24
申请号：US13997800
申请日：2012-01-10
申请人： Pingkun Yan , Vijay Parthasarathy , Robert Manzke , Ameet Kumar Jain
发明人： Pingkun Yan , Vijay Parthasarathy , Robert Manzke , Ameet Kumar Jain
IPC分类号： A61B19/00
CPC分类号： A61B34/20 , A61B6/12 , A61B8/0883 , A61B8/466 , A61B8/483
摘要： An image-guided system employs an X-ray imaging device (20) for generating one or more X-ray images (25, 26) illustrating a tool (41) within an anatomical region (40) and an ultrasound imaging device (30) for generating an ultrasound image (33) illustrating the tool (41) within the anatomical region (40). The image-guided system further employs a tool tracking device (50) for visually tracking the tool (41) within the anatomical region (40). In operation, the tool tracking device (50) localizes a portion of the tool (41) as located within the ultrasound image (33) responsive to an identification of the portion of the tool (41) as located within the X-ray image(s) (25, 26), and executes an image segmentation of an entirety of the tool (41) as located within the ultrasound image (33) relative to a localization of the portion of the tool (41) as located within the ultrasound image (33).
摘要翻译：图像引导系统采用X射线成像装置（20），用于产生示出解剖区域（40）内的工具（41）和超声成像装置（30）的一个或多个X射线图像（25,26）用于产生示出所述解剖区域（40）内的所述工具（41）的超声图像（33）。图像引导系统还采用用于在解剖区域（40）内目视跟踪工具（41）的工具跟踪装置（50）。在操作中，工具跟踪装置（50）响应于位于X射线图像内的工具（41）的部分的识别，使位于超声波图像（33）内的工具（41）的一部分定位 s）（25,26），并且相对于位于超声波图像内的工具（41）的部分的定位，执行位于超声波图像（33）内的整个工具（41）的图像分割（33）。

4. 发明授权

US09165114B2 Method and system for characterizing and visualizing electromagnetic tracking errors 有权
标题翻译：表征和可视化电磁跟踪误差的方法和系统
公开(公告)号：US09165114B2
公开(公告)日：2015-10-20
申请号：US13582062
申请日：2011-02-21
申请人： Ameet Kumar Jain , Mohammad Babak Matinfar , Raymond Chan , Vijay Parthasarthy , Douglas A. Stanton
发明人： Ameet Kumar Jain , Mohammad Babak Matinfar , Raymond Chan , Vijay Parthasarthy , Douglas A. Stanton
IPC分类号： A61B5/055 , G06F19/00 , A61B19/00 , A61B17/00
CPC分类号： G06F19/3437 , A61B34/20 , A61B2017/00119 , A61B2034/2051 , G06F19/00 , G16H50/50
摘要： A calibration/surgical tool includes an electromagnetic sensor array of two or more electromagnetic sensors in a known geometrical configuration. Electromagnetic tracking errors are characterized by a mapping of pre-operative absolute and relative errors based on a movement of a calibrated calibration/surgical tool through a pre-operative electromagnetic field. Using statistical mapping, a desired absolute error field is measured either in the clinic as the part of daily quality control checks, or before the patient comes in or in vivo. A resulting error field may be displayed to the physician to provide clear visual feedback about measurement confidence or reliability of localization estimates of the absolute errors in electromagnetic tracking.
摘要翻译：校准/外科手术工具包括具有已知几何构型的两个或多个电磁传感器的电磁传感器阵列。电磁跟踪误差的特征在于基于校准的校准/外科手术工具通过术前电磁场的运动的术前绝对和相对误差的映射。使用统计映射，期望的绝对误差字段在诊所中测量为日常质量控制检查的一部分，或患者进入或体内之前。可以向医师显示产生的误差字段，以提供关于电磁跟踪中的绝对误差的定位估计的测量置信度或可靠性的清晰的视觉反馈。

5. 发明申请

US20130266178A1 REAL-TIME QUALITY CONTROL OF EM CALIBRATION 有权
标题翻译： EM校准的实时质量控制
公开(公告)号：US20130266178A1
公开(公告)日：2013-10-10
申请号：US13702724
申请日：2011-05-27
申请人： Ameet Kumar Jain
发明人： Ameet Kumar Jain
IPC分类号： G06T7/00
CPC分类号： G06T7/004 , A61B5/064 , A61B5/065 , A61B5/1113 , A61B8/12 , A61B8/4245 , A61B8/4254 , A61B8/5261 , A61B34/20 , A61B2017/00243 , A61B2017/00725 , A61B2034/2051 , A61B2090/378 , G06T7/20 , G06T7/70 , G06T2200/04 , G06T2207/10136 , G06T2207/30048
摘要： A probe (20) generates a plurality of image volumes (13i, 13j) of an anatomical object (10) within a coordinate system (11) and an imaging device (21) generates imaging data (22) representative of the image volumes (13i, Tracking 13j) of the anatomical object (10). A position sensor (30) is attached to the Device probe (20), and a tracking device (31) generates tracking data (22) representative of a tracking of the position sensor (30) within the coordinate system (11). A registration device (40) executes a validation testing of a calibration matrix (51) associated with a spatial relationship between the image volumes (13i, 13j) and the position sensor (30). The validation testing includes a testing of an absolute differential between an image based volume motion (VMIB) and a tracking based volume motion (VMTB) relative to a calibration threshold (CT).
摘要翻译：探针（20）在坐标系（11）内生成解剖体（10）的多个图像体积（13i，13j），并且成像装置（21）生成代表图像体积（13i）的成像数据（22），跟踪13j）解剖体（10）。位置传感器（30）附接到装置探针（20），跟踪装置（31）产生代表坐标系（11）内的位置传感器（30）的跟踪的跟踪数据（22）。注册装置（40）执行与图像容积（13i，13j）和位置传感器（30）之间的空间关系相关联的校准矩阵（51）的验证测试。验证测试包括相对于校准阈值（CT）的基于图像的体积运动（VMIB）和基于跟踪的体积运动（VMTB）之间的绝对差分的测试。

6. 发明授权

US09282946B2 Ultrasonic tracking of ultrasound transducer(s) aboard an interventional tool 有权
标题翻译：超声波跟踪超声波传感器在介入工具上
公开(公告)号：US09282946B2
公开(公告)日：2016-03-15
申请号：US13643374
申请日：2011-04-20
申请人： Francois Guy Gerard Marie Vignon , William Tao Shi , Jean-Luc Robert , Ameet Kumar Jain , Luis Felipe Gutierrez
发明人： Francois Guy Gerard Marie Vignon , William Tao Shi , Jean-Luc Robert , Ameet Kumar Jain , Luis Felipe Gutierrez
IPC分类号： A61B8/00 , A61B8/12 , A61B8/08 , G01S7/52 , G01S15/89 , A61B19/00
CPC分类号： A61B8/0841 , A61B8/12 , A61B8/4488 , A61B8/483 , A61B8/5207 , A61B34/20 , A61B2090/3782 , G01S7/52085 , G01S15/8915 , G01S15/8993 , G01S15/8997
摘要： In one aspect, an ultrasound receive beamformer is configured for one-way only beamforming of transmissive ultrasound using one-way delays. The receive beamforming in some embodiments is used to track, in real time, a catheter, needle or other surgical tool within an image of a region of interest. The tool can have embedded at its tip a small ultrasound transmitter or receiver for transmitting or receiving the transmissive ultrasound. Optionally, additional transducers are fixed along the tool to provide the orientation of the tool.
摘要翻译：在一个方面，超声接收波束形成器被配置用于单向延迟的单向波束形成透射超声波。在一些实施例中，接收波束形成用于实时跟踪感兴趣区域的图像内的导管，针或其它手术工具。该工具可以在其尖端处嵌入用于传输或接收透射超声的小型超声波发射器或接收器。可选地，沿着工具固定附加的换能器以提供工具的取向。

7. 发明申请

US20140206994A1 ACCURATE VISUALIZATION OF SOFT TISSUE MOTION ON X-RAY 审中-公开
标题翻译： X射线软组织运动的准确可视化
公开(公告)号：US20140206994A1
公开(公告)日：2014-07-24
申请号：US14235220
申请日：2012-07-26
申请人： Ameet Kumar Jain , Vijay Parthasarathy
发明人： Ameet Kumar Jain , Vijay Parthasarathy
IPC分类号： A61B8/08 , A61B6/00
CPC分类号： A61B8/5261 , A61B6/12 , A61B6/4441 , A61B6/469 , A61B6/487 , A61B6/5247 , A61B8/0833 , A61B8/4254 , A61B8/469 , A61B2034/2065 , A61B2090/364 , A61B2090/3782 , G06T7/20 , G06T7/30 , G06T2207/10116 , G06T2207/10132
摘要： A method, system, and program product are provided for accurately visualizing soft tissue motion on an x-ray image. Real time ultrasound images are registered to an x-ray image space. A point of interest is defined. Motion of the selected point is determined from the real time ultrasound images. The determined motion is applied to the selected point on the x-ray image.
摘要翻译：提供了一种方法，系统和程序产品，用于准确地可视化X射线图像上的软组织运动。实时超声图像被注册到X射线图像空间。定义兴趣点。所选点的运动由实时超声图像确定。将确定的运动应用于x射线图像上的选定点。

8. 发明申请

US20140121502A1 OBJECT-POSE-BASED INITIALIZATION OF AN ULTRASOUND BEAMFORMER 审中-公开
标题翻译：超声波束对象的基于对象的原始初始化
公开(公告)号：US20140121502A1
公开(公告)日：2014-05-01
申请号：US14128139
申请日：2012-06-19
申请人： Francois Guy Gerard Marie Vignon , Ameet Kumar Jain , Jean-Luc Robert
发明人： Francois Guy Gerard Marie Vignon , Ameet Kumar Jain , Jean-Luc Robert
IPC分类号： A61B8/08 , A61B8/14 , A61M25/01 , A61B8/00
摘要： Beamforming to image an object (310), such as an interventional tool, is enhanced by initializing the beamformer (308) with the object's location, and optionally its orientation. The initializing uses an estimate of the location/orientation. The estimate is derived from the output of one or more sensors (304, 306). These are disposed external to the imaging array (316) that operates with the beamformer. The estimate is made without the need for a result of any imaging based on data arriving by reflected ultrasound. One or more of the sensors may be attached to the object, which may be elongated, as in the case of a needle or catheter used in medical diagnosis and treatment. In some implementations, one or more of the sensors are attached to the imaging probe (302). The sensors may be, for example, ultrasound, electromagnetic, optical, or shape sensors. Alternatively, ultrasound transmitting transducers may be substituted for the ultrasound sensors.
摘要翻译：通过用对象的位置初始化波束形成器（308）以及可选的方向来增强对成像对象（310）进行成像（例如介入工具）的波束形成。初始化使用位置/方向的估计。估计是从一个或多个传感器（304,306）的输出导出的。这些设置在与波束成形器一起操作的成像阵列（316）的外部。无需基于通过反射超声波到达的数据的任何成像的结果进行估计。如在用于医学诊断和治疗的针或导管的情况下，一个或多个传感器可以附接到物体，该物体可以是细长的。在一些实施方案中，一个或多个传感器附接到成像探针（302）。传感器可以是例如超声波，电磁，光学或形状传感器。或者，可以将超声波发射换能器代替超声波传感器。

9. 发明申请

US20140094695A1 THREE-DIMENSIONAL NEEDLE LOCALIZATION WITH A TWO-DIMENSIONAL IMAGING PROBE 审中-公开
标题翻译：具有二维成像探针的三维针状局部化
公开(公告)号：US20140094695A1
公开(公告)日：2014-04-03
申请号：US14118244
申请日：2012-06-06
申请人： Ameet Kumar Jain , Francois Guy Gerard Marie Vignon
发明人： Ameet Kumar Jain , Francois Guy Gerard Marie Vignon
IPC分类号： A61B8/08 , A61B8/00
CPC分类号： A61B8/0841 , A61B8/4483 , A61B8/4494 , A61B8/461 , A61B8/466 , A61B8/467 , A61B8/481 , A61B8/52 , A61B8/5261 , A61B34/20 , A61B2034/2051 , A61B2034/2063 , A61B2090/3929
摘要： An imaging system and method include a medical device (102) having a tracking element (106) mounted thereon. An array (109) of transducers is spaced apart from one another for exchanging energy in a subject between tracking element and the array of transducers. A trilateration module (104) is configured to interpret signals sensed between tracking element and the array of transducers to compute times of flight of signals associated with the transducers in the array such that a position of tracking element is determined in at least two dimensions to locate a position of the medical device in a visual image.
摘要翻译：成像系统和方法包括具有安装在其上的跟踪元件（106）的医疗装置（102）。换能器的阵列（109）彼此间隔开，用于在跟踪元件和换能器阵列之间的受试者中交换能量。三边测量模块（104）被配置为解释在跟踪元件和换能器阵列之间感测的信号，以计算与阵列中的换能器相关联的信号的飞行时间，使得跟踪元件的位置在至少二维中被确定以定位医疗设备在视觉图像中的位置。

10. 发明申请

US20130245433A1 LOCATION DETERMINATION APPARATUS 审中-公开
标题翻译：位置确定装置
公开(公告)号：US20130245433A1
公开(公告)日：2013-09-19
申请号：US13885016
申请日：2011-10-18
申请人： Szabolcs Deladi , Erik Godefridus Antonius Harks , Ameet Kumar Jain , Francois Guy Gerard Marie Vignon , Maikel Hendriks , Garardus Henricus Maria Gijsbers
发明人： Szabolcs Deladi , Erik Godefridus Antonius Harks , Ameet Kumar Jain , Francois Guy Gerard Marie Vignon , Maikel Hendriks , Garardus Henricus Maria Gijsbers
IPC分类号： A61B19/00
CPC分类号： A61B8/4483 , A61B8/0883 , A61B8/12 , A61B8/445 , A61B18/1492 , A61B34/20 , A61B2018/00738 , A61B2018/00839 , A61B2034/2051 , A61B2034/2063 , A61B2090/364 , A61B2090/3782 , B06B1/0629 , G01S2015/465 , Y10T29/42
摘要： The invention relates to location determination apparatus for determining a location of a first object (2) like a catheter within a second object (3) being, for example, the heart of a person. The first object comprises a first ultrasound unit, and a second ultrasound unit (5) is located outside the second object. A location determination unit determines the location of the first object within the second object based on ultra-sound signals transmitted 5 between the first ultrasound unit and the second ultrasound unit. This allows determining the location of the first object within the second object reliably in a way which is an alternative to using a transmission of electrical signals for determining the location and which may lead to an improved accuracy of determining the location.
摘要翻译：本发明涉及用于确定第二物体（3）内的诸如导管的第一物体（2）的位置的位置确定装置，例如是人的心脏。第一对象包括第一超声单元，并且第二超声单元（5）位于第二对象外部。位置确定单元基于在第一超声单元和第二超声单元之间发送的超声信号5来确定第二对象内的第一对象的位置。这允许以可用于确定位置的电信号的传输的替代方式可靠地确定第二对象内的第一对象的位置，并且可以导致确定位置的改进的准确性。

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