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1. 发明授权

US09064332B2 Fused-image visualization for surgery evaluation 有权
标题翻译：用于手术评估的融合图像可视化
公开(公告)号：US09064332B2
公开(公告)日：2015-06-23
申请号：US14017344
申请日：2013-09-04
申请人： Gerardo Hermosillo Valadez , Xiang Sean Zhou , Gerhard Kleinszig , Rainer Graumann
发明人： Gerardo Hermosillo Valadez , Xiang Sean Zhou , Gerhard Kleinszig , Rainer Graumann
IPC分类号： G06K9/00 , G06T11/00 , G06T7/00
CPC分类号： G06T11/003 , G06T7/0014 , G06T2207/30008
摘要： Disclosed herein is a framework for facilitating fused-image visualization for surgery evaluation. In accordance with one aspect of the framework, at least one pre-operative image and at least one intra-operative image of an anatomical structure are received. A region of interest may be identified in the intra-operative image. The pre-operative image may be straightened, and a symmetric region may be identified in the straightened pre-operative image. The symmetric region is substantially symmetrical to a target region in the straightened pre-operative region. The target region corresponds to the region of interest in the intra-operative image. The symmetric region may be extracted and reflected to generate a reference image. The intra-operative image may be rigidly registered with the reference image to generate registered intra-operative image, which is overlaid on the target region in the straightened pre-operative image to generate a fused image.
摘要翻译：本文公开了用于促进用于手术评估的融合图像可视化的框架。根据框架的一个方面，接收解剖结构的至少一个术前图像和至少一个手术内图像。可以在手术中的图像中识别感兴趣的区域。可以矫正术前图像，并且可以在矫正的手术前图像中识别对称区域。对称区域基本对称于矫正术前区域中的目标区域。目标区域对应于手术中图像中的感兴趣区域。对称区域可以被提取和反射以产生参考图像。可以将手术内图像与参考图像刚性地注册，以产生注册的手术中图像，其被覆盖在矫正的术前图像中的目标区域上以产生融合图像。

2. 发明申请

US20140003700A1 Fused-Image Visualization for Surgery Evaluation 有权
标题翻译：融合图像可视化手术评估
公开(公告)号：US20140003700A1
公开(公告)日：2014-01-02
申请号：US14017344
申请日：2013-09-04
申请人： Gerardo Hermosillo Valadez , Xiang Sean Zhou , Gerhard Kleinszig , Rainer Graumann
发明人： Gerardo Hermosillo Valadez , Xiang Sean Zhou , Gerhard Kleinszig , Rainer Graumann
IPC分类号： G06T11/00
CPC分类号： G06T11/003 , G06T7/0014 , G06T2207/30008
摘要： Disclosed herein is a framework for facilitating fused-image visualization for surgery evaluation. In accordance with one aspect of the framework, at least one pre-operative image and at least one intra-operative image of an anatomical structure are received. A region of interest may be identified in the intra-operative image. The pre-operative image may be straightened, and a symmetric region may be identified in the straightened pre-operative image. The symmetric region is substantially symmetrical to a target region in the straightened pre-operative region. The target region corresponds to the region of interest in the intra-operative image. The symmetric region may be extracted and reflected to generate a reference image. The intra-operative image may be rigidly registered with the reference image to generate registered intra-operative image, which is overlaid on the target region in the straightened pre-operative image to generate a fused image.
摘要翻译：本文公开了用于促进用于手术评估的融合图像可视化的框架。根据框架的一个方面，接收解剖结构的至少一个术前图像和至少一个手术内图像。可以在手术中的图像中识别感兴趣的区域。可以矫正术前图像，并且可以在矫正的手术前图像中识别对称区域。对称区域基本对称于矫正术前区域中的目标区域。目标区域对应于手术中图像中的感兴趣区域。对称区域可以被提取和反射以产生参考图像。可以将手术内图像与参考图像刚性地注册，以产生注册的手术中图像，其被覆盖在矫正的术前图像中的目标区域上以产生融合图像。

3. 发明申请

US20130066196A1 DETERMINING AND VERIFYING THE COORDINATE TRANSFORMATION BETWEEN AN X-RAY SYSTEM AND A SURGERY NAVIGATION SYSTEM 有权
标题翻译：确定和验证X射线系统与手术导航系统之间的协调转换
公开(公告)号：US20130066196A1
公开(公告)日：2013-03-14
申请号：US13698772
申请日：2011-04-20
申请人： Rainer Graumann , Gerhard Kleinszig , Martin Ringholz
发明人： Rainer Graumann , Gerhard Kleinszig , Martin Ringholz
IPC分类号： A61B6/12
CPC分类号： A61B6/12 , A61B6/4441 , A61B6/547 , A61B6/582 , A61B34/20 , A61B90/39 , A61B2017/00725 , A61B2034/2055 , A61B2034/207 , A61B2090/0818 , A61B2090/367 , A61B2090/3995 , G01B15/00 , G01B21/042
摘要： The device enables the detection of positions of the navigation marking elements on a reference star by way of at least two projection images taken by an X-ray system at different pivoting angles of a C-arm. The positions of the navigation marking elements on the reference star are also calculated by a navigation system tracking camera. The transformation from the coordinate system of the navigation system into the coordinate system of the X-ray system is calculated from the position of the reference star detected by the X-ray system and the position of the reference star detected by the tracking camera. The navigation marking elements are located outside of the volume which is reconstructed by way of the imaging process in order to prepare tomographic images. The positions of the navigation marking elements are determined from two-dimensional projections. All the navigation marking elements need only be detected by at least two projection images.
摘要翻译：该装置能够通过X射线系统以C形臂的不同旋转角拍摄的至少两个投影图像来检测导航标记元件在参考星上的位置。导航标记元素在参考星上的位置也由导航系统跟踪摄像机计算。从X射线系统检测到的参考星的位置和由追踪摄像机检测到的参考星的位置，计算从导航系统坐标系到X射线系统坐标系的变换。导航标记元件位于通过成像过程重建的体积外部，以便准备层析图像。导航标记元件的位置由二维投影确定。所有导航标记元件仅需要由至少两个投影图像检测。

4. 发明申请

US20120289821A1 C-ARM INTEGRATED ELECTROMAGNETIC TRACKING SYSTEM 审中-公开
标题翻译： C-ARM集成电磁跟踪系统
公开(公告)号：US20120289821A1
公开(公告)日：2012-11-15
申请号：US13304951
申请日：2011-11-28
申请人： Rainer Graumann , Gerhard Kleinszig , Jeffrey Siewerdsen , Jongheun Yoo
发明人： Rainer Graumann , Gerhard Kleinszig , Jeffrey Siewerdsen , Jongheun Yoo
IPC分类号： A61B6/00 , H05G1/64 , A61B6/03
CPC分类号： A61B6/4405 , A61B5/062 , A61B6/08 , A61B6/12 , A61B6/4423 , A61B6/4441
摘要： A medical imaging system and a method electromagnetically track a position of structures with the medical imaging system and a C-arm arrangement. The medical imaging system contains a C-arm, a gantry, and at least one electromagnetic field generator assembly with at least one electromagnetic field generator which interacts with an electromagnetic sensor from receiving the electromagnetic radiation. Preferably, the electromagnetic sensor is positioned within a region of surgical interest in a patient. The electromagnetic field generator is directly embedded into the C-arm.
摘要翻译：一种医学成像系统和一种利用医学成像系统和C臂装置电磁跟踪结构位置的方法。医疗成像系统包括C形臂，龙门架和至少一个具有至少一个电磁场发生器的电磁场发生器组件，其与电磁传感器相互作用以接收电磁辐射。优选地，电磁传感器位于患者的手术感兴趣的区域内。电磁场发生器直接嵌入C臂。

5. 发明申请

US20140051994A1 METHOD FOR DETERMINING A TARGET POSITION FOR A MEDICAL PROCEDURE 审中-公开
标题翻译：用于确定医疗程序的目标位置的方法
公开(公告)号：US20140051994A1
公开(公告)日：2014-02-20
申请号：US14112951
申请日：2012-04-13
申请人： Rainer Graumann , Gerhard Kleinszig , Martin Ringholz
发明人： Rainer Graumann , Gerhard Kleinszig , Martin Ringholz
IPC分类号： A61B19/00
CPC分类号： A61B34/10 , A61B6/032 , A61B6/12 , A61B6/4085 , A61B6/4441 , A61B34/20 , A61B2034/107 , A61B2034/2055 , A61B2090/376 , A61B2090/3966 , A61B2090/3983
摘要： A method for determining the location, in a coordinate system, of a target position for an invasive medical procedure on a patient. An entry mark that defines the coordinate system and indicates an entry position for the procedure is affixed to the patient. A site marker, which can be identified in a radioscopy image, is fixed in a known relative location in the coordinate system. At least two 2D radioscopy images of the patient, which both depict the respective site marker and the target position, are recorded from different recording directions. The location of the target position in the coordinate system is determined from the representation of the target position and from the representation of the site marker in the 2D radioscopy images and from the relative location of the site marker in the coordinate system.
摘要翻译：一种用于确定坐标系中位于患者的侵入性医疗程序的目标位置的位置的方法。定义坐标系并指示过程的入口位置的入口标记被附加到患者身上。可以在放射成像图像中识别的位点标记被固定在坐标系中已知的相对位置。从不同的记录方向记录描述相应位置标记和目标位置的患者的至少两个2D放射成像图像。目标位置在坐标系中的位置由目标位置的表示和2D放射线图像中的站点标记的表示以及坐标系中站点标记的相对位置确定。

6. 发明授权

US10368946B2 Method for determining a target position for a medical procedure 有权
公开(公告)号：US10368946B2
公开(公告)日：2019-08-06
申请号：US14112951
申请日：2012-04-13
申请人： Rainer Graumann , Gerhard Kleinszig , Martin Ringholz
发明人： Rainer Graumann , Gerhard Kleinszig , Martin Ringholz
IPC分类号： A61B6/00 , A61B34/10 , A61B6/03 , A61B6/12 , A61B34/20 , A61B90/00
摘要： A method for determining the location, in a coordinate system, of a target position for an invasive medical procedure on a patient. An entry mark that defines the coordinate system and indicates an entry position for the procedure is affixed to the patient. A site marker, which can be identified in a radioscopy image, is fixed in a known relative location in the coordinate system. At least two 2D radioscopy images of the patient, which both depict the respective site marker and the target position, are recorded from different recording directions. The location of the target position in the coordinate system is determined from the representation of the target position and from the representation of the site marker in the 2D radioscopy images and from the relative location of the site marker in the coordinate system.

7. 发明申请

US20120281808A1 METHOD FOR GEOMETRICALLY CORRECT ASSOCIATION OF 3D IMAGE DATA OF A PATIENT 有权
标题翻译：用于几何校正患者3D图像数据的方法
公开(公告)号：US20120281808A1
公开(公告)日：2012-11-08
申请号：US13451983
申请日：2012-04-20
申请人： Rainer Graumann , Gerhard Kleinszig
发明人： Rainer Graumann , Gerhard Kleinszig
IPC分类号： A61B6/02
CPC分类号： A61B6/584 , A61B6/032 , A61B6/0492 , A61B6/4441 , A61B90/39 , A61B2090/364 , A61B2090/3966
摘要： In a method for geometrically correct association of at least two 3D image data of a patient, a marker field that defines a reference and is dimensionally stable and can be imaged in an x-ray image, is fixed in a stationary position relative to the patient. An x-ray apparatus is brought into first and second 3D acquisition positions. In each of the 3D acquisition positions, the x-ray apparatus acquires first 2D x-ray images for the associated 3D image data in various positions. The first and second 3D acquisition positions are selected such that a second 2D x-ray image that includes an image of at least a portion of the marker field is acquired in at least one respective position. The respective attitudes of the 3D acquisition position and the 3D image data in the reference system are determined from the image of the marker field in the second 2D x-ray image. First and second image data are geometrically correctly associated with one another according to their respective attitude.
摘要翻译：在用于对患者的至少两个3D图像数据进行几何正确关联的方法中，限定参考并且尺寸稳定并且可以被成像在X射线图像中的标记场固定在相对于患者的静止位置。 X射线设备被带入第一和第二3D采集位置。在每个3D获取位置中，x射线装置获取用于各种位置的相关3D图像数据的第一2D X射线图像。选择第一和第二3D采集位置使得在至少一个相应位置中获取包括标记场的至少一部分的图像的第二2D X射线图像。根据第二2D X射线图像中的标记场的图像确定参考系中的3D获取位置和3D图像数据的各自姿态。第一和第二图像数据根据它们各自的姿态在几何上正确地相关联。

8. 发明授权

US11284846B2 Method for localization and identification of structures in projection images 有权
公开(公告)号：US11284846B2
公开(公告)日：2022-03-29
申请号：US13285493
申请日：2011-10-31
申请人： Rainer Graumann , Gerhard Kleinszig , Yoshito Otake , Jeffrey Siewerdsen
发明人： Rainer Graumann , Gerhard Kleinszig , Yoshito Otake , Jeffrey Siewerdsen
IPC分类号： A61B6/03 , A61B6/00 , A61B6/12 , G06T7/32
摘要： A method for localization and identification of a structure in a projection image with a system having a known system geometry, includes acquiring a preoperative computer-tomography or CT image of a structure, preprocessing the CT-image to a volume image, acquiring an intraoperative two dimensional or 2D X-ray image, preprocessing the 2D X-ray image to a fix image, estimating an approximate pose of the structure, calculating a digitally reconstructed radiograph or DRR using the volume image, the estimated pose and the system geometry, and calculating a correlation between the generated DRR and the fix image, with a correlation value representing matching between the generated DRR and the fix image. The method significantly decreases the number of wrong-level surgeries and is independent of the surgeon's ability to localize and/or identify a target level in a body.

9. 发明授权

US08699670B2 Method for geometrically correct association of 3D image data of a patient 有权
标题翻译：用于几何正确地关联患者的3D图像数据的方法
公开(公告)号：US08699670B2
公开(公告)日：2014-04-15
申请号：US13451983
申请日：2012-04-20
申请人： Rainer Graumann , Gerhard Kleinszig
发明人： Rainer Graumann , Gerhard Kleinszig
IPC分类号： H05G1/28
CPC分类号： A61B6/584 , A61B6/032 , A61B6/0492 , A61B6/4441 , A61B90/39 , A61B2090/364 , A61B2090/3966
摘要： In a method for geometrically correct association of at least two 3D image data of a patient, a marker field that defines a reference and is dimensionally stable and can be imaged in an x-ray image, is fixed in a stationary position relative to the patient. An x-ray apparatus is brought into first and second 3D acquisition positions. In each of the 3D acquisition positions, the x-ray apparatus acquires first 2D x-ray images for the associated 3D image data in various positions. The first and second 3D acquisition positions are selected such that a second 2D x-ray image that includes an image of at least a portion of the marker field is acquired in at least one respective position. The respective attitudes of the 3D acquisition position and the 3D image data in the reference system are determined from the image of the marker field in the second 2D x-ray image. First and second image data are geometrically correctly associated with one another according to their respective attitude.
摘要翻译：在用于对患者的至少两个3D图像数据进行几何正确关联的方法中，限定参考并且尺寸稳定并且可以被成像在X射线图像中的标记场固定在相对于患者的静止位置。 X射线设备被带入第一和第二3D采集位置。在每个3D获取位置中，x射线装置获取用于各种位置的相关3D图像数据的第一2D X射线图像。选择第一和第二3D采集位置使得在至少一个相应位置中获取包括标记场的至少一部分的图像的第二2D X射线图像。根据第二2D X射线图像中的标记场的图像确定参考系中的3D获取位置和3D图像数据的各自姿态。第一和第二图像数据根据它们各自的姿态在几何上正确地相关联。

10. 发明申请

US20130177230A1 IMPLANT POSE DETERMINATION IN MEDICAL IMAGING 有权
标题翻译：在医学成像中的植入位置确定
公开(公告)号：US20130177230A1
公开(公告)日：2013-07-11
申请号：US13735112
申请日：2013-01-07
申请人： Shaolei Feng , Shaohua Kevin Zhou , Gerhard Kleinszig , Rainer Graumann
发明人： Shaolei Feng , Shaohua Kevin Zhou , Gerhard Kleinszig , Rainer Graumann
IPC分类号： G06T7/00
CPC分类号： G06T7/0012 , G06T7/75 , G06T2207/10116 , G06T2207/30052
摘要： The pose of an implant represented in a medical image is determined from the medical image. The x-ray image of the implant is compared to a database of the implant viewed at different poses (e.g., viewed from different directions). The implant pose associated with the best match indicates the pose of the implant in the x-ray image.
摘要翻译：根据医学图像确定在医学图像中表示的植入物的姿势。将植入物的x射线图像与在不同姿势（例如从不同方向观察）观察的植入物的数据库进行比较。与最佳匹配关联的植入姿势表示植入物在X射线图像中的姿态。

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