CN101553182A - 用于确定第一对象在第二对象中的位置的装置 - Google Patents
用于确定第一对象在第二对象中的位置的装置 Download PDFInfo
- Publication number
- CN101553182A CN101553182A CNA2007800440885A CN200780044088A CN101553182A CN 101553182 A CN101553182 A CN 101553182A CN A2007800440885 A CNA2007800440885 A CN A2007800440885A CN 200780044088 A CN200780044088 A CN 200780044088A CN 101553182 A CN101553182 A CN 101553182A
- Authority
- CN
- China
- Prior art keywords
- threedimensional model
- projection image
- dimensional projection
- determining
- contact area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 claims description 26
- 238000012800 visualization Methods 0.000 claims description 22
- 238000003384 imaging method Methods 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 13
- 230000000007 visual effect Effects 0.000 claims description 13
- 238000004590 computer program Methods 0.000 claims description 11
- 238000002679 ablation Methods 0.000 description 10
- 238000002594 fluoroscopy Methods 0.000 description 3
- 238000002844 melting Methods 0.000 description 3
- 230000008018 melting Effects 0.000 description 3
- 238000009877 rendering Methods 0.000 description 3
- 230000001419 dependent effect Effects 0.000 description 2
- 238000002595 magnetic resonance imaging Methods 0.000 description 2
- 238000003325 tomography Methods 0.000 description 2
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000000747 cardiac effect Effects 0.000 description 1
- 239000002872 contrast media Substances 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007850 degeneration Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007831 electrophysiology Effects 0.000 description 1
- 238000002001 electrophysiology Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 210000005003 heart tissue Anatomy 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 210000003492 pulmonary vein Anatomy 0.000 description 1
- 230000000191 radiation effect Effects 0.000 description 1
- 238000010223 real-time analysis Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/75—Determining position or orientation of objects or cameras using feature-based methods involving models
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
- A61B2017/00044—Sensing electrocardiography, i.e. ECG
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/12—Arrangements for detecting or locating foreign bodies
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10116—X-ray image
- G06T2207/10121—Fluoroscopy
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30021—Catheter; Guide wire
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30048—Heart; Cardiac
Landscapes
- Engineering & Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Processing Or Creating Images (AREA)
- Surgical Instruments (AREA)
Abstract
Description
Claims (14)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06124894 | 2006-11-28 | ||
EP06124894.4 | 2006-11-28 | ||
PCT/IB2007/054731 WO2008065581A2 (en) | 2006-11-28 | 2007-11-21 | Apparatus for determining a position of a first object within a second object |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101553182A true CN101553182A (zh) | 2009-10-07 |
CN101553182B CN101553182B (zh) | 2012-04-25 |
Family
ID=39345341
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN2007800440885A Active CN101553182B (zh) | 2006-11-28 | 2007-11-21 | 用于确定第一对象在第二对象中的位置的装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10354410B2 (zh) |
EP (1) | EP2099378B1 (zh) |
JP (1) | JP5503289B2 (zh) |
CN (1) | CN101553182B (zh) |
AT (1) | ATE548987T1 (zh) |
RU (1) | RU2464931C2 (zh) |
WO (1) | WO2008065581A2 (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103687541A (zh) * | 2011-03-02 | 2014-03-26 | 皇家飞利浦有限公司 | 用于导航引导的可视化 |
CN105813567A (zh) * | 2013-12-11 | 2016-07-27 | 皇家飞利浦有限公司 | 基于三维(3d)预扫描的体积图像数据处理 |
CN109475316A (zh) * | 2016-06-22 | 2019-03-15 | 圣犹达医疗用品心脏病学部门有限公司 | 用于电生理程序的***和方法 |
CN109925053A (zh) * | 2019-03-04 | 2019-06-25 | 杭州三坛医疗科技有限公司 | 手术路径的确定方法、装置和***、可读存储介质 |
CN109985315A (zh) * | 2017-12-29 | 2019-07-09 | 北京连心医疗科技有限公司 | 一种核磁图像引导放疗方法、设备和存储介质 |
CN113538572A (zh) * | 2020-04-17 | 2021-10-22 | 杭州三坛医疗科技有限公司 | 一种目标对象的坐标确定方法、装置和设备 |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9789608B2 (en) | 2006-06-29 | 2017-10-17 | Intuitive Surgical Operations, Inc. | Synthetic representation of a surgical robot |
US9718190B2 (en) | 2006-06-29 | 2017-08-01 | Intuitive Surgical Operations, Inc. | Tool position and identification indicator displayed in a boundary area of a computer display screen |
US10008017B2 (en) | 2006-06-29 | 2018-06-26 | Intuitive Surgical Operations, Inc. | Rendering tool information as graphic overlays on displayed images of tools |
US10258425B2 (en) | 2008-06-27 | 2019-04-16 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view of articulatable instruments extending out of a distal end of an entry guide |
US9089256B2 (en) | 2008-06-27 | 2015-07-28 | Intuitive Surgical Operations, Inc. | Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide |
US9469034B2 (en) | 2007-06-13 | 2016-10-18 | Intuitive Surgical Operations, Inc. | Method and system for switching modes of a robotic system |
US8620473B2 (en) * | 2007-06-13 | 2013-12-31 | Intuitive Surgical Operations, Inc. | Medical robotic system with coupled control modes |
WO2010108146A2 (en) | 2009-03-20 | 2010-09-23 | Orthoscan Incorporated | Moveable imaging apparatus |
US9492927B2 (en) | 2009-08-15 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Application of force feedback on an input device to urge its operator to command an articulated instrument to a preferred pose |
JP5609302B2 (ja) * | 2010-06-18 | 2014-10-22 | 富士通株式会社 | 接触定義装置、接触定義プログラム及び接触定義方法 |
US20120022366A1 (en) * | 2010-07-21 | 2012-01-26 | Marcus Pfister | Registration of aorta to patient via two 2d images for placement of a stent |
US9125611B2 (en) | 2010-12-13 | 2015-09-08 | Orthoscan, Inc. | Mobile fluoroscopic imaging system |
DE102011083522B4 (de) * | 2011-09-27 | 2015-06-18 | Friedrich-Alexander-Universität Erlangen-Nürnberg | Verfahren und Vorrichtung zur Visualisierung der Qualität eines Ablationsvorgangs |
JP5865664B2 (ja) * | 2011-10-07 | 2016-02-17 | 株式会社東芝 | 医用画像診断装置及び医用画像処理方法 |
RU2015131134A (ru) * | 2012-12-28 | 2017-02-02 | Конинклейке Филипс Н.В. | Моделирование сцены в реальном времени, объединяющее формирование трехмерного ультразвукового и двумерного рентгеновского изображений |
US10507066B2 (en) | 2013-02-15 | 2019-12-17 | Intuitive Surgical Operations, Inc. | Providing information of tools by filtering image areas adjacent to or on displayed images of the tools |
US20150305612A1 (en) | 2014-04-23 | 2015-10-29 | Mark Hunter | Apparatuses and methods for registering a real-time image feed from an imaging device to a steerable catheter |
JP6420367B2 (ja) | 2014-05-23 | 2018-11-07 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 第二オブジェクト内で第一オブジェクトをイメージングするためのイメージング装置 |
EP3224804B1 (en) * | 2014-11-27 | 2021-02-24 | Koninklijke Philips N.V. | Apparatus for determining positions of an interventional instrument in a projection image |
US10191615B2 (en) | 2016-04-28 | 2019-01-29 | Medtronic Navigation, Inc. | Method and apparatus for image-based navigation |
CN106994487B (zh) * | 2017-05-31 | 2018-12-04 | 广船国际有限公司 | 一种水火弯板机焰道干预的方法 |
US11304757B2 (en) | 2019-03-28 | 2022-04-19 | Synthes Gmbh | Orthopedic fixation control and visualization |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3152396B2 (ja) * | 1990-09-04 | 2001-04-03 | 株式会社東芝 | 医用画像表示装置 |
US5156151A (en) * | 1991-02-15 | 1992-10-20 | Cardiac Pathways Corporation | Endocardial mapping and ablation system and catheter probe |
US5297549A (en) * | 1992-09-23 | 1994-03-29 | Endocardial Therapeutics, Inc. | Endocardial mapping system |
US6285898B1 (en) * | 1993-07-20 | 2001-09-04 | Biosense, Inc. | Cardiac electromechanics |
US5848972A (en) * | 1995-09-15 | 1998-12-15 | Children's Medical Center Corporation | Method for endocardial activation mapping using a multi-electrode catheter |
RU2170066C2 (ru) * | 1997-05-28 | 2001-07-10 | Акционерное общество закрытого типа "Технолазер" | Устройство для воздействия на миокард с помощью лазерного излучения |
US6556695B1 (en) | 1999-02-05 | 2003-04-29 | Mayo Foundation For Medical Education And Research | Method for producing high resolution real-time images, of structure and function during medical procedures |
US6233476B1 (en) * | 1999-05-18 | 2001-05-15 | Mediguide Ltd. | Medical positioning system |
GB9911935D0 (en) * | 1999-05-21 | 1999-07-21 | British Broadcasting Corp | Tracking of moving objects |
RU2197917C1 (ru) * | 2001-10-04 | 2003-02-10 | Зао "Вниимп-Вита" | Устройство для локальной холодовой радиочастотной абляции при операции на открытом сердце |
DE10210646A1 (de) * | 2002-03-11 | 2003-10-09 | Siemens Ag | Verfahren zur Bilddarstellung eines in einen Untersuchungsbereich eines Patienten eingebrachten medizinischen Instruments |
DE10247299A1 (de) | 2002-10-10 | 2004-04-22 | Philips Intellectual Property & Standards Gmbh | Bildverarbeitungseinheit und Verfahren für die Zuordnung von gespeicherten zu aktuellen Aufnahmen |
EP1658588A1 (en) | 2003-08-21 | 2006-05-24 | Philips Intellectual Property & Standards GmbH | Device and method for combined display of angiograms and current x-ray images |
US20060009755A1 (en) | 2003-09-04 | 2006-01-12 | Sra Jasbir S | Method and system for ablation of atrial fibrillation and other cardiac arrhythmias |
US20060024141A1 (en) * | 2004-07-30 | 2006-02-02 | Hilti Aktiengesellschaft | Power tool with an intermittent angular torque pulse |
US8515527B2 (en) * | 2004-10-13 | 2013-08-20 | General Electric Company | Method and apparatus for registering 3D models of anatomical regions of a heart and a tracking system with projection images of an interventional fluoroscopic system |
DE102005007893B4 (de) * | 2005-02-21 | 2007-05-10 | Siemens Ag | Verfahren zur Positionsbestimmung eines Instrumentes mit einem Röntgensystem |
-
2007
- 2007-11-21 WO PCT/IB2007/054731 patent/WO2008065581A2/en active Application Filing
- 2007-11-21 CN CN2007800440885A patent/CN101553182B/zh active Active
- 2007-11-21 JP JP2009537736A patent/JP5503289B2/ja active Active
- 2007-11-21 US US12/515,855 patent/US10354410B2/en active Active
- 2007-11-21 AT AT07849206T patent/ATE548987T1/de active
- 2007-11-21 RU RU2009124442/14A patent/RU2464931C2/ru active
- 2007-11-21 EP EP07849206A patent/EP2099378B1/en active Active
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103687541A (zh) * | 2011-03-02 | 2014-03-26 | 皇家飞利浦有限公司 | 用于导航引导的可视化 |
CN105813567A (zh) * | 2013-12-11 | 2016-07-27 | 皇家飞利浦有限公司 | 基于三维(3d)预扫描的体积图像数据处理 |
CN105813567B (zh) * | 2013-12-11 | 2019-07-02 | 皇家飞利浦有限公司 | 基于三维(3d)预扫描的体积图像数据处理 |
CN109475316A (zh) * | 2016-06-22 | 2019-03-15 | 圣犹达医疗用品心脏病学部门有限公司 | 用于电生理程序的***和方法 |
CN109985315A (zh) * | 2017-12-29 | 2019-07-09 | 北京连心医疗科技有限公司 | 一种核磁图像引导放疗方法、设备和存储介质 |
CN109925053A (zh) * | 2019-03-04 | 2019-06-25 | 杭州三坛医疗科技有限公司 | 手术路径的确定方法、装置和***、可读存储介质 |
CN113538572A (zh) * | 2020-04-17 | 2021-10-22 | 杭州三坛医疗科技有限公司 | 一种目标对象的坐标确定方法、装置和设备 |
Also Published As
Publication number | Publication date |
---|---|
CN101553182B (zh) | 2012-04-25 |
WO2008065581A3 (en) | 2008-07-24 |
EP2099378A2 (en) | 2009-09-16 |
US20100020161A1 (en) | 2010-01-28 |
ATE548987T1 (de) | 2012-03-15 |
RU2009124442A (ru) | 2011-01-10 |
US10354410B2 (en) | 2019-07-16 |
RU2464931C2 (ru) | 2012-10-27 |
EP2099378B1 (en) | 2012-03-14 |
WO2008065581A2 (en) | 2008-06-05 |
JP5503289B2 (ja) | 2014-05-28 |
JP2010510822A (ja) | 2010-04-08 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN101553182B (zh) | 用于确定第一对象在第二对象中的位置的装置 | |
KR102203544B1 (ko) | C-arm 기반의 의료영상 시스템 및 2D 이미지와 3D 공간의 정합방법 | |
CN1853573B (zh) | 使用超声以预获取图像配准电解剖图 | |
CN1853574B (zh) | 超声数据以预获取图像的配准 | |
CN100391414C (zh) | 医疗设备定位***和方法 | |
US8409098B2 (en) | Method and apparatus for collection of cardiac geometry based on optical or magnetic tracking | |
RU2594811C2 (ru) | Визуализация для навигационного указания | |
CN105408939A (zh) | 用于配准成像设备与跟踪设备的配准*** | |
WO2018175094A1 (en) | Methods, apparatuses and storage mediums for ablation planning and performance | |
EP3079622B1 (en) | Radiation-free registration of an optical shape sensing system to an imaging system | |
JP2017511728A (ja) | 同時x平面撮像を用いた画像レジストレーション及び誘導 | |
JP2021049345A (ja) | 経皮挿入デバイスの画像誘導ナビゲーションのためのシステムおよび方法 | |
CN103717136A (zh) | X射线上对软组织运动的准确可视化 | |
US20140023250A1 (en) | Medical imaging systen and method for providing an image representation supporting accurate guidance of an intervention device in a vessel intervention procedure | |
CN107980148A (zh) | 用于医学流程中的运动补偿的***和方法 | |
CN106030266A (zh) | 温度分布确定装置 | |
CN104272348A (zh) | 用于对对象进行成像的成像装置 | |
CN106999130A (zh) | 用于确定在投影图像中介入仪器的位置的装置 | |
US10806520B2 (en) | Imaging apparatus for imaging a first object within a second object | |
JP7463625B2 (ja) | ナビゲーションサポート | |
CN113796960A (zh) | 导管导航方法、装置、设备和存储介质 | |
CN109106448A (zh) | 一种手术导航方法和装置 | |
JP7334590B2 (ja) | X線透視方法およびx線透視装置 | |
Léger et al. | Evaluation of low-cost hardware alternatives for 3d freehand ultrasound reconstruction in image-guided neurosurgery | |
WO2024097249A1 (en) | 3d spatial mapping in a 3d coordinate system of an ar headset using 2d images |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
CI01 | Publication of corrected invention patent application |
Correction item: International Day of publication Correct: 20080605 False: 20080724 Number: 17 Volume: 28 |
|
CI03 | Correction of invention patent |
Correction item: International Day of publication Correct: 20080605 False: 20080724 Number: 17 Page: The title page Volume: 28 |
|
ERR | Gazette correction |
Free format text: CORRECT: INTERNATIONAL PROCLAMATION DATE; FROM: 2008.07.24 TO: 2008.06.05 |