CN101553182B - 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
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- CN101553182B CN101553182B CN2007800440885A CN200780044088A CN101553182B CN 101553182 B CN101553182 B CN 101553182B CN 2007800440885 A CN2007800440885 A CN 2007800440885A CN 200780044088 A CN200780044088 A CN 200780044088A CN 101553182 B CN101553182 B CN 101553182B
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Images
Classifications
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- G—PHYSICS
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- 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
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- G—PHYSICS
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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)
- Surgical Instruments (AREA)
- Processing Or Creating Images (AREA)
Abstract
Description
Claims (12)
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP06124894.4 | 2006-11-28 | ||
EP06124894 | 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 CN101553182A (zh) | 2009-10-07 |
CN101553182B true 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) |
Families Citing this family (28)
Publication number | Priority date | Publication date | Assignee | Title |
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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 |
ES2659090T3 (es) | 2009-03-20 | 2018-03-13 | Orthoscan Incorporated | Aparato móvil de captación de imagen |
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 |
BR112013021977A2 (pt) * | 2011-03-02 | 2018-06-12 | King S College London | método para visualizar informações de um objeto de interesse, dispositivo para visualizar informações de um objeto de interesse, sistema de formação de imagem médica, elemento de programa de computador e meio legível por computador |
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 |
BR112015015274A2 (pt) * | 2012-12-28 | 2017-07-11 | Koninklijke Philips Nv | aparelho para ver material de imagem em um ambiente de imageamento multimodal, método de visualização de material de imagem em um ambiente de imageamento multimodal, sistema de imageamento, elemento de programa de computador para controlar um aparelho, e meio legível por computador |
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 |
EP3079589B1 (en) * | 2013-12-11 | 2017-04-12 | Koninklijke Philips N.V. | Three dimensional (3d) pre-scan based volumetric image data processing |
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 |
CN106456254B (zh) | 2014-05-23 | 2019-08-16 | 皇家飞利浦有限公司 | 用于对第二目标内的第一目标进行成像的成像装置 |
JP2018501834A (ja) * | 2014-11-27 | 2018-01-25 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 投影画像における介入器具の位置を決定する装置 |
US10191615B2 (en) | 2016-04-28 | 2019-01-29 | Medtronic Navigation, Inc. | Method and apparatus for image-based navigation |
JP6796663B2 (ja) * | 2016-06-22 | 2020-12-09 | セント・ジュード・メディカル,カーディオロジー・ディヴィジョン,インコーポレイテッド | 電気生理学的処置中に医療デバイスを測位するシステム |
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 |
CN109985315B (zh) * | 2017-12-29 | 2021-04-20 | 北京连心医疗科技有限公司 | 一种核磁图像引导放疗设备和存储介质 |
CN109925053B (zh) * | 2019-03-04 | 2021-06-22 | 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 |
US11304757B2 (en) | 2019-03-28 | 2022-04-19 | Synthes Gmbh | Orthopedic fixation control and visualization |
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 |
Family Cites Families (17)
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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 |
JP2007502647A (ja) * | 2003-08-21 | 2007-02-15 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | 血管造影図及び現x線画像の複合表示のための装置及び方法 |
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 AT AT07849206T patent/ATE548987T1/de active
- 2007-11-21 RU RU2009124442/14A patent/RU2464931C2/ru active
- 2007-11-21 WO PCT/IB2007/054731 patent/WO2008065581A2/en active Application Filing
- 2007-11-21 JP JP2009537736A patent/JP5503289B2/ja active Active
- 2007-11-21 CN CN2007800440885A patent/CN101553182B/zh active Active
- 2007-11-21 EP EP07849206A patent/EP2099378B1/en active Active
- 2007-11-21 US US12/515,855 patent/US10354410B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
US10354410B2 (en) | 2019-07-16 |
RU2464931C2 (ru) | 2012-10-27 |
JP5503289B2 (ja) | 2014-05-28 |
WO2008065581A2 (en) | 2008-06-05 |
EP2099378A2 (en) | 2009-09-16 |
CN101553182A (zh) | 2009-10-07 |
ATE548987T1 (de) | 2012-03-15 |
US20100020161A1 (en) | 2010-01-28 |
JP2010510822A (ja) | 2010-04-08 |
RU2009124442A (ru) | 2011-01-10 |
WO2008065581A3 (en) | 2008-07-24 |
EP2099378B1 (en) | 2012-03-14 |
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