JP2000217814A - Three-dimensional image display device - Google Patents

Three-dimensional image display device

Info

Publication number
JP2000217814A
JP2000217814A JP11019367A JP1936799A JP2000217814A JP 2000217814 A JP2000217814 A JP 2000217814A JP 11019367 A JP11019367 A JP 11019367A JP 1936799 A JP1936799 A JP 1936799A JP 2000217814 A JP2000217814 A JP 2000217814A
Authority
JP
Japan
Prior art keywords
needle
image
dimensional image
displayed
display device
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.)
Pending
Application number
JP11019367A
Other languages
Japanese (ja)
Inventor
Yoshihiro Goto
良洋 後藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Healthcare Manufacturing Ltd
Original Assignee
Hitachi Medical Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi Medical Corp filed Critical Hitachi Medical Corp
Priority to JP11019367A priority Critical patent/JP2000217814A/en
Publication of JP2000217814A publication Critical patent/JP2000217814A/en
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1725—Guides or aligning means for drills, mills, pins or wires for applying transverse screws or pins through intramedullary nails or pins
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
    • A61B17/17—Guides or aligning means for drills, mills, pins or wires
    • A61B17/1703—Guides or aligning means for drills, mills, pins or wires using imaging means, e.g. by X-rays
    • 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

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Dentistry (AREA)
  • Veterinary Medicine (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Image Analysis (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Surgical Instruments (AREA)
  • Processing Or Creating Images (AREA)
  • Image Processing (AREA)
  • Image Generation (AREA)

Abstract

PROBLEM TO BE SOLVED: To provide a three-dimensional image display device allowing easily determining whether or not a needle is to be inserted into a desired part. SOLUTION: A plurality of points (A, B,...) are designated in front of a needle 1 on a CRT monitor 58 on which a CT image taken immediately before insertion of the needle 1 into the joint 3 of a bone 2 is displayed. Extension lines 4a, 4b extended in the axial direction of the needle 1 from both ends of the needle 1 are displayed on the basis of the three-coordinates of the points designated. Since a dotted line 4a passes through the joint 3 of the bone 2, it can readily be determined that the needle 1 can be inserted into the joint 3 when moved straight.

Description

【発明の詳細な説明】DETAILED DESCRIPTION OF THE INVENTION

【０００１】本発明は三次元画像表示装置に係り、特に
被検体に針を挿入する手術シミュレーションで、被検体
と共に針を三次元表示する三次元画像表示装置に関す
る。The present invention relates to a three-dimensional image display device, and more particularly to a three-dimensional image display device for displaying a needle together with a subject in a surgical simulation for inserting a needle into the subject.

【発明が属する技術分野】[Field of the Invention]

【０００２】[0002]

【従来の技術】図１２は、従来の手術シミュレーション
における三次元のＣＴ画像（以下「３Ｄ画像」という）
を表示したＣＲＴモニタ５８を示しており、この３Ｄ画
像は骨２の接合部３に針１を挿入する直前の状態を示し
ている。2. Description of the Related Art FIG. 12 shows a three-dimensional CT image (hereinafter referred to as "3D image") in a conventional surgery simulation.
Is displayed, and the 3D image shows a state immediately before the needle 1 is inserted into the joint 3 of the bone 2.

【０００３】[0003]

【発明が解決しようとする課題】しかしながら、上記の
３Ｄ画像では、前記針１を直進させた際に、針１が前記
接合部３に挿入されるかどうかの判定が難しいという問
題があった。本発明はこのような事情に鑑みてなされた
もので、針が所望の箇所に挿入されるかを容易に判断す
ることができる三次元画像表示装置を提供することを目
的とする。However, in the above-described 3D image, there is a problem that it is difficult to determine whether the needle 1 is inserted into the joint 3 when the needle 1 is moved straight. The present invention has been made in view of such circumstances, and an object of the present invention is to provide a three-dimensional image display device that can easily determine whether a needle is inserted into a desired position.

【０００４】[0004]

【課題を解決するための手段】本発明は上記目的を達成
するために、被検体に挿入される針を含む該被検体の三
次元原画像を用いて該針を含む被検体の三次元画像を再
構成し、該三次元画像を表示する三次元画像表示装置に
おいて、前記三次元画像上で前記針を指定する指定手段
と、前記指定手段による指定に基づいて前記針の現在位
置を求め、該針の長軸方向の延長線を算出する手段と、
前記算出された針の延長線を前記三次元画像上に表示さ
せる手段と、を備えたことを特徴とする。In order to achieve the above object, the present invention provides a three-dimensional image of a subject including a needle using a three-dimensional original image of the subject including the needle inserted into the subject. In the three-dimensional image display device that displays the three-dimensional image, the designation means for designating the needle on the three-dimensional image, the current position of the needle based on the designation by the designation means, Means for calculating an extension in the major axis direction of the needle;
Means for displaying the calculated extension line of the needle on the three-dimensional image.

【０００５】本発明によれば、指定手段は三次元画像上
で針を指定する。指定手段による指定に基づいて針の現
在位置が求められ、針の長軸方向の延長線が算出され
る。算出された針の延長線は三次元画像上に表示され
る。このように、三次元画像上に針の延長線を表示する
ことによって、針を直進させた場合に、針が所望の箇所
に挿入されるかどうかを容易に判断することができる。
前記指定手段の針の指定方法は、三次元画像上で針の複
数の点を指定し、指定された各点の三次元原画像上の座
標を基に針の延長線を算出表示してもよく、表示された
三次元画像上で領域を指定することによって針を自動認
識し、認識情報から針の延長線を表示するようにしても
よい。According to the present invention, the designating means designates a needle on a three-dimensional image. The current position of the needle is determined based on the designation by the designation means, and the extension of the needle in the major axis direction is calculated. The calculated extension of the needle is displayed on the three-dimensional image. In this way, by displaying the extension of the needle on the three-dimensional image, it is possible to easily determine whether or not the needle is inserted at a desired position when the needle is moved straight.
The specifying method of the needle by the specifying means may specify a plurality of points of the needle on the three-dimensional image and calculate and display the extension of the needle based on the coordinates of the specified point on the three-dimensional original image. Alternatively, the needle may be automatically recognized by designating an area on the displayed three-dimensional image, and an extension of the needle may be displayed based on the recognition information.

【０００６】また、本発明によれば、針の延長線が表示
された三次元画像を回転表示することによって、所望の
箇所を表示することができる。また、本発明によれば、
前記三次元画像を所望の切断面で切断した断面像を表示
することができる。Further, according to the present invention, a desired portion can be displayed by rotating and displaying a three-dimensional image on which the extension of the needle is displayed. According to the present invention,
A cross-sectional image obtained by cutting the three-dimensional image at a desired cutting plane can be displayed.

【０００７】[0007]

【発明の実施の形態】以下添付図面に従って本発明に係
る三次元画像表示装置の好ましい実施の形態について詳
説する。図１は、骨２の接合部３に針１を挿入する直前
のＣＴ画像が表示されたＣＲＴモニタ５８を示す説明図
である。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a three-dimensional image display device according to the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 is an explanatory diagram showing a CRT monitor 58 on which a CT image immediately before the insertion of the needle 1 into the joint 3 of the bone 2 is displayed.

【０００８】本発明では、図２に示すように、針１の両
端から針１の軸方向に延長する延長線４ａ，４ｂを表示
する。点線４ａが骨２の接合部３を通過するため、針１
を直進させることによって接合部３に挿入できることが
容易に判断できる。In the present invention, as shown in FIG. 2, extension lines 4a and 4b extending from both ends of the needle 1 in the axial direction of the needle 1 are displayed. Since the dotted line 4a passes through the joint 3 of the bone 2, the needle 1
Can be easily determined to be able to be inserted into the joint portion 3 by moving straight.

【０００９】図３は、前記点線４ａの表示方法を示す説
明図である。先ず、同図に示す針１の手前側に複数の点
（Ａ，Ｂ，…）を指定し、指定された各点の三次元座標
を基に針１の手前側の直線４１の方程式を求める。この
針１の直径を入力し、直径と直線４１の方程式とを基に
針１の裏側の直線４２の方程式を後述の方法で求める。
求めた直線４１，４２の方程式から直線４１，４２を再
構成し表示する。FIG. 3 is an explanatory diagram showing a method of displaying the dotted line 4a. First, a plurality of points (A, B,...) Are designated on the near side of the needle 1 shown in the figure, and the equation of a straight line 41 on the near side of the needle 1 is obtained based on the three-dimensional coordinates of each designated point. . The diameter of the needle 1 is input, and the equation of the straight line 42 on the back side of the needle 1 is obtained based on the diameter and the equation of the straight line 41 by a method described later.
The straight lines 41 and 42 are reconstructed from the obtained equations of the straight lines 41 and 42 and displayed.

【００１０】図４は、直線４２の方程式を求める方法を
示す説明図である。針１の手前側の直線４１上に点Ａ、
Ｂが存在するとすると、点Ａ，Ｂの三次元座標と半径ｒ
とから、各点Ａ，Ｂに対する針１の裏側の点Ａ’，Ｂ’
の三次元座標を求める。点Ａ’，Ｂ’の三次元座標か
ら、点Ａ’，Ｂ’が存在する針１の裏側の直線４２の方
程式を求める。FIG. 4 is an explanatory diagram showing a method for obtaining the equation of the straight line 42. Point A on a straight line 41 in front of the needle 1
If B exists, the three-dimensional coordinates of points A and B and the radius r
From the above, points A ', B' on the back side of the needle 1 with respect to the points A, B
Find the three-dimensional coordinates of. From the three-dimensional coordinates of the points A ′ and B ′, the equation of the straight line 42 on the back side of the needle 1 where the points A ′ and B ′ exist is obtained.

【００１１】図５は、前記延長線４ａ，４ｂの表示手順
を示すフローチャートである。ＣＲＴモニタ５８上のＣ
Ｔ画像に針１を三次元表示する（ステップＳ１）。表示
された針１の手前側に複数の点（Ａ，Ｂ，…）をマウス
６０で指定する（ステップＳ２）。FIG. 5 is a flowchart showing a procedure for displaying the extension lines 4a and 4b. C on CRT monitor 58
The needle 1 is three-dimensionally displayed on the T image (step S1). A plurality of points (A, B,...) Are designated by the mouse 60 in front of the displayed needle 1 (step S2).

【００１２】ステップＳ２で指定された複数の点を基
に、最小二乗法などによって針１の手前側の直線４１の
方程式を求める（ステップＳ３）。針１の直径をキーボ
ードから入力し、直線４１の方程式と直径とを基に、針
１の裏側の直線４２の方程式を求める（ステップＳ
４）。直線４１，４２の方程式を基に、直線４１，４２
を再構成し表示する（ステップＳ５）。Based on the plurality of points specified in step S2, an equation of a straight line 41 in front of the needle 1 is obtained by a least square method or the like (step S3). The diameter of the needle 1 is input from the keyboard, and the equation of the straight line 42 on the back side of the needle 1 is determined based on the equation and the diameter of the straight line 41 (step S).
4). Based on the equations of the straight lines 41 and 42, the straight lines 41 and 42
Is reconstructed and displayed (step S5).

【００１３】尚、延長線４ａ，４ｂの表示方法は、図３
に示した方法に限定されず、図６に示すように、中心線
４４と中心線４４の周囲を螺旋状に拡張する拡張点４
３，４３，…を表示してもよい。また、図７に示すよう
に、中心線４４と中心線４４の周囲を一定間隔毎に円弧
状に拡張する拡張点４５，４５，…を表示してもよい。The method of displaying the extension lines 4a and 4b is shown in FIG.
The method is not limited to the method shown in FIG. 6, but as shown in FIG. 6, a center line 44 and an extension point 4 which extends around the center line 44 in a spiral shape.
3, 43,... May be displayed. Further, as shown in FIG. 7, the center line 44 and extended points 45, 45,... That extend in an arc shape at regular intervals around the center line 44 may be displayed.

【００１４】図８は、図１に示したＣＴ画像を回転表示
したＣＴ画像を示す説明図である。このように骨２と針
１とを回転させて表示することによって、接合部３内を
通過する延長線４ａを表示することができる。また、図
９に示すように、ＣＴ画像上で切断面３０を設定し、切
断面３０で切断した断面像を表示してもよい。FIG. 8 is an explanatory diagram showing a CT image obtained by rotating and displaying the CT image shown in FIG. By rotating and displaying the bone 2 and the needle 1 in this way, the extension line 4a passing through the joint 3 can be displayed. Further, as shown in FIG. 9, a cut surface 30 may be set on a CT image, and a cross-sectional image cut by the cut surface 30 may be displayed.

【００１５】図１０は、ＣＴ画像を再構成する際の三次
元原画像と投影面とを示す説明図である。三次元原画像
は複数の断層像が積み重ねられて構成され、投影面に平
行投影される。投影面に投影された投影像に陰影付けす
ることによってＣＴ画像が再構成される。尚、投影方法
は平行投影に限定されず、中心投影でもよい。FIG. 10 is an explanatory diagram showing a three-dimensional original image and a projection plane when reconstructing a CT image. The three-dimensional original image is configured by stacking a plurality of tomographic images, and is projected parallel to the projection plane. A CT image is reconstructed by shading the projection image projected on the projection plane. Note that the projection method is not limited to parallel projection, but may be center projection.

【００１６】図１１は、三次元画像表示装置のハードウ
ェア構成を示すブロック図である。この三次元画像表示
装置は、Ｘ線ＣＴ装置などの医用画像診断装置で被検体
の対象部位について収集した医用画像データを記録し表
示するもので、各構成要素の動作を制御する中央演算処
理装置（ＣＰＵ）５０と、装置の制御プログラムが格納
された主メモリ５２と、複数の断層像及び画像再構成プ
ログラム等が格納された磁気ディスク５４と、再構成さ
れた画像データを表示するために記憶する表示メモリ５
６と、この表示メモリ５６からの画像データを表示する
表示装置としてのＣＲＴモニタ５８と、位置入力装置と
してのマウス６０と、マウス６０の状態を検出してＣＲ
Ｔモニタ５８上のマウスポインタの位置やマウス６０の
状態等の信号をＣＰＵ５０に出力するマウスコントロー
ラ６２と、各種の操作指令等を入力するキーボード６４
と、上記各構成要素を接続する共通バス６６とから構成
される。FIG. 11 is a block diagram showing a hardware configuration of the three-dimensional image display device. The three-dimensional image display device records and displays medical image data collected by a medical image diagnostic device such as an X-ray CT device with respect to a target portion of a subject, and is a central processing unit that controls the operation of each component. (CPU) 50, a main memory 52 storing a control program of the apparatus, a magnetic disk 54 storing a plurality of tomographic images and image reconstruction programs, and the like, and storing the reconstructed image data for display. Display memory 5
6, a CRT monitor 58 as a display device for displaying image data from the display memory 56, a mouse 60 as a position input device, and
A mouse controller 62 for outputting signals such as a position of a mouse pointer on the T monitor 58 and a state of the mouse 60 to the CPU 50, and a keyboard 64 for inputting various operation commands and the like.
And a common bus 66 connecting the above components.

【００１７】尚、表示する画像はＣＴ画像に限定され
ず、ＭＲや超音波等の装置で撮影した画像でもよい。ま
た、ＣＲＴモニタ５８上で領域ＲＯＩ（関心領域）を指
定することによって、針１を自動認識し、認識情報から
針１の延長線４ａ，４ｂを表示するようにしてもよい。The image to be displayed is not limited to a CT image, but may be an image taken by a device such as an MR or an ultrasonic wave. Alternatively, by specifying a region ROI (region of interest) on the CRT monitor 58, the needle 1 may be automatically recognized, and the extension lines 4a and 4b of the needle 1 may be displayed based on the recognition information.

【００１８】[0018]

【発明の効果】以上説明したように本発明によれば、三
次元画像上で針が指定されると、指定に基づいて針の延
長線が算出され、三次元画像上に表示されることによっ
て、針を直進させた場合に、針が所望の箇所に挿入され
るかどうかを容易に判断することができる。As described above, according to the present invention, when a needle is designated on a three-dimensional image, an extension line of the needle is calculated based on the designation and displayed on the three-dimensional image. When the needle is moved straight, it can be easily determined whether or not the needle is inserted at a desired position.

【図面の簡単な説明】[Brief description of the drawings]

【図１】骨の接合部に針を挿入する直前のＣＴ画像が表
示されたＣＲＴモニタを示す説明図。FIG. 1 is an explanatory diagram showing a CRT monitor on which a CT image immediately before a needle is inserted into a joint of a bone is displayed.

【図２】本発明の三次元画像表示装置の表示方法を示す
説明図。FIG. 2 is an explanatory diagram showing a display method of the three-dimensional image display device of the present invention.

【図３】図２の点線の表示方法を示す説明図。FIG. 3 is an explanatory diagram showing a display method of a dotted line in FIG. 2;

【図４】図３の直線の方程式を求める方法を示す説明
図。FIG. 4 is an explanatory diagram showing a method for obtaining a straight line equation in FIG. 3;

【図５】延長線の表示手順を示すフローチャート。FIG. 5 is a flowchart showing a procedure for displaying an extension line.

【図６】延長線の他の表示方法を示す説明図。FIG. 6 is an explanatory diagram showing another display method of the extension line.

【図７】延長線の他の表示方法を示す説明図。FIG. 7 is an explanatory diagram showing another display method of the extension line.

【図８】図１に示したＣＴ画像を回転表示したＣＴ画像
を示す説明図。FIG. 8 is an explanatory diagram showing a CT image obtained by rotating and displaying the CT image shown in FIG. 1;

【図９】ＣＴ画像上に表示された断面像を示す説明図。FIG. 9 is an explanatory diagram showing a cross-sectional image displayed on a CT image.

【図１０】ＣＴ画像を再構成する際の三次元原画像と投
影面とを示す説明図。FIG. 10 is an explanatory diagram showing a three-dimensional original image and a projection plane when reconstructing a CT image.

【図１１】三次元画像表示装置のハードウェア構成を示
すブロック図。FIG. 11 is a block diagram illustrating a hardware configuration of the three-dimensional image display device.

【図１２】従来の三次元画像表示装置の表示方法を示す
説明図。FIG. 12 is an explanatory diagram showing a display method of a conventional three-dimensional image display device.

【符号の説明】[Explanation of symbols]

１ 針 ２ 骨 ３ 接合部 ４ａ，４ｂ 延長線 ４１，４２ 直線 ４３，４５ 拡張点 ４４ 中心線 ５０ ＣＰＵ ５２ 主メモリ ５４ 磁気ディスク ５６ 表示メモリ ５８ ＣＲＴモニタ ６０ マウス ６２ マウスコントローラ ６４ キーボード 1 Needle 2 Bone 3 Joint 4a, 4b Extension line 41, 42 Straight line 43, 45 Extension point 44 Center line 50 CPU 52 Main memory 54 Magnetic disk 56 Display memory 58 CRT monitor 60 Mouse 62 Mouse controller 64 Keyboard

フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｇ０６Ｔ 15/00 Ｇ０６Ｆ 15/72 ４５０Ｋ Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat II (reference) G06T 15/00 G06F 15/72 450K

Claims (1)

【特許請求の範囲】[Claims] 【請求項１】 被検体に挿入される針を含む該被検体の
三次元原画像を用いて該針を含む被検体の三次元画像を
再構成し、該三次元画像を表示する三次元画像表示装置
において、 前記三次元画像上で前記針を指定する指定手段と、 前記指定手段による指定に基づいて前記針の現在位置を
求め、該針の長軸方向の延長線を算出する手段と、 前記算出された針の延長線を前記三次元画像上に表示さ
せる手段と、 を備えたことを特徴とする三次元画像表示装置。1. A three-dimensional image for reconstructing a three-dimensional image of a subject including a needle using a three-dimensional original image of the subject including a needle inserted into the subject and displaying the three-dimensional image In the display device, designation means for designating the needle on the three-dimensional image, a means for determining the current position of the needle based on the designation by the designation means, and calculating an extension of the needle in the major axis direction, A means for displaying the calculated extension line of the needle on the three-dimensional image.
JP11019367A 1999-01-28 1999-01-28 Three-dimensional image display device Pending JP2000217814A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP11019367A JP2000217814A (en) 1999-01-28 1999-01-28 Three-dimensional image display device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP11019367A JP2000217814A (en) 1999-01-28 1999-01-28 Three-dimensional image display device

Publications (1)

Publication Number Publication Date
JP2000217814A true JP2000217814A (en) 2000-08-08

Family

ID=11997389

Family Applications (1)

Application Number Title Priority Date Filing Date
JP11019367A Pending JP2000217814A (en) 1999-01-28 1999-01-28 Three-dimensional image display device

Country Status (1)

Country Link
JP (1) JP2000217814A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007537836A (en) * 2004-05-19 2007-12-27 ボストン サイエンティフィック リミテッド System for graphical representation of anatomical orifices and lumens
JP2010148853A (en) * 2008-06-16 2010-07-08 Norii Kk Syringe needle guiding apparatus

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007537836A (en) * 2004-05-19 2007-12-27 ボストン サイエンティフィック リミテッド System for graphical representation of anatomical orifices and lumens
JP2010148853A (en) * 2008-06-16 2010-07-08 Norii Kk Syringe needle guiding apparatus
JP4517004B2 (en) * 2008-06-16 2010-08-04 ノリー株式会社 Injection needle guidance device

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