JP4648018B2 - 一連のスクロール2dフルオロスコピー画像に関する機器追跡のための方法及び装置 - Google Patents
一連のスクロール2dフルオロスコピー画像に関する機器追跡のための方法及び装置 Download PDFInfo
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- JP4648018B2 JP4648018B2 JP2005025864A JP2005025864A JP4648018B2 JP 4648018 B2 JP4648018 B2 JP 4648018B2 JP 2005025864 A JP2005025864 A JP 2005025864A JP 2005025864 A JP2005025864 A JP 2005025864A JP 4648018 B2 JP4648018 B2 JP 4648018B2
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- 238000000034 method Methods 0.000 title claims description 55
- 238000003384 imaging method Methods 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 9
- 230000008859 change Effects 0.000 description 10
- 238000001356 surgical procedure Methods 0.000 description 9
- 230000008447 perception Effects 0.000 description 8
- 210000003484 anatomy Anatomy 0.000 description 7
- 238000012545 processing Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 5
- 230000003068 static effect Effects 0.000 description 5
- 238000004422 calculation algorithm Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000002594 fluoroscopy Methods 0.000 description 3
- 238000000691 measurement method Methods 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 241000282412 Homo Species 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000000053 physical method Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000012152 algorithmic method Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000012800 visualization 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
- G06T7/20—Analysis of motion
-
- 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
- A61B6/46—Arrangements for interfacing with the operator or the patient
- A61B6/461—Displaying means of special interest
- A61B6/466—Displaying means of special interest adapted to display 3D data
-
- 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
-
- 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
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
-
- 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
-
- 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
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Multimedia (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Image Analysis (AREA)
Description
110 C形アーム
120 X線源
130 X線検出器
140 電磁(EM)センサ
150 EM送信器
160 画像プロセッサ
170 追跡モジュー
190 出力
Claims (7)
- 画像上で機器追跡を実行する方法(200、300)であって、
収集装置により複数の2D静止画像を収集する段階(210、320)と、
前記複数の2D静止画像における、少なくとも1つの機器の位置及び方向の少なくとも1つを計算する段階(230、350)と、
前記少なくとも1つの機器の前記位置及び方向の少なくとも1つの3D情報が動画により発生するように、前記少なくとも1つの機器を前記複数の2D静止画像の各画像に投影し(352)、前記複数の2D静止画像を出力装置(190)に自動的に連続して表示する段階(240、354)と、
を含む方法。 - 前記複数の2D静止画像が複数の2Dフルオロスコピー画像である請求項1に記載の方法(200、300)。
- 前記位置及び方向の少なくとも1つを正確に表示することができるように、前記複数の2D静止画像を較正する段階(220、330)を含む請求項1又は2に記載の方法(200、300)。
- 前記出力装置(190)がディスプレイであり、前記収集装置が、イメージング装置に結合された非円弧移動するC形アームを含むことを特徴とする請求項3に記載の方法(200、300)。
- 自動的に連続して表示する前記段階(240、354)が、所定の遅延時間(356)の後に前記複数の2D静止画像を連続して表示する段階を含む請求項1乃至4のいずれかに記載の方法(200、300)。
- 一連の画像に対して機器追跡を実行する装置(100)であって、
一連の静止画像を収集するように適合される、移動する収集装置(120、130)と、
前記移動可能な収集装置(120、130)と通信し、前記一連の画像における、少なくとも1つの機器の位置及び方向の少なくとも1つを計算し(230、350)、前記少なくとも1つの機器を前記一連の画像の各画像に投影して(352)、一連のスクロール画像を生成するように適合される処理装置(160)と、
前記処理装置と通信し、前記少なくとも1つの機器の前記位置及び方向の少なくとも1つの3D情報が動画により発生するように、前記一連のスクロール画像を自動的に連続して表示するように適合される出力(190)と、
を備える装置。 - 前記収集装置が送信及び検出装置を含み、非円弧移動するC形アーム(110)を備える請求項6に記載の装置(100)。
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/771,074 US8126224B2 (en) | 2004-02-03 | 2004-02-03 | Method and apparatus for instrument tracking on a scrolling series of 2D fluoroscopic images |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005218867A JP2005218867A (ja) | 2005-08-18 |
JP4648018B2 true JP4648018B2 (ja) | 2011-03-09 |
Family
ID=34679359
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2005025864A Active JP4648018B2 (ja) | 2004-02-03 | 2005-02-02 | 一連のスクロール2dフルオロスコピー画像に関する機器追跡のための方法及び装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8126224B2 (ja) |
EP (1) | EP1561423A1 (ja) |
JP (1) | JP4648018B2 (ja) |
KR (1) | KR101156306B1 (ja) |
CN (1) | CN1650805A (ja) |
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US8150495B2 (en) | 2003-08-11 | 2012-04-03 | Veran Medical Technologies, Inc. | Bodily sealants and methods and apparatus for image-guided delivery of same |
WO2007029139A2 (en) * | 2005-09-08 | 2007-03-15 | Philips Intellectual Property & Standards Gmbh | Magnetic tracking system for an imaging system |
EP3492008B1 (en) | 2005-09-13 | 2021-06-02 | Veran Medical Technologies, Inc. | Apparatus and method for image guided accuracy verification |
US20070066881A1 (en) | 2005-09-13 | 2007-03-22 | Edwards Jerome R | Apparatus and method for image guided accuracy verification |
US8024026B2 (en) * | 2007-05-31 | 2011-09-20 | General Electric Company | Dynamic reference method and system for use with surgical procedures |
US8315690B2 (en) * | 2007-10-02 | 2012-11-20 | General Electric Company | Dynamic reference method and system for interventional procedures |
US10398393B2 (en) | 2007-10-02 | 2019-09-03 | Stryker European Holdings I, Llc | Dynamic reference method and system for interventional procedures |
US8503745B2 (en) * | 2009-05-13 | 2013-08-06 | Medtronic Navigation, Inc. | System and method for automatic registration between an image and a subject |
US8737708B2 (en) | 2009-05-13 | 2014-05-27 | Medtronic Navigation, Inc. | System and method for automatic registration between an image and a subject |
US8238631B2 (en) | 2009-05-13 | 2012-08-07 | Medtronic Navigation, Inc. | System and method for automatic registration between an image and a subject |
RU2556783C2 (ru) * | 2009-12-09 | 2015-07-20 | Конинклейке Филипс Электроникс Н.В. | Комбинация ультразвуковой и рентгеновской систем |
US8694075B2 (en) * | 2009-12-21 | 2014-04-08 | General Electric Company | Intra-operative registration for navigated surgical procedures |
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WO2012001572A1 (en) * | 2010-06-28 | 2012-01-05 | Koninklijke Philips Electronics N.V. | Medical tomosynthesis system |
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CN102204846B (zh) * | 2011-04-22 | 2012-10-31 | 重庆伟渡医疗设备股份有限公司 | 一种医学成像部件位置改变后对其快速精确定标的方法 |
US8848868B2 (en) * | 2011-08-24 | 2014-09-30 | Albert Davydov | X-ray system and method of using thereof |
WO2013126659A1 (en) | 2012-02-22 | 2013-08-29 | Veran Medical Technologies, Inc. | Systems, methods, and devices for four dimensional soft tissue navigation |
US10255721B2 (en) * | 2012-06-20 | 2019-04-09 | Koninklijke Philips N.V. | Multicamera device tracking |
US10610172B2 (en) * | 2012-07-17 | 2020-04-07 | Koninklijke Philips N.V. | Imaging system and method for enabling instrument guidance |
JP6469336B2 (ja) * | 2013-02-12 | 2019-02-13 | キヤノンメディカルシステムズ株式会社 | X線診断装置、及びx線診断装置の制御方法 |
US20150305650A1 (en) | 2014-04-23 | 2015-10-29 | Mark Hunter | Apparatuses and methods for endobronchial navigation to and confirmation of the location of a target tissue and percutaneous interception of the target tissue |
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 |
US11051886B2 (en) | 2016-09-27 | 2021-07-06 | Covidien Lp | Systems and methods for performing a surgical navigation procedure |
US10893842B2 (en) | 2018-02-08 | 2021-01-19 | Covidien Lp | System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target |
JP7138802B2 (ja) | 2019-01-23 | 2022-09-16 | プロプリオ インコーポレイテッド | 手術部位のメディエイテッドリアリティビューに対するリアルタイム手術画像への術前スキャン画像のアライメント |
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2004
- 2004-02-03 US US10/771,074 patent/US8126224B2/en not_active Expired - Fee Related
-
2005
- 2005-02-01 EP EP05250550A patent/EP1561423A1/en not_active Ceased
- 2005-02-02 JP JP2005025864A patent/JP4648018B2/ja active Active
- 2005-02-02 KR KR1020050009355A patent/KR101156306B1/ko active IP Right Grant
- 2005-02-03 CN CNA2005100064767A patent/CN1650805A/zh active Pending
Patent Citations (2)
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Also Published As
Publication number | Publication date |
---|---|
US8126224B2 (en) | 2012-02-28 |
KR20050078995A (ko) | 2005-08-08 |
JP2005218867A (ja) | 2005-08-18 |
US20050169510A1 (en) | 2005-08-04 |
CN1650805A (zh) | 2005-08-10 |
KR101156306B1 (ko) | 2012-06-13 |
EP1561423A1 (en) | 2005-08-10 |
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