CN100581467C - 用于二维透视图像中感兴趣区域轮廓可视化的方法和装置 - Google Patents
用于二维透视图像中感兴趣区域轮廓可视化的方法和装置 Download PDFInfo
- Publication number
- CN100581467C CN100581467C CN200610106485A CN200610106485A CN100581467C CN 100581467 C CN100581467 C CN 100581467C CN 200610106485 A CN200610106485 A CN 200610106485A CN 200610106485 A CN200610106485 A CN 200610106485A CN 100581467 C CN100581467 C CN 100581467C
- Authority
- CN
- China
- Prior art keywords
- interest
- fluoroscopy images
- data set
- area
- profile
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000002594 fluoroscopy Methods 0.000 title claims abstract description 40
- 238000012800 visualization Methods 0.000 title abstract 2
- 238000002372 labelling Methods 0.000 claims description 3
- 238000007794 visualization technique Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 description 7
- 206010028980 Neoplasm Diseases 0.000 description 6
- 210000001519 tissue Anatomy 0.000 description 6
- 239000002872 contrast media Substances 0.000 description 5
- 210000003484 anatomy Anatomy 0.000 description 4
- 238000002583 angiography Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 239000008280 blood Substances 0.000 description 3
- 210000004369 blood Anatomy 0.000 description 3
- 238000001574 biopsy Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010002329 Aneurysm Diseases 0.000 description 1
- 241000196324 Embryophyta Species 0.000 description 1
- 240000004859 Gamochaeta purpurea Species 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 210000000746 body region Anatomy 0.000 description 1
- 238000002224 dissection Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 208000019622 heart disease Diseases 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000007170 pathology Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 238000003325 tomography Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N23/00—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00
- G01N23/02—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material
- G01N23/04—Investigating or analysing materials by the use of wave or particle radiation, e.g. X-rays or neutrons, not covered by groups G01N3/00 – G01N17/00, G01N21/00 or G01N22/00 by transmitting the radiation through the material and forming images of the material
-
- 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
- A61B6/46—Arrangements for interfacing with the operator or the patient
- A61B6/461—Displaying means of special interest
- A61B6/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display
-
- 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
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T5/00—Image enhancement or restoration
- G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- 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
- G06T7/38—Registration of image sequences
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- 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
-
- 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
- G06T2207/10072—Tomographic images
-
- 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
- G06T2207/10—Image acquisition modality
- G06T2207/10116—X-ray image
- G06T2207/10124—Digitally reconstructed radiograph [DRR]
-
- 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
- G06T2207/30016—Brain
-
- 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
- G06T2207/30096—Tumor; Lesion
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Pathology (AREA)
- Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- High Energy & Nuclear Physics (AREA)
- Biophysics (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Immunology (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
本发明涉及一种使医生在2D透视图像中的定向变得容易的方法。在此,本发明涉及一种在透视图像中对感兴趣区域轮廓可视化的方法,具有以下步骤:S1:产生至少一个具有感兴趣区域的3D原始数据组,其中可以看到至少一个感兴趣区域的轮廓,S2:从该3D原始数据组中产生分割的3D数据组,其中在至少一个关心部位上明确界定轮廓,S3:产生包括至少一个感兴趣区域的2D透视图像,S4:从分割的3D数据组中产生与该2D透视图像对准的2D投影,S5:确定该2D投影中至少一个感兴趣区域可能近似的轮廓,S6:将该轮廓与该2D透视图像叠加。
Description
技术领域
本发明涉及一种例如可以使医生在2D透视图像中定向变得容易的方法。在此,本发明涉及一种方法,该方法特别是在X射线控制介入的情况下形成一种图像清晰和明确的定向帮助。
背景技术
目前越来越多地采用最小侵入、即尽可能小的手术开支对(疾病)患者进行检查和治疗。例如采用内窥镜、腹腔镜、导管或者活组织检查针进行治疗,将它们分别通过很小的身体开口导向患者的检查区域(下面也称为“感兴趣区域”或者“感兴趣的范围”)。导管例如经常在血管造影术或者心脏病检查的范围内使用。
从医疗技术观点来说的问题首先在于,在(例如采用传统的X射线装置或者X射线C-弓拍摄的)2D透视图像中,应明确识别感兴趣区域(例如肿瘤)、即识别其边界。本发明致力于解决这一问题。
所述问题特别是在下列条件下出现,即,在干预(手术或者检查)的范围内必须利用医疗器械接近感兴趣区域。在这种情况下(在不限制一般性的条件下)可以考虑到:尽管活组织检查针或者导管通过(例如利用所谓的C-弓的)手术中的X射线控制,能够非常精确和高分辨率地在一个或者多个2D透视图像中可视化,但是,在这种控制拍摄的情况下,患者解剖结构的显示、特别是感兴趣的病原区域(肿瘤、动脉瘤、狭窄等)的显示不足以和不适合向医生提供定位帮助。因此,相关身体部位的精确定位非常困难。
现有技术中有大量使医生在手术中X射线控制的条件下体内定位变得容易的方法。
最早并因此也是最为公知的方法在于注射造影剂,进行X射线瞬时拍摄,将其作为基准图像储存并放在实际(手术中)的透视图像下面。不过,缺点仍在于,这一过程在C-弓每次新成角或者(血管造影)设备的其它变化(例如由于通过变焦聚、SID=源图像距离、检查台移动等的变化)时均必须重复。
另一种方法在于,首先获得相关身体区域的体积数据组,它完全包括感兴趣区域,例如患病或者所要诊断的器官或者组织。这一点例如通过(基于造影剂的)螺旋计算机断层造影或者其它3D成像模态进行。(例如在MRT拍摄时,没有造影剂也能看到肿瘤)。接着在3D数据组的基础上,产生人工3D体积投影图像,它与实际的透视图像一样在相同的透视下可以看到并同样处于其下面。在这种关联上也可以称为3D体积的“人工投影”。
此外,存在外部(基于红外线的、磁性的等)导航系统,其通过外部位置传感器确定医疗器械(导管、针)的3D位置,并且在该信息的基础上可以在此前拍摄的3D体积数据组内定向。
所有基于3D的方法的共同之处在于,(3D)参考图像拍摄实现的底片相对于实际(手术中)的透视图像的缺点是:很大程度上不能概略地显示解剖结构,该显示与其说是帮助医生,倒不如说是使其没有把握。
发明内容
本发明要解决的技术问题在于,例如在X射线控制下的最小侵入干预的情况下,提供一种在透视图像中清晰、简单并因此概略的、使导航变得容易的定向帮助。
根据本发明,提供了一种用于在透视图像中感兴趣区域轮廓可视化的方法,具有下列步骤:
S1:产生至少一个具有感兴趣区域的3D原始数据组,其中可以看出至少一个感兴趣区域的轮廓,
S2:从该3D原始数据组中产生分割的3D数据组,其中在至少一个感兴趣区域上明确界定轮廓,
S3:产生包括至少一个感兴趣区域的2D透视图像,
S4:从分割的3D数据组中产生与2D透视图像对准的2D投影,
S5:确定2D投影中至少一个感兴趣区域的可能是近似的轮廓,
S6:将该轮廓与2D透视图像叠加。
在依据本发明方法一种特别优选的实施方式中,在手术中获得2D透视图像,可以监视手术中的变化,并且在2D透视图像手术中变化的情况下重复步骤S4至S6。
依据本发明,开始时所确定的3D原始数据组可以采用任意的成像模态手术前完成。
优选的是,通过自动或者手动分割进行感兴趣区域的明确界定。
2D投影优选地通过2D-3D记录产生,其中,该2D-3D记录在图像基础上或者在标记基础上进行。
依据本发明,轮廓的确定通过手动或者自动分割进行,并且在需要时也可以优选地通过如线条、曲线、样条等简单图形进行近似。
此外,提供一种适用于实施按前述方法的装置。
附图说明
下面借助附图所示的实施例对本发明的其它优点、特征和特性进行详细说明。其中:
图1示意地示出依据本发明方法可能的检查和/或者治疗装置的原理图;
图2示出依据本发明方法的流程图;以及
图3示出对相关图像数据组依据本发明的图像处理步骤。
具体实施方式
依据本发明的方法可以独立于医生的干预而应用在任意现存的2D透视图像上,不过,下面借助X射线控制条件下的手术中最小侵入的措施进行说明,因为其是依据本发明方法最重要的应用情况。
图1示出在依据本发明方法的范围内可以在X射线控制条件下最小侵入手术使用的检查和/或者治疗装置1。装置1由用于拍摄二维透视图像(2D透视图像或2D荧光图像)的C-弓3组成,在该C-弓上面设置X射线辐射源4和射线检波器5(例如固体图像检波器)以及工具板TP。患者7的检查范围6最好处于C-弓的等角点上,从而该范围完全可以在所拍摄的透视图像中看到。
紧靠C-弓3的是导航传感器S,通过其可以采集工具板TP和因此C-弓3的实际位置、以及干预所使用的医疗器械11和患者本身的位置。
通过控制和处理装置8控制装置1的运行,其中,该控制和处理装置也控制图像拍摄运行。
此外,装置1还包括未详细示出的图像处理装置,后者具有一个或者多个上面显示透视图像的荧光屏10。
图像处理装置中还存在3D原始数据组9等,它最好手术前拍摄并特别是这样完整地含有感兴趣区域(病理区域),使该部位相对于周围的组织可以明确界定显示或区分。只要保证明确界定,就可以采用任意的成像模态拍摄该3D原始数据组9。
因此,在计算机X射线断层造影拍摄的情况下,为显示软组织(肿瘤)这种拍摄应该在造影剂基础上进行。
MRT拍摄一般情况下不需要特殊的拍摄条件,虽然在某些情况下这种造影剂基础会产生更好的图像。3D原始数据组9也可以采用本身的图像拍摄装置2拍摄,也就是直接在本身的介入之前,其中,图像拍摄装置2必须以3D血管造影模式运行。
本发明提供了一种方法,其中,可以清晰和明确表述的方式将检查区域6(即感兴趣区域)与在任意C-弓位置下拍摄的手术中实际的2D透视图像叠加,后者基本上以更明确的方式仅反映了医疗器械。
事实表明,主治医生在绝大多数情况下并不对切合实际的叠加感兴趣,而是希望例如仅显示肿瘤界线或者轮廓的定向帮助。
为实现这一点,下面提出了依据本发明的步骤(结合图3参见图2的方法流程图):
该方法以(手术前的)3D原始数据组12为基础,它包含嵌入周围组织13内的感兴趣区域6。在图3中这种周围组织13具有血管造影的结构。
在第一方法步骤S1中,这样获得3D原始数据组12,使感兴趣区域6(例如肿瘤)可与周围的组织13明确界定。在第二方法步骤S2中,这种界定通过手动或者自动分割进行,由此得到分割的3D原始数据组13,它仅包含感兴趣区域并就此而言进行界定。在第三方法步骤S3中,(例如采用C-弓)拍摄2D透视图像。在进一步的图像处理方法步骤S4中,从分割的3D数据组中纯计算地产生2D投影14,它在尺寸和空间定向方面与手术中的实际2D透视图像15的实际C-弓位置全等,也就是对准。
这种2D投影从分割3D数据组中的产生,借助于按照现有技术公知的2D/3D记录方法例如基于图像或者基于标记地自动进行。
在第五方法步骤S5中,采用公知的分割方法确定2D投影可见体积部分的轮廓并在需要时通过(线条、曲线段、样条等)简单图形产生近似值,以获得简化的2D投影16。这种简化的2D投影16依据其几何形状与2DX射线透视图等同,只是该投影作为唯一的图像信息在该透视中包含感兴趣区域6的轮廓17。
在第六和暂时最后的方法步骤S6中,将简化的2D投影16并因此感兴趣区域6的轮廓17与2D透视图像15叠加。
最后,这点在依据图1的图像处理装置的荧光屏10上产生总图像17,其中,在实际的C-弓位置上显示医疗器械11相对于感兴趣区域清晰界定的轮廓。周围(背景)组织(例如图1中的头7)的解剖结构仅弱对比度地显示。
在依据本发明方法的一种特别优选的实施方式中,(例如通过导航系统S)在进一步的第七方法步骤S7中监视C-弓成角的变化或设备参数的变化或者还有患者的移动,并且在第八方法步骤S8中,如果所显示的轮廓不再有效的话,则清除叠加的图形。在这种情况下,该方法重新从步骤S4开始,由此确定与新的C-弓配置相应新的简化2D投影。该方法的速度取决于控制和处理装置8的计算机能力,不过,该装置的速度最好允许使用者实时地计算轮廓叠加。
总之,通过依据本发明的方法产生以下优点:
-通过手术前3D原始数据组的分割可以描述清晰轮廓的构成上严格定义的解剖上重要的界线。
-这些界线通过这些轮廓与2D透视图像(手术中或实况拍摄图像)的叠加,可视性明显优于整个3D原始数据组与实际透视图像的叠加。通过轮廓采用简单图形依据本发明的显示,比通过目前可供使用的方法可以更清晰和更明确地界定界线。
-在(例如由于C-弓的移动或例如变焦聚、SID的改变、检查台移动等设备参数变化或者患者移动)造成2D透视图像在手术中变化的情况下,可以自动并连续获得轮廓,从而使观察者在叠加的2D透视图像上产生参数变化期间解剖结构的立体印象。这一点在使用造影剂情况下的优点是,为新成角无需注射附加的造影剂,而另一方面轮廓立即和在无使用者一方的其它相互作用条件下即可使用。
Claims (11)
1.一种在透视图像中对感兴趣区域轮廓的可视化的方法,具有以下步骤:
S1:产生至少一个具有感兴趣区域的3D原始数据组,其中可以看到至少一个感兴趣区域的轮廓,
S2:从该3D原始数据组中产生分割的3D数据组,其中在至少一个感兴趣区域上明确界定轮廓,
S3:产生包括至少一个感兴趣区域的2D透视图像,
S4:从分割的3D数据组中产生与该2D透视图像对准的2D投影,
S5:确定该2D投影中至少一个感兴趣区域可能近似的轮廓,
S6:将该近似的轮廓与该2D透视图像叠加。
2.按权利要求1所述的方法,其特征在于,所述2D透视图像在手术中获得。
3.按权利要求2所述的方法,其特征在于,借助于所述2D透视图像来监视手术中的变化。
4.按权利要求2所述的方法,其特征在于,如果所述2D透视图像在手术中变化了,则重复S4至S6的步骤。
5.按权利要求1至4之一所述的方法,其特征在于,采用任意成像模态在手术前完成所述3D原始数据组。
6.按权利要求1至4之一所述的方法,其特征在于,通过自动或者手动分割进行感兴趣区域的明确界定。
7.按权利要求1至4之一所述的方法,其特征在于,通过2D-3D记录产生所述2D投影。
8.按权利要求7所述的方法,其特征在于,在图像基础上或者在标记基础上进行所述2D-3D记录。
9.按权利要求1至4之一所述的方法,其特征在于,通过手动或者自动分割进行所述近似的轮廓的确定。
10.按权利要求1至4之一所述的方法,其特征在于,通过简单图形来近似所述近似的轮廓。
11.一种用于实施按前述权利要求之一所述的方法的装置。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102005030646.2 | 2005-06-30 | ||
DE102005030646A DE102005030646B4 (de) | 2005-06-30 | 2005-06-30 | Verfahren zur Kontur-Visualisierung von zumindest einer interessierenden Region in 2D-Durchleuchtungsbildern |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1891153A CN1891153A (zh) | 2007-01-10 |
CN100581467C true CN100581467C (zh) | 2010-01-20 |
Family
ID=37562378
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN200610106485A Active CN100581467C (zh) | 2005-06-30 | 2006-06-30 | 用于二维透视图像中感兴趣区域轮廓可视化的方法和装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US7689042B2 (zh) |
CN (1) | CN100581467C (zh) |
DE (1) | DE102005030646B4 (zh) |
Families Citing this family (51)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN100581471C (zh) * | 2004-11-15 | 2010-01-20 | 皇家飞利浦电子股份有限公司 | 用于检查周期性运动的对象的ct方法 |
DE102005030646B4 (de) * | 2005-06-30 | 2008-02-07 | Siemens Ag | Verfahren zur Kontur-Visualisierung von zumindest einer interessierenden Region in 2D-Durchleuchtungsbildern |
WO2007132381A2 (en) * | 2006-05-11 | 2007-11-22 | Koninklijke Philips Electronics N.V. | System and method for generating intraoperative 3-dimensional images using non-contrast image data |
US8411914B1 (en) * | 2006-11-28 | 2013-04-02 | The Charles Stark Draper Laboratory, Inc. | Systems and methods for spatio-temporal analysis |
DE102006058906B4 (de) * | 2006-12-13 | 2016-12-15 | Siemens Healthcare Gmbh | Verfahren zur Darstellung von tomographischen Aufnahmen und Tomographiesystem oder Tomographiesystemverbund zur Durchführung dieses Verfahrens |
DE102007013625A1 (de) | 2007-03-21 | 2008-09-25 | Siemens Ag | Verfahren und Vorrichtung zur Visualisierung eines Objekts |
DE102007021717A1 (de) * | 2007-05-09 | 2008-10-02 | Siemens Ag | Bronchopulmonales Diagnose- und Therapiesystem und Bildgebungsverfahren für bronchopulmonale Diagnose und Therapie |
DE102007053756B4 (de) * | 2007-11-12 | 2017-06-01 | Siemens Healthcare Gmbh | Verfahren zur Anzeige eines kardiologischen Gefäßbereichs |
JP5464799B2 (ja) * | 2007-11-16 | 2014-04-09 | キヤノン株式会社 | 画像処理装置、画像処理方法及びプログラム |
EP2082686B1 (de) * | 2008-01-22 | 2015-01-21 | Brainlab AG | Orientierte Wiedergabe von Aufnahmen |
DE102008023053A1 (de) * | 2008-05-09 | 2009-11-26 | Siemens Aktiengesellschaft | Auswertungsverfahren für zweidimensionale Durchleuchtungsbilder eines Untersuchungsobjekts mit zeitcodierter Darstellung dreidimensionaler Rekonstruktionen |
DE102008028024A1 (de) * | 2008-06-12 | 2009-12-24 | Siemens Aktiengesellschaft | Verfahren zum Anzeigen von dreidimensionalen medizinischen Bilddaten, Computerprogrammprodukt zur Durchführung des Verfahrens und System zum Anzeigen von dreidimensionalen medizinischen Bilddaten |
JP5675056B2 (ja) * | 2008-07-04 | 2015-02-25 | 株式会社東芝 | X線撮影装置および画像処理装置 |
DE102008045276B4 (de) * | 2008-09-01 | 2010-08-05 | Siemens Aktiengesellschaft | Verfahren zur Ansteuerung einer medizintechnischen Anlage, medizintechnische Anlage und Computerprogramm |
JP2010068929A (ja) * | 2008-09-17 | 2010-04-02 | Fujifilm Corp | 乳房x線透過平面画像断層画像撮影装置 |
DE102008050572A1 (de) * | 2008-10-06 | 2010-04-15 | Siemens Aktiengesellschaft | Verfahren zur Positionierung eines medizinischen Bildgebungsgerätes an einem Patienten sowie Vorrichtung zur medizinischen Bildgebung und Bildgebungssystem |
WO2011038236A2 (en) | 2009-09-25 | 2011-03-31 | Ortho Kinematics, Inc. | Systems and devices for an integrated imaging system with real-time feedback loops and methods therefor |
CN102713976B (zh) * | 2010-01-12 | 2017-05-24 | 皇家飞利浦电子股份有限公司 | 对介入装置进行导航 |
US9265468B2 (en) | 2011-05-11 | 2016-02-23 | Broncus Medical, Inc. | Fluoroscopy-based surgical device tracking method |
US8754888B2 (en) * | 2011-05-16 | 2014-06-17 | General Electric Company | Systems and methods for segmenting three dimensional image volumes |
JP2012249960A (ja) * | 2011-06-06 | 2012-12-20 | Toshiba Corp | 医用画像処理装置 |
US9510771B1 (en) | 2011-10-28 | 2016-12-06 | Nuvasive, Inc. | Systems and methods for performing spine surgery |
US8983156B2 (en) * | 2012-11-23 | 2015-03-17 | Icad, Inc. | System and method for improving workflow efficiences in reading tomosynthesis medical image data |
WO2015021327A2 (en) | 2013-08-09 | 2015-02-12 | Broncus Medical Inc. | Registration of fluoroscopic images of the chest and corresponding 3d image data based on the ribs and spine |
US9848922B2 (en) | 2013-10-09 | 2017-12-26 | Nuvasive, Inc. | Systems and methods for performing spine surgery |
WO2015056471A1 (ja) * | 2013-10-17 | 2015-04-23 | オリンパス株式会社 | 内視鏡装置 |
DE102013223786B3 (de) * | 2013-11-21 | 2014-12-24 | Siemens Aktiengesellschaft | Angiographisches Untersuchungsverfahren eines Untersuchungsobjekts zur Durchführung von Rotationsangiographien |
KR20150124262A (ko) * | 2014-04-28 | 2015-11-05 | 주식회사 코어라인소프트 | 의료용 영상 장치의 씨암의 회전 각도를 제어하는 방법 및 장치 |
US9986983B2 (en) | 2014-10-31 | 2018-06-05 | Covidien Lp | Computed tomography enhanced fluoroscopic system, device, and method of utilizing the same |
GB2536650A (en) | 2015-03-24 | 2016-09-28 | Augmedics Ltd | Method and system for combining video-based and optic-based augmented reality in a near eye display |
US10674982B2 (en) | 2015-08-06 | 2020-06-09 | Covidien Lp | System and method for local three dimensional volume reconstruction using a standard fluoroscope |
US10702226B2 (en) | 2015-08-06 | 2020-07-07 | Covidien Lp | System and method for local three dimensional volume reconstruction using a standard fluoroscope |
US10716525B2 (en) | 2015-08-06 | 2020-07-21 | Covidien Lp | System and method for navigating to target and performing procedure on target utilizing fluoroscopic-based local three dimensional volume reconstruction |
US11172895B2 (en) | 2015-12-07 | 2021-11-16 | Covidien Lp | Visualization, navigation, and planning with electromagnetic navigation bronchoscopy and cone beam computed tomography integrated |
US11051886B2 (en) | 2016-09-27 | 2021-07-06 | Covidien Lp | Systems and methods for performing a surgical navigation procedure |
CA3043744A1 (en) | 2016-11-18 | 2018-05-24 | Stryker Corp. | Method and apparatus for treating a joint, including the treatment of cam-type femoroacetabular impingement in a hip joint and pincer-type femoroacetabular impingement in a hip joint |
US10699448B2 (en) | 2017-06-29 | 2020-06-30 | Covidien Lp | System and method for identifying, marking and navigating to a target using real time two dimensional fluoroscopic data |
US10893843B2 (en) | 2017-10-10 | 2021-01-19 | Covidien Lp | System and method for identifying and marking a target in a fluoroscopic three-dimensional reconstruction |
US11464569B2 (en) | 2018-01-29 | 2022-10-11 | Stryker Corporation | Systems and methods for pre-operative visualization of a joint |
US10905498B2 (en) | 2018-02-08 | 2021-02-02 | Covidien Lp | System and method for catheter detection in fluoroscopic images and updating displayed position of catheter |
US11373330B2 (en) | 2018-03-27 | 2022-06-28 | Siemens Healthcare Gmbh | Image-based guidance for device path planning based on penalty function values and distances between ROI centerline and backprojected instrument centerline |
US11980507B2 (en) | 2018-05-02 | 2024-05-14 | Augmedics Ltd. | Registration of a fiducial marker for an augmented reality system |
US11766296B2 (en) | 2018-11-26 | 2023-09-26 | Augmedics Ltd. | Tracking system for image-guided surgery |
DE102019200786A1 (de) * | 2019-01-23 | 2020-07-23 | Siemens Healthcare Gmbh | Bildgebendes medizinisches Gerät, Verfahren zum Unterstützen von medizinischem Personal, Computerprogrammprodukt und computerlesbares Speichermedium |
US11980506B2 (en) | 2019-07-29 | 2024-05-14 | Augmedics Ltd. | Fiducial marker |
DE102019214556B4 (de) * | 2019-09-24 | 2022-12-22 | Siemens Healthcare Gmbh | Fluoroskopieverfahren mit einem Röntgengerät und Röntgengerät |
US11382712B2 (en) | 2019-12-22 | 2022-07-12 | Augmedics Ltd. | Mirroring in image guided surgery |
CN111325766B (zh) * | 2020-02-20 | 2023-08-25 | 腾讯科技(深圳)有限公司 | 三维边缘检测方法、装置、存储介质和计算机设备 |
CN111728627A (zh) * | 2020-06-02 | 2020-10-02 | 北京昆仑医云科技有限公司 | 辅助诊断方法和辅助诊断装置 |
CN112541907A (zh) * | 2020-12-17 | 2021-03-23 | 推想医疗科技股份有限公司 | 一种图像识别方法、装置、服务器及介质 |
US11896445B2 (en) | 2021-07-07 | 2024-02-13 | Augmedics Ltd. | Iliac pin and adapter |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6856827B2 (en) * | 2000-04-28 | 2005-02-15 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic tracking and visualization system |
MXPA03006790A (es) * | 2001-02-07 | 2003-11-13 | Synthes Ag | Metodo para establecer una representacion tridimensional de un hueso a partir de imagenes de rayos x. |
CN1610520A (zh) * | 2001-12-28 | 2005-04-27 | 皇家飞利浦电子股份有限公司 | 具有设定值校正装置的医用检查设备 |
DE10210647A1 (de) * | 2002-03-11 | 2003-10-02 | Siemens Ag | Verfahren zur Bilddarstellung eines in einen Untersuchungsbereich eines Patienten eingebrachten medizinischen Instruments |
DE10210646A1 (de) | 2002-03-11 | 2003-10-09 | Siemens Ag | Verfahren zur Bilddarstellung eines in einen Untersuchungsbereich eines Patienten eingebrachten medizinischen Instruments |
DE10214254A1 (de) * | 2002-03-30 | 2003-10-16 | Philips Intellectual Property | Organspezifische Rückprojektion |
US6999549B2 (en) * | 2002-11-27 | 2006-02-14 | Ge Medical Systems Global Technology, Llc | Method and apparatus for quantifying tissue fat content |
US7542791B2 (en) * | 2003-01-30 | 2009-06-02 | Medtronic Navigation, Inc. | Method and apparatus for preplanning a surgical procedure |
US7570791B2 (en) * | 2003-04-25 | 2009-08-04 | Medtronic Navigation, Inc. | Method and apparatus for performing 2D to 3D registration |
DE10322738A1 (de) | 2003-05-20 | 2004-12-16 | Siemens Ag | Verfahren zur markerlosen automatischen Fusion von 2D-Fluoro-C-Bogen-Bildern mit präoperativen 3D-Bildern unter Verwendung eines intraoperativ gewonnenen 3D-Datensatzes |
US7204640B2 (en) * | 2003-08-29 | 2007-04-17 | Accuray, Inc. | Apparatus and method for registering 2D radiographic images with images reconstructed from 3D scan data |
US7835778B2 (en) * | 2003-10-16 | 2010-11-16 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation of a multiple piece construct for implantation |
US7103136B2 (en) * | 2003-12-22 | 2006-09-05 | General Electric Company | Fluoroscopic tomosynthesis system and method |
DE102004035980A1 (de) * | 2004-07-23 | 2006-03-16 | Siemens Ag | Verfahren zur Bildgebung bei einem interventionellen Eingriff |
US7734119B2 (en) * | 2004-09-21 | 2010-06-08 | General Electric Company | Method and system for progressive multi-resolution three-dimensional image reconstruction using region of interest information |
US7327872B2 (en) * | 2004-10-13 | 2008-02-05 | General Electric Company | Method and system for registering 3D models of anatomical regions with projection images of the same |
US7344307B2 (en) * | 2004-11-12 | 2008-03-18 | General Electric Company | System and method for integration of a calibration target into a C-arm |
US7453983B2 (en) * | 2005-01-20 | 2008-11-18 | Carestream Health, Inc. | Radiation therapy method with target detection |
DE102005030646B4 (de) * | 2005-06-30 | 2008-02-07 | Siemens Ag | Verfahren zur Kontur-Visualisierung von zumindest einer interessierenden Region in 2D-Durchleuchtungsbildern |
US20090105579A1 (en) * | 2007-10-19 | 2009-04-23 | Garibaldi Jeffrey M | Method and apparatus for remotely controlled navigation using diagnostically enhanced intra-operative three-dimensional image data |
-
2005
- 2005-06-30 DE DE102005030646A patent/DE102005030646B4/de active Active
-
2006
- 2006-06-30 US US11/479,182 patent/US7689042B2/en active Active
- 2006-06-30 CN CN200610106485A patent/CN100581467C/zh active Active
Also Published As
Publication number | Publication date |
---|---|
CN1891153A (zh) | 2007-01-10 |
US20070003016A1 (en) | 2007-01-04 |
US7689042B2 (en) | 2010-03-30 |
DE102005030646A1 (de) | 2007-01-11 |
DE102005030646B4 (de) | 2008-02-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN100581467C (zh) | 用于二维透视图像中感兴趣区域轮廓可视化的方法和装置 | |
US11989338B2 (en) | Using optical codes with augmented reality displays | |
JP6768878B2 (ja) | 画像表示の生成方法 | |
EP2046223B1 (en) | Virtual penetrating mirror device for visualizing virtual objects in angiographic applications | |
RU2471239C2 (ru) | Визуализация трехмерных изображений в комбинации с двумерными проекционными изображениями | |
JP5400326B2 (ja) | トモシンセシス画像を表示するための方法 | |
US8045780B2 (en) | Device for merging a 2D radioscopy image with an image from a 3D image data record | |
KR102109588B1 (ko) | 유방 조직 이미지를 프로세싱하고, 디스플레잉하고, 네비게이팅하기 위한 방법 | |
US7103136B2 (en) | Fluoroscopic tomosynthesis system and method | |
JP2006320722A (ja) | 対象領域の2d撮像の表示範囲の拡張方法 | |
JP2005270652A (ja) | インターベンションまたは外科手術時の画像形成方法および装置 | |
JP2006320721A (ja) | 対象領域のボリューム撮影の表示範囲の拡張方法 | |
JP2007130461A (ja) | 3次元モニタ及び2次元モニタを医用診断撮像ワークステーションと統合するための方法及び装置 | |
US7860282B2 (en) | Method for supporting an interventional medical operation | |
JP2005182831A (ja) | 三次元データを視覚化する方法及びシステム | |
RU2469308C2 (ru) | Рентгеновский инструмент для трехмерного ультразвукового исследования | |
CN112740285A (zh) | 在虚拟环境中对医学图像的叠加和操纵 | |
CN1538796A (zh) | 采用原立体数据组进行数字减影血管造影的方法 | |
JP2005103263A (ja) | 断層撮影能力のある画像形成検査装置の作動方法およびx線コンピュータ断層撮影装置 | |
JP5002344B2 (ja) | 医用画像診断装置及び医用画像表示装置 | |
EP2652714A1 (en) | System and method for generating and displaying a 2d projection from a 3d or 4d dataset | |
JP2010240254A (ja) | X線診断装置 | |
Vogt | Real-Time Augmented Reality for Image-Guided Interventions | |
EP1977368A2 (en) | Device, system and method for modifying two dimensional data of a body part | |
US7404672B2 (en) | Method for supporting a minimally invasive intervention on an organ |
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 | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220125 Address after: Erlangen Patentee after: Siemens Healthineers AG Address before: Munich, Germany Patentee before: SIEMENS AG |