CN102178526A - Ultrasonic and nuclear magnetic resonance image fusion transluminal registration device and method - Google Patents
Ultrasonic and nuclear magnetic resonance image fusion transluminal registration device and method Download PDFInfo
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- CN102178526A CN102178526A CN 201110122024 CN201110122024A CN102178526A CN 102178526 A CN102178526 A CN 102178526A CN 201110122024 CN201110122024 CN 201110122024 CN 201110122024 A CN201110122024 A CN 201110122024A CN 102178526 A CN102178526 A CN 102178526A
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Abstract
The invention relates to an ultrasonic and nuclear magnetic resonance image fusion transluminal registration device, which is provided with a carrier, a support, a regulating device and a base, wherein the carrier is arranged on the support; the support is connected with the base through the regulating device; and markers arranged in the carrier. The invention also provides an ultrasonic and nuclear magnetic resonance image fusion transluminal registration method. The invention has the advantages that: the device and the method are simple, convenient, accurate and quick in prostate transrectal ultrasonic and nuclear magnetic resonance image registration, and only needs to register layers, which have the same number of target markers, in two modes; the device and the method avoid injuring patients and avoids implanting the markers in the bodies of the patients and injuries and use limitation thus caused; and the volume of the device is small, the diameter of the device is equal to that of a transrectal ultrasonic probe, and the tolerance and acceptability of the patients are high.
Description
Technical field
The present invention relates to the image registration field, specifically, is a kind of ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber and method thereof.
Background technology
In the image registration of prostate NMR (Nuclear Magnetic Resonance)-imaging (MRI) and Transrectal Ultrasound imaging (TRUS) was merged with guiding aspiration biopsy of prostatic gland process, the conventional images registration technique mainly comprised:
1, implants intraprostatic radioactive particle as the image registration label with the prostate brachytherapy;
2, edge contour or the intraprostatic relevant focus with prostate self contour feature and anatomic landmark, prostate and transitional areas thereof such as pixel characteristic, intraprostatic calcification, internal urethral orifice is the image registration internal markers;
3, by magnetic field generator, be integrated with the ultrasonic probe of following the tracks of sensor and have the electromagnetism spike navigation system that the work station of related software forms and carry out the image registration fusion.
Yet there are many deficiencies in the conventional images registration technique:
1, implants intraprostatic radioactive particle as the image registration label with the prostate brachytherapy, to before imaging, place by invasive technique in advance, can cause in various degree damage to the patient, and suitable crowd is confined to the patient that carcinoma of prostate is accepted brachytherapy, is unfavorable for large-scale clinical application;
2, edge contour or the intraprostatic relevant focus with prostate self contour feature and anatomic landmark, prostate and transitional areas thereof such as pixel characteristic, intraprostatic calcification, internal urethral orifice is the image registration internal markers, need the operator that these signs are carried out accurate recognition, the artificial subjective factor influence is bigger; In addition, since the internal diameter of the pressure that the bladder of different filling degrees and rectum form, patient body position, endorectal ultrasonography probe and nuclear magnetic resonance, NMR (MR) rectum coil is inconsistent and intervention procedure in the formed pressure of insertion of biopsy needle, these factors all can cause prostate to produce in various degree displacement and deformation, rely on prostate geometric shape and local point, line, surface this moment, to show that contour feature etc. carries out the method error of registration just very big.
3, electromagnetism spike navigation system is carried out the image registration fusion needs label to merge under the prerequisite of starting point aspect registration (initialization), and there are above-mentioned 1 and 2 described weak points equally in the required label of starting point aspect registration.
Chinese patent application CN 201578259U, open day be JIUYUE in 2010 15 days, the utility model name is called a kind of multi-mode image registration auxiliary device, this utility model provides a kind of multi-mode image registration auxiliary device, comprising: base plate: have first of spatial accommodation and hold body, second and hold body and the 3rd and hold body; Described first holds body, second holds body and the 3rd and holds the surface that body all is fixedly set in described base plate, and protrudes in the surface of described base plate.This utility model complex structure, and can only carry out registration process to external image, the scope of application is limited, can not carry out accurate aspiration biopsy to carcinoma of prostate etc.
Because the aspiration biopsy of prostatic gland art of Transrectal Ultrasound guiding and pathological diagnosis are the goldstandards of diagnosing prostate cancer before the clinic operation, therefore, need badly want a kind of can be to conventional ultrasonic examination driftlessness but other imaging examination (as NMR (Nuclear Magnetic Resonance)-imaging) has the carcinoma of prostate focus of hard objectives to carry out the image co-registration registration apparatus of accurate aspiration biopsy, but, yet there are no report about this device.
Summary of the invention
The objective of the invention is at deficiency of the prior art, a kind of ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber is provided.
One purpose more of the present invention is, the using method of registration apparatus in a kind of ultrasonic and the nuclear magnetic resonance image fusion chamber is provided.
For achieving the above object, the technical scheme that the present invention takes is: a kind of ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber, be provided with carrier, support, adjusting device and base, described carrier is located on the support, support is connected with base by adjusting device, is provided with label in the described carrier.
Described label is at nuclear magnetic resonance, NMR and the ultrasonic material of equal video picture down and the mixture of coagulant.
Described video picture material is a ferroso-ferric oxide, and described coagulant is an agar, and the mass ratio of video picture material and coagulant is 1:1000-1:1.
Carrier is provided with thin big envelope, thin big envelope thickness 0.1-2mm.
Described carrier becomes hollow cylindrical, and carrier is provided with bond site and ultrasonic scanning window position.
Described ultrasonic scanning window position is provided with blind cylindrical hole.
It is capable that described blind cylindrical hole is provided with 3-9, and the row distance of center circle is 2～20mm, and blind cylindrical hole is along the parallel distribution of carrier face of cylinder long axis direction, and blind cylindrical hole diameter is the 1-5 millimeter, blind cylindrical hole hole depth 1-5 millimeter, hole base thickness 0.1-5 millimeter.
Put up hollow cylindrical for described, support is provided with head and afterbody, support head connection carrier, and the support afterbody is provided with scale.
Described support afterbody is connected with adjusting device, and adjusting device is located on the base, and base is provided with hold-down nut.
For realizing above-mentioned second purpose, the technical scheme that the present invention takes is: the using method of registration apparatus in a kind of ultrasonic and the nuclear magnetic resonance image fusion chamber, and the interior method for registering of described prostate Transrectal Ultrasound and nuclear magnetic resonance image fusion chamber may further comprise the steps:
(a) label of on carrier, packing into;
(b) thin big envelope on the carrier outer cover of the label of packing into;
(c) carrier that label is housed that will put thin big envelope carries out nuclear magnetic resonance scanning, obtains nuclear magnetic resonance image;
(d) the carrier same position that label is housed that will put thin big envelope is carried out ultrasonic scanning;
(e) ultrasonic aspect is navigated to focus aspect shown on the nuclear magnetic resonance, NMR, realize the registration of two kinds of image mode.
The invention has the advantages that:
1, the present invention is easy, accurate, quick on prostate Transrectal Ultrasound and nuclear magnetic resonance image registration, only needs that the aspect that contains the similar number label under two kinds of imaging patterns is carried out registration and gets final product;
2, the present invention does not need to be implanted into label the patient body to patient's not damaged, avoids the damage that brings thus and uses limitation;
But the use of 3, the present invention repeated multiple times, each only the need changed label, and the label selection is various, can select according to condition, and the scope of application is extensive;
4, volume of the present invention is small and exquisite, and is suitable with conventional Transrectal Ultrasound probe diameter, and patient tolerability is good, degree of recognition is high.
Description of drawings
Accompanying drawing 1 is a kind of ultrasonic and interior registration apparatus structural representation of nuclear magnetic resonance image fusion chamber of the present invention.
Accompanying drawing 2 is a kind of ultrasonic and the interior registration apparatus carrier of nuclear magnetic resonance image fusion chamber and direct organization sketch maps of the present invention.
Accompanying drawing 3 is the generalized sections along Fig. 2 A-A line.
Accompanying drawing 4 is the generalized sections along Fig. 2 B-B line.
Accompanying drawing 5 is registration principle schematic in a kind of prostate Transrectal Ultrasound of the present invention and the nuclear magnetic resonance image fusion chamber.
The specific embodiment
Below in conjunction with accompanying drawing the specific embodiment provided by the invention is elaborated.
The Reference numeral and the ingredient that relate in the accompanying drawing are as follows:
1. carrier 11. bond site
12. ultrasonic scanning window position 121. blind cylindrical holes
13. thin big envelope 2. supports
21. head 22. afterbodys
3. adjusting device 4. bases
5. hold-down nut 6. prostate
7. focus
Embodiment 1
Please refer to Fig. 1, Fig. 1 is a kind of ultrasonic and interior registration apparatus structural representation of nuclear magnetic resonance image fusion chamber of the present invention, registration apparatus is provided with support 2 in described ultrasonic and the nuclear magnetic resonance image fusion chamber, support 2 is a hollow cylinder, support 2 is divided into head 21 and afterbody 22, and head 21 transverse section inside and outside circle diameters are consistent with afterbody 22 inner and outer diameter, and described head 21 outsides are provided with carrier 1, described carrier 1 is provided with thin big envelope 13, and thin big envelope 13 can be placed on the carrier 1.Please refer to Fig. 2, Fig. 2 is a kind of ultrasonic and interior registration apparatus carrier of nuclear magnetic resonance image fusion chamber and a supporting structure sketch map of the present invention, carrier 1 is divided into bond site 11 and ultrasonic scanning window position 12, bond site 11 is the bonding place of carrier 1 and support 2 heads 21, and bond site 11 is positioned at 12 two ends, ultrasonic scanning window position.Please refer to Fig. 3, Fig. 3 is the generalized section along Fig. 2 A-A line, and described carrier 1 is wrapped on the head 21 of support 2, and support 2 heads 21 interior diameters are the 5-20 millimeter, and overall diameter is the 6-25 millimeter.Described ultrasonic scanning window position 12 is provided with blind cylindrical hole 121, it is capable that described blind cylindrical hole 121 is provided with 3-9, the row distance of center circle is 2～20mm, blind cylindrical hole 121 is along the parallel distribution of carrier 1 face of cylinder long axis direction, blind cylindrical hole 121 numbers of every row differ, and its orientation is consistent with nuclear magnetic resonance, NMR and transrectal ultrasonography direction.Please refer to Fig. 4, Fig. 4 is the generalized section along Fig. 2 B-B line, and described blind cylindrical hole 121 diameters are the 1-5 millimeter, blind cylindrical hole 121 hole depth 1-5 millimeters, hole base thickness 0.1-5 millimeter, carrier 1 are wrapped on the head 21 of support 2, and described support 2 heads 21 diameters are the 5-20 millimeter.Referring again to Fig. 1, described support 2 afterbodys 22 connect adjusting device 3, and adjusting device 3 is angle and arrangement for adjusting height, and adjusting device 3 is located on the base 4, also is provided with hold-down nut 5 on the base 4.The preparation material and the method for described label are as follows:
One, label prepares material
Ferroferric oxide powder, agar, distilled water
Two, label preparation method
Take by weighing ferroso-ferric oxide 0.05g respectively and agar 100g(mass ratio is 1:2000) add distilled water and make the 500ml mixed solution, when the mixed solution heating is in a liquid state gel state, abundant mixing, the label of mix homogeneously is injected in the blind cylindrical hole 121 moulding then while hot, wait its cooled and solidified, standby.
One, label prepares material
Ferroferric oxide powder, agar, distilled water
Two, label preparation method
Take by weighing ferroso-ferric oxide 0.1g respectively and agar 100g(mass ratio is 1:1000) add distilled water and make the 500ml mixed solution, when the mixed solution heating is in a liquid state gel state, abundant mixing, the label of mix homogeneously is injected in the blind cylindrical hole 121 moulding then while hot, wait its cooled and solidified, standby.
Embodiment 3
One, label prepares material
Ferroferric oxide powder, agar, distilled water
Two, label preparation method
Take by weighing ferroso-ferric oxide 0.2g respectively and agar 100g(mass ratio is 1:500) add distilled water and make the 500ml mixed solution, when the mixed solution heating is in a liquid state gel state, abundant mixing, the label of mix homogeneously is injected in the blind cylindrical hole 121 moulding then while hot, wait its cooled and solidified, standby.
Embodiment 4
One, label prepares material
The ferroso-ferric oxide liquid formulation, agar, distilled water
Two, label preparation method
Concentration according to ferroso-ferric oxide in the ferroso-ferric oxide liquid formulation, get an amount of and agar 100g and distilled water to make 500ml ferroso-ferric oxide concentration be the mixed solution of 10～400mg/L, when the mixed solution heating is in a liquid state gel state, abundant mixing, the label of mix homogeneously is injected in the blind cylindrical hole 121 moulding then while hot, wait its cooled and solidified, standby.
Need to prove that described carrier 1 adopts silica gel material to make, carrier 1 part is for placing the carrier material of label, and this material require satisfies following feature: 1. nontoxic, have certain elasticity and plasticity; 2. it is good to lead acoustic performance, and when using ultrasonic scanning, inside is the homogenizing echoless, no acoustic attenuation and interference pseudomorphism; 3. nonmagnetic, can be in imaging under the nuclear magnetic resonance scanning, and NMR signal is even; 4. good heat resistance is stable below 100 ℃.Therefore, carrier 1 part of the present invention adopts silica gel material to make, but other materials that satisfy above characteristic also can use.Described carrier 1 is wrapped on the head 21 of support 2, the afterbody 22 of support 2 is provided with scale, by the scale on the afterbody 22, can regulate carrier and insert the intrarectal degree of depth of patient, afterbody 22 is connected with adjusting device 3, and adjusting device 3 is angle and arrangement for adjusting height, and adjusting device 3 is located on the base 4, by the height of regulating hold-down nut 5 adjustable supports 2 on the base 4 and the angle that forms with horizontal plane, be convenient to use of the present invention.
Described label is can all the material and the coagulant of video picture mix by a certain percentage under ultrasonic and nuclear magnetic resonance, NMR, embodiment selects the water solution mixture of ferroferric oxide powder and agar and the water-soluble people's of having mixture of ferroso-ferric oxide liquid preparation and agar for use, the label that in the proportion shown in the embodiment, prepares have this label of following characteristic: ⑴ on NMR (Nuclear Magnetic Resonance)-imaging, produce with surrounding tissue clear and definite correlated signal is arranged; ⑵ this label also produces with surrounding tissue under ultrasonic scanning clear and definite correlated echo; ⑶ two kinds of composition mix homogeneously, heating in water bath are in a liquid state during to uniform temperature, are the solid gel shape when being cooled to room temperature.Be 1:500 wherein with ferroso-ferric oxide 0.2g and agar 100g(mass ratio) adding distilled water, to make the signal that produces on the 500ml mixed solution gained label NMR (Nuclear Magnetic Resonance)-imaging the clearest and the most definite with the surrounding tissue contrast, and the echo that produces under ultrasonic scanning also contrasts the clearest and the most definite with surrounding tissue.When label is packed carrier 1 into, under being in a liquid state situation, the coagulant heating inserts in the blind cylindrical hole 121, after treating the coagulant cooled and solidified, fully smear ultrasonic examination fills up blind cylindrical hole 121 and the deaeration bubble with couplant in carrier 1 surface, put the thin big envelope 13 of making consistent size with carrier 1 material of the same race again on carrier 1 surface, thin big envelope 13 can prevent that blind cylindrical hole 121 internal labeling things from coming off, and plays the effect of fixation mark thing.Employing and carrier 1 part same material can guarantee the difference of no acoustic impedance between thin big envelope 13 and the carrier 1, thereby do not exert an influence ultrasonographic pseudomorphism or interference.Put after the thin big envelope 13, the present invention just can use.
Please refer to Fig. 5, Fig. 5 is a registration principle schematic in a kind of prostate Transrectal Ultrasound of the present invention and the nuclear magnetic resonance image fusion chamber, described registration principle is: to part on routine is ultrasonic not video picture but on nuclear magnetic resonance, NMR the patients with prostate cancer of video picture, in order to make the prostate biopsy under the Transrectal Ultrasound guiding that definite target can be arranged, improve puncture accuracy, when the patient carries out the prostate nuclear magnetic resonance check before ultrasound guided puncture, be positioned over patient's internal rectum after carrier 1 part of the present invention put thin big envelope 13, obtain the image data of patient's prostate 6 by nuclear magnetic resonance scanning, write down the position of focus 7 on the label of blind cylindrical hole 121 simultaneously, the nuclear magnetic resonance image data are copied to the image co-registration work station, then the patient is carried out the prostate biopsy of ultrasonic guidance, same depth when the present invention is positioned over patient's internal rectum and nuclear magnetic resonance check, the degree of depth can read by the scale on carrier 2 afterbodys 22, nuclear magnetic resonance, NMR and ultrasonic scanning are the transverse section imaging, ultrasonic aspect is navigated to focus shown on the nuclear magnetic resonance, NMR 7 aspects, promptly this focus 7 is positioned at the position on the blind cylindrical hole 121 when nuclear magnetic resonance, NMR, can realize the accurate registration of two kinds of image mode, automatically transfer this aspect nuclear magnetic resonance image of patient by manual or related software then and carry out two kinds of image co-registration, take translucent demonstration or highlight method such as focus just can show and focus 7 images on the nuclear magnetic resonance, NMR carry out the targeting puncture to this focus 7 again in stack on the ultrasonoscopy.The present invention is by carrying out registration with the aspect that contains the similar number label under two kinds of imaging patterns, can determine the position of targeting target, thereby make the puncture of aimless system transfer the puncture of targeting to, raising carcinoma of prostate puncture result's positive rate reduces unnecessary puncture simultaneously and counts.
The using method of registration apparatus is as follows in the present invention a kind of ultrasonic and the nuclear magnetic resonance image fusion chamber: the blind cylindrical hole 121 of carrier 1 of the present invention is packed into behind the label, on carrier 1, put afterwards special thin big envelope 13 Deng the label cooled and solidified, insert patient's internal rectum to certain depth, by the scale on the afterbody 22 of observing support 2, the scalable insertion depth, can adjust adjusting device 3 by the hold-down nut of adjusting on the base 45, can control angle and height that carrier inserts, nuclear magnetic resonance, NMR is carried out in the position of being convenient to reach suitable, obtains the prostatic nuclear magnetic resonance image of patient; When carrying out the aspiration biopsy of prostatic gland of Transrectal Ultrasound guiding, insert the internal rectum degree of depth in the present invention, when inserting angle and height under the consistent prerequisite with nuclear magnetic resonance check, the Transrectal Ultrasound probe is inserted from the pipeline of support 2, in the ultrasonic scanning window position 12 of carrier 1, carry out the prostate ultrasonic scanning, be same aspect and carry out two kinds of image registrations according to containing same tag thing number on nuclear magnetic resonance, NMR and the Transrectal Ultrasound image aspect, nuclear magnetic resonance, NMR is found, localized target thereby realize relying on.
Registration apparatus carrier 1 adopts silica gel material to make in the present invention a kind of ultrasonic and the nuclear magnetic resonance image fusion chamber, that the carrier 1 that silica gel material is made has is nontoxic, lead advantages such as acoustic performance is good, nonmagnetic, good heat resistance, and these advantages can guarantee the stability and the reliability of final imaging results; The present invention is simple in structure, and is easy to use, quick, only needs that the aspect that contains the similar number label under two kinds of imaging patterns is carried out registration and gets final product, and uses the special marking thing, can make imaging results more accurate; The present invention does not need to be implanted into label the patient body to patient's not damaged, avoids the damage that brings thus and uses limitation; The present invention is positioned over patient's internal rectum, label next-door neighbour prostate, and two kinds of imaging patterns can both obtain high-resolution prostate and label image, thus the image registration accuracy obviously is better than existing method for registering; But the use of the present invention's repeated multiple times, each only the need changed label, and the label selection is various, can select according to condition, and the scope of application is extensive; Volume of the present invention is small and exquisite, and is suitable with conventional Transrectal Ultrasound probe diameter, and patient tolerability is good, degree of recognition is high.In addition, use the present invention to carry out the prostate biopsy of Transrectal Ultrasound guiding, can better bring into play the advantage of multi-modal diagnostic imaging method, rely on nuclear magnetic resonance, NMR (MR) to find, locate conventional Transrectal Ultrasound (TRUS) and go up negative target, by merging guided puncture with real-time Transrectal Ultrasound (TRUS), make traditional aimless system puncture transfer the puncture of targeting to, can improve carcinoma of prostate puncture result's positive rate, reduce the patient and accept the probability of prostate repeated puncture, and then alleviate patient's financial burden and save medical resource; Owing to use this device can realize the targeting puncture, can significantly reduce unnecessary puncture and count, reduce patient's the damage and the incidence rate of paracentesis infectious-related complication.
In recent years, increase raising with the residents ' health health care consciousness year by year along with China's carcinoma of prostate sickness rate, aspiration biopsy of prostatic gland under the Transrectal Ultrasound guiding is extensively carried out in China, the aspiration biopsy of prostatic gland art of Transrectal Ultrasound guiding at present and pathological diagnosis are the goldstandards of diagnosing prostate cancer before the clinic operation, it is clinical as the present invention is widely used in, can save extensive patients individual's financial burden and the spending of national medical care insurance on the one hand, associate organization makes it have certain market scale on the other hand, can obtain certain economic benefits and social benefit.
The above only is a preferred implementation of the present invention; should be pointed out that for those skilled in the art, under the prerequisite that does not break away from the inventive method; can also make some improvement and replenish, these improvement and replenish and also should be considered as protection scope of the present invention.
Claims (10)
1. the ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber is provided with carrier, support, adjusting device and base, it is characterized in that described carrier is located on the support, and support is connected with base by adjusting device, is provided with label in the described carrier.
2. the ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber according to claim 1 is characterized in that, described label is at nuclear magnetic resonance, NMR and the ultrasonic material of equal video picture down and the mixture of coagulant.
3. the ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber according to claim 2 is characterized in that described video picture material is the ferroso-ferric oxide preparation, and described coagulant is an agar, and the mass ratio of video picture material and coagulant is 1:1000-1:1.
4. the ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber according to claim 1 is characterized in that described carrier is provided with thin big envelope, thin big envelope thickness 0.1-2mm.
5. the ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber according to claim 1 is characterized in that described carrier becomes hollow cylindrical, and carrier is provided with bond site and ultrasonic scanning window position.
6. the ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber according to claim 4 is characterized in that described ultrasonic scanning window position is provided with blind cylindrical hole.
7. the ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber according to claim 1, it is characterized in that, it is capable that described blind cylindrical hole is provided with 3-9, the row distance of center circle is 2～20mm, blind cylindrical hole is along the parallel distribution of carrier face of cylinder long axis direction, blind cylindrical hole diameter is the 1-5 millimeter, blind cylindrical hole hole depth 1-5 millimeter, hole base thickness 0.1-5 millimeter.
8. the ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber according to claim 1 is characterized in that put up hollow cylindrical for described, support is provided with head and afterbody, support head connection carrier, and the support afterbody is provided with scale.
9. the ultrasonic and interior registration apparatus of nuclear magnetic resonance image fusion chamber according to claim 1 is characterized in that described support afterbody is connected with adjusting device, and adjusting device is located on the base, and base is provided with hold-down nut.
10. according to registration apparatus in claim 1-9 arbitrary described ultrasonic and the nuclear magnetic resonance image fusion chamber, it is characterized in that method for registering may further comprise the steps in described ultrasonic and the nuclear magnetic resonance image fusion chamber:
(a) label of on carrier, packing into;
(b) thin big envelope on the carrier outer cover of the label of packing into;
(c) carrier that label is housed that will put thin big envelope carries out nuclear magnetic resonance scanning, obtains nuclear magnetic resonance image;
(d) the carrier same position that label is housed that will put thin big envelope is carried out ultrasonic scanning;
(e) ultrasonic aspect is navigated to focus aspect shown on the nuclear magnetic resonance, NMR, realize the registration of two kinds of image mode.
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| CN 201110122024 CN102178526B (en) | 2011-05-12 | 2011-05-12 | Ultrasonic and nuclear magnetic resonance image fusion transluminal registration device and method |
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| CN109758213A (en) * | 2019-01-11 | 2019-05-17 | 宋刚 | A kind of magnetic resonance-ultrasound fusion prostate biopsy needle localization method and system |
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| CN111340861A (en) * | 2020-02-03 | 2020-06-26 | 大连理工大学 | Prostate nuclear magnetic ultrasonic image registration fusion method |
| CN111479511A (en) * | 2018-06-19 | 2020-07-31 | 皇家飞利浦有限公司 | Ultrasound assistance device and method, medical system |
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| CN109758213A (en) * | 2019-01-11 | 2019-05-17 | 宋刚 | A kind of magnetic resonance-ultrasound fusion prostate biopsy needle localization method and system |
| CN110251243A (en) * | 2019-06-24 | 2019-09-20 | 淮安信息职业技术学院 | A kind of ultrasound fusion navigation auxiliary registration apparatus |
| CN110251243B (en) * | 2019-06-24 | 2024-06-04 | 江苏电子信息职业学院 | Auxiliary registration device for ultrasonic fusion navigation |
| WO2021000861A1 (en) * | 2019-07-02 | 2021-01-07 | 西安大医集团股份有限公司 | Simulated phantom |
| US11992706B2 (en) | 2019-07-02 | 2024-05-28 | Our United Corporation | Simulation phantom |
| CN111340861B (en) * | 2020-02-03 | 2022-09-27 | 大连理工大学 | Prostate nuclear magnetic ultrasonic image registration fusion method |
| CN111340861A (en) * | 2020-02-03 | 2020-06-26 | 大连理工大学 | Prostate nuclear magnetic ultrasonic image registration fusion method |
| CN113520272B (en) * | 2021-06-29 | 2023-06-27 | 上海应用技术大学 | Endoscopic catheter-multimode optical imaging coupling detection system |
| CN113520272A (en) * | 2021-06-29 | 2021-10-22 | 上海应用技术大学 | Endoscopic catheter-multi-mode optical imaging coupling detection system |
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