CN103648397B - 超声图像引导的系统与基于体积运动的校准方法 - Google Patents

超声图像引导的系统与基于体积运动的校准方法 Download PDF

Info

Publication number
CN103648397B
CN103648397B CN201280031580.XA CN201280031580A CN103648397B CN 103648397 B CN103648397 B CN 103648397B CN 201280031580 A CN201280031580 A CN 201280031580A CN 103648397 B CN103648397 B CN 103648397B
Authority
CN
China
Prior art keywords
image
volume
motion
tracking
position sensor
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.)
Expired - Fee Related
Application number
CN201280031580.XA
Other languages
English (en)
Chinese (zh)
Other versions
CN103648397A (zh
Inventor
A·K·贾殷
D·A·斯坦顿
C·S·霍尔
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.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips Electronics NV
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 Koninklijke Philips Electronics NV filed Critical Koninklijke Philips Electronics NV
Publication of CN103648397A publication Critical patent/CN103648397A/zh
Application granted granted Critical
Publication of CN103648397B publication Critical patent/CN103648397B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Clinical applications involving detecting or locating foreign bodies or organic structures for locating instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4444—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device related to the probe
    • A61B8/4455—Features of the external shape of the probe, e.g. ergonomic aspects
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4477—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device using several separate ultrasound transducers or probes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/486—Diagnostic techniques involving arbitrary m-mode
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5207—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of raw data to produce diagnostic data, e.g. for generating an image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/58—Testing, adjusting or calibrating the diagnostic device
    • A61B8/585—Automatic set-up of the device
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/20—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for computer-aided diagnosis, e.g. based on medical expert systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0883—Clinical applications for diagnosis of the heart
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10132—Ultrasound image
    • G06T2207/10136—3D ultrasound image

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Pathology (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Data Mining & Analysis (AREA)
  • Databases & Information Systems (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
CN201280031580.XA 2011-06-27 2012-06-21 超声图像引导的系统与基于体积运动的校准方法 Expired - Fee Related CN103648397B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201161501271P 2011-06-27 2011-06-27
US61/501,271 2011-06-27
PCT/IB2012/053138 WO2013001424A2 (en) 2011-06-27 2012-06-21 Ultrasound-image-guide system and volume-motion-base calibration method

Publications (2)

Publication Number Publication Date
CN103648397A CN103648397A (zh) 2014-03-19
CN103648397B true CN103648397B (zh) 2016-01-20

Family

ID=46579263

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201280031580.XA Expired - Fee Related CN103648397B (zh) 2011-06-27 2012-06-21 超声图像引导的系统与基于体积运动的校准方法

Country Status (5)

Country Link
US (1) US20140100452A1 (cg-RX-API-DMAC7.html)
EP (1) EP2723241B1 (cg-RX-API-DMAC7.html)
JP (1) JP6023190B2 (cg-RX-API-DMAC7.html)
CN (1) CN103648397B (cg-RX-API-DMAC7.html)
WO (1) WO2013001424A2 (cg-RX-API-DMAC7.html)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2584965B1 (en) * 2010-06-28 2016-04-13 Koninklijke Philips N.V. Real-time quality control of em calibration
US10743773B2 (en) * 2012-05-02 2020-08-18 Koninklijke Philips N.V. Imaging thermometry
US9717481B2 (en) 2013-01-17 2017-08-01 Koninklijke Philips N.V. Method of adjusting focal zone in ultrasound-guided procedures by tracking an electromagnetic sensor that implemented on a surgical device
JP2014236836A (ja) * 2013-06-07 2014-12-18 株式会社東芝 超音波診断装置及びそれに用いるアタッチメント
EP3013246B1 (en) 2013-06-28 2021-08-11 Koninklijke Philips N.V. Acoustic highlighting of interventional instruments
WO2016088037A1 (en) 2014-12-02 2016-06-09 Koninklijke Philips N.V. Automatic tracking and registration of ultrasound probe using optical shape sensing without tip fixation
US11109840B2 (en) * 2015-03-31 2021-09-07 Koninklijke Philips N.V. Calibration of ultrasonic elasticity-based lesion-border mapping
US11116582B2 (en) * 2015-08-28 2021-09-14 Koninklijke Philips N.V. Apparatus for determining a motion relation
CN108024791B (zh) * 2015-09-17 2021-09-07 皇家飞利浦有限公司 将肺滑动与外部运动区分
KR102530174B1 (ko) * 2016-01-21 2023-05-10 삼성메디슨 주식회사 초음파 영상 장치 및 그 제어 방법
CN109069103B (zh) * 2016-04-19 2022-01-25 皇家飞利浦有限公司 超声成像探头定位
CN106204535B (zh) * 2016-06-24 2018-12-11 天津清研智束科技有限公司 一种高能束斑的标定方法
US20180098816A1 (en) * 2016-10-06 2018-04-12 Biosense Webster (Israel) Ltd. Pre-Operative Registration of Anatomical Images with a Position-Tracking System Using Ultrasound
CN106725609A (zh) * 2016-11-18 2017-05-31 乐普（北京）医疗器械股份有限公司 一种弹性检测方法和装置
US11534138B2 (en) * 2017-09-07 2022-12-27 Piur Imaging Gmbh Apparatus and method for determining motion of an ultrasound probe
JP7061669B6 (ja) * 2017-12-19 2022-06-06 コーニンクレッカ フィリップス エヌ ヴェ 画像に基づく追跡と慣性プローブ追跡との結合
EP3508132A1 (en) * 2018-01-04 2019-07-10 Koninklijke Philips N.V. Ultrasound system and method for correcting motion-induced misalignment in image fusion
US11911213B2 (en) * 2019-06-03 2024-02-27 General Electric Company Techniques for determining ultrasound probe motion
CN113768535B (zh) * 2021-08-23 2024-06-28 武汉库柏特科技有限公司 一种遥操作用超声仿型探头姿态自校准方法、系统及装置

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6338716B1 (en) * 1999-11-24 2002-01-15 Acuson Corporation Medical diagnostic ultrasonic transducer probe and imaging system for use with a position and orientation sensor
CN1868409A (zh) * 2005-04-26 2006-11-29 韦伯斯特生物官能公司 使用超声系统的束方向显示导管尖
WO2007040172A1 (ja) * 2005-10-04 2007-04-12 Hitachi Medical Corporation 超音波探触子及びそれを用いた超音波診断装置
WO2009063360A1 (en) * 2007-11-14 2009-05-22 Koninklijke Philips Electronics, N.V. System and method for automatic calibration of tracked ultrasound
WO2009063361A1 (en) * 2007-11-14 2009-05-22 Koninklijke Philips Electronics, N.V. System and method for quantitative 3d ceus analysis
WO2010096419A2 (en) * 2009-02-17 2010-08-26 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image guided surgery
CN102970926A (zh) * 2010-06-28 2013-03-13 皇家飞利浦电子股份有限公司 Em校准的实时质量控制

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5520187A (en) * 1994-11-25 1996-05-28 General Electric Company Ultrasonic probe with programmable multiplexer for imaging systems with different channel counts
US6975900B2 (en) * 1997-07-31 2005-12-13 Case Western Reserve University Systems and methods for determining a surface geometry
JP4443672B2 (ja) * 1998-10-14 2010-03-31 株式会社東芝 超音波診断装置
US7085400B1 (en) * 2000-06-14 2006-08-01 Surgical Navigation Technologies, Inc. System and method for image based sensor calibration
JP2004065775A (ja) * 2002-08-08 2004-03-04 Sanwa Kagaku Kenkyusho Co Ltd 針状構造体を備えたデバイス
US20050222793A1 (en) * 2004-04-02 2005-10-06 Lloyd Charles F Method and system for calibrating deformed instruments
EP2230482B1 (en) * 2005-03-11 2013-10-30 Creaform Inc. Auto-referenced system and apparatus for three-dimensional scanning
US20100190133A1 (en) * 2007-10-30 2010-07-29 Martinez Daniel L Irrigation and aspiration device
JP5454844B2 (ja) * 2008-08-13 2014-03-26 株式会社東芝 超音波診断装置、超音波画像表示装置及び超音波画像表示プログラム
US8086298B2 (en) 2008-09-29 2011-12-27 Civco Medical Instruments Co., Inc. EM tracking systems for use with ultrasound and other imaging modalities
US20110184684A1 (en) * 2009-07-21 2011-07-28 Eigen, Inc. 3-d self-correcting freehand ultrasound tracking system

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6338716B1 (en) * 1999-11-24 2002-01-15 Acuson Corporation Medical diagnostic ultrasonic transducer probe and imaging system for use with a position and orientation sensor
CN1868409A (zh) * 2005-04-26 2006-11-29 韦伯斯特生物官能公司 使用超声系统的束方向显示导管尖
WO2007040172A1 (ja) * 2005-10-04 2007-04-12 Hitachi Medical Corporation 超音波探触子及びそれを用いた超音波診断装置
WO2009063360A1 (en) * 2007-11-14 2009-05-22 Koninklijke Philips Electronics, N.V. System and method for automatic calibration of tracked ultrasound
WO2009063361A1 (en) * 2007-11-14 2009-05-22 Koninklijke Philips Electronics, N.V. System and method for quantitative 3d ceus analysis
WO2010096419A2 (en) * 2009-02-17 2010-08-26 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image guided surgery
CN102970926A (zh) * 2010-06-28 2013-03-13 皇家飞利浦电子股份有限公司 Em校准的实时质量控制

Also Published As

Publication number Publication date
WO2013001424A3 (en) 2013-03-07
JP2014522683A (ja) 2014-09-08
US20140100452A1 (en) 2014-04-10
CN103648397A (zh) 2014-03-19
WO2013001424A2 (en) 2013-01-03
EP2723241A2 (en) 2014-04-30
EP2723241B1 (en) 2014-11-19
JP6023190B2 (ja) 2016-11-09

Similar Documents

Publication Publication Date Title
CN103648397B (zh) 超声图像引导的系统与基于体积运动的校准方法
CN102970926B (zh) Em校准的实时质量控制
CN107913102B (zh) 使用超声进行的解剖图像与位置跟踪系统的术前配准
CN102858229B (zh) 采用受到跟踪的支气管镜检查进行肿瘤运动模拟和运动补偿的系统和方法
US10842409B2 (en) Position determining apparatus and associated method
RU2434579C2 (ru) Улучшенный способ калибровки системы слежения за катетером, использующей медицинские данные отображения
CN102307535B (zh) 用于电磁跟踪系统的动态金属畸变补偿的系统和方法
CN103765239B (zh) 用于图像引导的介入的术中图像校正
EP3193765B1 (en) Processing system arranged to cooperate with an optical-shape-sensing-enabled interventional device
US20120323111A1 (en) Method and system for characterizing and visualizing electromagnetic tracking errors
CN105873538B (zh) 用于将成像设备与跟踪设备进行配准的配准系统和方法
JP2008126075A (ja) Ｃｔレジストレーション及びフィードバックの視覚的検証のためのシステム及び方法
US20070276227A1 (en) Method for locating a medical instrument during an intervention performed on the human body
CN104010587B (zh) 对追踪系统的术中质量监测
EP3723605B1 (en) Systems, methods, and computer-readable media of estimating thoracic cavity movement during respiration
CN101449292A (zh) 坐标系配准
CN103829949A (zh) 体内探头跟踪系统中的患者运动补偿
JP2007537816A (ja) 被検体の構造体をマッピングする医療撮像システム
CN111386078A (zh) 用于将电磁导航空间非刚性地配准到ct体积的系统、方法和计算机可读介质
CN110013311A (zh) 使用主成分分析改善基于阻抗的位置跟踪性能
CN115398476A (zh) 使用皮肤组织的超声测量值进行的解剖图像与位置跟踪系统的术前配准
CN119184852A (zh) 一种校准方法、装置、三标记物校准系统和存储介质
Kukuk An “optimal” k-needle placement strategy and its application to guiding transbronchial needle aspirations
Cash Surface registration and deformation compensation in image-guided liver surgery
Shams et al. Intraoperative ultrasound probe calibration in a sterile environment

Legal Events

Date Code Title Description
PB01 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
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20160120

Termination date: 20190621