CN103747729B - 利用二维成像探头的三维针定位 - Google Patents

利用二维成像探头的三维针定位 Download PDF

Info

Publication number
CN103747729B
CN103747729B CN201280039408.9A CN201280039408A CN103747729B CN 103747729 B CN103747729 B CN 103747729B CN 201280039408 A CN201280039408 A CN 201280039408A CN 103747729 B CN103747729 B CN 103747729B
Authority
CN
China
Prior art keywords
array
transducer
tracer element
signal
intersection point
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
Application number
CN201280039408.9A
Other languages
English (en)
Chinese (zh)
Other versions
CN103747729A (zh
Inventor
A·K·贾殷
F·G·G·M·维尼翁
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 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 NV filed Critical Koninklijke Philips NV
Publication of CN103747729A publication Critical patent/CN103747729A/zh
Application granted granted Critical
Publication of CN103747729B publication Critical patent/CN103747729B/zh
Active 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
    • 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
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/467—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient characterised by special input means
    • 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
    • A61B8/481—Diagnostic techniques involving the use of contrast agents, e.g. microbubbles introduced into the bloodstream
    • 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
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • 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
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3925—Markers, e.g. radio-opaque or breast lesions markers ultrasonic
    • A61B2090/3929—Active markers
    • 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
    • A61B8/4483—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer
    • A61B8/4494—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device characterised by features of the ultrasound transducer characterised by the arrangement of the transducer elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A61B8/466—Displaying means of special interest adapted to display 3D data
    • 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
    • A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
    • A61B8/5261—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from different diagnostic modalities, e.g. ultrasound and X-ray

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Gynecology & Obstetrics (AREA)
  • Robotics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Hematology (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
CN201280039408.9A 2011-06-13 2012-06-06 利用二维成像探头的三维针定位 Active CN103747729B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201161496077P 2011-06-13 2011-06-13
US61/496,077 2011-06-13
PCT/IB2012/052830 WO2012172458A1 (en) 2011-06-13 2012-06-06 Three-dimensional needle localization with a two-dimensional imaging probe

Publications (2)

Publication Number Publication Date
CN103747729A CN103747729A (zh) 2014-04-23
CN103747729B true CN103747729B (zh) 2016-07-13

Family

ID=46331655

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201280039408.9A Active CN103747729B (zh) 2011-06-13 2012-06-06 利用二维成像探头的三维针定位

Country Status (5)

Country Link
US (1) US11147532B2 (https=)
EP (1) EP2717772B1 (https=)
JP (1) JP6053766B2 (https=)
CN (1) CN103747729B (https=)
WO (1) WO2012172458A1 (https=)

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2770344B1 (en) * 2013-02-21 2015-09-09 Sercel Method and device for estimating a relative position between towed acoustic linear antennas
JP2016508843A (ja) * 2013-03-05 2016-03-24 カフィルディ, ロニーKAFILUDDI, Ronny 複合針
CA2902668A1 (en) * 2013-03-15 2014-09-18 Colibri Technologies Inc. Active localization and visualization of minimally invasive devices using ultrasound
GB201307551D0 (en) 2013-04-26 2013-06-12 Ucl Business Plc A method and apparatus for determining the location of a medical instrument with respect to ultrasound imaging and a medical instrument
WO2015003895A1 (en) * 2013-07-08 2015-01-15 Koninklijke Philips N.V. Imaging apparatus for biopsy or brachytherapy
CN105392528A (zh) * 2013-07-23 2016-03-09 皇家飞利浦有限公司 用于定位身体结构的方法和系统
JP6253787B2 (ja) * 2013-09-24 2017-12-27 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 介入ツールの音響３ｄトラッキング
EP3508134B1 (en) * 2014-01-02 2020-11-04 Koninklijke Philips N.V. Instrument alignment and tracking with ultrasound imaging plane
CN106163410B (zh) 2014-04-11 2019-10-01 皇家飞利浦有限公司 具有多个传感器的探针
JP6014643B2 (ja) * 2014-10-15 2016-10-25 株式会社日立製作所 超音波診断装置
EP3220828B1 (en) * 2014-11-18 2021-12-22 C.R. Bard, Inc. Ultrasound imaging system having automatic image presentation
WO2016081321A2 (en) * 2014-11-18 2016-05-26 C.R. Bard, Inc. Ultrasound imaging system having automatic image presentation
CN106999149B (zh) * 2014-11-25 2020-09-29 皇家飞利浦有限公司 多传感器超声探头及相关方法
US20180000446A1 (en) * 2014-12-24 2018-01-04 Koninklijke Philips N.V. Needle trajectory prediction for target biopsy
JP6636639B2 (ja) * 2015-12-22 2020-01-29 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 超音波に基づく追跡
JP6668817B2 (ja) * 2016-02-26 2020-03-18 コニカミノルタ株式会社 超音波診断装置、及び制御プログラム
CN109073751B (zh) * 2016-04-19 2023-10-13 皇家飞利浦有限公司 用于声学配准的探头、系统和方法
JP7084383B2 (ja) * 2016-09-30 2022-06-14 コーニンクレッカ フィリップス エヌ ヴェ 介入装置の機能の追跡
JP2019533536A (ja) * 2016-11-08 2019-11-21 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 追跡信頼性に関するフィードバックを用いて介入器具を追跡するシステム及び方法
JP7167045B2 (ja) 2017-03-10 2022-11-08 コーニンクレッカ フィリップス エヌ ヴェ 音響センサーを位置決めするためのロケーションデバイス及びシステム
EP3642646B1 (en) * 2017-06-19 2025-02-19 Koninklijke Philips N.V. Interleaved imaging and tracking sequences for ultrasound-based instrument tracking
WO2019096599A1 (en) 2017-11-14 2019-05-23 Koninklijke Philips N.V. Ultrasound vascular navigation devices and methods
JP7299228B2 (ja) * 2018-02-22 2023-06-27 コーニンクレッカ フィリップス エヌ ヴェ インターベンション医療デバイスの追跡
US12121304B2 (en) 2018-05-04 2024-10-22 Hologic, Inc. Introducer and localization wire visualization
CA3091593A1 (en) 2018-05-04 2019-11-07 Hologic, Inc. Biopsy needle visualization
EP3809977A1 (en) * 2018-06-22 2021-04-28 Koninklijke Philips N.V. Intravascular ultrasound position identification
CN112334076B (zh) * 2018-06-29 2025-01-14 皇家飞利浦有限公司 利用超声成像进行活检预测和引导以及相关联的设备、系统和方法
DE102018215470A1 (de) * 2018-09-12 2020-03-12 B. Braun Melsungen Ag Verfahren zur Positionsermittlung einer medizinischen Invasivkomponente sowie medizinisches System zur Ausführung eines solchen Verfahrens
US12133767B2 (en) 2018-11-14 2024-11-05 Robeaute System and method for real-time localization
JP7168474B2 (ja) * 2019-01-31 2022-11-09 富士フイルムヘルスケア株式会社 超音波撮像装置、治療支援システム、及び、画像処理方法
EP3771435A1 (en) * 2019-07-31 2021-02-03 Koninklijke Philips N.V. Passive-ultrasound-sensor-based initialization for image-based device segmentation
US11998285B2 (en) 2019-12-04 2024-06-04 Gyrus Acmi, Inc. Surgical guiding probe
US11228469B1 (en) * 2020-07-16 2022-01-18 Deeyook Location Technologies Ltd. Apparatus, system and method for providing locationing multipath mitigation
CN116648181A (zh) * 2020-12-11 2023-08-25 罗宝蒂公司 微型设备跟踪和可视化系统
US20240358384A1 (en) * 2023-04-26 2024-10-31 Applaud Medical, Inc. Medical Device With Acoustic Sensor(s) and Method for Localizing Medical Device and Acoustic Source

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030060700A1 (en) * 2001-03-28 2003-03-27 Torsten Solf Method of and imaging ultrasound system for determining the position of a catheter
US6592520B1 (en) * 2001-07-31 2003-07-15 Koninklijke Philips Electronics N.V. Intravascular ultrasound imaging apparatus and method
WO2010004564A2 (en) * 2008-07-11 2010-01-14 Barnev Ltd. A method and a system for monitoring, contractions and/or a birth process and/or the progress and/or position of a fetus
CN101852773A (zh) * 2009-03-30 2010-10-06 株式会社东芝 超声波成像装置

Family Cites Families (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6246898B1 (en) * 1995-03-28 2001-06-12 Sonometrics Corporation Method for carrying out a medical procedure using a three-dimensional tracking and imaging system
US6216540B1 (en) * 1995-06-06 2001-04-17 Robert S. Nelson High resolution device and method for imaging concealed objects within an obscuring medium
US5830145A (en) 1996-09-20 1998-11-03 Cardiovascular Imaging Systems, Inc. Enhanced accuracy of three-dimensional intraluminal ultrasound (ILUS) image reconstruction
JPH10277040A (ja) 1997-04-09 1998-10-20 Hitachi Medical Corp 超音波診断装置
GB2329709B (en) 1997-09-26 2001-12-19 Roke Manor Research Catheter localisation system
GB2331365B (en) * 1997-11-15 2002-03-13 Roke Manor Research Catheter tracking system
US6120453A (en) * 1997-11-17 2000-09-19 Sharp; William A. Three-dimensional ultrasound system based on the coordination of multiple ultrasonic transducers
JP2003101861A (ja) 2001-09-21 2003-04-04 Sanyo Electric Co Ltd ディジタルカメラ
US6896657B2 (en) 2003-05-23 2005-05-24 Scimed Life Systems, Inc. Method and system for registering ultrasound image in three-dimensional coordinate system
US7207942B2 (en) * 2003-07-25 2007-04-24 Siemens Medical Solutions Usa, Inc. Adaptive grating lobe suppression in ultrasound imaging
US20050062469A1 (en) * 2003-09-23 2005-03-24 Anderson Peter Traneus System and method for hemisphere disambiguation in electromagnetic tracking systems
US7713210B2 (en) * 2004-11-23 2010-05-11 St. Jude Medical, Atrial Fibrillation Division, Inc. Method and apparatus for localizing an ultrasound catheter
US20070233185A1 (en) * 2005-10-20 2007-10-04 Thomas Anderson Systems and methods for sealing a vascular opening
US20070167823A1 (en) 2005-12-20 2007-07-19 General Electric Company Imaging catheter and method for volumetric ultrasound
US20070161905A1 (en) 2006-01-12 2007-07-12 Gynesonics, Inc. Intrauterine ultrasound and method for use
US8317712B2 (en) 2006-05-12 2012-11-27 Koninklijke Philips Electronics N.V. Eindhoven Retrospective dynamic transmit focusing for spatial compounding
US7621169B2 (en) * 2006-10-26 2009-11-24 General Electric Company Systems and methods for integrating a navigation field replaceable unit into a fluoroscopy system
WO2009032421A2 (en) 2007-07-27 2009-03-12 Meridian Cardiovascular Systems, Inc. Image guided intracardiac catheters
US20100210943A1 (en) * 2009-02-18 2010-08-19 West Virginia University Research Corporation Systems and Methods for Echoperiodontal Imaging
JP5665040B2 (ja) 2009-09-10 2015-02-04 学校法人上智学院 変位計測方法及び装置、並びに、超音波診断装置
CN102869308B (zh) * 2010-05-03 2015-04-29 皇家飞利浦电子股份有限公司 用于对介入工具上的(一个或多个)超声换能器进行超声跟踪的设备和方法
WO2012024201A1 (en) * 2010-08-19 2012-02-23 Mayo Foundation For Medical Education And Research Steerable catheter navigation with the use of interference ultrasonography
WO2012066430A1 (en) * 2010-11-18 2012-05-24 Koninklijke Philips Electronics N.V. Medical device with ultrasound transducers embedded in flexible foil
US10617374B2 (en) * 2011-01-28 2020-04-14 Medtronic Navigation, Inc. Method and apparatus for image-based navigation
WO2013116807A1 (en) * 2012-02-03 2013-08-08 Los Alamos National Security, Llc Systems and methods for synthetic aperture ultrasound tomography
EP2964086A4 (en) * 2013-03-09 2017-02-15 Kona Medical, Inc. Transducers, systems, and manufacturing techniques for focused ultrasound therapies
CA2902668A1 (en) * 2013-03-15 2014-09-18 Colibri Technologies Inc. Active localization and visualization of minimally invasive devices using ultrasound

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030060700A1 (en) * 2001-03-28 2003-03-27 Torsten Solf Method of and imaging ultrasound system for determining the position of a catheter
US6592520B1 (en) * 2001-07-31 2003-07-15 Koninklijke Philips Electronics N.V. Intravascular ultrasound imaging apparatus and method
WO2010004564A2 (en) * 2008-07-11 2010-01-14 Barnev Ltd. A method and a system for monitoring, contractions and/or a birth process and/or the progress and/or position of a fetus
CN101852773A (zh) * 2009-03-30 2010-10-06 株式会社东芝 超声波成像装置

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Time of Flight and FMCW Catheter Localization;Jay Mung et al;《2009 IEEE International Ultrasonic Symposium Proceedings》;20091231;第591页倒数第3段至第592页第1段，公式（2） *

Also Published As

Publication number Publication date
CN103747729A (zh) 2014-04-23
US20140094695A1 (en) 2014-04-03
EP2717772B1 (en) 2021-05-26
JP6053766B2 (ja) 2016-12-27
US11147532B2 (en) 2021-10-19
EP2717772A1 (en) 2014-04-16
WO2012172458A1 (en) 2012-12-20
JP2014516738A (ja) 2014-07-17

Similar Documents

Publication Publication Date Title
CN103747729B (zh) 利用二维成像探头的三维针定位
US11786318B2 (en) Intelligent real-time tool and anatomy visualization in 3D imaging workflows for interventional procedures
US20220273258A1 (en) Path tracking in ultrasound system for device tracking
JP6636639B2 (ja) 超音波に基づく追跡
US10335116B2 (en) Robot assisted ultrasound system
US20190298457A1 (en) System and method for tracking an interventional instrument with feedback concerning tracking reliability
JP2016531713A (ja) ユーザが規定可能な関心領域を含む画像ガイダンスシステム
CN111757704B (zh) 介入医学设备跟踪
JP7345631B2 (ja) 超音波ベースの装置位置特定
Najafi et al. A closed-form differential formulation for ultrasound spatial calibration
EP3808280A1 (en) Ultrasound-based device localization

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