CN106999246B - 介入治疗系统和用于对叠加的图像进行绘制的方法 - Google Patents

介入治疗系统和用于对叠加的图像进行绘制的方法 Download PDF

Info

Publication number
CN106999246B
CN106999246B CN201580056233.6A CN201580056233A CN106999246B CN 106999246 B CN106999246 B CN 106999246B CN 201580056233 A CN201580056233 A CN 201580056233A CN 106999246 B CN106999246 B CN 106999246B
Authority
CN
China
Prior art keywords
image
slices
catheter
slice
dataset
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
CN201580056233.6A
Other languages
English (en)
Chinese (zh)
Other versions
CN106999246A (zh
Inventor
S·巴拉特
E·德赫甘马尔瓦斯特
J·克吕克尔
A·拉维
F·乌勒曼
C·M-f·孔
T·E·阿姆托尔
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.)
Sunnybrook Health Sciences Centre
Koninklijke Philips NV
Original Assignee
Xinning Research Institute Sri
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 Xinning Research Institute Sri, Koninklijke Philips NV filed Critical Xinning Research Institute Sri
Publication of CN106999246A publication Critical patent/CN106999246A/zh
Application granted granted Critical
Publication of CN106999246B publication Critical patent/CN106999246B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0012—Biomedical image inspection
    • 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
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/43—Detecting, measuring or recording for evaluating the reproductive systems
    • A61B5/4375—Detecting, measuring or recording for evaluating the reproductive systems for evaluating the male reproductive system
    • A61B5/4381—Prostate evaluation or disorder diagnosis
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • 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
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • 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
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Physics & Mathematics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Quality & Reliability (AREA)
  • Reproductive Health (AREA)
  • Biophysics (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
CN201580056233.6A 2014-10-17 2015-09-30 介入治疗系统和用于对叠加的图像进行绘制的方法 Expired - Fee Related CN106999246B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462065053P 2014-10-17 2014-10-17
US62/065,053 2014-10-17
PCT/IB2015/057466 WO2016059498A1 (en) 2014-10-17 2015-09-30 System for real-time organ segmentation and tool navigation during tool insertion in interventional therapy and method of opeperation thereof

Publications (2)

Publication Number Publication Date
CN106999246A CN106999246A (zh) 2017-08-01
CN106999246B true CN106999246B (zh) 2020-12-08

Family

ID=54292869

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580056233.6A Expired - Fee Related CN106999246B (zh) 2014-10-17 2015-09-30 介入治疗系统和用于对叠加的图像进行绘制的方法

Country Status (5)

Country Link
US (1) US10290098B2 (https=)
EP (1) EP3206617B1 (https=)
JP (1) JP6745796B2 (https=)
CN (1) CN106999246B (https=)
WO (1) WO2016059498A1 (https=)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170169609A1 (en) * 2014-02-19 2017-06-15 Koninklijke Philips N.V. Motion adaptive visualization in medical 4d imaging
KR20170038012A (ko) 2014-07-28 2017-04-05 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술중 세그먼트화를 위한 시스템 및 방법
BR112017004431B1 (pt) 2014-09-05 2022-11-01 Procept Biorobotics Corporation Aparelho para tratar um paciente
US11464568B2 (en) * 2017-05-10 2022-10-11 Best Medical International, Inc. Customizable saturation biopsy
EP3432262A1 (en) 2017-07-18 2019-01-23 Koninklijke Philips N.V. Method and system for dynamic multi dimensional images of an object
EP3456267A1 (en) * 2017-09-14 2019-03-20 Koninklijke Philips N.V. Ultrasound image processing
EP3482690A1 (en) * 2017-11-14 2019-05-15 Koninklijke Philips N.V. Ultrasound tracking and visualization
US11660069B2 (en) 2017-12-19 2023-05-30 Koninklijke Philips N.V. Combining image based and inertial probe tracking
US11547481B2 (en) * 2018-01-11 2023-01-10 Covidien Lp Systems and methods for laparoscopic planning and navigation
CN112105300B (zh) * 2018-03-12 2024-09-27 皇家飞利浦有限公司 用于神经网络的超声成像平面对准指导及相关装置、系统和方法
EP3547323A1 (en) * 2018-03-30 2019-10-02 Koninklijke Philips N.V. Brachytherapy treatment planning system
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
EP4652937A3 (en) * 2018-04-06 2026-02-25 Medtronic, Inc. Image-based navigation system
US10869727B2 (en) * 2018-05-07 2020-12-22 The Cleveland Clinic Foundation Live 3D holographic guidance and navigation for performing interventional procedures
CN108961256B (zh) * 2018-07-05 2021-04-20 艾瑞迈迪医疗科技（北京）有限公司 图像分割方法、手术导航设备、电子设备及存储介质
US11029759B2 (en) * 2018-09-19 2021-06-08 International Business Machines Corporation Haptic movable display for spatial correlation
US20220241024A1 (en) * 2019-07-24 2022-08-04 Koninklijke Philips N.V. Ultrasound object point tracking
US12263033B2 (en) * 2019-11-12 2025-04-01 Biosense Webster (Israel) Ltd. Historical ultrasound data for display of live location data
CN111870348B (zh) * 2020-07-23 2022-01-28 武汉联影智融医疗科技有限公司 手术机器人辅助定位方法、手术机器人及存储介质
EP3973885A1 (en) * 2020-09-29 2022-03-30 Koninklijke Philips N.V. Methods and systems for tool tracking
CN121221162A (zh) * 2020-10-15 2025-12-30 巴德阿克塞斯系统股份有限公司 超声成像系统和使用其创建目标区域的三维超声图像的方法
JP2024511740A (ja) * 2021-03-08 2024-03-15 アガダ メディカル リミテッド 患者固有の生体力学的パラメータを用いた脊椎手術の計画
EP4360564A4 (en) 2021-06-24 2024-11-27 FUJIFILM Corporation Ultrasonic diagnostic device and method for controlling ultrasonic diagnostic device
KR102752731B1 (ko) * 2022-04-12 2025-01-13 (주) 원컴퍼니 착용시에 주변 환경 또는 생체징후 감시가 가능한 스마트 글래스와 그의 제어 방법 및 프로그램
WO2025054333A1 (en) * 2023-09-07 2025-03-13 Veran Medical Technologies, Inc. Needle trajectory prediction
CN120375108B (zh) * 2025-06-30 2025-09-12 上海懿尚生物科技有限公司 基于机器学习的心脏介入术后泵血异常自动识别系统

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011161684A2 (en) * 2010-06-24 2011-12-29 Uc-Care Ltd. Focused prostate cancer treatment system and method
CN103268605A (zh) * 2013-05-15 2013-08-28 北京理工大学 基于高阶统计形变模型的脑图谱与脑图像配准方法
CN103578076A (zh) * 2012-07-31 2014-02-12 西门子公司 目标对象的修改过的图像数据的产生

Family Cites Families (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8731264B2 (en) 2006-11-27 2014-05-20 Koninklijke Philips N.V. System and method for fusing real-time ultrasound images with pre-acquired medical images
CN101795636B (zh) * 2007-01-24 2013-06-19 皇家飞利浦电子股份有限公司 Rf消融计划器
WO2009052497A2 (en) * 2007-10-18 2009-04-23 The University Of North Carolina At Chapel Hill Methods, systems, and computer readable media for mapping regions in a model of an object comprising an anatomical structure from one image data set to images used in a diagnostic or therapeutic intervention
US8160345B2 (en) * 2008-04-30 2012-04-17 Otismed Corporation System and method for image segmentation in generating computer models of a joint to undergo arthroplasty
US20110178389A1 (en) * 2008-05-02 2011-07-21 Eigen, Inc. Fused image moldalities guidance
US9113816B2 (en) * 2008-11-11 2015-08-25 Eigen, Inc. System and method for prostate biopsy
US9521994B2 (en) * 2009-05-11 2016-12-20 Siemens Healthcare Gmbh System and method for image guided prostate cancer needle biopsy
US9248316B2 (en) * 2010-01-12 2016-02-02 Elekta Ltd. Feature tracking using ultrasound
US8743957B2 (en) * 2010-04-12 2014-06-03 Sony Corporation Context adaptive directional intra prediction
WO2012169990A2 (en) * 2010-05-04 2012-12-13 Pathfinder Therapeutics, Inc. System and method for abdominal surface matching using pseudo-features
US10850126B2 (en) 2010-06-30 2020-12-01 Koninklijke Philips N.V. System and method for guided adaptive brachytherapy
US8315812B2 (en) * 2010-08-12 2012-11-20 Heartflow, Inc. Method and system for patient-specific modeling of blood flow
WO2012035463A1 (en) 2010-09-17 2012-03-22 Koninklijke Philips Electronics N.V. Contour delineation for radiation therapy planning with real-time contour segment impact rendering
US20130085383A1 (en) 2011-10-04 2013-04-04 Emory University Systems, methods and computer readable storage media storing instructions for image-guided therapies
US9782147B2 (en) * 2012-03-06 2017-10-10 Analogic Corporation Apparatus and methods for localization and relative positioning of a surgical instrument
US9877788B2 (en) * 2012-10-08 2018-01-30 The Johns Hopkins University MRI-safe robot for transrectal prostate biopsy
WO2014091330A1 (en) 2012-12-11 2014-06-19 Koninklijke Philips N.V. Assisting apparatus for assisting in performing a brachytherapy
EP3009097A1 (en) * 2014-10-17 2016-04-20 Imactis Method for navigating a surgical instrument
WO2016182552A1 (en) * 2015-05-11 2016-11-17 Siemens Aktiengesellschaft A system and method for surgical guidance and intra-operative pathology through endo-microscopic tissue differentiation
JP6971544B2 (ja) * 2015-08-06 2021-11-24 キヤノン株式会社 画像処理装置、画像処理方法、およびプログラム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011161684A2 (en) * 2010-06-24 2011-12-29 Uc-Care Ltd. Focused prostate cancer treatment system and method
CN103578076A (zh) * 2012-07-31 2014-02-12 西门子公司 目标对象的修改过的图像数据的产生
CN103268605A (zh) * 2013-05-15 2013-08-28 北京理工大学 基于高阶统计形变模型的脑图谱与脑图像配准方法

Also Published As

Publication number Publication date
US20170301088A1 (en) 2017-10-19
EP3206617A1 (en) 2017-08-23
CN106999246A (zh) 2017-08-01
EP3206617B1 (en) 2019-11-27
JP6745796B2 (ja) 2020-08-26
US10290098B2 (en) 2019-05-14
JP2017532131A (ja) 2017-11-02
WO2016059498A1 (en) 2016-04-21

Similar Documents

Publication Publication Date Title
CN106999246B (zh) 介入治疗系统和用于对叠加的图像进行绘制的方法
CN106999728B (zh) 用于在介入治疗中的工具插入期间的实时器官分割和工具导航的系统以及其操作方法
US11954815B2 (en) Anatomical model displaying
CN111248998B (zh) 用于超声图像引导的消融天线放置的系统和方法
WO2017028934A1 (en) Planning a straight line trajectory for a medical procedure
JP2017511728A (ja) 同時ｘ平面撮像を用いた画像レジストレーション及び誘導
US20190290934A1 (en) System For Monitoring The Position Of A Patient Receiving 4pi Radiation Therapy
JP7663597B2 (ja) 介入医療におけるグリッドテンプレート位置
JP7421488B2 (ja) Ｃｔ画像からの自動切除アンテナセグメンテーション
EP3457942B1 (en) Verifying a position of an interventional device
US20250114056A1 (en) Determining electrode orientation using optimized imaging parameters
Quetin et al. Automatic catheter digitization in breast brachytherapy
Ma et al. A real-time tracking and visualization system for robot-assisted template location method applied to lung cancer brachytherapy
Mastmeyer et al. Draft Manuscript: Accurate Model-based Segmentation of Gynecologic Brachytherapy Catheter Collections in MRI-images

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right

Effective date of registration: 20171218

Address after: Holland Ian Deho Finn

Applicant after: KONINKLIJKE PHILIPS N.V.

Applicant after: SUNNYBROOK HEALTH SCIENCES CENTRE

Address before: Holland Ian Deho Finn

Applicant before: KONINKLIJKE PHILIPS N.V.

Applicant before: SUNNYBROOK HEALTH SCIENCES CT

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20201208

CF01 Termination of patent right due to non-payment of annual fee