CN106999728B - 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 - Google Patents

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 Download PDF

Info

Publication number
CN106999728B
CN106999728B CN201580056223.2A CN201580056223A CN106999728B CN 106999728 B CN106999728 B CN 106999728B CN 201580056223 A CN201580056223 A CN 201580056223A CN 106999728 B CN106999728 B CN 106999728B
Authority
CN
China
Prior art keywords
catheter
image
orientation
ooi
current image
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
CN201580056223.2A
Other languages
English (en)
Chinese (zh)
Other versions
CN106999728A (zh
Inventor
J·克吕克尔
S·巴拉特
E·德赫甘马尔瓦斯特
C·M-f·孔
A·拉维
F·乌勒曼
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.)
Xinning Institute (sri)
Koninklijke Philips NV
Original Assignee
Sunnybrook Health Sciences Centre
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 Sunnybrook Health Sciences Centre, Koninklijke Philips NV filed Critical Sunnybrook Health Sciences Centre
Publication of CN106999728A publication Critical patent/CN106999728A/zh
Application granted granted Critical
Publication of CN106999728B publication Critical patent/CN106999728B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/01—Devices for producing movement of radiation source during therapy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1027—Interstitial radiation therapy
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/103—Treatment planning systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1064—Monitoring, verifying, controlling systems and methods for adjusting radiation treatment in response to monitoring
    • A61N5/1065—Beam adjustment
    • A61N5/1067—Beam adjustment in real time, i.e. during treatment
    • 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
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
    • A61N5/1014—Intracavitary radiation therapy
    • A61N2005/1018—Intracavitary radiation therapy with multiple channels for guiding radioactive sources
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
    • A61N2005/1058—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using ultrasound imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N5/00—Radiation therapy
    • A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
    • A61N5/1048—Monitoring, verifying, controlling systems and methods
    • A61N2005/1074—Details of the control system, e.g. user interfaces

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pathology (AREA)
  • Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Radiation-Therapy Devices (AREA)
CN201580056223.2A 2014-10-17 2015-10-16 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 Active CN106999728B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201462065206P 2014-10-17 2014-10-17
US62/065,206 2014-10-17
PCT/IB2015/057951 WO2016059603A1 (en) 2014-10-17 2015-10-16 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
CN106999728A CN106999728A (zh) 2017-08-01
CN106999728B true CN106999728B (zh) 2020-06-30

Family

ID=54366484

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201580056223.2A Active CN106999728B (zh) 2014-10-17 2015-10-16 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

Country Status (5)

Country Link
US (1) US11547868B2 (https=)
EP (1) EP3206747B1 (https=)
JP (1) JP6894839B2 (https=)
CN (1) CN106999728B (https=)
WO (1) WO2016059603A1 (https=)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6725508B2 (ja) 2014-12-11 2020-07-22 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 高線量率小線源療法の適応プランニング及び送達
GB2559717B (en) * 2015-11-19 2021-12-29 Synaptive Medical Inc Neurosurgical MRI-guided ultrasound via multi-modal image registration and multi-sensor fusion
CN108310677B (zh) * 2017-01-11 2020-02-28 南京中硼联康医疗科技有限公司 基于医学影像数据的平滑几何模型建立方法
US10398346B2 (en) 2017-05-15 2019-09-03 Florida Atlantic University Board Of Trustees Systems and methods for localizing signal resources using multi-pole sensors
US10398338B2 (en) * 2017-10-06 2019-09-03 Florida Atlantic University Board Of Trustees Systems and methods for guiding a multi-pole sensor catheter to locate cardiac arrhythmia sources
US10881376B2 (en) * 2017-11-08 2021-01-05 Biosense Webster (Israel) Ltd. System and method for providing auditory guidance in medical systems
EP3508135A1 (en) * 2018-01-04 2019-07-10 Koninklijke Philips N.V. Calibration block, calibration system and calibration method
EP3593727A1 (en) * 2018-07-10 2020-01-15 Koninklijke Philips N.V. Ultrasound assistance device and method, medical system
US11707255B2 (en) * 2019-04-02 2023-07-25 Siemens Medical Solutions Usa, Inc. Image-based probe positioning
US11337767B2 (en) * 2019-05-17 2022-05-24 Verb Surgical Inc. Interlock mechanisms to disengage and engage a teleoperation mode
EP3892224A1 (en) 2020-04-10 2021-10-13 Koninklijke Philips N.V. Grid template positioning in interventional medicine
EP3973885A1 (en) * 2020-09-29 2022-03-30 Koninklijke Philips N.V. Methods and systems for tool tracking
US12108993B2 (en) * 2021-08-05 2024-10-08 GE Precision Healthcare LLC Methods and system for guided device insertion during medical imaging
CN115153734B (zh) * 2022-08-16 2025-10-14 厦门博创中源医疗科技有限公司 一种平面切割控制方法、装置及存储介质
CN115797289B (zh) * 2022-11-30 2025-12-26 深圳蓝影医学科技股份有限公司 一种穿刺图像抑制增强伪像的方法及装置
CN116580820B (zh) * 2023-07-13 2023-12-22 卡本(深圳)医疗器械有限公司 基于多模态医学图像的经会阴前列腺穿刺智能麻醉系统
CN119559336B (zh) * 2024-12-26 2026-04-21 景昱医疗科技（苏州）股份有限公司 颅内电极导线轨迹的生成方法、装置、系统、介质和产品

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1095628A2 (en) * 1999-10-29 2001-05-02 Marconi Medical Systems, Inc. Planning minimally invasive procedures for in - vivo placement of objects
CN102781356A (zh) * 2009-12-30 2012-11-14 皇家飞利浦电子股份有限公司 动态消融装置

Family Cites Families (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6256529B1 (en) * 1995-07-26 2001-07-03 Burdette Medical Systems, Inc. Virtual reality 3D visualization for surgical procedures
US20030074011A1 (en) * 1998-09-24 2003-04-17 Super Dimension Ltd. System and method of recording and displaying in context of an image a location of at least one point-of-interest in a body during an intra-body medical procedure
US6610013B1 (en) 1999-10-01 2003-08-26 Life Imaging Systems, Inc. 3D ultrasound-guided intraoperative prostate brachytherapy
US8060181B2 (en) 2006-04-07 2011-11-15 Brainlab Ag Risk assessment for planned trajectories
US8075486B2 (en) * 2006-05-03 2011-12-13 Biosense Webster, Inc. Enhanced ultrasound image display
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
US9113816B2 (en) * 2008-11-11 2015-08-25 Eigen, Inc. System and method for prostate biopsy
US8858436B2 (en) * 2008-11-12 2014-10-14 Sonosite, Inc. Systems and methods to identify interventional instruments
US8690776B2 (en) 2009-02-17 2014-04-08 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image guided surgery
US8556815B2 (en) * 2009-05-20 2013-10-15 Laurent Pelissier Freehand ultrasound imaging systems and methods for guiding fine elongate instruments
US9259290B2 (en) * 2009-06-08 2016-02-16 MRI Interventions, Inc. MRI-guided surgical systems with proximity alerts
EP2741696B1 (en) 2011-08-09 2022-05-18 Koninklijke Philips N.V. Displacement feedback device for therapy delivery probes
US10300246B2 (en) 2011-08-23 2019-05-28 Jaywant Philip Parmar EM guidance device for a device enabled for endovascular navigation placement including a remote operator capability and EM endoluminal imaging technique
US10245447B2 (en) 2011-10-18 2019-04-02 Koninklijke Philips N.V. Magnetic resonance imaging guided brachytherapy with displaying the catheter placement position
WO2013144832A1 (en) 2012-03-29 2013-10-03 Koninklijke Philips N.V. Quality assurance system and method for navigation-assisted procedures
US9655595B2 (en) 2012-06-14 2017-05-23 Arcitrax Inc. System, method and device for prostate diagnosis and intervention
EP2863827B1 (en) * 2012-06-21 2022-11-16 Globus Medical, Inc. Surgical robot platform
US11109776B2 (en) 2012-08-04 2021-09-07 Koninklijke Philips N.V. Quantifying probe deflection for improved catheter identification
BR112015013047A2 (pt) * 2012-12-06 2017-07-11 Koninklijke Philips Nv aparelho de calibração para calibrar um sistema para introduzir um elemento de influência em um objeto, aparelho de determinação de plano de influência, método de calibração para calibrar um sistema para introduzir um elemento de influência em um objeto, método de determinação de plano de influência e programa de computador de calibração para calibrar um sistema para introduzir um elemento de influência em um objeto
WO2014091330A1 (en) 2012-12-11 2014-06-19 Koninklijke Philips N.V. Assisting apparatus for assisting in performing a brachytherapy
US10314559B2 (en) * 2013-03-14 2019-06-11 Inneroptic Technology, Inc. Medical device guidance
US9592095B2 (en) * 2013-05-16 2017-03-14 Intuitive Surgical Operations, Inc. Systems and methods for robotic medical system integration with external imaging
US10026015B2 (en) * 2014-04-01 2018-07-17 Case Western Reserve University Imaging control to facilitate tracking objects and/or perform real-time intervention

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1095628A2 (en) * 1999-10-29 2001-05-02 Marconi Medical Systems, Inc. Planning minimally invasive procedures for in - vivo placement of objects
CN102781356A (zh) * 2009-12-30 2012-11-14 皇家飞利浦电子股份有限公司 动态消融装置

Also Published As

Publication number Publication date
JP2017532134A (ja) 2017-11-02
EP3206747A1 (en) 2017-08-23
CN106999728A (zh) 2017-08-01
WO2016059603A1 (en) 2016-04-21
EP3206747B1 (en) 2020-12-23
US11547868B2 (en) 2023-01-10
US20170304644A1 (en) 2017-10-26
JP6894839B2 (ja) 2021-06-30

Similar Documents

Publication Publication Date Title
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
CN106999246B (zh) 介入治疗系统和用于对叠加的图像进行绘制的方法
US12249040B2 (en) Anatomical model displaying
JP6511050B2 (ja) イメージング装置を追跡装置と位置合わせする位置合わせシステム、イメージングシステム、介入システム、位置合わせ方法、イメージングシステムの作動方法、位置合わせコンピュータプログラム、及びイメージングコンピュータプログラム
CN111248998B (zh) 用于超声图像引导的消融天线放置的系统和方法
US11911111B2 (en) Autonomous system and method for planning, tracking, and controlling the operation of steerable surgical devices
KR101900785B1 (ko) 맞춤형 수술가이드, 및 맞춤형 수술가이드 생성방법 및 생성프로그램
KR20190112032A (ko) 이미지 기반 네비게이션을 위한 방법 및 장치
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
JP2014522247A (ja) リード線位置付けのためのシステムおよび方法
CN109152929B (zh) 图像引导的处置递送
JP7663597B2 (ja) 介入医療におけるグリッドテンプレート位置
WO2019109211A1 (en) Automatic ablation antenna segmentation from ct image
US20250114056A1 (en) Determining electrode orientation using optimized imaging parameters
US20200297377A1 (en) Improved method and system for needle guide positioning
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: 20171219

Address after: Holland Ian Deho Finn

Applicant after: Koninkl Philips Electronics NV

Applicant after: Xinning Institute (SRI)

Address before: Holland Ian Deho Finn

Applicant before: Koninkl Philips Electronics NV

Applicant before: Healthy medical center, Xinning

TA01 Transfer of patent application right
GR01 Patent grant
GR01 Patent grant