CN107133637B - 一种手术导航图像自动注册设备以及方法 - Google Patents
一种手术导航图像自动注册设备以及方法 Download PDFInfo
- Publication number
- CN107133637B CN107133637B CN201710210338.3A CN201710210338A CN107133637B CN 107133637 B CN107133637 B CN 107133637B CN 201710210338 A CN201710210338 A CN 201710210338A CN 107133637 B CN107133637 B CN 107133637B
- Authority
- CN
- China
- Prior art keywords
- marker
- image
- point
- position sensor
- registration
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 31
- 239000003550 marker Substances 0.000 claims abstract description 117
- 238000002059 diagnostic imaging Methods 0.000 claims abstract description 17
- 238000013170 computed tomography imaging Methods 0.000 claims description 4
- 210000000056 organ Anatomy 0.000 claims description 4
- 230000011218 segmentation Effects 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000013421 nuclear magnetic resonance imaging Methods 0.000 claims 1
- 230000008569 process Effects 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000002595 magnetic resonance imaging Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 210000003484 anatomy Anatomy 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000003759 clinical diagnosis Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000009206 nuclear medicine Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000012285 ultrasound imaging Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F18/00—Pattern recognition
- G06F18/20—Analysing
- G06F18/22—Matching criteria, e.g. proximity measures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/26—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion
- G06V10/267—Segmentation of patterns in the image field; Cutting or merging of image elements to establish the pattern region, e.g. clustering-based techniques; Detection of occlusion by performing operations on regions, e.g. growing, shrinking or watersheds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/03—Recognition of patterns in medical or anatomical images
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- Data Mining & Analysis (AREA)
- General Physics & Mathematics (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Evolutionary Biology (AREA)
- Evolutionary Computation (AREA)
- Bioinformatics & Computational Biology (AREA)
- General Engineering & Computer Science (AREA)
- Artificial Intelligence (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710210338.3A CN107133637B (zh) | 2017-03-31 | 2017-03-31 | 一种手术导航图像自动注册设备以及方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710210338.3A CN107133637B (zh) | 2017-03-31 | 2017-03-31 | 一种手术导航图像自动注册设备以及方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107133637A CN107133637A (zh) | 2017-09-05 |
CN107133637B true CN107133637B (zh) | 2020-09-15 |
Family
ID=59716343
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710210338.3A Active CN107133637B (zh) | 2017-03-31 | 2017-03-31 | 一种手术导航图像自动注册设备以及方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107133637B (zh) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111461049B (zh) * | 2020-04-13 | 2023-08-22 | 武汉联影智融医疗科技有限公司 | 空间注册识别方法、装置、设备及计算机可读存储介质 |
CN112515769A (zh) * | 2020-11-11 | 2021-03-19 | 武汉联影智融医疗科技有限公司 | 骨钉、注册探针以及手术机器人 |
CN112378421B (zh) * | 2020-11-20 | 2022-07-08 | 山东威高医疗科技有限公司 | 用于测试电磁导航系统定位精度的装置及方法 |
CN113116523B (zh) * | 2021-04-09 | 2022-02-11 | 骨圣元化机器人(深圳)有限公司 | 骨科手术配准装置、终端设备和存储介质 |
CN113616350B (zh) * | 2021-07-16 | 2022-04-19 | 元化智能科技(深圳)有限公司 | 标记点选取位置的验证方法、装置、终端设备和存储介质 |
CN113624530A (zh) * | 2021-08-09 | 2021-11-09 | 观为监测技术无锡股份有限公司 | 模拟测点关联方法、装置、设备及存储介质 |
CN114366300B (zh) * | 2021-12-24 | 2024-02-09 | 苏州国科康成医疗科技有限公司 | 一种手术图像空间映射装置、设备以及方法 |
CN114587592B (zh) * | 2022-03-18 | 2023-01-17 | 华科精准(北京)医疗科技有限公司 | 一种手术导航系统及其使用方法 |
CN115831341B (zh) * | 2023-01-10 | 2023-05-26 | 浙江伽奈维医疗科技有限公司 | 一种手术导航的自适应注册系统及方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20030018246A1 (en) * | 1999-03-11 | 2003-01-23 | Assaf Govari | Guidance of invasive medical procedures using implantable tags |
US20080154127A1 (en) * | 2006-12-21 | 2008-06-26 | Disilvestro Mark R | Method and system for registering a bone of a patient with a computer assisted orthopaedic surgery system |
CN101879092A (zh) * | 2010-06-30 | 2010-11-10 | 珠海和佳医疗设备股份有限公司 | 一种用于电磁定位手术导航系统的配准组件及其校准方法 |
US20110144479A1 (en) * | 2009-12-15 | 2011-06-16 | Boston Scientific Scimed, Inc. | Systems and methods for determining the position and orientation of medical devices inserted into a patient |
CN102319117A (zh) * | 2011-06-16 | 2012-01-18 | 上海交通大学医学院附属瑞金医院 | 基于磁导航融合实时超声信息的大血管内介入物植入系统 |
CN102740792A (zh) * | 2010-01-06 | 2012-10-17 | Civco医疗器械公司 | 用于电磁跟踪系统的活动标记装置 |
CN105616001A (zh) * | 2014-11-03 | 2016-06-01 | 乐普(北京)医疗器械股份有限公司 | 一种电磁定位标记装置、电磁定位系统及方法 |
-
2017
- 2017-03-31 CN CN201710210338.3A patent/CN107133637B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20030018246A1 (en) * | 1999-03-11 | 2003-01-23 | Assaf Govari | Guidance of invasive medical procedures using implantable tags |
US20080154127A1 (en) * | 2006-12-21 | 2008-06-26 | Disilvestro Mark R | Method and system for registering a bone of a patient with a computer assisted orthopaedic surgery system |
US20110144479A1 (en) * | 2009-12-15 | 2011-06-16 | Boston Scientific Scimed, Inc. | Systems and methods for determining the position and orientation of medical devices inserted into a patient |
CN102740792A (zh) * | 2010-01-06 | 2012-10-17 | Civco医疗器械公司 | 用于电磁跟踪系统的活动标记装置 |
CN101879092A (zh) * | 2010-06-30 | 2010-11-10 | 珠海和佳医疗设备股份有限公司 | 一种用于电磁定位手术导航系统的配准组件及其校准方法 |
CN102319117A (zh) * | 2011-06-16 | 2012-01-18 | 上海交通大学医学院附属瑞金医院 | 基于磁导航融合实时超声信息的大血管内介入物植入系统 |
CN105616001A (zh) * | 2014-11-03 | 2016-06-01 | 乐普(北京)医疗器械股份有限公司 | 一种电磁定位标记装置、电磁定位系统及方法 |
Also Published As
Publication number | Publication date |
---|---|
CN107133637A (zh) | 2017-09-05 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107133637B (zh) | 一种手术导航图像自动注册设备以及方法 | |
CN110946654B (zh) | 一种基于多模影像融合的骨科手术导航系统 | |
US7962193B2 (en) | Apparatus and method for image guided accuracy verification | |
CN107106241B (zh) | 用于对外科器械进行导航的系统 | |
EP2910187B1 (en) | Automatic multimodal real-time tracking of a moving marker for image plane alignment inside a MRI scanner | |
US6996430B1 (en) | Method and system for displaying cross-sectional images of a body | |
US11986252B2 (en) | ENT image registration | |
EP3492008B1 (en) | Apparatus and method for image guided accuracy verification | |
US20220079465A1 (en) | Optical tracking system and coordinate registration method for optical tracking system | |
JP2007526066A (ja) | 患者体内において医療器具をガイドするシステム | |
Li et al. | Image-guided navigation of a robotic ultrasound probe for autonomous spinal sonography using a shadow-aware dual-agent framework | |
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 | |
EP3501398B1 (en) | Ent bone distance color coded face maps | |
Ebrahimi et al. | Using surface markers for MRI guided breast conserving surgery: a feasibility survey | |
CN103284792B (zh) | 手术影像导引定位装置及其系统 | |
EP3292835B1 (en) | Ent image registration | |
CN116580820B (zh) | 基于多模态医学图像的经会阴前列腺穿刺智能麻醉系统 | |
JP6242421B2 (ja) | 撮像プローブ及び磁気測定検出器を備えるシステム | |
JP2022517807A (ja) | 医療用ナビゲーションのためのシステムおよび方法 | |
JP7511555B2 (ja) | 画像装置のための空間的位置合わせ方法 | |
EP3975120B1 (en) | Technique for guiding acquisition of one or more registration points on a patient's body | |
EP3024408B1 (en) | Wrong level surgery prevention | |
EP3944835A1 (en) | Systems and methods for tracking a surgical device | |
JP2022018985A (ja) | 画像測定とレジストレーション方法 | |
CN114938994A (zh) | 一种基于呼吸运动补偿的肺癌精准穿刺导航系统及方法 |
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 | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20221102 Address after: Room 409, South Building, building 1, 951 Jianchuan Road, Minhang District, Shanghai 201100 Patentee after: SHANGHAI JINGMAI MEDICAL TECHNOLOGY CO.,LTD. Patentee after: JINGMAI MEDICAL TECHNOLOGY NANTONG CO.,LTD. Patentee after: Shanghai Robo Robot Technology Co.,Ltd. Patentee after: Inner Mongolia Jingmai Medical Technology Co.,Ltd. Address before: 226006 Building 9, No. 1, Chongchuan Road, Chongchuan District, Nantong City, Jiangsu Province Patentee before: JINGMAI MEDICAL TECHNOLOGY NANTONG CO.,LTD. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240207 Address after: Room 502, Building 158, Xinsheng Road, Nantong City, Jiangsu Province Patentee after: JINGMAI MEDICAL TECHNOLOGY NANTONG CO.,LTD. Country or region after: China Address before: Room 409, South Building, building 1, 951 Jianchuan Road, Minhang District, Shanghai 201100 Patentee before: SHANGHAI JINGMAI MEDICAL TECHNOLOGY CO.,LTD. Country or region before: China Patentee before: JINGMAI MEDICAL TECHNOLOGY NANTONG CO.,LTD. Patentee before: Shanghai Robo Robot Technology Co.,Ltd. Patentee before: Inner Mongolia Jingmai Medical Technology Co.,Ltd. |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A surgical navigation image automatic registration device and method Granted publication date: 20200915 Pledgee: Nantong Branch of Bank of Nanjing Co.,Ltd. Pledgor: JINGMAI MEDICAL TECHNOLOGY NANTONG CO.,LTD. Registration number: Y2024980005861 |
|
PP01 | Preservation of patent right |
Effective date of registration: 20240621 Granted publication date: 20200915 |