CN107666876B - 用于图像引导的活检的术中准确度反馈系统和装置 - Google Patents

用于图像引导的活检的术中准确度反馈系统和装置 Download PDF

Info

Publication number
CN107666876B
CN107666876B CN201680028729.7A CN201680028729A CN107666876B CN 107666876 B CN107666876 B CN 107666876B CN 201680028729 A CN201680028729 A CN 201680028729A CN 107666876 B CN107666876 B CN 107666876B
Authority
CN
China
Prior art keywords
biopsy
feedback
needle
image
projected
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
CN201680028729.7A
Other languages
English (en)
Chinese (zh)
Other versions
CN107666876A (zh
Inventor
闫平昆
J·克吕克尔
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 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 CN107666876A publication Critical patent/CN107666876A/zh
Application granted granted Critical
Publication of CN107666876B publication Critical patent/CN107666876B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • 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
    • 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
    • G06T7/0014—Biomedical image inspection using an image reference approach
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/12—Edge-based segmentation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/155—Segmentation; Edge detection involving morphological operators
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00128—Electrical control of surgical instruments with audible or visual output related to intensity or progress of surgical action
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B2034/2055—Optical 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
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • 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
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • 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
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • A61B2090/3788—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument transmitter only
    • 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
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10132—Ultrasound image
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20036—Morphological image processing
    • 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
    • G06T2207/20—Special algorithmic details
    • G06T2207/20048—Transform domain processing
    • G06T2207/20061—Hough transform
    • 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
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30021—Catheter; Guide wire
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2210/00—Indexing scheme for image generation or computer graphics
    • G06T2210/41—Medical
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/13—Edge detection
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • G06V2201/034—Recognition of patterns in medical or anatomical images of medical instruments

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Quality & Reliability (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
CN201680028729.7A 2015-05-18 2016-05-11 用于图像引导的活检的术中准确度反馈系统和装置 Active CN107666876B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562162848P 2015-05-18 2015-05-18
US62/162,848 2015-05-18
PCT/EP2016/060545 WO2016184746A1 (en) 2015-05-18 2016-05-11 Intra-procedural accuracy feedback for image-guided biopsy

Publications (2)

Publication Number Publication Date
CN107666876A CN107666876A (zh) 2018-02-06
CN107666876B true CN107666876B (zh) 2022-08-30

Family

ID=56024265

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680028729.7A Active CN107666876B (zh) 2015-05-18 2016-05-11 用于图像引导的活检的术中准确度反馈系统和装置

Country Status (5)

Country Link
US (1) US20180132944A1 (enExample)
EP (1) EP3297562B1 (enExample)
JP (1) JP6843073B2 (enExample)
CN (1) CN107666876B (enExample)
WO (1) WO2016184746A1 (enExample)

Families Citing this family (47)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007095330A2 (en) 2006-02-15 2007-08-23 Hologic Inc Breast biopsy and needle localization using tomosynthesis systems
US10595954B2 (en) 2009-10-08 2020-03-24 Hologic, Inc. Needle breast biopsy system and method for use
WO2012071429A1 (en) 2010-11-26 2012-05-31 Hologic, Inc. User interface for medical image review workstation
AU2012225398B2 (en) 2011-03-08 2017-02-02 Hologic, Inc. System and method for dual energy and/or contrast enhanced breast imaging for screening, diagnosis and biopsy
KR102109588B1 (ko) 2011-11-27 2020-05-12 홀로직, 인크. 유방 조직 이미지를 프로세싱하고, 디스플레잉하고, 네비게이팅하기 위한 방법
ES2641456T3 (es) 2012-02-13 2017-11-10 Hologic, Inc. Sistema y método para navegar por una pila de tomosíntesis usando datos de imágenes sintetizadas
CN105451657A (zh) 2013-03-15 2016-03-30 霍罗吉克公司 用于导航断层合成堆叠的包括自动聚焦的系统和方法
AU2014233687B2 (en) 2013-03-15 2018-12-06 Hologic, Inc. Tomosynthesis-guided biopsy in prone
ES2960537T3 (es) 2013-10-24 2024-03-05 Hologic Inc Sistema y método para navegar en una biopsia de mama guiada por rayos X
JP6506769B2 (ja) 2014-02-28 2019-04-24 ホロジック, インコーポレイテッドHologic, Inc. トモシンセシス画像スラブを生成し表示するためのシステムおよび方法
CN110300549A (zh) * 2017-02-14 2019-10-01 皇家飞利浦有限公司 超声系统中用于设备跟踪的路径跟踪
WO2018183549A1 (en) 2017-03-30 2018-10-04 Hologic, Inc. System and method for synthesizing low-dimensional image data from high-dimensional image data using an object grid enhancement
US11399790B2 (en) 2017-03-30 2022-08-02 Hologic, Inc. System and method for hierarchical multi-level feature image synthesis and representation
EP3600052A1 (en) 2017-03-30 2020-02-05 Hologic, Inc. System and method for targeted object enhancement to generate synthetic breast tissue images
EP3641635A4 (en) 2017-06-20 2021-04-07 Hologic, Inc. DYNAMIC SELF-LEARNING MEDICAL IMAGING PROCEDURE AND SYSTEM
FR3071396B1 (fr) * 2017-09-22 2022-01-21 Koelis Dispositif de guidage d’instrument medical et procede correspondant
US10058396B1 (en) * 2018-04-24 2018-08-28 Titan Medical Inc. System and apparatus for insertion of an instrument into a body cavity for performing a surgical procedure
CA3091593A1 (en) 2018-05-04 2019-11-07 Hologic, Inc. Biopsy needle visualization
US12121304B2 (en) * 2018-05-04 2024-10-22 Hologic, Inc. Introducer and localization wire visualization
JP7441828B2 (ja) 2018-09-24 2024-03-01 ホロジック, インコーポレイテッド 乳房マッピングおよび異常定位
EP3840684A4 (en) * 2018-12-07 2022-02-09 Shanghai United Imaging Healthcare Co., Ltd. SYSTEMS AND METHODS FOR PATIENT POSITIONING AND IMAGE-GUIDED SURGERY
CN109330688B (zh) * 2018-12-10 2021-05-21 中山市环能缪特斯医疗器械科技有限公司 安全自检式内窥镜辅助机械手及其智能控制系统
US11883206B2 (en) 2019-07-29 2024-01-30 Hologic, Inc. Personalized breast imaging system
EP4035176A1 (en) 2019-09-27 2022-08-03 Hologic, Inc. Ai system for predicting reading time and reading complexity for reviewing 2d/3d breast images
US12186137B2 (en) * 2019-11-25 2025-01-07 Ethicon, Inc. Method for precision planning, guidance, and placement of probes within a body
EP4125601B1 (en) 2020-03-27 2025-08-06 Hologic, Inc. Systems and methods for correlating regions of interest in multiple imaging modalities
JP7671776B2 (ja) 2020-03-27 2025-05-02 ホロジック, インコーポレイテッド 複数の画像化モダリティにおける関心対象領域を識別するシステム及び方法
US11481038B2 (en) 2020-03-27 2022-10-25 Hologic, Inc. Gesture recognition in controlling medical hardware or software
DE102020205804A1 (de) * 2020-05-08 2021-11-11 Siemens Healthcare Gmbh Unterstützung einer medizinischen Intervention
CN116034307A (zh) * 2020-08-24 2023-04-28 富士胶片株式会社 图像处理装置、方法及程序
EP4214671A1 (en) 2020-09-18 2023-07-26 Hologic, Inc. Correlating regions of interest
CN120788622A (zh) 2020-09-25 2025-10-17 巴德阿克塞斯系统股份有限公司 超声成像系统和最小导管长度工具
US20220133228A1 (en) * 2020-11-03 2022-05-05 Biosense Webster (Israel) Ltd. Identification and visualization of non-navigated objects in medical images
US20220164951A1 (en) 2020-11-20 2022-05-26 Hologic, Inc. Systems and methods for using ai to identify regions of interest in medical images
US12349983B2 (en) 2021-03-05 2025-07-08 Bard Access Systems, Inc. Systems and methods for ultrasound-and-bioimpedance-based guidance of medical devices
EP4312795B1 (en) 2021-03-29 2025-11-05 Bard Access Systems, Inc. Vessel assessment system and method of selecting a vessel access device
US12295719B2 (en) * 2021-05-06 2025-05-13 Covidien Lp Endoscope navigation system with updating anatomy model
WO2022271728A1 (en) 2021-06-22 2022-12-29 Bard Access Systems, Inc. Ultrasound detection system
EP4415625B1 (en) 2021-10-14 2026-04-01 Bard Access Systems, Inc. Fiber optic ultrasound probe
US12254586B2 (en) 2021-10-25 2025-03-18 Hologic, Inc. Auto-focus tool for multimodality image review
WO2023091427A1 (en) 2021-11-16 2023-05-25 Bard Access Systems, Inc. Ultrasound probe with integrated data collection methodologies
KR20240118765A (ko) 2021-11-29 2024-08-05 홀로직, 인크. 관심 객체들을 상관시키기 위한 시스템들 및 방법들
US20230329748A1 (en) * 2022-04-19 2023-10-19 Bard Access Systems, Inc. Ultrasound Imaging System
US12207967B2 (en) 2022-04-20 2025-01-28 Bard Access Systems, Inc. Ultrasound imaging system
CN115294124B (zh) * 2022-10-08 2023-01-06 卡本(深圳)医疗器械有限公司 基于多模态医学图像配准的超声穿刺引导规划系统
CN116327365B (zh) * 2023-05-22 2023-08-01 北京迈迪斯医疗技术有限公司 基于电磁定位的活检系统及导航方法
JP2025043144A (ja) * 2023-09-15 2025-03-28 富士フイルム株式会社 バイオプシ装置及びプログラム

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997029682A1 (en) * 1996-02-15 1997-08-21 Biosense Inc. Locatable biopsy needle
US6351660B1 (en) * 2000-04-18 2002-02-26 Litton Systems, Inc. Enhanced visualization of in-vivo breast biopsy location for medical documentation
EP1323380A2 (en) * 2001-12-31 2003-07-02 Medison Co., Ltd. Method and apparatus for ultrasound imaging of a biopsy needle
EP1504713A1 (en) * 2003-07-14 2005-02-09 Surgical Navigation Technologies, Inc. Navigation system for cardiac therapies
WO2010069360A1 (en) * 2008-12-15 2010-06-24 Advanced Medical Diagnostics Holding S.A Method and device for planning and performing a biopsy
DE102010039604A1 (de) * 2010-08-20 2012-02-23 Siemens Aktiengesellschaft Verfahren zur Bildunterstützung bei einem medizinischen Eingriff mit einem Instrument, insbesondere einer Nadel, Computerprogramm und Röntgeneinrichtung

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6889073B2 (en) * 2000-05-08 2005-05-03 David A. Lampman Breast biopsy and therapy system for magnetic resonance imagers
JP2003126093A (ja) * 2001-10-23 2003-05-07 Olympus Optical Co Ltd 超音波診断装置
US8088072B2 (en) * 2007-10-12 2012-01-03 Gynesonics, Inc. Methods and systems for controlled deployment of needles in tissue
US7942829B2 (en) * 2007-11-06 2011-05-17 Eigen, Inc. Biopsy planning and display apparatus
JP5274854B2 (ja) * 2008-02-13 2013-08-28 株式会社東芝 超音波診断装置
US9113816B2 (en) * 2008-11-11 2015-08-25 Eigen, Inc. System and method for prostate biopsy
US8641621B2 (en) * 2009-02-17 2014-02-04 Inneroptic Technology, Inc. Systems, methods, apparatuses, and computer-readable media for image management in image-guided medical procedures
US9014780B2 (en) * 2009-11-20 2015-04-21 Koninklijke Philips N.V. Image-based biopsy guidance method
CA2797302C (en) * 2010-04-28 2019-01-15 Ryerson University System and methods for intraoperative guidance feedback
US9814442B2 (en) * 2011-01-17 2017-11-14 Koninklijke Philips N.V. System and method for needle deployment detection in image-guided biopsy
US11304686B2 (en) * 2011-06-17 2022-04-19 Koninklijke Philips N.V. System and method for guided injection during endoscopic surgery
US10010308B2 (en) * 2011-07-21 2018-07-03 The Research Foundation For The State University Of New York System and method for CT-guided needle biopsy
EP2766083B1 (en) * 2011-10-14 2019-05-29 Intuitive Surgical Operations, Inc. Catheter systems
EP3033132B1 (en) * 2013-08-15 2021-01-06 Intuitive Surgical Operations, Inc. Graphical user interface for catheter positioning and insertion
JP6782688B2 (ja) * 2014-07-16 2020-11-11 コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. 介入処置の3d撮像ワークフローにおける器具及び生体構造のインテリジェントかつリアルタイムな可視化

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1997029682A1 (en) * 1996-02-15 1997-08-21 Biosense Inc. Locatable biopsy needle
US6351660B1 (en) * 2000-04-18 2002-02-26 Litton Systems, Inc. Enhanced visualization of in-vivo breast biopsy location for medical documentation
EP1323380A2 (en) * 2001-12-31 2003-07-02 Medison Co., Ltd. Method and apparatus for ultrasound imaging of a biopsy needle
EP1504713A1 (en) * 2003-07-14 2005-02-09 Surgical Navigation Technologies, Inc. Navigation system for cardiac therapies
WO2010069360A1 (en) * 2008-12-15 2010-06-24 Advanced Medical Diagnostics Holding S.A Method and device for planning and performing a biopsy
DE102010039604A1 (de) * 2010-08-20 2012-02-23 Siemens Aktiengesellschaft Verfahren zur Bildunterstützung bei einem medizinischen Eingriff mit einem Instrument, insbesondere einer Nadel, Computerprogramm und Röntgeneinrichtung

Also Published As

Publication number Publication date
US20180132944A1 (en) 2018-05-17
JP6843073B2 (ja) 2021-03-17
WO2016184746A1 (en) 2016-11-24
EP3297562A1 (en) 2018-03-28
EP3297562B1 (en) 2025-02-12
CN107666876A (zh) 2018-02-06
JP2018515251A (ja) 2018-06-14

Similar Documents

Publication Publication Date Title
EP3297562B1 (en) Intra-procedural accuracy feedback for image-guided biopsy
US11786318B2 (en) Intelligent real-time tool and anatomy visualization in 3D imaging workflows for interventional procedures
EP2744391B1 (en) Shape sensing assisted medical procedure
EP2665423B1 (en) System for needle deployment detection in image-guided biopsy
JP6404713B2 (ja) 内視鏡手術におけるガイド下注入のためのシステム及び方法
CN107072736B (zh) 计算机断层扫描增强的荧光透视系统、装置及其使用方法
CN107106126B (zh) 针对靶活检的针轨迹预测
CN105101895B (zh) 经引导的高剂量率近距离放射治疗中的仪器定位
EP2691006B1 (en) System for shape sensing assisted medical procedure
US11690676B2 (en) Assisting apparatus for assisting a user during an interventional procedure
US20130096424A1 (en) System and method for real-time endoscope calibration
CN116898486A (zh) 超声成像系统
CN113853162A (zh) 用于跟踪对象的运动的超声系统和方法
CN109561832A (zh) 使用软点特征来预测呼吸循环并改善端部配准的方法
CN107106238B (zh) 一种用于规划患者体内针的导入的系统
KR101635515B1 (ko) 의료용 항법 장치
EP4275639A1 (en) System and method for assistance in a surgical procedure

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant