CN110368028B - 一种空间坐标系的实时配准方法和装置 - Google Patents
一种空间坐标系的实时配准方法和装置 Download PDFInfo
- Publication number
- CN110368028B CN110368028B CN201810330645.XA CN201810330645A CN110368028B CN 110368028 B CN110368028 B CN 110368028B CN 201810330645 A CN201810330645 A CN 201810330645A CN 110368028 B CN110368028 B CN 110368028B
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- electromagnetic
- body surface
- electromagnetic tracking
- tracking
- 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 25
- 239000000523 sample Substances 0.000 claims abstract description 127
- 238000006243 chemical reaction Methods 0.000 claims abstract description 119
- 239000003550 marker Substances 0.000 claims abstract description 116
- 238000002604 ultrasonography Methods 0.000 claims description 22
- 230000009466 transformation Effects 0.000 claims description 15
- 238000013473 artificial intelligence Methods 0.000 abstract description 2
- 238000004590 computer program Methods 0.000 description 6
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 238000002591 computed tomography Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 230000029058 respiratory gaseous exchange Effects 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000002595 magnetic resonance imaging Methods 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 239000002390 adhesive tape Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 238000012285 ultrasound imaging Methods 0.000 description 1
Images
Classifications
-
- 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
- A61B8/5292—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves using additional data, e.g. patient information, image labeling, acquisition parameters
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Radiology & Medical Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Biophysics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Biomedical Technology (AREA)
- Physics & Mathematics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810330645.XA CN110368028B (zh) | 2018-04-13 | 2018-04-13 | 一种空间坐标系的实时配准方法和装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810330645.XA CN110368028B (zh) | 2018-04-13 | 2018-04-13 | 一种空间坐标系的实时配准方法和装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110368028A CN110368028A (zh) | 2019-10-25 |
CN110368028B true CN110368028B (zh) | 2021-09-14 |
Family
ID=68243334
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810330645.XA Active CN110368028B (zh) | 2018-04-13 | 2018-04-13 | 一种空间坐标系的实时配准方法和装置 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110368028B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112465902B (zh) * | 2020-12-14 | 2021-08-10 | 北京诺亦腾科技有限公司 | 骨科手术用光学跟踪标记球位置确定方法和装置 |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007202829A (ja) * | 2006-02-02 | 2007-08-16 | Hitachi Medical Corp | 超音波診断装置 |
JP2008284144A (ja) * | 2007-05-17 | 2008-11-27 | Hitachi Medical Corp | 超音波治療等におけるリファレンス像表示方法及び超音波装置 |
CN101862205A (zh) * | 2010-05-25 | 2010-10-20 | 中国人民解放军第四军医大学 | 一种结合术前影像的术中组织跟踪方法 |
CN103007440A (zh) * | 2012-12-13 | 2013-04-03 | 上海交通大学 | 一种基于磁共振图像的超声探头三维坐标定位方法 |
CN103230283A (zh) * | 2013-04-16 | 2013-08-07 | 清华大学 | 一种超声探头成像平面空间位置标定的优化方法 |
WO2015092664A2 (en) * | 2013-12-18 | 2015-06-25 | Koninklijke Philips N.V. | Electromagnetic tracker based ultrasound probe calibration |
CN104856720A (zh) * | 2015-05-07 | 2015-08-26 | 东北电力大学 | 一种基于rgb-d传感器的机器人辅助超声扫描系统 |
CN105147291A (zh) * | 2015-08-26 | 2015-12-16 | 上海沈德医疗器械科技有限公司 | 基于直接线性变换和奇异值分解的磁共振坐标定位方法 |
CN105931237A (zh) * | 2016-04-19 | 2016-09-07 | 北京理工大学 | 一种图像校准方法和系统 |
CN107714082A (zh) * | 2017-09-04 | 2018-02-23 | 北京航空航天大学 | 一种基于光学定位的超声探头标定装置及方法 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9155470B2 (en) * | 2012-01-24 | 2015-10-13 | Siemens Aktiengesellschaft | Method and system for model based fusion on pre-operative computed tomography and intra-operative fluoroscopy using transesophageal echocardiography |
-
2018
- 2018-04-13 CN CN201810330645.XA patent/CN110368028B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007202829A (ja) * | 2006-02-02 | 2007-08-16 | Hitachi Medical Corp | 超音波診断装置 |
JP2008284144A (ja) * | 2007-05-17 | 2008-11-27 | Hitachi Medical Corp | 超音波治療等におけるリファレンス像表示方法及び超音波装置 |
CN101862205A (zh) * | 2010-05-25 | 2010-10-20 | 中国人民解放军第四军医大学 | 一种结合术前影像的术中组织跟踪方法 |
CN103007440A (zh) * | 2012-12-13 | 2013-04-03 | 上海交通大学 | 一种基于磁共振图像的超声探头三维坐标定位方法 |
CN103230283A (zh) * | 2013-04-16 | 2013-08-07 | 清华大学 | 一种超声探头成像平面空间位置标定的优化方法 |
WO2015092664A2 (en) * | 2013-12-18 | 2015-06-25 | Koninklijke Philips N.V. | Electromagnetic tracker based ultrasound probe calibration |
CN104856720A (zh) * | 2015-05-07 | 2015-08-26 | 东北电力大学 | 一种基于rgb-d传感器的机器人辅助超声扫描系统 |
CN105147291A (zh) * | 2015-08-26 | 2015-12-16 | 上海沈德医疗器械科技有限公司 | 基于直接线性变换和奇异值分解的磁共振坐标定位方法 |
CN105931237A (zh) * | 2016-04-19 | 2016-09-07 | 北京理工大学 | 一种图像校准方法和系统 |
CN107714082A (zh) * | 2017-09-04 | 2018-02-23 | 北京航空航天大学 | 一种基于光学定位的超声探头标定装置及方法 |
Also Published As
Publication number | Publication date |
---|---|
CN110368028A (zh) | 2019-10-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN101516444B (zh) | 纠正导航脑刺激中显示的对象的坐标系配准中的错误的方法和装置 | |
CN103735312B (zh) | 多模影像超声引导手术导航系统 | |
Khadem et al. | Comparative tracking error analysis of five different optical tracking systems | |
CN100536792C (zh) | 一种支持多种模式的导航系统及导航方法 | |
US9974615B2 (en) | Determining a position of a medical device to be localized | |
CN102266250B (zh) | 超声手术导航系统 | |
CN107105972A (zh) | 模型登记系统和方法 | |
CN103006335A (zh) | 一种手术导航用的通用标定模及标定方法 | |
CN110547872A (zh) | 手术导航注册系统 | |
WO2021185260A1 (zh) | 定位跟踪件、标记物的识别方法、存储介质及电子设备 | |
Kyme et al. | Marker‐free optical stereo motion tracking for in‐bore MRI and PET‐MRI application | |
Lee et al. | Fast‐MICP for frameless image‐guided surgery | |
Pycinski et al. | Time-of-flight camera, optical tracker and computed tomography in pairwise data registration | |
Schaller et al. | Time-of-flight sensor for patient positioning | |
CN110368028B (zh) | 一种空间坐标系的实时配准方法和装置 | |
CN107977991B (zh) | 基于空间距离与数据分布相似性度量的医学图像配准方法 | |
Richey et al. | Soft tissue monitoring of the surgical field: detection and tracking of breast surface deformations | |
CN110368027B (zh) | 一种图像融合方法和装置 | |
De Lorenzo et al. | Accurate calibration method for 3D freehand ultrasound probe using virtual plane | |
CN116883471B (zh) | 面向胸腹部经皮穿刺的线结构光无接触点云配准方法 | |
CN110368026B (zh) | 一种手术辅助装置及系统 | |
Brudfors et al. | ConoSurf: Open‐source 3D scanning system based on a conoscopic holography device for acquiring surgical surfaces | |
CN100558302C (zh) | 一种基于3d序列高精度成像的球心定位方法 | |
Beitone et al. | Towards real‐time free‐hand biopsy navigation | |
Basafa et al. | Fast, intuitive, vision-based: performance metrics for visual registration, instrument guidance, and image fusion |
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 | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210617 Address after: 100191 Room 608, 6 / F, building 9, 35 Huayuan North Road, Haidian District, Beijing Applicant after: Beijing Baihui Wei Kang Technology Co.,Ltd. Address before: 100191 506, 5th floor, building 9, 35 Huayuan North Road, Haidian District, Beijing Applicant before: BEIJING REMEBOT MEDICAL ROBOT TECHNOLOGY Co.,Ltd. |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
CP03 | Change of name, title or address | ||
CP03 | Change of name, title or address |
Address after: 100191 Room 501, floor 5, building 9, No. 35 Huayuan North Road, Haidian District, Beijing Patentee after: Beijing Baihui Weikang Technology Co.,Ltd. Address before: 100191 Room 608, 6 / F, building 9, 35 Huayuan North Road, Haidian District, Beijing Patentee before: Beijing Baihui Wei Kang 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 real-time registration method and device for spatial coordinate systems Granted publication date: 20210914 Pledgee: Zhongguancun Branch of Bank of Beijing Co.,Ltd. Pledgor: Beijing Baihui Weikang Technology Co.,Ltd. Registration number: Y2024110000137 |