CN113614844B - 动态介入三维模型变形 - Google Patents

动态介入三维模型变形

Info

Publication number
CN113614844B
CN113614844B CN202080021071.3A CN202080021071A CN113614844B CN 113614844 B CN113614844 B CN 113614844B CN 202080021071 A CN202080021071 A CN 202080021071A CN 113614844 B CN113614844 B CN 113614844B
Authority
CN
China
Prior art keywords
dimensional model
tracking device
path
tracking
processor
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
CN202080021071.3A
Other languages
English (en)
Chinese (zh)
Other versions
CN113614844A (zh
Inventor
T·M·比德隆
P·西恩帕波
A·陈
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 CN113614844A publication Critical patent/CN113614844A/zh
Application granted granted Critical
Publication of CN113614844B publication Critical patent/CN113614844B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H30/00—ICT specially adapted for the handling or processing of medical images
    • G16H30/40—ICT specially adapted for the handling or processing of medical images for processing medical images, e.g. editing
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T15/00—3D [Three Dimensional] image rendering
    • G06T15/08—Volume rendering
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/10—Segmentation; Edge detection
    • G06T7/149—Segmentation; Edge detection involving deformable models, e.g. active contour models
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
    • 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
    • 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
    • G06T2207/10116—X-ray image
    • G06T2207/10121—Fluoroscopy
    • 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
    • G06T2207/30061—Lung

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Surgery (AREA)
  • Primary Health Care (AREA)
  • Epidemiology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Quality & Reliability (AREA)
  • Animal Behavior & Ethology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Robotics (AREA)
  • Computer Graphics (AREA)
  • Molecular Biology (AREA)
  • Software Systems (AREA)
  • Data Mining & Analysis (AREA)
  • Urology & Nephrology (AREA)
  • Databases & Information Systems (AREA)
  • Pathology (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
CN202080021071.3A 2019-03-14 2020-03-13 动态介入三维模型变形 Active CN113614844B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962818622P 2019-03-14 2019-03-14
US62/818,622 2019-03-14
PCT/EP2020/056902 WO2020182997A1 (en) 2019-03-14 2020-03-13 Dynamic interventional three-dimensional model deformation

Publications (2)

Publication Number Publication Date
CN113614844A CN113614844A (zh) 2021-11-05
CN113614844B true CN113614844B (zh) 2025-09-23

Family

ID=69941336

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080021071.3A Active CN113614844B (zh) 2019-03-14 2020-03-13 动态介入三维模型变形

Country Status (5)

Country Link
US (1) US12229950B2 (enExample)
EP (1) EP3939052A1 (enExample)
JP (1) JP7527302B2 (enExample)
CN (1) CN113614844B (enExample)
WO (1) WO2020182997A1 (enExample)

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN211884909U (zh) 2017-04-07 2020-11-10 巴德阿克塞斯系统股份有限公司 基于光纤的医疗设备跟踪和监测系统
CN120203771A (zh) 2019-08-12 2025-06-27 巴德阿克塞斯系统股份有限公司 用于医疗装置的形状感测系统和方法
CN112826480B (zh) 2019-11-25 2025-04-18 巴德阿克塞斯系统股份有限公司 具有滤波器的形状感测系统及其方法
CN214804697U (zh) 2019-11-25 2021-11-23 巴德阿克塞斯系统股份有限公司 光学尖端追踪系统
WO2021258113A1 (en) * 2020-06-19 2021-12-23 Remedy Robotics, Inc. Systems and methods for guidance of intraluminal devices within the vasculature
CN216319408U (zh) 2020-06-26 2022-04-19 巴德阿克塞斯系统股份有限公司 错位检测系统
EP4171373A1 (en) 2020-06-29 2023-05-03 Bard Access Systems, Inc. Automatic dimensional frame reference for fiber optic
CN113907705B (zh) 2020-07-10 2025-11-04 巴德阿克塞斯系统股份有限公司 连续光纤功能监测和自诊断报告系统
CN114052658B (zh) 2020-08-03 2025-12-16 巴德阿克塞斯系统股份有限公司 布拉格光栅光纤波动感测与监测系统
EP4216819A1 (en) 2020-09-25 2023-08-02 Bard Access Systems, Inc. Fiber optics oximetry system for detection and confirmation
EP4221615B1 (en) * 2020-09-30 2025-01-22 Koninklijke Philips N.V. Interventional medical device tracking
WO2022123577A1 (en) 2020-12-10 2022-06-16 Magnisity Ltd. Dynamic deformation tracking for navigational bronchoscopy
US12193759B2 (en) * 2020-12-30 2025-01-14 Canon U.S.A., Inc. Real-time correction of regional tissue deformation during endoscopy procedure
US12232821B2 (en) 2021-01-06 2025-02-25 Bard Access Systems, Inc. Needle guidance using fiber optic shape sensing
WO2022164902A1 (en) 2021-01-26 2022-08-04 Bard Access Systems, Inc. Fiber optic shape sensing system associated with port placement
DE102021202753A1 (de) * 2021-03-22 2022-09-22 Siemens Healthcare Gmbh Bereitstellen eines korrigierten Datensatzes
CN217960085U (zh) 2021-05-18 2022-12-06 巴德阿克塞斯系统股份有限公司 用于检测医疗设备在患者身体内的放置的医疗设备系统
EP4404835A1 (en) * 2021-09-27 2024-07-31 Bard Access Systems, Inc. Medical instrument shape filtering systems and methods
EP4418994A1 (en) 2021-10-25 2024-08-28 Bard Access Systems, Inc. Reference plane for medical device placement
WO2023218468A1 (en) * 2022-05-12 2023-11-16 Magnisity Ltd. Curve inductive sensor
CN116416412A (zh) * 2021-12-31 2023-07-11 杭州堃博生物科技有限公司 支气管镜的辅助导航方法、装置及设备
WO2023232729A1 (en) * 2022-06-01 2023-12-07 Koninklijke Philips N.V. Guiding an interventional imaging device
EP4285832A1 (en) * 2022-06-01 2023-12-06 Koninklijke Philips N.V. Guiding an interventional imaging device
WO2023232678A1 (en) * 2022-06-02 2023-12-07 Koninklijke Philips N.V. Navigation in hollow anatomical structures
EP4285854A1 (en) * 2022-06-02 2023-12-06 Koninklijke Philips N.V. Navigation in hollow anatomical structures
US12343117B2 (en) 2022-06-28 2025-07-01 Bard Access Systems, Inc. Fiber optic medical systems and methods for identifying blood vessels
US12349984B2 (en) 2022-06-29 2025-07-08 Bard Access Systems, Inc. System, method, and apparatus for improved confirm of an anatomical position of a medical instrument
CN116115328B (zh) * 2022-12-29 2025-09-16 融和医疗科技(浙江)有限公司 一种对象消融系统、控制方法、装置、介质及电子设备
EP4648666A1 (en) * 2023-01-12 2025-11-19 Magnisity Ltd. Dynamic anatomy deformation tracking for in-vivo navigation
DE102023200709A1 (de) * 2023-01-30 2024-08-01 Siemens Healthineers Ag Verfahren zur automatischen Positionsbestimmungsüberprüfung und medizinisches Gesamtsystem
CN116636928A (zh) * 2023-05-05 2023-08-25 常州朗合医疗器械有限公司 针对肺部气管的配准进度检测方法、系统及电子设备
WO2025014761A2 (en) * 2023-07-07 2025-01-16 The Penn State Research Foundation Methods for planning and guiding endoscopic procedures that incorporate image-to-body divergence reduction
WO2025054377A1 (en) * 2023-09-08 2025-03-13 Intuitive Surgical Operations, Inc. In-painting and target update for intraoperative imaging
WO2025070545A1 (ja) * 2023-09-29 2025-04-03 テルモ株式会社 画像処理装置、画像処理システム、画像処理方法、及び画像処理プログラム
CN119367010A (zh) * 2024-10-29 2025-01-28 华东医院 一种应用虚拟现实技术进行手术穿刺导航的方法

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012154786A2 (en) * 2011-05-11 2012-11-15 Broncus Medical, Inc. Fluoroscopy-based surgical device tracking method and system

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1691666B1 (en) 2003-12-12 2012-05-30 University of Washington Catheterscope 3d guidance and interface system
CN101661623B (zh) * 2009-10-21 2012-04-25 上海交通大学 基于线性规划的变形体三维跟踪方法
US10165928B2 (en) 2010-08-20 2019-01-01 Mark Hunter Systems, instruments, and methods for four dimensional soft tissue navigation
CN103458764B (zh) * 2011-03-31 2017-05-03 皇家飞利浦有限公司 形状感测辅助的医疗程序
JP6334517B2 (ja) * 2012-05-14 2018-05-30 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 形状センシングを使用した変形補償のためのシステム及び方法
CN105979899B (zh) 2013-12-09 2019-10-01 直观外科手术操作公司 用于设备感知柔性工具配准的系统和方法
CN103679809B (zh) * 2013-12-24 2016-08-17 中山大学 一种基于数据并行处理的虚拟现实的3d仿真方法及系统
US10314656B2 (en) * 2014-02-04 2019-06-11 Intuitive Surgical Operations, Inc. Systems and methods for non-rigid deformation of tissue for virtual navigation of interventional tools
US9603668B2 (en) 2014-07-02 2017-03-28 Covidien Lp Dynamic 3D lung map view for tool navigation inside the lung
US20160331343A1 (en) 2015-05-11 2016-11-17 Veran Medical Technologies, Inc. Medical apparatus with translatable imaging device for real-time confirmation of interception of target tissue
WO2017030915A1 (en) 2015-08-14 2017-02-23 Intuitive Surgical Operations, Inc. Systems and methods of registration for image-guided surgery
US10709352B2 (en) * 2015-10-27 2020-07-14 Covidien Lp Method of using lung airway carina locations to improve ENB registration
US10543044B2 (en) 2016-09-27 2020-01-28 Covidien Lp Systems and methods for detecting pleural invasion for surgical and interventional planning
US11259878B2 (en) 2017-05-29 2022-03-01 Intellijoint Surgical Inc. Systems and methods for surgical navigation with a tracker instrument

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2012154786A2 (en) * 2011-05-11 2012-11-15 Broncus Medical, Inc. Fluoroscopy-based surgical device tracking method and system

Also Published As

Publication number Publication date
US12229950B2 (en) 2025-02-18
EP3939052A1 (en) 2022-01-19
CN113614844A (zh) 2021-11-05
WO2020182997A1 (en) 2020-09-17
US20220156925A1 (en) 2022-05-19
JP7527302B2 (ja) 2024-08-02
JP2022523445A (ja) 2022-04-22

Similar Documents

Publication Publication Date Title
CN113614844B (zh) 动态介入三维模型变形
US12059281B2 (en) Systems and methods of fluoro-CT imaging for initial registration
US20220313190A1 (en) System and method for pose estimation of an imaging device and for determining the location of a medical device with respect to a target
US12064280B2 (en) System and method for identifying and marking a target in a fluoroscopic three-dimensional reconstruction
EP3164050B1 (en) Dynamic 3d lung map view for tool navigation inside the lung
US9265468B2 (en) Fluoroscopy-based surgical device tracking method
CN105979900B (zh) 血管的深度和位置的可视化以及血管横截面的机器人引导的可视化
AU2018203304A1 (en) Improvement of registration with trajectory information with shape sensing
CN111568544A (zh) 用于使医疗装置相对于目标的导航视觉化的系统和方法
CN110123450A (zh) 用于荧光镜图像中的导管检测和更新导管的显示位置的系统和方法
CN103619278A (zh) 用于内窥镜手术期间的引导注射的系统及方法
US20230143522A1 (en) Surgical assistant system based on image data of the operative field
US20190304129A1 (en) Image-based guidance for navigating tubular networks
US20230360212A1 (en) Systems and methods for updating a graphical user interface based upon intraoperative imaging
JP2019531113A (ja) 軟性点特徴部を使用して呼吸周期を予測し、端部位置合わせを改善する方法
US20200046433A1 (en) Identification and notification of tool displacement during medical procedure
WO2024241218A1 (en) System and method for updating registration and localization during surgical navigation

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