JP2008253763A - 撮像対象中の対象物をナビゲーションするシステム及び方法 - Google Patents
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Abstract
【解決手段】システム(100)は、対象物(105)の動きをナビゲーション座標系(420)に対する空間的関係でトラッキングするためのナビゲーションシステム(125)と、制御器(130)と、を含む。この制御器(130)は、撮像対象(110)の画像(425)内で対象物(105)の画像を検出し、対象物(105)の画像の箇所と該対象物(105)のトラッキング箇所との間の空間的関係を計算し、ナビゲーション座標系(420)に対する画像座標系(415)の空間的関係を、対象物(105)の画像の箇所とナビゲーションシステム(125)による対象物(105)のトラッキング箇所との間の差が低減されるように修正する。
【選択図】図1
Description
105 ツールまたは対象物
110 撮像対象
115 撮像システム
125 ナビゲーションシステム
130 制御器
135 2次元、3次元または4次元画像
140 X線
180 トラッキング用素子
185 トラッキング用素子
205 ディジタル化された3次元または4次元解剖学的ロードマップまたはモデル
210 対象物のトラッキング箇所の描出
220 ディスプレイ
230 入力
240 プロセッサ
245 メモリ
400 方法
410 位置合わせ工程
415 画像座標系
420 ナビゲーション座標系
425 一連の画像を収集する工程
430 対象物の動きまたは位置をトラッキングする工程
440 関心領域(ROI)を特定する工程
445 関心領域
452 収集画像
450 画像フィルタ処理を実行する工程
455 画像452のある箇所を特定し計測する工程
460 トラッキング箇所を基準として画像の当該箇所を比較する工程
470 画像の箇所の差を描出する工程
475 撮像座標系の位置合わせを修正する工程
Claims (10)
- 撮像対象(110)の関心エリア内で移動する画像ガイド対象物(105)を、撮像システム(115)により作成されるに従って該撮像対象(110)の収集画像(425)に関連してナビゲーションするためのシステム(100)であって、該少なくとも1つの画像(425)の空間的関係は画像座標系(415)を基準として規定されており、
撮像対象(110)内の対象物(105)の動きをトラッキングするように動作可能なナビゲーションシステム(125)であって、該対象物(110)はナビゲーション座標系(420)に対する空間的関係でトラッキングを受けるナビゲーションシステム(125)と、
メモリ(245)内に保存された複数のプログラム命令を実行するように動作可能なプロセッサ(240)を有する、前記撮像システム(115)及び前記ナビゲーションシステム(125)と連絡するように電気的に接続された制御器(130)であって、該複数のプログラム命令は、
前記ナビゲーション座標系(420)を基準として撮像座標系(415)の空間的関係を位置合わせすること、
前記撮像対象(110)の少なくとも1つの画像(425)内で対象物(105)の画像を検出すること、
対象物(105)の画像の箇所と該対象物(105)のトラッキング箇所との間の空間的関係を計算すること、
前記ナビゲーション座標系(420)に対する前記画像座標系(415)の空間的関係を、対象物(105)の画像の箇所とナビゲーションシステム(125)による該画像(425)に対する対象物(105)のトラッキング箇所との間の差が低減されるように修正すること、
を含む制御器(130)と、
を備えるシステム(100)。 - 前記検出は、前記少なくとも1つの画像(425)のうちの対象物(105)の画像の箇所である可能性が高い関心領域(445)を特定することを含む、請求項1に記載のシステム(100)。
- 前記検出は、前記対象物(105)の画像のコントラストを前記少なくとも1つの画像(425)内の解剖学的構造の画像のコントラストに関連して増加させるようにフィルタを適用することを含む、請求項2に記載のシステム(100)。
- 前記複数のプログラム可能命令はさらに、前記空間的関係を所定のしきい値を基準として表示することを含む、請求項1に記載のシステム(100)。
- 前記複数のプログラム可能命令はさらに、前記対象物(105)の画像の箇所と対象物(105)のトラッキング箇所の間の空間的関係を表示することを含む、請求項1に記載のシステム。
- 前記表示は、前記対象物(105)の画像と該対象物(105)のトラッキング箇所の描出(210)とを重ね合わせることを含む、請求項5に記載のシステム(100)。
- 前記表示は、前記対象物(105)の画像の箇所の第1の描出と該対象物(105)のトラッキング箇所の第2の描出(210)とを重ね合わせることを含む、請求項5に記載のシステム(100)。
- 前記修正は、前記ナビゲーション座標系(420)に対する前記画像座標系(415)の空間的関係を該空間的関係のある所定の百分率だけ調整することを含む、請求項1に記載のシステム(100)。
- 前記空間的関係は回転と平行移動からなる群のうちの1つまたは幾つかを含む、請求項1に記載のシステム。
- 撮像対象(110)の関心エリアを通る対象物(105)をナビゲーションする方法(400)であって、
ナビゲーション座標系(420)を基準として撮像座標系(415)の空間的関係を位置合わせする工程であって、該撮像座標系(415)は撮像システム(115)により収集される際に撮像対象(110)の少なくとも1つの画像の空間的関係に関して確定的であり、該ナビゲーション座標系(420)は撮像対象(110)内の対象物(105)の箇所をトラッキングするように構成されたナビゲーションシステム(125)によって規定されている位置合わせ工程と、
前記撮像対象(110)の少なくとも1つの画像(425)内で前記対象物(105)の画像を検出する工程と、
前記画像座標系(415)に対して対象物(105)の画像の箇所を位置合わせする工程と、
前記ナビゲーションシステム(125)により計測されるに従って、前記対象物(105)の画像の箇所を画像(425)に関する対象物(105)のトラッキング箇所と比較する工程と、
前記対象物(105)の画像の箇所と前記画像(425)に関する該対象物(105)のトラッキング箇所の間の空間的関係を表示する工程と、
を含む方法。
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US11/695,808 | 2007-04-03 | ||
US11/695,808 US7899226B2 (en) | 2007-04-03 | 2007-04-03 | System and method of navigating an object in an imaged subject |
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JP5207795B2 JP5207795B2 (ja) | 2013-06-12 |
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JP (1) | JP5207795B2 (ja) |
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FR (1) | FR2914765B1 (ja) |
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DE102008017111B4 (de) | 2017-03-23 |
US20080247616A1 (en) | 2008-10-09 |
FR2914765A1 (fr) | 2008-10-10 |
FR2914765B1 (fr) | 2018-01-26 |
DE102008017111A1 (de) | 2008-10-09 |
JP5207795B2 (ja) | 2013-06-12 |
US7899226B2 (en) | 2011-03-01 |
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