JP2019508166A - 腹腔鏡画像及び超音波画像を重畳するための計算装置 - Google Patents
腹腔鏡画像及び超音波画像を重畳するための計算装置 Download PDFInfo
- Publication number
- JP2019508166A JP2019508166A JP2018548398A JP2018548398A JP2019508166A JP 2019508166 A JP2019508166 A JP 2019508166A JP 2018548398 A JP2018548398 A JP 2018548398A JP 2018548398 A JP2018548398 A JP 2018548398A JP 2019508166 A JP2019508166 A JP 2019508166A
- Authority
- JP
- Japan
- Prior art keywords
- image
- computing device
- ultrasound
- depth
- laparoscopic
- 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.)
- Granted
Links
- 238000002604 ultrasonography Methods 0.000 title claims abstract description 122
- 239000000284 extract Substances 0.000 claims abstract description 4
- 238000003384 imaging method Methods 0.000 claims description 27
- 238000000034 method Methods 0.000 claims description 25
- 238000004590 computer program Methods 0.000 claims description 8
- 230000003190 augmentative effect Effects 0.000 claims description 7
- 239000003086 colorant Substances 0.000 claims 1
- 239000000523 sample Substances 0.000 abstract description 3
- 210000000056 organ Anatomy 0.000 description 13
- 230000008447 perception Effects 0.000 description 4
- 230000003187 abdominal effect Effects 0.000 description 3
- 238000004040 coloring Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000605 extraction Methods 0.000 description 3
- 238000002357 laparoscopic surgery Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 210000001835 viscera Anatomy 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 210000003815 abdominal wall Anatomy 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000010191 image analysis Methods 0.000 description 1
- 238000002675 image-guided surgery Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000000153 supplemental effect Effects 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000012285 ultrasound imaging Methods 0.000 description 1
- 238000011179 visual inspection 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
- A61B8/5215—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
- A61B8/5246—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 the same or different imaging techniques, e.g. color Doppler and B-mode
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
- A61B1/0005—Display arrangement combining images e.g. side-by-side, superimposed or tiled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
- A61B5/066—Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
-
- 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
- A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
- A61B8/461—Displaying means of special interest
- A61B8/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display
-
- 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
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/013—Eye tracking input arrangements
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T3/00—Geometric image transformations in the plane of the image
- G06T3/18—Image warping, e.g. rearranging pixels individually
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
- G06T7/337—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods involving reference images or patches
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/50—Depth or shape recovery
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- 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
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
-
- 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10028—Range image; Depth image; 3D point clouds
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10068—Endoscopic image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20212—Image combination
- G06T2207/20221—Image fusion; Image merging
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR 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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Biophysics (AREA)
- Radiology & Medical Imaging (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Geometry (AREA)
- Gynecology & Obstetrics (AREA)
- Signal Processing (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Endoscopes (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Computer Graphics (AREA)
- Computer Hardware Design (AREA)
- Software Systems (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
Description
Claims (15)
- 腹腔鏡画像及び超音波画像を重畳する計算装置であって、
前記計算装置は腹腔鏡の腹腔鏡画像を入力し、
前記計算装置は超音波装置の超音波画像を入力し、
前記計算装置は奥行感知撮像装置の奥行画像を入力し、該奥行画像は関心物体の表面を定めるデータを有し、
前記計算装置は前記奥行画像から奥行手掛かり情報を抽出し、
前記計算装置は抽出された前記奥行手掛かり情報を用いて前記腹腔鏡画像及び前記超音波画像を重畳することにより重畳画像を生成する、
計算装置。 - 前記計算装置が前記重畳画像において視覚化されるべき影の形状及び位置を前記抽出された奥行手掛かり情報に基づいて決定する、請求項1に記載の計算装置。
- 前記計算装置が前記重畳画像において視覚化されるべきオクルージョンの形状及び位置を前記抽出された奥行手掛かり情報に基づいて決定する、請求項1又は請求項2に記載の計算装置。
- 前記超音波画像は超音波面において前記関心物体の断面を視覚化し、
前記計算装置は前記重畳画像において視覚化されるべき前記関心物体内の孔の形状及び位置を計算する、
請求項1ないし3の何れか一項に記載の計算装置。 - 前記超音波画像は超音波面において前記関心物体の断面を視覚化し、
前記計算装置は前記関心物体を前記超音波面に沿って仮想的に切断すると共に、該結果的切断を伴う前記関心物体を前記重畳画像に表示する、
請求項1ないし4の何れか一項に記載の計算装置。 - 前記結果的切断を伴う重畳画像は前記関心物体の外側表面及び該関心物体の内部を示し、
前記計算装置は前記関心物体の前記内部を該関心物体の前記外側表面のカラーとは異なるカラーで仮想的に着色する、
請求項5に記載の計算装置。 - 前記計算装置は仮想光源の位置及び拡がりに関するデータを入力し、
前記計算装置は前記重畳画像における人工的影の形状及び位置を前記抽出された奥行手掛かり情報に基づいて且つ前記仮想光源の前記位置及び拡がりに基づいて決定し、
前記計算装置は前記超音波画像及び/又は前記腹腔鏡画像を前記人工的影が前記重畳画像において視覚化されるように適合させる、
請求項1ないし6の何れか一項に記載の計算装置。 - 前記奥行画像は前記腹腔鏡の空間的位置及び/又は向きに関するデータを有し、
前記奥行画像は前記超音波装置の空間的位置及び/又は向きに関するデータを有する、
請求項1ないし7の何れか一項に記載の計算装置。 - 前記計算装置は前記腹腔鏡の前記空間的位置及び向き並びに前記超音波装置の前記空間的位置及び向きを前記奥行画像のデータから抽出し、
前記計算装置は抽出された前記腹腔鏡の前記空間的位置及び向き並びに抽出された前記超音波装置の前記空間的位置及び向きを共通座標系に変換する、
請求項8に記載の計算装置。 - 前記計算装置は頭部装着型拡張現実装置の位置に関するデータを入力し、
前記計算装置は前記頭部装着型拡張現実装置の位置を前記共通座標系と位置合わせし、
前記計算装置は前記重畳画像を前記頭部装着型拡張現実装置に伝送する、
請求項9に記載の計算装置。 - 前記計算装置はユーザの眼の位置及び視線方向に関するデータを入力し、
前記計算装置はコンピュータ配置表示装置の空間的位置及び向きを入力し、
前記計算装置は捕捉された前記ユーザの眼の位置及び前記視線方向並びに捕捉された前記コンピュータ配置表示装置の空間的位置及び向きを前記共通座標系と位置合わせし、
前記計算装置は前記重畳画像を前記コンピュータ配置表示装置に伝送する、
請求項9に記載の計算装置。 - 前記計算装置は前記超音波画像を前記腹腔鏡の焦点距離及び画像歪に適合するように歪ませる、請求項1ないし11の何れか一項に記載の計算装置。
- 腹腔鏡画像及び超音波画像を重畳する方法であって、
腹腔鏡の腹腔鏡画像を供給するステップと、
超音波装置の超音波画像を供給するステップと、
奥行感知撮像装置の奥行画像を供給するステップであって、該奥行画像が関心物体の表面を定めるデータを有するステップと、
前記奥行画像から奥行手掛かり情報を抽出するステップと、
前記抽出された奥行手掛かり情報を用いて前記腹腔鏡画像及び前記超音波画像を重畳することにより重畳画像を生成するステップと、
を有する、方法。 - 請求項1ないし12の何れか一項に記載の計算装置に請求項13に記載の方法を実行させる一群の命令を有する、コンピュータプログラム。
- 請求項14に記載のコンピュータプログラムを記憶した、コンピュータ読取可能な媒体。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP16160609 | 2016-03-16 | ||
EP16160609.0 | 2016-03-16 | ||
PCT/EP2017/056045 WO2017157970A1 (en) | 2016-03-16 | 2017-03-15 | Calculation device for superimposing a laparoscopic image and an ultrasound image |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2019508166A true JP2019508166A (ja) | 2019-03-28 |
JP6932135B2 JP6932135B2 (ja) | 2021-09-08 |
Family
ID=55542495
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2018548398A Active JP6932135B2 (ja) | 2016-03-16 | 2017-03-15 | 腹腔鏡画像及び超音波画像を重畳するための計算装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20190088019A1 (ja) |
JP (1) | JP6932135B2 (ja) |
CN (1) | CN108778143B (ja) |
DE (1) | DE112017001315T5 (ja) |
WO (1) | WO2017157970A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10262453B2 (en) * | 2017-03-24 | 2019-04-16 | Siemens Healthcare Gmbh | Virtual shadows for enhanced depth perception |
CN110010249B (zh) * | 2019-03-29 | 2021-04-27 | 北京航空航天大学 | 基于视频叠加的增强现实手术导航方法、系统及电子设备 |
CN110288653B (zh) * | 2019-07-15 | 2021-08-24 | 中国科学院深圳先进技术研究院 | 一种多角度超声图像融合方法、系统及电子设备 |
CN113952031A (zh) | 2020-07-21 | 2022-01-21 | 巴德阿克塞斯系统股份有限公司 | 磁跟踪超声探头及生成其3d可视化的系统、方法和设备 |
US20220039777A1 (en) * | 2020-08-10 | 2022-02-10 | Bard Access Systems, Inc. | System and Method for Generating Vessel Representations in Mixed Reality/Virtual Reality |
WO2023086332A1 (en) * | 2021-11-09 | 2023-05-19 | Genesis Medtech (USA) Inc. | An interactive augmented reality system for laparoscopic and video assisted surgeries |
WO2024042468A1 (en) * | 2022-08-24 | 2024-02-29 | Covidien Lp | Surgical robotic system and method for intraoperative fusion of different imaging modalities |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20010035871A1 (en) * | 2000-03-30 | 2001-11-01 | Johannes Bieger | System and method for generating an image |
JP2003325514A (ja) * | 2002-05-16 | 2003-11-18 | Aloka Co Ltd | 超音波診断装置 |
US20090318756A1 (en) * | 2008-06-23 | 2009-12-24 | Southwest Research Institute | System And Method For Overlaying Ultrasound Imagery On A Laparoscopic Camera Display |
US20140303491A1 (en) * | 2013-04-04 | 2014-10-09 | Children's National Medical Center | Device and method for generating composite images for endoscopic surgery of moving and deformable anatomy |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB0712690D0 (en) * | 2007-06-29 | 2007-08-08 | Imp Innovations Ltd | Imagee processing |
US8514218B2 (en) * | 2007-08-14 | 2013-08-20 | Siemens Aktiengesellschaft | Image-based path planning for automated virtual colonoscopy navigation |
US8690776B2 (en) * | 2009-02-17 | 2014-04-08 | Inneroptic Technology, Inc. | Systems, methods, apparatuses, and computer-readable media for image guided surgery |
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 |
JP5421828B2 (ja) * | 2010-03-17 | 2014-02-19 | 富士フイルム株式会社 | 内視鏡観察支援システム、並びに、内視鏡観察支援装置、その作動方法およびプログラム |
KR20140112207A (ko) * | 2013-03-13 | 2014-09-23 | 삼성전자주식회사 | 증강현실 영상 표시 시스템 및 이를 포함하는 수술 로봇 시스템 |
CN104013424B (zh) * | 2014-05-28 | 2016-01-20 | 华南理工大学 | 一种基于深度信息的超声宽景成像方法 |
US9547940B1 (en) * | 2014-09-12 | 2017-01-17 | University Of South Florida | Systems and methods for providing augmented reality in minimally invasive surgery |
CN104856720B (zh) * | 2015-05-07 | 2017-08-08 | 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 |
-
2017
- 2017-03-15 CN CN201780017496.5A patent/CN108778143B/zh active Active
- 2017-03-15 US US16/084,638 patent/US20190088019A1/en not_active Abandoned
- 2017-03-15 DE DE112017001315.1T patent/DE112017001315T5/de not_active Withdrawn
- 2017-03-15 WO PCT/EP2017/056045 patent/WO2017157970A1/en active Application Filing
- 2017-03-15 JP JP2018548398A patent/JP6932135B2/ja active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20010035871A1 (en) * | 2000-03-30 | 2001-11-01 | Johannes Bieger | System and method for generating an image |
JP2003325514A (ja) * | 2002-05-16 | 2003-11-18 | Aloka Co Ltd | 超音波診断装置 |
US20090318756A1 (en) * | 2008-06-23 | 2009-12-24 | Southwest Research Institute | System And Method For Overlaying Ultrasound Imagery On A Laparoscopic Camera Display |
US20140303491A1 (en) * | 2013-04-04 | 2014-10-09 | Children's National Medical Center | Device and method for generating composite images for endoscopic surgery of moving and deformable anatomy |
Also Published As
Publication number | Publication date |
---|---|
WO2017157970A1 (en) | 2017-09-21 |
DE112017001315T5 (de) | 2018-11-22 |
CN108778143B (zh) | 2022-11-01 |
JP6932135B2 (ja) | 2021-09-08 |
US20190088019A1 (en) | 2019-03-21 |
CN108778143A (zh) | 2018-11-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6932135B2 (ja) | 腹腔鏡画像及び超音波画像を重畳するための計算装置 | |
JP5421828B2 (ja) | 内視鏡観察支援システム、並びに、内視鏡観察支援装置、その作動方法およびプログラム | |
JP5380348B2 (ja) | 内視鏡観察を支援するシステムおよび方法、並びに、装置およびプログラム | |
JP5535725B2 (ja) | 内視鏡観察支援システム、並びに、内視鏡観察支援装置、その作動方法およびプログラム | |
US7774044B2 (en) | System and method for augmented reality navigation in a medical intervention procedure | |
Liao et al. | Surgical navigation by autostereoscopic image overlay of integral videography | |
US20160163105A1 (en) | Method of operating a surgical navigation system and a system using the same | |
US20130250081A1 (en) | System and method for determining camera angles by using virtual planes derived from actual images | |
WO2007115825A1 (en) | Registration-free augmentation device and method | |
Tran et al. | Augmented reality system for oral surgery using 3D auto stereoscopic visualization | |
JP6116754B2 (ja) | 低侵襲手術において画像データを立体視表示するための装置およびその装置の作動方法 | |
Hu et al. | Head-mounted augmented reality platform for markerless orthopaedic navigation | |
JP5934070B2 (ja) | 仮想内視鏡画像生成装置およびその作動方法並びにプログラム | |
US20220215539A1 (en) | Composite medical imaging systems and methods | |
US10631948B2 (en) | Image alignment device, method, and program | |
Singh et al. | A novel enhanced hybrid recursive algorithm: Image processing based augmented reality for gallbladder and uterus visualisation | |
US10049480B2 (en) | Image alignment device, method, and program | |
Sauer et al. | Augmented reality visualization for thoracoscopic spine surgery | |
US20230277035A1 (en) | Anatomical scene visualization systems and methods | |
Hayashibe et al. | Real-time 3D deformation imaging of abdominal organs in laparoscopy | |
Singh et al. | Egyptian Informatics Journal | |
Kumar et al. | Stereoscopic augmented reality for single camera endoscope using optical tracker: a study on phantom | |
Gonzalez Garcia | Optimised Calibration, Registration and Tracking for Image Enhanced Surgical Navigation in ENT Operations | |
Mitsuhiro HAYASHIBE et al. | Medicine Meets Virtual Reality 11 117 JD Westwood et al.(Eds.) IOS Press, 2003 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200312 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20210226 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210308 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210604 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20210719 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20210817 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 6932135 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |