JP6952740B2 - ユーザーを支援する方法、コンピュータープログラム製品、データ記憶媒体、及び撮像システム - Google Patents

ユーザーを支援する方法、コンピュータープログラム製品、データ記憶媒体、及び撮像システム Download PDF

Info

Publication number
JP6952740B2
JP6952740B2 JP2019128017A JP2019128017A JP6952740B2 JP 6952740 B2 JP6952740 B2 JP 6952740B2 JP 2019128017 A JP2019128017 A JP 2019128017A JP 2019128017 A JP2019128017 A JP 2019128017A JP 6952740 B2 JP6952740 B2 JP 6952740B2
Authority
JP
Japan
Prior art keywords
image
endoscope
alignment
instrument
uncertainty
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
JP2019128017A
Other languages
English (en)
Japanese (ja)
Other versions
JP2020058779A (ja
JP2020058779A5 (enExample
Inventor
レーゲンスブルガー アロイス
レーゲンスブルガー アロイス
Original Assignee
シーメンス ヘルスケア ゲゼルシヤフト ミツト ベシユレンクテル ハフツング
シーメンス ヘルスケア ゲゼルシヤフト ミツト ベシユレンクテル ハフツング
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 シーメンス ヘルスケア ゲゼルシヤフト ミツト ベシユレンクテル ハフツング, シーメンス ヘルスケア ゲゼルシヤフト ミツト ベシユレンクテル ハフツング filed Critical シーメンス ヘルスケア ゲゼルシヤフト ミツト ベシユレンクテル ハフツング
Publication of JP2020058779A publication Critical patent/JP2020058779A/ja
Publication of JP2020058779A5 publication Critical patent/JP2020058779A5/ja
Application granted granted Critical
Publication of JP6952740B2 publication Critical patent/JP6952740B2/ja
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
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/032—Transmission computed tomography [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • 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
    • A61B1/00004—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
    • A61B1/000095—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope for image enhancement
    • 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
    • A61B1/00163—Optical arrangements
    • A61B1/00193—Optical arrangements adapted for stereoscopic vision
    • 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
    • A61B1/04—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 combined with photographic or television appliances
    • A61B1/05—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 combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/0233—Pointed or sharp biopsy instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments, e.g. catheter-type instruments
    • 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
    • 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
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5223—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data generating planar views from image data, e.g. extracting a coronal view from a 3D image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5235—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from the same or different ionising radiation imaging techniques, e.g. PET and CT
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
    • A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
    • A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
    • A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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
    • 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
    • A61B10/00—Instruments for taking body samples for diagnostic purposes; Other methods or instruments for diagnosis, e.g. for vaccination diagnosis, sex determination or ovulation-period determination; Throat striking implements
    • A61B10/02—Instruments for taking cell samples or for biopsy
    • A61B10/04—Endoscopic instruments, e.g. catheter-type instruments
    • A61B2010/045—Needles
    • 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
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/44—Constructional features of apparatus for radiation diagnosis
    • A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
    • A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
    • A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/48—Diagnostic techniques
    • A61B6/486—Diagnostic techniques involving generating temporal series of image data
    • A61B6/487—Diagnostic techniques involving generating temporal series of image data involving 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10068—Endoscopic 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10072—Tomographic images
    • 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
    • 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

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Optics & Photonics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Pulmonology (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Endoscopes (AREA)
JP2019128017A 2018-09-19 2019-07-10 ユーザーを支援する方法、コンピュータープログラム製品、データ記憶媒体、及び撮像システム Active JP6952740B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP18195330.8 2018-09-19
EP18195330.8A EP3626176B1 (de) 2018-09-19 2018-09-19 Verfahren zum unterstützen eines anwenders, computerprogrammprodukt, datenträger und bildgebendes system

Publications (3)

Publication Number Publication Date
JP2020058779A JP2020058779A (ja) 2020-04-16
JP2020058779A5 JP2020058779A5 (enExample) 2020-06-11
JP6952740B2 true JP6952740B2 (ja) 2021-10-20

Family

ID=63642787

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2019128017A Active JP6952740B2 (ja) 2018-09-19 2019-07-10 ユーザーを支援する方法、コンピュータープログラム製品、データ記憶媒体、及び撮像システム

Country Status (4)

Country Link
US (1) US11576557B2 (enExample)
EP (1) EP3626176B1 (enExample)
JP (1) JP6952740B2 (enExample)
CN (1) CN110916702B (enExample)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020044523A1 (ja) * 2018-08-30 2020-03-05 オリンパス株式会社 記録装置、画像観察装置、観察システム、観察システムの制御方法、及び観察システムの作動プログラム
JP7568426B2 (ja) * 2020-05-25 2024-10-16 キヤノンメディカルシステムズ株式会社 医用情報処理装置、x線診断装置及びプログラム
CN111631754B (zh) * 2020-05-26 2021-07-09 清华大学 一种咽拭子自动采样系统
JP2023548773A (ja) * 2020-10-20 2023-11-21 メディビュー エックスアール、インコーポレイテッド 自動セグメンテーション及びレジストレーション・システム並びに方法
DE102021101694A1 (de) 2021-01-26 2022-07-28 Carl Zeiss Meditec Ag Tool-Typ-Agnostische Assistenzfunktionalität bei chirurgischen Eingriffen
DE102021204728A1 (de) * 2021-05-10 2022-11-10 Siemens Healthcare Gmbh Verfahren und System zum Bereitstellen eines korrigierten Datensatzes
JP7819533B2 (ja) * 2022-03-02 2026-02-25 株式会社島津製作所 撮影位置補正アプリケーション導入支援システムおよび撮影位置補正アプリケーション導入支援方法
JP7890099B2 (ja) * 2022-07-13 2026-07-14 富士フイルム株式会社 画像処理装置、方法およびプログラム
DE102022209888B3 (de) * 2022-09-20 2023-11-02 Siemens Healthcare Gmbh Verfahren zum Bereitstellen eines Kollisionsmodells und System
CN116919592B (zh) * 2023-07-21 2026-08-07 思浦奈医疗科技(上海)有限公司 一种基于c臂机影像的导航方法及系统
EP4546274A1 (en) * 2023-10-23 2025-04-30 Olympus Winter & Ibe Gmbh Laparoscopic image manipulation method and system and computer program
JP2025076258A (ja) * 2023-10-31 2025-05-15 オリンパスメディカルシステムズ株式会社 画像処理装置、画像処理方法および画像処理プログラム
CN120938599A (zh) * 2025-10-17 2025-11-14 温州医科大学附属第二医院(温州医科大学附属育英儿童医院) 鼻内镜手术器械防碰撞预警方法、系统及设备

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8147503B2 (en) * 2007-09-30 2012-04-03 Intuitive Surgical Operations Inc. Methods of locating and tracking robotic instruments in robotic surgical systems
WO2008120136A1 (en) * 2007-03-30 2008-10-09 Koninklijke Philips Electronics N.V. 2d/3d image registration
JP5028191B2 (ja) * 2007-09-03 2012-09-19 オリンパスメディカルシステムズ株式会社 内視鏡装置
US8271068B2 (en) * 2007-10-02 2012-09-18 Siemens Aktiengesellschaft Method for dynamic road mapping
DE102009030731A1 (de) * 2009-06-26 2010-12-30 Fiagon Gmbh Verfahren zum Erzeugen von Positionsdaten eines Instrumentes
US9265468B2 (en) * 2011-05-11 2016-02-23 Broncus Medical, Inc. Fluoroscopy-based surgical device tracking method
DE102013214479B4 (de) * 2013-07-24 2017-04-27 Siemens Healthcare Gmbh Verfahren zur Nachführung einer 2D-3D-Registrierung bei Bewegung und Rechenvorrichtung
US9427286B2 (en) * 2013-09-24 2016-08-30 The Johns Hopkins University Method of image registration in a multi-source/single detector radiographic imaging system, and image acquisition apparatus
US10772684B2 (en) 2014-02-11 2020-09-15 Koninklijke Philips N.V. Spatial visualization of internal mammary artery during minimally invasive bypass surgery
KR20220065894A (ko) * 2014-07-28 2022-05-20 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술중 세그먼트화를 위한 시스템 및 방법
US9886760B2 (en) * 2015-03-05 2018-02-06 Broncus Medical Inc. GPU-based system for performing 2D-3D deformable registration of a body organ using multiple 2D fluoroscopic views
WO2016182550A1 (en) * 2015-05-11 2016-11-17 Siemens Aktiengesellschaft Method and system for registration of 2d/2.5d laparoscopic and endoscopic image data to 3d volumetric image data
JP6662612B2 (ja) * 2015-11-17 2020-03-11 キヤノンメディカルシステムズ株式会社 医用画像診断装置
CN108601629A (zh) * 2015-12-14 2018-09-28 纽文思公司 外科手术期间减少辐射暴露的3d可视化
DE102016202512B3 (de) * 2016-02-18 2017-08-17 Friedrich-Alexander-Universität Erlangen-Nürnberg Verfahren zur 2D-3D-Registrierung, Recheneinrichtung und Computerprogramm
DE102017216953A1 (de) 2017-09-25 2019-03-28 Siemens Healthcare Gmbh Anzeige eines mit einem realen Objekt verknüpften virtuellen Objekts in einer Augmented-Reality-Anzeigevorrichtung

Also Published As

Publication number Publication date
EP3626176B1 (de) 2020-12-30
CN110916702A (zh) 2020-03-27
US11576557B2 (en) 2023-02-14
JP2020058779A (ja) 2020-04-16
US20200085281A1 (en) 2020-03-19
EP3626176A1 (de) 2020-03-25
CN110916702B (zh) 2022-09-02

Similar Documents

Publication Publication Date Title
US11576557B2 (en) Method for supporting a user, computer program product, data medium and imaging system
JP7505081B2 (ja) 狭い通路における侵襲的手順の内視鏡画像
US11514576B2 (en) Surgical system with combination of sensor-based navigation and endoscopy
US11896414B2 (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
US9289267B2 (en) Method and apparatus for minimally invasive surgery using endoscopes
EP3164050B1 (en) Dynamic 3d lung map view for tool navigation inside the lung
US8165660B2 (en) System and method for selecting a guidance mode for performing a percutaneous procedure
US20200107886A1 (en) Computerized tomography (ct) image correction using position and direction (p&d) tracking assisted optical visualization
US20180296198A1 (en) Computed tomography enhanced fluoroscopic system, device, and method of utilizing the same
US9641808B2 (en) Navigating attachment for optical devices in medicine, and method
US20130250081A1 (en) System and method for determining camera angles by using virtual planes derived from actual images
US20060189842A1 (en) Method for using variable direction of view endoscopy in conjunction with image guided surgical systems
JP2014525765A (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
EP1727471A1 (en) System for guiding a medical instrument in a patient body
WO2008035271A2 (en) Device for registering a 3d model
JP2024541293A (ja) 腹腔鏡手術及びビデオ補助手術のための対話型拡張現実システム
EP3782529A1 (en) Systems and methods for selectively varying resolutions
JP2024525733A (ja) 手術前及び手術中のシーンの画像データを表示する方法及びシステム
JP6703470B2 (ja) データ処理装置及びデータ処理方法
JP4510415B2 (ja) 3d対象物のコンピュータ支援表示方法
US20220022840A1 (en) Zoom detection and fluoroscope movement detection for target overlay
CN107260305A (zh) 计算机辅助微创手术系统
US20240156549A1 (en) Cavity modeling system and cavity modeling method

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200424

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20200424

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20210325

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20210406

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210705

RD03 Notification of appointment of power of attorney

Free format text: JAPANESE INTERMEDIATE CODE: A7423

Effective date: 20210705

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20210713

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20210818

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: 20210831

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210928

R150 Certificate of patent or registration of utility model

Ref document number: 6952740

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313113

R360 Written notification for declining of transfer of rights

Free format text: JAPANESE INTERMEDIATE CODE: R360

R360 Written notification for declining of transfer of rights

Free format text: JAPANESE INTERMEDIATE CODE: R360

R371 Transfer withdrawn

Free format text: JAPANESE INTERMEDIATE CODE: R371

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313113

R371 Transfer withdrawn

Free format text: JAPANESE INTERMEDIATE CODE: R371

S111 Request for change of ownership or part of ownership

Free format text: JAPANESE INTERMEDIATE CODE: R313113

R350 Written notification of registration of transfer

Free format text: JAPANESE INTERMEDIATE CODE: R350