JP7080170B6 - 医用機器追跡システム及び方法 - Google Patents

医用機器追跡システム及び方法 Download PDF

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Publication number
JP7080170B6
JP7080170B6 JP2018529291A JP2018529291A JP7080170B6 JP 7080170 B6 JP7080170 B6 JP 7080170B6 JP 2018529291 A JP2018529291 A JP 2018529291A JP 2018529291 A JP2018529291 A JP 2018529291A JP 7080170 B6 JP7080170 B6 JP 7080170B6
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Japan
Prior art keywords
image
tracking
imaging device
pose
pose change
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Expired - Fee Related
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JP2018529291A
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English (en)
Japanese (ja)
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JP2018536494A (ja
JP7080170B2 (ja
JP2018536494A5 (enExample
Inventor
ヨヘン クルッカー
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Koninklijke Philips NV
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Koninklijke Philips NV
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Publication of JP2018536494A5 publication Critical patent/JP2018536494A5/ja
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Publication of JP7080170B6 publication Critical patent/JP7080170B6/ja
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • 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
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G06T7/246—Analysis of motion using feature-based methods, e.g. the tracking of corners or segments

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Image Processing (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)
  • Image Analysis (AREA)
JP2018529291A 2015-12-14 2016-12-13 医用機器追跡システム及び方法 Expired - Fee Related JP7080170B6 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562266733P 2015-12-14 2015-12-14
US62/266,733 2015-12-14
PCT/EP2016/080849 WO2017102761A1 (en) 2015-12-14 2016-12-13 System and method for medical device tracking

Publications (4)

Publication Number Publication Date
JP2018536494A JP2018536494A (ja) 2018-12-13
JP2018536494A5 JP2018536494A5 (enExample) 2020-01-30
JP7080170B2 JP7080170B2 (ja) 2022-06-03
JP7080170B6 true JP7080170B6 (ja) 2022-06-23

Family

ID=57681557

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018529291A Expired - Fee Related JP7080170B6 (ja) 2015-12-14 2016-12-13 医用機器追跡システム及び方法

Country Status (6)

Country Link
US (1) US10930007B2 (enExample)
EP (1) EP3391075A1 (enExample)
JP (1) JP7080170B6 (enExample)
CN (1) CN108369268B (enExample)
RU (1) RU2725061C2 (enExample)
WO (1) WO2017102761A1 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11660069B2 (en) 2017-12-19 2023-05-30 Koninklijke Philips N.V. Combining image based and inertial probe tracking
EP3640949A1 (en) * 2018-10-17 2020-04-22 Incremed AG Augmented reality with medical imaging
CN109567865B (zh) * 2019-01-23 2023-07-18 上海浅葱网络技术有限公司 一种面向非医护人员的智能超声诊断设备
KR20220122287A (ko) * 2021-02-26 2022-09-02 삼성전자주식회사 증강 현실 제공 장치의 포즈 결정 방법 및 장치
JP7760321B2 (ja) * 2021-10-12 2025-10-27 キヤノン株式会社 情報処理装置、情報処理装置の制御方法及びプログラム
CN113925529B (zh) * 2021-10-14 2024-12-27 武汉库柏特科技有限公司 超声扫描控制方法、装置、设备及存储介质
US12223676B2 (en) * 2022-05-26 2025-02-11 Htc Corporation Method for pose correction and host
WO2023244566A2 (en) 2022-06-13 2023-12-21 Stryker Corporation Trajectory guidance of hand-held surgical tools during a surgical procedure
WO2024225970A1 (en) * 2023-04-28 2024-10-31 Aimitari Research Pte. Ltd. Method for creating a spatial graphical representation of an organ of a body

Citations (5)

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Publication number Priority date Publication date Assignee Title
US6122538A (en) 1997-01-16 2000-09-19 Acuson Corporation Motion--Monitoring method and system for medical devices
US20050107687A1 (en) 2003-11-14 2005-05-19 Anderson Peter T. System and method for distortion reduction in an electromagnetic tracker
WO2008065600A2 (en) 2006-11-27 2008-06-05 Koninklijke Philips Electronics, N.V. System and method for fusing real-time ultrasound images with pre-acquired medical images
WO2009063360A1 (en) 2007-11-14 2009-05-22 Koninklijke Philips Electronics, N.V. System and method for automatic calibration of tracked ultrasound
WO2012001548A1 (en) 2010-06-28 2012-01-05 Koninklijke Philips Electronics N.V. Real-time quality control of em calibration

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US6296613B1 (en) 1997-08-22 2001-10-02 Synthes (U.S.A.) 3D ultrasound recording device
US6458083B1 (en) * 1996-11-26 2002-10-01 Koninklijke Philips Electronics N.V. Ultrasonic harmonic imaging with adaptive image formation
US6315724B1 (en) * 1999-10-19 2001-11-13 Biomedicom Ltd 3-dimensional ultrasonic imaging
US20060241432A1 (en) 2005-02-15 2006-10-26 Vanderbilt University Method and apparatus for calibration, tracking and volume construction data for use in image-guided procedures
US10143398B2 (en) * 2005-04-26 2018-12-04 Biosense Webster, Inc. Registration of ultrasound data with pre-acquired image
US10555775B2 (en) * 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
US7848592B2 (en) * 2006-07-31 2010-12-07 Carestream Health, Inc. Image fusion for radiation therapy
US9597041B2 (en) * 2007-03-30 2017-03-21 General Electric Company Sequential image acquisition with updating method and system
GB0708358D0 (en) * 2007-05-01 2007-06-06 Cambridge Entpr Ltd Strain image display systems
EP2501320A4 (en) 2009-11-19 2014-03-26 Univ Johns Hopkins Low-cost image-guided navigation and intervention systems using cooperative sets of local sensors
AU2011100156A4 (en) 2010-02-24 2011-03-10 Signostics Limited Improved Imaging Apparatus and Method
CN202001548U (zh) 2011-05-09 2011-10-05 浙江正裕工业有限公司 双缸减震器活塞固定结构
US9918681B2 (en) * 2011-09-16 2018-03-20 Auris Surgical Robotics, Inc. System and method for virtually tracking a surgical tool on a movable display
EP2822472B1 (en) * 2012-03-07 2022-09-28 Ziteo, Inc. Systems for tracking and guiding sensors and instruments
JP6242394B2 (ja) * 2012-07-27 2017-12-06 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 超音波画像から追跡システムへの正確で迅速な点マッピング
CN103781195A (zh) * 2012-10-22 2014-05-07 西安交大京盛科技发展有限公司 一种多传感器融合系统
CN103735303B (zh) * 2014-01-07 2015-09-30 清华大学 全髋关节置换术中髋关节内部实时可视辅助定位系统
JP6295804B2 (ja) * 2014-04-24 2018-03-20 富士通株式会社 測定装置、測定方法及び測定プログラム
CN104657984B (zh) * 2015-01-28 2018-10-16 复旦大学 三维超声乳腺全容积图像感兴趣区域的自动提取方法
US10285760B2 (en) * 2015-02-04 2019-05-14 Queen's University At Kingston Methods and apparatus for improved electromagnetic tracking and localization
CN104764452A (zh) * 2015-04-23 2015-07-08 北京理工大学 一种基于惯性和光学跟踪系统的混合位姿跟踪方法
CN104758066B (zh) * 2015-05-06 2017-05-10 中国科学院深圳先进技术研究院 用于手术导航的设备及手术机器人

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6122538A (en) 1997-01-16 2000-09-19 Acuson Corporation Motion--Monitoring method and system for medical devices
US20050107687A1 (en) 2003-11-14 2005-05-19 Anderson Peter T. System and method for distortion reduction in an electromagnetic tracker
WO2008065600A2 (en) 2006-11-27 2008-06-05 Koninklijke Philips Electronics, N.V. System and method for fusing real-time ultrasound images with pre-acquired medical images
WO2009063360A1 (en) 2007-11-14 2009-05-22 Koninklijke Philips Electronics, N.V. System and method for automatic calibration of tracked ultrasound
WO2012001548A1 (en) 2010-06-28 2012-01-05 Koninklijke Philips Electronics N.V. Real-time quality control of em calibration

Also Published As

Publication number Publication date
RU2725061C2 (ru) 2020-06-29
JP2018536494A (ja) 2018-12-13
RU2018125899A3 (enExample) 2020-04-20
US20200302636A1 (en) 2020-09-24
US10930007B2 (en) 2021-02-23
JP7080170B2 (ja) 2022-06-03
CN108369268A (zh) 2018-08-03
CN108369268B (zh) 2022-10-18
EP3391075A1 (en) 2018-10-24
WO2017102761A1 (en) 2017-06-22
RU2018125899A (ru) 2020-01-20

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