WO1998032388A2 - Image display system - Google Patents

Image display system Download PDF

Info

Publication number
WO1998032388A2
WO1998032388A2 PCT/IB1998/000029 IB9800029W WO9832388A2 WO 1998032388 A2 WO1998032388 A2 WO 1998032388A2 IB 9800029 W IB9800029 W IB 9800029W WO 9832388 A2 WO9832388 A2 WO 9832388A2
Authority
WO
WIPO (PCT)
Prior art keywords
image
image display
display apparatus
instrument
patient
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.)
Ceased
Application number
PCT/IB1998/000029
Other languages
English (en)
French (fr)
Other versions
WO1998032388A3 (en
Inventor
Hubrecht Lambrechts Tjalling De Bliek
Frans Andreas Gerritsen
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
Philips AB
Philips Norden AB
Original Assignee
Koninklijke Philips Electronics NV
Philips AB
Philips Norden AB
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 Electronics NV, Philips AB, Philips Norden AB filed Critical Koninklijke Philips Electronics NV
Priority to JP10529171A priority Critical patent/JP2000509626A/ja
Priority to DE69815260T priority patent/DE69815260T2/de
Priority to EP98900026A priority patent/EP0918491B1/en
Publication of WO1998032388A2 publication Critical patent/WO1998032388A2/en
Publication of WO1998032388A3 publication Critical patent/WO1998032388A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • 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
    • 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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • 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
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • 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
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/254—User interfaces for surgical systems being adapted depending on the stage of the surgical procedure
    • 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
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/46—Arrangements for interfacing with the operator or the patient
    • A61B6/461—Displaying means of special interest
    • A61B6/462—Displaying means of special interest characterised by constructional features of the display
    • 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

Definitions

  • the invention relates to an image display system, including an image display apparatus for displaying an image, the image being dependent on the position and/or orientation of the image display apparatus.
  • the invention also relates to an image guided surgery system.
  • An image display system of this kind is known from the article Virtual reality assisted surgery program by R.A. Robb and B. Cameron in Interactive technology and the new paradigm for healthcare (1995) (pp. 309-320).
  • the user of the known image display system wears the image display apparatus on the head.
  • the image shown to the user by the image display apparatus is dependent notably on the orientation of the head of the user. It is thus achieved that the user sees previously recorded image information while the illusion is created that the user sees said image information directly.
  • the image display system shows previously recorded image information of a patient to be examined and/or treated to the user, in this case being the attending physician or surgeon, during the treatment.
  • Such previously recorded image information includes, for example images formed by means of magnetic resonance (MRI) methods or X-ray computer tomography (CT).
  • MRI magnetic resonance
  • CT X-ray computer tomography
  • the user need not observe a separate monitor so as to see the previously recorded image information during the treatment of the patient, but instead of a direct view of the patient the user sees pre-recorded image information which is reproduced in conformity with the viewing direction of the user.
  • an image display system in which the image is independent of the position and/or posture of a user of the image display apparatus.
  • the image display apparatus displays the previously recorded image information as an image which is dependent on the location and/or the orientation of the image display apparatus.
  • the image information is displayed notably as an image which is dependent on the position and/or orientation of the image display apparatus relative to the object, for example a patient to be examined or treated.
  • This image reproduces notably image information concerning the interior of the object as it would be directly visible if the object were transparent to some extent.
  • the image display apparatus displays an image of a part of the interior of the patient in the vicinity of the relevant position.
  • the user can change the position and/or orientation in order to look past the image display apparatus so as to have a direct view of the object, without the image on the image display apparatus being changed. It is thus possible to observe the image on the display apparatus and at the same time look directly at the object or to change over quickly between observation of the image and observation of the object. Simultaneously with, or immediately before or after the observation of the image, the user can directly observe the object by looking past the image display apparatus.
  • a preferred embodiment of an image display system according to the invention includes a position detection system for measuring a position and/or orientation of the image display apparatus.
  • image information is processed by an image processing unit of the image display system in order to derive an image therefrom which corresponds to the measured position and/or orientation of the image display apparatus.
  • This image is displayed on the image display apparatus.
  • Position data of a number of positions in or on the patient is recorded together with the image" information.
  • fiducial markers can be used which are also recorded when the image information is recorded; however, clearly recognizable positions in the anatomy can also be used as markers. The positions of these markers are measured and the data processor derives a relation between positions in the patient and corresponding positions in the previously recorded images from the positions of said markers and the positions of the reproductions of these markers in the recorded images.
  • the image processing unit derives an image signal from the image information on the basis of the position and/or orientation of the image display apparatus, the position of the patient and the relation between positions in the patient and in the previously recorded images, which image signal represents the image corresponding to the position of the image display apparatus relative to the patient.
  • This image signal is applied to the image display apparatus in order to display this image.
  • the image display apparatus can thus be used to observe image information concerning the interior of the patient in the same way as the exterior of an object can be studied by means of a magnifying glass.
  • a preferred embodiment of an image display system according to the invention is characterized in that the image display apparatus includes a transmission device for transmitting a position signal which represents the position and/or orientation of the image display apparatus.
  • the position detection system receives the position signal and derives the position of the image display apparatus therefrom.
  • the position detection system notably derives the position of the image display apparatus relative to the patient. It is comparatively simple to measure the position of the image display apparatus because the transmission device reveals the position of the image display apparatus to the position detection system.
  • the transmission device includes some light-emitting or infrared emitting diodes
  • the position detection system comprises one or more CCD sensors and is suitable for receiving the light or infrared radiation transmitted by the transmission device.
  • the one or more CCD sensors derive image signals from individual images from different directions of the LEDs or IREDs.
  • the position system includes a computer for deriving the positions of the LEDs or IREDs, and hence the position of the image display apparatus, from said image signals.
  • a preferred embodiment of an image display system according to the invention is characterized in that the image display apparatus includes a liquid crystal display screen.
  • a liquid crystal display screen i.e. a so-called LCD display
  • An image display apparatus including such an LCD display may have a very compact, notably flat construction.
  • Such an image display apparatus can be readily held in the hand by the user and can hence also be easily moved across the patient by the user. Whenever the image display apparatus is placed in a new position, the image display apparatus will display image information associated with the relevant position.
  • the image guided surgery system includes a position measuring system for measuring a position of an instrument and an image display system as claimed in any one of the Claims 1 to 4 for displaying an image which represents image information and the position of the instrument.
  • the image guided surgery system shows the user, notably a surgeon, where in the operating zone the instrument is situated during the surgical treatment, for example an operation.
  • Image information of the patient such as CT and/or MRI images, is recorded before or during the operation. Markers provided in or on the patient are also reproduced in the images.
  • the position measuring system measures positions of the markers in or on the patient.
  • the position measuring system includes a computer for deriving a relation between positions in the patient and corresponding positions in the images from the positions of said markers and from the corresponding positions of reproductions of said markers in the images recorded. Using this relation, the computer also calculates the position in one or more of the recorded images which correspond to the measured position of the instrument.
  • the image guided surgery system also includes an image processor for deriving an image signal from the recorded image information and the position of the instrument, which image signal represents a recorded image in which the position of the instrument is shown.
  • This image displayed by the image display apparatus shows the user where the instrument in the operating zone within the patient is situated, without the user having a direct view thereof.
  • An image guided surgery system according to the invention is provided with an image display system as claimed in any one of the Claims 1 to 4. It is thus achieved that the user need not or only hardly look away to see at the same time the instrument and to see where the instrument is situated in the patient in the image on the display apparatus, and nevertheless keep a direct view of the patient or even the operating zone.
  • the position measuring system of the image guided surgery system is suitable for performing the functions of the position detection system of the image display system.
  • the image processor of the image guided surgery system is suitable for performing the function of the image processing unit of the image display system.
  • a preferred embodiment of an image display system according to the invention is characterized in that the image display apparatus includes a holder for supporting the instrument.
  • the image displayed by the image display apparatus relates to a part of the patient in which the instrument is situated.
  • the position of the instrument within the patient can be reproduced in said image.
  • the position signal also represents the position of the instrument. Consequently, it will not be necessary to measure the position of the instrument separately. For example, it is not necessary to provide the instrument with a separate transmission device, because use can be made of the transmission device of the image display apparatus.
  • Fig. 1 shows diagrammatically an image display system according to the invention
  • Fig. 2 shows diagrammatically an image guided surgery system in which the invention is used.
  • Fig. 1 shows diagrammatically an image display system according to the invention.
  • the image display apparatus 1 includes an LCD screen 4 on which an image can be displayed.
  • the image display apparatus also includes a transmission device in the form of three IREDs 3 which emit infrared radiation.
  • the position detection system 2 includes a camera unit 10 with two infrared sensitive CCD sensors 11. Each of the CCD sensors 11 picks up images of the IREDs 3 and the image signals supplied by individual CCD sensors represent the position of the image display apparatus. Image signals of this kind are notably electronic video signals.
  • the image signals are applied to the computer 12 which derives the position of the image display apparatus from the image signals.
  • the computer 12 and the camera unit 10 form part of the position detection system 2. Pre-recorded image information is stored in an image memory 13.
  • the image processing unit 14 is controlled so as to form from the image information stored an image signal which represents an image corresponding to the position of the image display apparatus 1.
  • the computer 12 derives notably the position of the image display apparatus 1 with respect to an object being observed.
  • the image processing unit 14 is controlled on the basis of this position in order to derive from the image information stored an image signal which represents an image in which image information of the object can be seen in the vicinity of the image display apparatus 1. It is notably possible to display image information of a part of the interior of the object in the vicinity of the image display apparatus.
  • the image signal of the image processing unit 14 is applied to the image display apparatus 1 in order to display the image on the basis thereof.
  • the image signal is applied to the image display apparatus via a wireless connection, so that the image display apparatus 1 can be moved without being impeded by cables.
  • the cable is preferably kept out of the operating zone by means of a suspension, thus ensuring that the user is not impeded by the cable.
  • the image display apparatus also comprises some controls, such as a push button 21 or a track ball 22, by means of which the image displayed can be adjusted or selected. Such adjustment may concern, for example zooming in or zooming out in relation to important details visible in the image, or adjustment of brightness, contrast and color of the image.
  • the selection of the image may relate, for example to the depth within the object wherefrom image information is displayed on the image display apparatus; the user can also recall a previously displayed image.
  • the control members may also be software implemented as so-called "icons" in the image. Such control members are activated by pointing out the relevant icon in the image by means of a cursor. It is particularly advantageous to use a pointing member, for example a pen whose position is measured by the position measuring system, in order to point out such an icon. A function indicated by the relevant icon is activated on the basis of the measured position of the pen.
  • Fig. 2 shows diagrammatically an image guided surgery system in which the invention is used.
  • the image guided surgery system includes a position measuring system which includes a camera unit 10 with two CCD image sensors 11.
  • the camera unit picks up images of a surgical instrument 20 from different directions.
  • the CCD image sensors supply image signals, notably electronic video signals, which represent the individual images of the instrument 20.
  • the position measuring system also includes a computer 12 for deriving the position of the instrument 20 from the image signals.
  • Image information of the patient 19 to be examined or treated is stored in an image memory 13.
  • the image information comprises, for example MRI and/or CT images recorded before or during the treatment. Markers 23 on or in the patient 19 are also reproduced in the images of the patient.
  • the position measuring system measures the positions of the markers 23, for example by pointing out the markers by means of the instrument.
  • the computer 12 derives the relationship between positions in or on the patient 19 from the positions of the markers and the positions of the reproductions of the markers in the recorded images.
  • the image processor 14 forms an image signal which represents an image showing image information of the patient, together with the instantaneous position of the instrument 20 within the patient.
  • the image signal is applied to the image display apparatus 1 by means of a transmitter 18.
  • the image display apparatus displays image information of the patient in which the position of the instrument is revealed. The user can thus move the instrument within the patient without having a direct view thereof and without risk of unnecessary damaging of tissues.
  • the image display apparatus includes a transmission device 3 in the form of some IREDs which emit infrared radiation.
  • the position of the image display apparatus is measured by means of the camera unit 10 and the computer 12.
  • the image processor forms an image signal which represents an image which shows, in dependence on the position and/or the orientation of the image display apparatus, image information of the patient together with the instantaneous position of the instrument 20 within the patient. The surgeon can thus observe the image so as to see where within the patient the instrument is situated and can at the same time keep a view of the patient and possibly also of the instrument.
  • the image display apparatus includes a holder 5 in which the instrument 20 can be fitted.
  • the position of the image display apparatus 1 also determines the position of the instrument 20.
  • the image signals of the CCD image sensors 11 can be used to derive the position of the image display apparatus as well as the position of the instrument.
  • the image display apparatus provided with an LCD display screen 4 has a flat construction. Such an image display apparatus has a thickness of approximately 2 cm and a surface area of approximately 15 cm x 20 cm.
  • the image display apparatus also comprises grips 24 , for example in the form of ears.
  • Such an image display apparatus can be readily moved across the patient by the surgeon, notably across the operating zone, during which movement image information of the patient is continuously displayed on the display screen 4, together with the position of the instrument, as a function of the position and/or orientation of the image display apparatus relative to the patient.
  • the surgeon can use the display apparatus as if it were a magnifying glass in order to see within the patient where the instrument is situated, without having a direct view of the instrument.
  • the image display apparatus can also be mounted on a separate stand so that the hands of the surgeon remain free to manipulate the instrument.

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Devices For Indicating Variable Information By Combining Individual Elements (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)
PCT/IB1998/000029 1997-01-24 1998-01-12 Image display system Ceased WO1998032388A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP10529171A JP2000509626A (ja) 1997-01-24 1998-01-12 画像表示システム
DE69815260T DE69815260T2 (de) 1997-01-24 1998-01-12 Bildanzeigevorrichtung
EP98900026A EP0918491B1 (en) 1997-01-24 1998-01-12 Image display system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP97200196 1997-01-24
EP97200196.0 1997-01-24

Publications (2)

Publication Number Publication Date
WO1998032388A2 true WO1998032388A2 (en) 1998-07-30
WO1998032388A3 WO1998032388A3 (en) 1998-11-12

Family

ID=8227951

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB1998/000029 Ceased WO1998032388A2 (en) 1997-01-24 1998-01-12 Image display system

Country Status (5)

Country Link
US (1) US6038467A (enExample)
EP (1) EP0918491B1 (enExample)
JP (1) JP2000509626A (enExample)
DE (1) DE69815260T2 (enExample)
WO (1) WO1998032388A2 (enExample)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001017408A (ja) * 1999-06-10 2001-01-23 General Electric Co <Ge> Ｍｒｉシステム及びｍｒｉ走査を行う方法
JP2002102251A (ja) * 2000-07-12 2002-04-09 Siemens Ag 患者への医学的侵襲に関するデータを可視化するための可視化装置及び方法
WO2005109068A1 (de) * 2004-05-06 2005-11-17 Leica Microsystems (Schweiz) Ag Mikroskop und anzeigevorrichtung mit umlenkfunktion
EP2179703A1 (de) * 2008-10-21 2010-04-28 BrainLAB AG Integration von chirurgischem Instrument und Anzeigevorrichtung zur Unterstützung der bildgeführten Chirurgie
CN102573614A (zh) * 2009-09-30 2012-07-11 富士胶片株式会社 医学图像显示设备、医学图像显示方法和医学图像显示程序
US9687170B2 (en) 2008-03-11 2017-06-27 General Electric Company System and method for performing magnetic resonance imaging scan operations from within a scan room
EP3509527A4 (en) * 2016-09-09 2020-12-30 Mobius Imaging LLC METHODS AND SYSTEMS FOR DISPLAYING PATIENT DATA IN COMPUTER-ASSISTED SURGERY
US11337761B2 (en) 2019-02-07 2022-05-24 Stryker European Operations Limited Surgical systems and methods for facilitating tissue treatment

Families Citing this family (98)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5913820A (en) * 1992-08-14 1999-06-22 British Telecommunications Public Limited Company Position location system
US6256529B1 (en) 1995-07-26 2001-07-03 Burdette Medical Systems, Inc. Virtual reality 3D visualization for surgical procedures
EP1079730B1 (en) * 1997-11-24 2007-01-03 Computerized Medical Systems, Inc. Real time brachytherapy spatial registration and visualization system
US6129670A (en) * 1997-11-24 2000-10-10 Burdette Medical Systems Real time brachytherapy spatial registration and visualization system
US6314311B1 (en) * 1999-07-28 2001-11-06 Picker International, Inc. Movable mirror laser registration system
US7635390B1 (en) 2000-01-14 2009-12-22 Marctec, Llc Joint replacement component having a modular articulating surface
US20030135102A1 (en) * 2000-05-18 2003-07-17 Burdette Everette C. Method and system for registration and guidance of intravascular treatment
US20040106867A1 (en) * 2001-01-03 2004-06-03 Yoram Eshel Non-invasive ultrasonic body contouring
US7347855B2 (en) * 2001-10-29 2008-03-25 Ultrashape Ltd. Non-invasive ultrasonic body contouring
US6584339B2 (en) 2001-06-27 2003-06-24 Vanderbilt University Method and apparatus for collecting and processing physical space data for use while performing image-guided surgery
US7708741B1 (en) 2001-08-28 2010-05-04 Marctec, Llc Method of preparing bones for knee replacement surgery
WO2003039370A1 (en) 2001-11-05 2003-05-15 Computerized Medical Systems, Inc. Apparatus and method for registration, guidance, and targeting of external beam radiation therapy
ES2215985T3 (es) * 2001-12-18 2004-10-16 Brainlab Ag Superposicion de datos de imagen de rayos x de un paciente, o datos de imagen de escaner e imagenes de video.
KR100923717B1 (ko) * 2002-06-25 2009-10-27 울트라세이프 인코포레이티드 신체 미용에 유용한 디바이스 및 방법
US7187800B2 (en) * 2002-08-02 2007-03-06 Computerized Medical Systems, Inc. Method and apparatus for image segmentation using Jensen-Shannon divergence and Jensen-Renyi divergence
AU2003263003A1 (en) * 2002-08-29 2004-03-19 Computerized Medical Systems, Inc. Methods and systems for localizing of a medical imaging probe and of a biopsy needle
US7426329B2 (en) 2003-03-06 2008-09-16 Microsoft Corporation Systems and methods for receiving, storing, and rendering digital video, music, and pictures on a personal media player
US20040204645A1 (en) * 2003-04-10 2004-10-14 Vahid Saadat Scope position and orientation feedback device
US20040201595A1 (en) * 2003-04-11 2004-10-14 Microsoft Corporation Self-orienting display
ATE355030T1 (de) * 2003-04-25 2006-03-15 Brainlab Ag Visualisierungsvorrichtung für kombinierte patienten- und objektbilddaten mit einer eingabevorrichtung und visualisierungsverfahren
US7203277B2 (en) * 2003-04-25 2007-04-10 Brainlab Ag Visualization device and method for combined patient and object image data
US7463823B2 (en) * 2003-07-24 2008-12-09 Brainlab Ag Stereoscopic visualization device for patient image data and video images
DE202004014857U1 (de) * 2003-09-29 2005-04-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Vorrichtung zur virtuellen Lagebetrachtung wenigstens eines in einen Körper intrakorporal eingebrachten medizinischen Instruments
US7567833B2 (en) * 2004-03-08 2009-07-28 Stryker Leibinger Gmbh & Co. Kg Enhanced illumination device and method
US8086332B2 (en) * 2006-02-27 2011-12-27 Apple Inc. Media delivery system with improved interaction
US8560047B2 (en) 2006-06-16 2013-10-15 Board Of Regents Of The University Of Nebraska Method and apparatus for computer aided surgery
US7945310B2 (en) * 2006-09-18 2011-05-17 Stryker Corporation Surgical instrument path computation and display for endoluminal surgery
US7824328B2 (en) * 2006-09-18 2010-11-02 Stryker Corporation Method and apparatus for tracking a surgical instrument during surgery
US20080071141A1 (en) * 2006-09-18 2008-03-20 Abhisuek Gattani Method and apparatus for measuring attributes of an anatomical feature during a medical procedure
US8248413B2 (en) * 2006-09-18 2012-08-21 Stryker Corporation Visual navigation system for endoscopic surgery
US8248414B2 (en) * 2006-09-18 2012-08-21 Stryker Corporation Multi-dimensional navigation of endoscopic video
JP5135007B2 (ja) * 2008-03-10 2013-01-30 オリンパスメディカルシステムズ株式会社 カプセル誘導システム
TW201004607A (en) * 2008-07-25 2010-02-01 Been-Der Yang Image guided navigation system and method thereof
WO2011116347A1 (en) * 2010-03-19 2011-09-22 Quickvein, Inc. Apparatus and methods for imaging blood vessels
US8672837B2 (en) 2010-06-24 2014-03-18 Hansen Medical, Inc. Methods and devices for controlling a shapeable medical device
US20120330129A1 (en) * 2011-06-23 2012-12-27 Richard Awdeh Medical visualization systems and related methods of use
US9498231B2 (en) 2011-06-27 2016-11-22 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
CA2840397A1 (en) 2011-06-27 2013-04-11 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
EP2750620B1 (en) 2011-09-02 2017-04-26 Stryker Corporation Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing
WO2013040498A1 (en) * 2011-09-16 2013-03-21 Translucent Medical, Inc. System and method for virtually tracking a surgical tool on a movable display
DE102011083634B4 (de) * 2011-09-28 2021-05-06 Siemens Healthcare Gmbh Vorrichtung und Verfahren für eine Bilddarstellung
DE102012100504A1 (de) * 2012-01-23 2013-07-25 Aesculap Ag Verfahren und Vorrichtung zum Darstellen eines Ultraschallbildes
US9566414B2 (en) 2013-03-13 2017-02-14 Hansen Medical, Inc. Integrated catheter and guide wire controller
US9057600B2 (en) 2013-03-13 2015-06-16 Hansen Medical, Inc. Reducing incremental measurement sensor error
US9283046B2 (en) 2013-03-15 2016-03-15 Hansen Medical, Inc. User interface for active drive apparatus with finite range of motion
US10105149B2 (en) 2013-03-15 2018-10-23 Board Of Regents Of The University Of Nebraska On-board tool tracking system and methods of computer assisted surgery
US9271663B2 (en) 2013-03-15 2016-03-01 Hansen Medical, Inc. Flexible instrument localization from both remote and elongation sensors
US10849702B2 (en) 2013-03-15 2020-12-01 Auris Health, Inc. User input devices for controlling manipulation of guidewires and catheters
US9629595B2 (en) 2013-03-15 2017-04-25 Hansen Medical, Inc. Systems and methods for localizing, tracking and/or controlling medical instruments
US9014851B2 (en) 2013-03-15 2015-04-21 Hansen Medical, Inc. Systems and methods for tracking robotically controlled medical instruments
US11020016B2 (en) * 2013-05-30 2021-06-01 Auris Health, Inc. System and method for displaying anatomy and devices on a movable display
CN111166274B (zh) 2013-10-24 2025-01-28 奥瑞斯健康公司 机器人辅助腔内外科手术系统及相关方法
EP2923669B1 (en) 2014-03-24 2017-06-28 Hansen Medical, Inc. Systems and devices for catheter driving instinctiveness
GB2536650A (en) 2015-03-24 2016-09-28 Augmedics Ltd Method and system for combining video-based and optic-based augmented reality in a near eye display
AU2016323982A1 (en) 2015-09-18 2018-04-12 Auris Health, Inc. Navigation of tubular networks
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
US11037464B2 (en) 2016-07-21 2021-06-15 Auris Health, Inc. System with emulator movement tracking for controlling medical devices
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
AU2018243364B2 (en) 2017-03-31 2023-10-05 Auris Health, Inc. Robotic systems for navigation of luminal networks that compensate for physiological noise
US10610179B2 (en) * 2017-06-05 2020-04-07 Biosense Webster (Israel) Ltd. Augmented reality goggles having X-ray protection
US10022192B1 (en) 2017-06-23 2018-07-17 Auris Health, Inc. Automatically-initialized robotic systems for navigation of luminal networks
JP7330902B2 (ja) 2017-06-28 2023-08-22 オーリス ヘルス インコーポレイテッド 電磁歪み検出
AU2018292284B2 (en) 2017-06-28 2023-03-23 Auris Health, Inc. Electromagnetic field generator alignment
US10555778B2 (en) 2017-10-13 2020-02-11 Auris Health, Inc. Image-based branch detection and mapping for navigation
US11058493B2 (en) 2017-10-13 2021-07-13 Auris Health, Inc. Robotic system configured for navigation path tracing
US12458411B2 (en) 2017-12-07 2025-11-04 Augmedics Ltd. Spinous process clamp
US10835153B2 (en) 2017-12-08 2020-11-17 Auris Health, Inc. System and method for medical instrument navigation and targeting
AU2018384820B2 (en) 2017-12-14 2024-07-04 Auris Health, Inc. System and method for estimating instrument location
KR102743997B1 (ko) 2017-12-18 2024-12-20 아우리스 헬스, 인코포레이티드 관강내 조직망 내 기구 추적 및 항행을 위한 방법 및 시스템
JP7225259B2 (ja) 2018-03-28 2023-02-20 オーリス ヘルス インコーポレイテッド 器具の推定位置を示すためのシステム及び方法
CN110891469B (zh) 2018-03-28 2023-01-13 奥瑞斯健康公司 用于定位传感器的配准的系统和方法
US11980507B2 (en) 2018-05-02 2024-05-14 Augmedics Ltd. Registration of a fiducial marker for an augmented reality system
CN112218595A (zh) 2018-05-18 2021-01-12 奥瑞斯健康公司 用于机器人使能的远程操作的系统的控制器
WO2019231895A1 (en) 2018-05-30 2019-12-05 Auris Health, Inc. Systems and methods for location sensor-based branch prediction
KR102567087B1 (ko) 2018-05-31 2023-08-17 아우리스 헬스, 인코포레이티드 생리학적 잡음을 검출하는 내강 네트워크의 내비게이션을 위한 로봇 시스템 및 방법
EP3801348B1 (en) 2018-05-31 2024-05-01 Auris Health, Inc. Image-based airway analysis and mapping
KR102799357B1 (ko) 2018-05-31 2025-04-25 아우리스 헬스, 인코포레이티드 관상 네트워크의 경로-기반 내비게이션
WO2020069404A1 (en) 2018-09-28 2020-04-02 Auris Health, Inc. Robotic systems and methods for concomitant endoscopic and percutaneous medical procedures
US11766296B2 (en) 2018-11-26 2023-09-26 Augmedics Ltd. Tracking system for image-guided surgery
US12478444B2 (en) 2019-03-21 2025-11-25 The Board Of Trustees Of The Leland Stanford Junior University Systems and methods for localization based on machine learning
CN114025700B (zh) 2019-06-28 2025-02-25 奥瑞斯健康公司 控制台叠加以及其使用方法
US12178666B2 (en) 2019-07-29 2024-12-31 Augmedics Ltd. Fiducial marker
US11980506B2 (en) 2019-07-29 2024-05-14 Augmedics Ltd. Fiducial marker
EP4021331A4 (en) 2019-08-30 2023-08-30 Auris Health, Inc. SYSTEMS AND METHODS FOR REGISTERING POSITION SENSORS BASED ON WEIGHT
EP4021329B1 (en) 2019-08-30 2025-12-10 Auris Health, Inc. Instrument image reliability systems and methods
CN114641252B (zh) 2019-09-03 2023-09-01 奥瑞斯健康公司 电磁畸变检测和补偿
US11382712B2 (en) 2019-12-22 2022-07-12 Augmedics Ltd. Mirroring in image guided surgery
US11660147B2 (en) 2019-12-31 2023-05-30 Auris Health, Inc. Alignment techniques for percutaneous access
WO2021137072A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Anatomical feature identification and targeting
JP7497440B2 (ja) 2019-12-31 2024-06-10 オーリス ヘルス インコーポレイテッド 経皮的アクセスのための位置合わせインターフェース
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
US11389252B2 (en) 2020-06-15 2022-07-19 Augmedics Ltd. Rotating marker for image guided surgery
US12239385B2 (en) 2020-09-09 2025-03-04 Augmedics Ltd. Universal tool adapter
US11896445B2 (en) 2021-07-07 2024-02-13 Augmedics Ltd. Iliac pin and adapter
US12150821B2 (en) 2021-07-29 2024-11-26 Augmedics Ltd. Rotating marker and adapter for image-guided surgery
WO2023021450A1 (en) 2021-08-18 2023-02-23 Augmedics Ltd. Stereoscopic display and digital loupe for augmented-reality near-eye display
WO2023203521A1 (en) 2022-04-21 2023-10-26 Augmedics Ltd. Systems and methods for medical image visualization
EP4587881A1 (en) 2022-09-13 2025-07-23 Augmedics Ltd. Augmented reality eyewear for image-guided medical intervention

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2612044B2 (ja) * 1988-07-21 1997-05-21 株式会社日立製作所 電子ファイル装置
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
US5526812A (en) * 1993-06-21 1996-06-18 General Electric Company Display system for enhancing visualization of body structures during medical procedures
US5491510A (en) * 1993-12-03 1996-02-13 Texas Instruments Incorporated System and method for simultaneously viewing a scene and an obscured object
EP0702494B1 (en) * 1994-09-19 2001-12-05 Matsushita Electric Industrial Co., Ltd. Three-dimensional image display apparatus
JP3397602B2 (ja) * 1996-11-11 2003-04-21 富士通株式会社 画像表示装置及び方法

Cited By (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1061376A3 (en) * 1999-06-10 2002-05-02 General Electric Company Interactive mri scan control using an in-bore scan control device
JP2001017408A (ja) * 1999-06-10 2001-01-23 General Electric Co <Ge> Ｍｒｉシステム及びｍｒｉ走査を行う方法
JP2002102251A (ja) * 2000-07-12 2002-04-09 Siemens Ag 患者への医学的侵襲に関するデータを可視化するための可視化装置及び方法
WO2005109068A1 (de) * 2004-05-06 2005-11-17 Leica Microsystems (Schweiz) Ag Mikroskop und anzeigevorrichtung mit umlenkfunktion
US9687170B2 (en) 2008-03-11 2017-06-27 General Electric Company System and method for performing magnetic resonance imaging scan operations from within a scan room
US10368851B2 (en) 2008-10-21 2019-08-06 Brainlab Ag Integration of surgical instrument and display device for assisting in image-guided surgery
EP2179703A1 (de) * 2008-10-21 2010-04-28 BrainLAB AG Integration von chirurgischem Instrument und Anzeigevorrichtung zur Unterstützung der bildgeführten Chirurgie
EP2455038A3 (de) * 2008-10-21 2012-06-20 BrainLAB AG Integration von chirurgischem Instrument und Anzeigevorrichtung zur Unterstützung der bildgeführten Chirurgie
US11464502B2 (en) 2008-10-21 2022-10-11 Brainlab Ag Integration of surgical instrument and display device for assisting in image-guided surgery
US8734432B2 (en) 2008-10-21 2014-05-27 Brainlab Ag Integration of surgical instrument and display device for assisting in image-guided surgery
US9730680B2 (en) 2008-10-21 2017-08-15 Brainlab Ag Integration of surgical instrument and display device for assisting in image-guided surgery
CN102573614B (zh) * 2009-09-30 2015-10-14 富士胶片株式会社 医学图像显示设备、医学图像显示方法和医学图像显示程序
CN102573614A (zh) * 2009-09-30 2012-07-11 富士胶片株式会社 医学图像显示设备、医学图像显示方法和医学图像显示程序
EP3509527A4 (en) * 2016-09-09 2020-12-30 Mobius Imaging LLC METHODS AND SYSTEMS FOR DISPLAYING PATIENT DATA IN COMPUTER-ASSISTED SURGERY
US11141237B2 (en) 2016-09-09 2021-10-12 Mobius Imaging Llc Methods and systems for display of patient data in computer-assisted surgery
US11737850B2 (en) 2016-09-09 2023-08-29 Mobius Imaging Llc Methods and systems for display of patient data in computer-assisted surgery
US12167940B2 (en) 2016-09-09 2024-12-17 Mobius Imaging, Llc Methods and systems for display of patient data in computer-assisted surgery
US11337761B2 (en) 2019-02-07 2022-05-24 Stryker European Operations Limited Surgical systems and methods for facilitating tissue treatment
US12137981B2 (en) 2019-02-07 2024-11-12 Stryker European Operations Limited Surgical systems and methods for facilitating tissue treatment

Also Published As

Publication number Publication date
DE69815260T2 (de) 2004-05-13
US6038467A (en) 2000-03-14
WO1998032388A3 (en) 1998-11-12
DE69815260D1 (de) 2003-07-10
EP0918491A2 (en) 1999-06-02
JP2000509626A (ja) 2000-08-02
EP0918491B1 (en) 2003-06-04

Similar Documents

Publication Publication Date Title
EP0918491B1 (en) Image display system
JP2000509626A5 (enExample)
US6656110B1 (en) Endoscopic system
US7885701B2 (en) Registration pointer and method for registering a bone of a patient to a computer assisted orthopaedic surgery system
US5638819A (en) Method and apparatus for guiding an instrument to a target
US20240245486A1 (en) Augmented Reality Surgical Assistance System
US5961456A (en) System and method for displaying concurrent video and reconstructed surgical views
EP0926998B8 (en) Image guided surgery system
CA2766595C (en) Surgeon&#39;s aid for medical display
CA2486525C (en) A guide system and a probe therefor
EP1395194B1 (en) A guide system
JP6054031B2 (ja) 蛍光透視データ表示機器
DE69112538D1 (de) Computerunterstützte chirurgische Vorrichtung.
JP2018535737A (ja) リアルタイム患者画像オーバーレイディスプレイおよび装置のナビゲーションシステムおよび方法
US6757416B2 (en) Display of patient image data
US20210330388A1 (en) Augmented reality user guidance during examinations or interventional procedures
US20070232900A1 (en) Medical navigation and positioning system containing an operation system and method for operation
CN102469976A (zh) 生理参数的可视化
EP4485043A1 (en) Display system, medical system with a display system and method of displaying
JP3980406B2 (ja) 磁気共鳴撮影装置
US20050123289A1 (en) Method and apparatus for observing objects with a microscope
Weber et al. Application of different visualization concepts in the navigated image viewer

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A2

Designated state(s): JP

AL Designated countries for regional patents

Kind code of ref document: A2

Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LU MC NL PT SE

WWE Wipo information: entry into national phase

Ref document number: 1998900026

Country of ref document: EP

AK Designated states

Kind code of ref document: A3

Designated state(s): JP

AL Designated countries for regional patents

Kind code of ref document: A3

Designated state(s): AT BE CH DE DK ES FI FR GB GR IE IT LU MC NL PT SE

121 Ep: the epo has been informed by wipo that ep was designated in this application
WWP Wipo information: published in national office

Ref document number: 1998900026

Country of ref document: EP

WWG Wipo information: grant in national office

Ref document number: 1998900026

Country of ref document: EP