WO2020256276A3 - 초음파 스캐너의 탐촉자의 위치 및 자세 추적을 이용한 초음파 영상 제공 장치 및 방법 - Google Patents

초음파 스캐너의 탐촉자의 위치 및 자세 추적을 이용한 초음파 영상 제공 장치 및 방법 Download PDF

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WO2020256276A3
WO2020256276A3 PCT/KR2020/005696 KR2020005696W WO2020256276A3 WO 2020256276 A3 WO2020256276 A3 WO 2020256276A3 KR 2020005696 W KR2020005696 W KR 2020005696W WO 2020256276 A3 WO2020256276 A3 WO 2020256276A3
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ultrasound
image
probe
marker
posture
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PCT/KR2020/005696
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English (en)
French (fr)
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WO2020256276A2 (ko
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박병준
최수호
김태현
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주식회사 데카사이트
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Priority to US17/596,851 priority Critical patent/US11850095B2/en
Publication of WO2020256276A2 publication Critical patent/WO2020256276A2/ko
Publication of WO2020256276A3 publication Critical patent/WO2020256276A3/ko

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    • 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
    • A61B8/466—Displaying means of special interest adapted to display 3D data
    • 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
    • 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
    • A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/5207—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of raw data to produce diagnostic data, e.g. for generating an image
    • 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
    • A61B8/4263—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 not mounted on the probe, e.g. mounted on an external reference frame
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/44—Constructional features of the ultrasonic, sonic or infrasonic diagnostic device
    • A61B8/4438—Means for identifying the diagnostic device, e.g. barcodes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
    • 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
    • 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
    • G06T2207/10016—Video; Image sequence
    • 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
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker
    • 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
    • G06T2207/30204—Marker
    • G06T2207/30208—Marker matrix

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Molecular Biology (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Computer Graphics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Geometry (AREA)
  • Software Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

본 발명은 초음파 영상 제공 장치에 관한 것으로서, 대상체에 직접 접촉되는 부분인 탐촉자를 구비하고, 마커가 형성되어 있는 초음파 스캐너, 상기 마커를 촬영하기 위한 촬영부, 상기 초음파 스캐너의 탐촉자가 접촉된 부분의 2차원 깊이 단면 영상인 초음파 영상을 획득하고, 상기 촬영부를 통해 촬영된 영상을 통해 3차원 상에서의 상기 마커의 위치 및 자세를 추정하고, 추정된 상기 마커의 위치 및 자세 정보로부터 3차원 상에서의 상기 탐촉자의 위치 및 자세를 추정하고, 추정된 상기 탐촉자의 위치 및 자세 정보로부터 상기 초음파 영상의 화소들을 3차원 상의 점으로 변환한 포인트 클라우드를 생성하고, 생성된 포인트 클라우드를 기반으로 3차원 초음파 영상을 복원하는 초음파 영상 제공부 및 상기 초음파 영상 제공부에서 복원된 3차원 초음파 영상을 디스플레이하기 위한 디스플레이부를 포함한다. 본 발명에 의하면, 보다 적은 비용으로 간단하고 용이하게 3차원 초음파 영상을 제공할 수 있다는 효과가 있다.
PCT/KR2020/005696 2019-06-21 2020-04-29 초음파 스캐너의 탐촉자의 위치 및 자세 추적을 이용한 초음파 영상 제공 장치 및 방법 WO2020256276A2 (ko)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US17/596,851 US11850095B2 (en) 2019-06-21 2020-04-29 Ultrasound imaging device and method using position and posture tracking of probe of ultrasound scanner

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR10-2019-0073997 2019-06-21
KR1020190073997A KR102285007B1 (ko) 2019-06-21 2019-06-21 초음파 스캐너의 탐촉자의 위치 및 자세 추적을 이용한 초음파 영상 제공 장치 및 방법

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WO2020256276A2 WO2020256276A2 (ko) 2020-12-24
WO2020256276A3 true WO2020256276A3 (ko) 2021-02-11

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US (1) US11850095B2 (ko)
KR (1) KR102285007B1 (ko)
WO (1) WO2020256276A2 (ko)

Families Citing this family (4)

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CN112617902A (zh) * 2020-12-31 2021-04-09 上海联影医疗科技股份有限公司 一种三维成像系统及成像方法
KR102616368B1 (ko) 2021-09-17 2023-12-20 동의대학교 산학협력단 진단 프로브 및 이를 이용한 의료용 초음파 스캐너
CN114882019B (zh) * 2022-07-01 2023-02-03 首都医科大学附属北京妇产医院 孕早期或孕中期超声图像标准化质量控制方法、系统及设备
CN115990032B (zh) * 2023-03-22 2023-06-02 中国科学院自动化研究所 基于先验知识的超声扫描视觉导航方法、装置及设备

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US11850095B2 (en) 2023-12-26
KR102285007B1 (ko) 2021-08-03
WO2020256276A2 (ko) 2020-12-24
KR20200145249A (ko) 2020-12-30
US20220313215A1 (en) 2022-10-06

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