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1. 发明授权

US09554728B2 Visualization for navigation guidance 有权
标题翻译：可视化导航指导
公开(公告)号：US09554728B2
公开(公告)日：2017-01-31
申请号：US14002368
申请日：2012-03-01
申请人： Robert Manzke , Patrick Etyngier , Pascal Yves Francois Cathier , Nicolas Francois Villain , Volker Rasche , Kawaldeep Singh Rhode
发明人： Robert Manzke , Patrick Etyngier , Pascal Yves Francois Cathier , Nicolas Francois Villain , Volker Rasche , Kawaldeep Singh Rhode
IPC分类号： G06K9/00 , A61B5/06 , A61B6/12 , A61B6/03 , A61B6/00
CPC分类号： A61B5/066 , A61B6/032 , A61B6/12 , A61B6/488 , A61B6/503 , A61B6/5235 , A61B90/37 , A61B2034/2065 , A61B2090/364 , A61B2090/376
摘要： The present invention relates to visualizing information of an object. In order to provide spatial information and in addition situation specific data to the user while ensuring an effective perceptibility, a method (110) is provided comprising the steps of: a) providing (112) pre-navigation data (114) of a region of interest of an object (22); wherein the pre-navigation data comprises spatial geometrical data (116) and a functional parameter surface (118) in correspondence to the spatial geometrical data; b) acquiring (120) live image data (122) of the region of interest; c) detecting (124) an element (126) in the live image data; d) determining (128) spatial relation (130) of the pre-navigation data and the live image data; e) determining (132)the position (134) of the detected element in the spatial geometrical data, which determining is based on the spatial relation, and computing (136) a predetermined related point of location (138) on the functional parameter surface; f) generating (140) a combination (142) of a simplified surface representation (144) of the region of interest, which simplified surface representation is based on a visualization of the functional parameter surface, and a marker (146) indicating the computed predetermined related point of location; and g) displaying (148) the combination as navigation guidance (150).
摘要翻译：本发明涉及可视化对象的信息。为了在确保有效的可感知性的同时向用户提供空间信息和附加情况特定数据，提供了一种方法（110），包括以下步骤：a）提供（112）前导数据（114）物体（22）的兴趣; 其中所述预导数据包括对应于所述空间几何数据的空间几何数据（116）和功能参数表面（118）; b）获取（120）感兴趣区域的实时图像数据（122）; c）在实况图像数据中检测（124）元素（126）; d）确定（128）前导数据和实时图像数据的空间关系（130）; e）确定（132）在所述空间几何数据中检测到的元素的位置（134），所述空间几何数据基于所述空间关系确定，并且计算（136）所述功能参数表面上的预定相关位置点（138）; f）产生（140）所述感兴趣区域的简化表面表示（144）的组合（142），所述简化表面表示基于所述功能参数表面的可视化，以及指示所计算的预定相关点位置; 以及g）将所述组合显示（148）作为导航指导（150）。

2. 发明申请

US20130336558A1 VISUALIZATION FOR NAVIGATION GUIDANCE 有权
标题翻译：可视化导航指导
公开(公告)号：US20130336558A1
公开(公告)日：2013-12-19
申请号：US14002368
申请日：2012-03-01
申请人： Robert Manzke , Patrick Etyngier , Pascal Yves Francois Cathier , Nicolas Francois Villain , Volker Rasche , Kawaldeep Singh Rhode
发明人： Robert Manzke , Patrick Etyngier , Pascal Yves Francois Cathier , Nicolas Francois Villain , Volker Rasche , Kawaldeep Singh Rhode
IPC分类号： A61B5/06
CPC分类号： A61B5/066 , A61B6/032 , A61B6/12 , A61B6/488 , A61B6/503 , A61B6/5235 , A61B90/37 , A61B2034/2065 , A61B2090/364 , A61B2090/376
摘要： The present invention relates to visualizing information of an object. In order to provide spatial information and in addition situation specific data to the user while ensuring an effective perceptibility, a method (110) is provided comprising the steps of: a) providing (112) pre-navigation data (114) spatial geometrical data (116) and a functional parameter surface (118) of a region of interest of an object (22); wherein the pre-navigation data comprises in correspondence to the spatial geometrical data; b) acquiring (120) live image data (122) of the region of interest; c) detecting (124) an element (126) in the live image data; d) determining (128) spatial relation (130) of the pre-navigation data and the live image data; e) determining (132)the position (134) of the detected element in the spatial geometrical data, which determining is based on the spatial relation, and computing (136) a predetermined related point of location (138) on the functional parameter surface; f) generating (140) a combination (142) of a simplified surface representation (144) of the region of interest, which simplified surface representation is based on a visualization of the functional parameter surface, and a marker (146) indicating the computed predetermined related point of location; and g) displaying (148) the combination as navigation guidance (150).
摘要翻译：本发明涉及可视化对象的信息。为了在确保有效的感知性的同时向用户提供空间信息和附加情况特定数据，提供了一种方法（110），包括以下步骤：a）提供（112）预导数据（114）空间几何数据 116）和物体（22）的感兴趣区域的功能参数表面（118）; 其中所述预导数据包括对应于所述空间几何数据; b）获取（120）感兴趣区域的实时图像数据（122）; c）在实况图像数据中检测（124）元素（126）; d）确定（128）前导数据和实时图像数据的空间关系（130）; e）确定（132）在所述空间几何数据中检测到的元素的位置（134），所述空间几何数据基于所述空间关系确定，并且计算（136）所述功能参数表面上的预定相关位置点（138）; f）产生（140）所述感兴趣区域的简化表面表示（144）的组合（142），所述简化表面表示基于所述功能参数表面的可视化，以及指示所计算的预定相关点位置; 以及g）将所述组合显示（148）作为导航指导（150）。

3. 发明授权

US10238361B2 Combination of ultrasound and x-ray systems 有权
公开(公告)号：US10238361B2
公开(公告)日：2019-03-26
申请号：US13513921
申请日：2010-11-30
申请人： Nicolas Pierre Bruno Gogin , Raoul Florent , Pascal Yves Francois Cathier
发明人： Nicolas Pierre Bruno Gogin , Raoul Florent , Pascal Yves Francois Cathier
IPC分类号： A61B6/12 , A61B8/00 , A61B6/00 , A61B8/08
摘要： The invention proposes to detect and track an intervention device in a 2D fluoroscopy image and to steer an ultrasound probe beam towards this device. Therefore, a method and corresponding system is proposed, by which an ultrasound probe is registered in a fluoroscopy image, wherein the registering includes the estimation of the position and of the orientation of the probe relative to the fluoroscopy.

4. 发明申请

US20130308844A1 MEDICAL IMAGING DEVICE FOR PROVIDING AN IMAGE REPRESENTATION SUPPORTING THE ACCURATE POSITIONING OF AN INVENTION DEVICE IN VESSEL INTERVENTION PROCEDURES 有权
标题翻译：用于提供图像表示的医学成像装置，其支持本发明的精确定位装置在血管干预程序中
公开(公告)号：US20130308844A1
公开(公告)日：2013-11-21
申请号：US13983155
申请日：2012-01-31
申请人： Raoul Florent , Pascal Yves Francois Cathier , Olivier Pierre Nempont
发明人： Raoul Florent , Pascal Yves Francois Cathier , Olivier Pierre Nempont
IPC分类号： A61B5/00
CPC分类号： A61B5/0033 , A61B6/12 , A61B6/4441 , A61B6/481 , A61B6/487 , A61B6/488 , A61B6/504 , A61B6/5229 , A61B2017/00778 , A61B2090/364 , A61B2090/376 , G06T7/30 , G06T2207/10121 , G06T2207/20221 , G06T2207/30021 , G06T2207/30101
摘要： A medical imaging device and a method for providing an image representation supporting inaccurate positioning of an intervention device in a vessel intervention procedure is proposed. Therein, an anatomy representation (AR) of a vessel region of interest and at least one angiogram X-ray image (RA) and a live fluoroscopy X-ray image (LI) are acquired. The following steps are performed when a radio-opaque device is fixedly arranged within the vessel region of interest: (a) registering the anatomy representation to the at least one angiogram X-ray image in order to provide an anatomy-angiogram-registration (R1); (b) processing (DP) the at least one angiogram X-ray image and the at least one live fluoroscopy X-ray image in order to identify in each of the X-ray images the radio-opaque device; (c) registering (R2) the at least one angiogram X-ray image to the at least one live fluoroscopy X-ray image based on the identified radio-opaque device in order to provide an angiogram-fluoroscopy-registration; and (d) combining the anatomy-angiogram-registration and the angiogram-fluoroscopy-registration in order to provide an anatomy-fluoroscopy-registration (GTC; RALC). Finally, an image representation resulting from the anatomy-fluoroscopy-registration showing an overlay of live images with the anatomy representation may be output thereby helping a surgeon to accurately position for example a synthetic aortic valve within an aortic root of a heart.
摘要翻译：提出了一种医疗成像装置和用于在血管干预程序中提供支持干预装置的不准确定位的图像表示的方法。其中，获取血管区域的解剖学表示（AR）和至少一个血管造影X射线图像（RA）和活体荧光透视X射线图像（LI）。当无线电不透明设备固定地布置在感兴趣的血管区域内时，执行以下步骤：（a）将解剖学表现注册到至少一个血管造影X射线图像，以便提供解剖 - 血管造影记录（R1 ）; （b）处理（DP）所述至少一个血管造影X射线图像和所述至少一个活体荧光透视X射线图像，以便在每个所述X射线图像中识别所述不透射线装置; （c）基于所识别的不透射线的装置将所述至少一个血管造影X射线图像记录（R2）到所述至少一个活透视X射线图像，以提供血管造影荧光透视注册; 并且（d）结合解剖 - 血管造影照明和血管造影 - 荧光透视注册，以提供解剖 - 透视注册（GTC; RALC）。最后，可以输出从解剖学 - 透视检查对照中产生的图像表示，其显示具有解剖学表示的活体图像的叠加，从而帮助外科医生准确地将合成的主动脉瓣置于心脏的主动脉根部内。

5. 发明申请

US20120245458A1 COMBINATION OF ULTRASOUND AND X-RAY SYSTEMS 审中-公开
标题翻译：超声和X射线系统的组合
公开(公告)号：US20120245458A1
公开(公告)日：2012-09-27
申请号：US13513921
申请日：2010-11-30
申请人： Nicolas Pierre Bruno Gogin , Raoul Florent , Pascal Yves Francois Cathier
发明人： Nicolas Pierre Bruno Gogin , Raoul Florent , Pascal Yves Francois Cathier
IPC分类号： A61B8/12 , A61B6/03 , A61B6/00
CPC分类号： A61B8/00 , A61B6/00 , A61B6/12 , A61B6/503 , A61B6/5247 , A61B8/0883 , A61B8/4245 , A61B8/4416
摘要： The invention proposes to detect and track an intervention device in a 2D fluoroscopy image and to steer an ultrasound probe beam towards this device. Therefore, a method and corresponding system is proposed, by which an ultrasound probe is registered in a fluoroscopy image, wherein the registering includes the estimation of the position and of the orientation of the probe relative to the fluoroscopy.
摘要翻译：本发明提出在2D荧光透视图像中检测和跟踪介入装置，并将超声波探针束引向该装置。因此，提出了一种方法和相应的系统，通过该方法和相应的系统将超声波探头注册在荧光透视图像中，其中记录包括相对于荧光透视的位置和探针的取向的估计。

6. 发明授权

US09295435B2 Image representation supporting the accurate positioning of an intervention device in vessel intervention procedures 有权
标题翻译：图像表示支持干预装置在血管干预程序中的准确定位
公开(公告)号：US09295435B2
公开(公告)日：2016-03-29
申请号：US13983155
申请日：2012-01-31
申请人： Raoul Florent , Pascal Yves Francois Cathier , Olivier Pierre Nempont
发明人： Raoul Florent , Pascal Yves Francois Cathier , Olivier Pierre Nempont
IPC分类号： A61B6/00 , A61B6/12 , G06T7/00 , A61B5/00 , A61B17/00 , A61B19/00
CPC分类号： A61B5/0033 , A61B6/12 , A61B6/4441 , A61B6/481 , A61B6/487 , A61B6/488 , A61B6/504 , A61B6/5229 , A61B2017/00778 , A61B2090/364 , A61B2090/376 , G06T7/30 , G06T2207/10121 , G06T2207/20221 , G06T2207/30021 , G06T2207/30101
摘要： A medical imaging device and a method for providing an image representation supporting inaccurate positioning of an intervention device in a vessel intervention procedure is proposed. Therein, an anatomy representation (AR) of a vessel region of interest and at least one angiogram X-ray image (RA) and a live fluoroscopy X-ray image (LI) are acquired. The following steps are performed when a radio-opaque device is fixedly arranged within the vessel region of interest: (a) registering the anatomy representation to the at least one angiogram X-ray image in order to provide an anatomy-angiogram-registration (R1); (b) processing (DP) the at least one angiogram X-ray image and the at least one live fluoroscopy X-ray image in order to identify in each of the X-ray images the radio-opaque device; (c) registering (R2) the at least one angiogram X-ray image to the at least one live fluoroscopy X-ray image based on the identified radio-opaque device in order to provide an angiogram-fluoroscopy-registration; and (d) combining the anatomy-angiogram-registration and the angiogram-fluoroscopy-registration in order to provide an anatomy-fluoroscopy-registration (GTC; RALC). Finally, an image representation resulting from the anatomy-fluoroscopy-registration showing an overlay of live images with the anatomy representation may be output thereby helping a surgeon to accurately position for example a synthetic aortic valve within an aortic root of a heart.
摘要翻译：提出了一种医疗成像装置和用于在血管干预程序中提供支持干预装置的不准确定位的图像表示的方法。其中，获取血管区域的解剖学表示（AR）和至少一个血管造影X射线图像（RA）和活体荧光透视X射线图像（LI）。当无线电不透明设备固定地布置在感兴趣的血管区域内时，执行以下步骤：（a）将解剖学表现注册到至少一个血管造影X射线图像，以便提供解剖 - 血管造影记录（R1 ）; （b）处理（DP）所述至少一个血管造影X射线图像和所述至少一个活体荧光透视X射线图像，以便在每个所述X射线图像中识别所述不透射线装置; （c）基于所识别的不透射线的装置将所述至少一个血管造影X射线图像记录（R2）到所述至少一个活透视X射线图像，以提供血管造影荧光透视注册; 并且（d）结合解剖 - 血管造影照明和血管造影 - 荧光透视注册，以提供解剖 - 透视注册（GTC; RALC）。最后，可以输出从解剖学 - 透视检查对照中产生的图像表示，其显示具有解剖学表示的活体图像的叠加，从而帮助外科医生准确地将合成的主动脉瓣置于心脏的主动脉根部内。

7. 发明授权

US09142015B2 Medical imaging system and method for providing an image representation supporting accurate guidance of an intervention device in a vessel intervention procedure 有权
标题翻译：医学成像系统和方法，用于提供在血管干预程序中支持干预装置的精确指导的图像表示
公开(公告)号：US09142015B2
公开(公告)日：2015-09-22
申请号：US14002373
申请日：2012-02-24
申请人： Pascal Yves Francois Cathier , Raoul Florent
发明人： Pascal Yves Francois Cathier , Raoul Florent
IPC分类号： G06K9/00 , G06T7/00 , A61B6/00 , G06T7/20 , A61B6/03 , A61B6/12
CPC分类号： G06T7/0012 , A61B6/032 , A61B6/12 , A61B6/4441 , A61B6/487 , A61B6/503 , A61B6/5247 , A61B6/5264 , A61B6/5288 , G06T7/246 , G06T7/30 , G06T2207/10072 , G06T2207/10121 , G06T2207/30021 , G06T2207/30048 , G06T2207/30101
摘要： The present invention relates to visualizing information of an object. In order to provide spatial information and in addition situation specific data to the user while ensuring an effective perceptibility, a method (110) is provided comprising the steps of: a) providing (112) pre-navigation data (114) of a region of interest of an object (22); wherein the pre-navigation data comprises spatial geometrical data (116) and a functional parameter surface (118) in correspondence to the spatial geometrical data; b) acquiring (120) live image data (122) of the region of interest; c) detecting (124) an element (126) in the live image data; d) determining (128) spatial relation (130) of the pre-navigation data and the live image data; e) determining (132) the position (134) of the detected element in the spatial geometrical data, which determining is based on the spatial relation, and computing (136) a predetermined related point of location (138) on the functional parameter surface; f) generating (140) a combination (142) of a simplified surface representation (144) of the region of interest, which simplified surface representation is based on a visualization of the functional parameter surface, and a marker (146) indicating the computed predetermined related point of location; and g) displaying (148) the combination as navigation guidance (150).
摘要翻译：本发明涉及可视化对象的信息。为了在确保有效的可感知性的同时向用户提供空间信息和附加情况特定数据，提供了一种方法（110），包括以下步骤：a）提供（112）前导数据（114）物体（22）的兴趣; 其中所述预导数据包括对应于所述空间几何数据的空间几何数据（116）和功能参数表面（118）; b）获取（120）感兴趣区域的实时图像数据（122）; c）在实况图像数据中检测（124）元素（126）; d）确定（128）前导数据和实时图像数据的空间关系（130）; e）确定（132）在所述空间几何数据中检测到的元素的位置（134），所述空间几何数据基于所述空间关系确定，并且计算（136）所述功能参数表面上的预定相关位置点（138）; f）产生（140）所述感兴趣区域的简化表面表示（144）的组合（142），所述简化表面表示基于所述功能参数表面的可视化，以及指示所计算的预定相关点位置; 以及g）将所述组合显示（148）作为导航指导（150）。

8. 发明申请

US20140031676A1 EMBEDDED 3D MODELLING 审中-公开
标题翻译：嵌入式3D建模
公开(公告)号：US20140031676A1
公开(公告)日：2014-01-30
申请号：US14110970
申请日：2012-04-05
申请人： Olivier Pierre Nempont , Raoul Florent , Pascal Yves Francois Cathier
发明人： Olivier Pierre Nempont , Raoul Florent , Pascal Yves Francois Cathier
IPC分类号： A61B6/12
CPC分类号： A61B6/12 , A61B5/055 , A61B6/03 , A61B6/487 , A61B6/5235 , A61B2090/367 , G06T7/30 , G06T7/75 , G06T19/20 , G06T2207/10072 , G06T2207/10121 , G06T2207/30021 , G06T2207/30101 , G06T2210/41 , G06T2219/2004
摘要： The present invention relates to an image processing device for guidance support, a medical imaging system for providing guidance support, a method for guidance support, a method for operating an image processing device for guidance support, as well as a computer program element, and a computer readable medium. In order to provide enhanced and easily perceptible information about the actual situation, it is proposed to provide (110) 3D data (112) of a region of interest of an object, to provide (114) image data (116) of at least a part of the region of interest, wherein a device is located at least partly within the region of interest, to generate (118) a 3D model (120) of the device from the image data, and to provide (122) data for a model-updated 3D image (124) by embedding (126) the 3D model within the 3D data.
摘要翻译：本发明涉及一种用于引导支持的图像处理装置，用于提供引导支持的医学成像系统，用于引导支持的方法，用于操作用于引导支持的图像处理装置的方法以及计算机程序元素，以及计算机可读介质。为了提供关于实际情况的增强且容易感知的信息，提出了提供（110）对象感兴趣区域的3D数据（112），以提供（114）至少一个所述感兴趣区域的一部分，其中设备至少部分地位于所述感兴趣区域内，以从所述图像数据生成（118）所述设备的3D模型（120），并为模型（122）提供数据通过在3D数据内嵌入（126）3D模型来更新3D图像（124）。

9. 发明申请

US20140023250A1 MEDICAL IMAGING SYSTEN AND METHOD FOR PROVIDING AN IMAGE REPRESENTATION SUPPORTING ACCURATE GUIDANCE OF AN INTERVENTION DEVICE IN A VESSEL INTERVENTION PROCEDURE 有权
标题翻译：医疗成像系统和方法，用于提供支持血管介入手术中干预装置精确指导的图像表示
公开(公告)号：US20140023250A1
公开(公告)日：2014-01-23
申请号：US14002373
申请日：2012-02-24
申请人： Pascal Yves Francois Cathier , Raoul Florent
发明人： Pascal Yves Francois Cathier , Raoul Florent
IPC分类号： G06T7/00
CPC分类号： G06T7/0012 , A61B6/032 , A61B6/12 , A61B6/4441 , A61B6/487 , A61B6/503 , A61B6/5247 , A61B6/5264 , A61B6/5288 , G06T7/246 , G06T7/30 , G06T2207/10072 , G06T2207/10121 , G06T2207/30021 , G06T2207/30048 , G06T2207/30101
摘要： The present invention relates to visualizing information of an object. In order to provide spatial information and in addition situation specific data to the user while ensuring an effective perceptibility, a method (110 ) is provided comprising the steps of: a) providing (112) pre-navigation data (114) of a region of interest of an object (22); wherein the pre-navigation data comprises spatial geometrical data (116) and a functional parameter surface (118) in correspondence to the spatial geometrical data; b) acquiring (120) live image data (122) of the region of interest; c) detecting (124) an element (126) in the live image data; d) determining (128) spatial relation (130) of the pre-navigation data and the live image data; e) determining (132) the position (134) of the detected element in the spatial geometrical data, which determining is based on the spatial relation, and computing (136) a predetermined related point of location (138) on the functional parameter surface; f) generating (140) a combination (142) of a simplified surface representation (144) of the region of interest, which simplified surface representation is based on a visualization of the functional parameter surface, and a marker (146) indicating the computed predetermined related point of location; and g) displaying (148) the combination as navigation guidance (150).
摘要翻译：本发明涉及可视化对象的信息。为了在确保有效的可感知性的同时向用户提供空间信息和附加情况特定数据，提供了一种方法（110），包括以下步骤：a）提供（112）前导数据（114）物体（22）的兴趣; 其中所述预导数据包括对应于所述空间几何数据的空间几何数据（116）和功能参数表面（118）; b）获取（120）感兴趣区域的实时图像数据（122）; c）在实况图像数据中检测（124）元素（126）; d）确定（128）前导数据和实时图像数据的空间关系（130）; e）确定（132）在所述空间几何数据中检测到的元素的位置（134），所述空间几何数据基于所述空间关系确定，并且计算（136）所述功能参数表面上的预定相关位置点（138）; f）产生（140）所述感兴趣区域的简化表面表示（144）的组合（142），所述简化表面表示基于所述功能参数表面的可视化，以及指示所计算的预定相关点位置; 以及g）将所述组合显示（148）作为导航指导（150）。

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