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    • 1. 发明授权
    • Method of tracking an object having a passive transponder attached thereto
    • 跟踪具有附着于其上的无源应答器的对象的方法
    • US07969143B2
    • 2011-06-28
    • US09860484
    • 2001-05-21
    • Pinhas Gilboa
    • Pinhas Gilboa
    • G01B7/14G01B7/30
    • G01R33/02A61B2017/00411A61B2090/3975F41G3/225G01B7/004G01S13/66G01S13/874G01S13/878
    • A method of tracking translation and rotation of one or more objects within a region of interest. The method includes providing a passive transponder in the region of interest, the transponder having a position and an orientation, generating an electromagnetic field in the region of interest, causing the transponder to generate electromagnetic signal, mapping the electromagnetic field and the signal as functions of the position and the orientation of the transponder, fixing the transponder to the object being tracked, receiving the signals generated by the transponder while the transponder is fixed to the object being tracked, and processing the signal, with reference to the functions, to compute the three-dimensional translational position and three-axis rotational orientation of the object.
    • 跟踪感兴趣区域内的一个或多个对象的翻译和旋转的方法。 该方法包括在感兴趣的区域中提供无源应答器,应答器具有位置和取向,在感兴趣区域中产生电磁场,使得应答器产生电磁信号,将电磁场和信号映射为 应答器的位置和方向,将应答器固定在正在被跟踪的对象上,在应答器被固定到被跟踪对象的同时接收由应答器产生的信号,并且参考该功能来处理该信号,以计算 物体的三维平移位置和三轴旋转取向。
    • 3. 发明申请
    • System and method for intravascular catheter navigation
    • 血管内导管导管系统及方法
    • US20050171508A1
    • 2005-08-04
    • US10258124
    • 2001-04-19
    • Pinhas Gilboa
    • Pinhas Gilboa
    • A61B5/06A61M25/01A61M25/092A63H33/00A61M31/00
    • A61M25/0105A61B5/06A61B5/064A61M2025/0166
    • A method for guiding an apparatus to a location within the body includes providing a sheath having a lumen and inserting along the lumen a position sensor such that said position sensor is located within, or adjacent to, a distal portion of the sheath. Position information generated using the position sensor is then employed during guiding of the distal portion of the sheath to the location within the body. Once the sheath is in place, the position sensor is withdrawn along the lumen to free the lumen for guiding an apparatus to the location within the body. The position sensor is preferably part of a six-degrees-of-freedom position sensing system. A corresponding catheter system typically includes at least one, and preferably two, steering mechanisms. At least one of the steering mechanisms is preferably deployed in a separate center-support distally with respect to the position sensor.
    • 用于将装置引导到体内的位置的方法包括提供具有内腔的护套并且沿着内腔插入位置传感器,使得所述位置传感器位于护套的远侧部分内或邻近护套的远侧部分。 然后在将护套的远端部分引导到体内的位置的同时使用使用位置传感器产生的位置信息。 一旦护套就位,位置传感器就沿内腔被抽出以释放内腔,以将装置引导到体内的位置。 位置传感器优选地是六自由度位置感测系统的一部分。 相应的导管系统通常包括至少一个,优选两个转向机构。 至少一个转向机构优选地相对于位置传感器向远侧展开在单独的中心支撑中。
    • 5. 发明授权
    • System and method of recording and displaying in context of an image a location of at least one point-of-interest in a body during an intra-body medical procedure
    • 在体内医疗过程中在身体的至少一个兴趣点的位置记录和显示图像的系统和方法
    • US06226543B1
    • 2001-05-01
    • US09179827
    • 1998-10-28
    • Pinhas GilboaDavid TolkowskyDavid Hollander
    • Pinhas GilboaDavid TolkowskyDavid Hollander
    • A61B505
    • A61B5/06A61B5/064A61B34/20A61B90/36A61B2017/00694A61B2017/00703A61B2034/2051A61B2034/2063A61B2090/364A61B2090/376A61B2090/378
    • The present invention provides a method of recording and displaying in context of an image a location of at least one point-of-interest in a body during an intra-body medical procedure. The method is effected by (a) establishing a location of the body; (b) inserting at least one catheter into a portion of the body, the at least one catheter including a first location implement; (c) using an imaging instrument for imaging the portion of the body; (d) establishing a location of the imaging instrument; (e) advancing the at least one catheter to at least one point-of-interest in the portion of the body and via a locating implement recording a location of the at least one point-of-interest; and (f) displaying and highlighting the at least one point-of-interest in context of an image of the portion of the body, the image being generated by the imaging instrument; such that, in course of the procedure, the locations of the body, the at least one catheter and the imaging instrument are known, thereby the at least one point-of-interest is projectable and displayable in context of the image even in cases whereby a relative location of the body and the imaging instrument are changed.
    • 本发明提供了一种在体内医疗过程期间在图像的上下文中记录和显示身体中至少一个感兴趣点的位置的方法。 该方法通过(a)建立身体的位置来实现; (b)将至少一个导管插入所述主体的一部分中,所述至少一个导管包括第一定位工具; (c)使用成像仪对身体的一部分进行成像; (d)建立成像仪器的位置; (e)将所述至少一个导管推进到所述身体的所述部分中的至少一个兴趣点,并且经由定位工具记录所述至少一个兴趣点的位置; 以及(f)在所述身体部分的图像的上下文中显示和突出所述至少一个兴趣点,所述图像由所述成像仪产生; 使得在程序过程中,身体,至少一个导管和成像仪器的位置是已知的,从而至少一个兴趣点可投影和显示在图像的上下文中,即使在这样的情况下, 身体和成像仪器的相对位置发生变化。
    • 7. 发明授权
    • Methods for planning and performing percutaneous needle procedures
    • 计划和执行经皮穿刺手术的方法
    • US09202387B2
    • 2015-12-01
    • US13498142
    • 2010-11-11
    • Pinhas Gilboa
    • Pinhas Gilboa
    • A61B6/02A61B6/00G09B23/28A61B19/00
    • G09B23/28A61B34/20A61B90/36A61B90/39A61B2034/2051G06F19/00
    • A system and method for planning volumetric treatment by percutaneous needle procedures obtains a volumetric image data set of a subject including an identifiable region requiring treatment. An effective treatment volume is defined relative to the needle position for at least one needle carrying a treatment applicator. One or more proposed inserted needle position is defined such that a effective treatment volume corresponding to the one or more proposed inserted needle position provides coverage of the region requiring treatment. The effective treatment volume for one or more needles can then be visualized in the context of slices of 3D image data. One or more entry point and corresponding virtual target are then defined relative to a frame of reference of the volumetric image data set for use in navigation of the at least one needle to the corresponding proposed inserted needle position.
    • 用于通过经皮针程序计划体积治疗的系统和方法获得包括需要治疗的可识别区域的受试者的体积图像数据集。 相对于至少一个承载治疗施用器的针的针位置限定有效的治疗体积。 定义了一个或多个所提出的插入针位置,使得对应于一个或多个所提出的插入针位置的有效治疗体积提供了需要治疗的区域的覆盖。 然后可以在3D图像数据的切片的上下文中可视化一个或多个针的有效治疗体积。 然后,相对于用于至少一个针的导航中使用的体积图像数据集的参考帧到相应的所提出的插入针位置来定义一个或多个入口点和对应的虚拟目标。
    • 9. 发明申请
    • METHOD FOR PRODUCING PRINTED PATCHES FOR OPTICAL AND HIGH-CONTRAST GUIDANCE
    • 用于生产用于光学和高对比度指导的打印色带的方法
    • US20090290174A1
    • 2009-11-26
    • US12361572
    • 2009-01-29
    • Pinhas GILBOA
    • Pinhas GILBOA
    • H04N1/60
    • A61B90/39A61B6/12A61B2090/3937
    • A method is described for producing printed patches to provide a plurality of color markings and high-contrast markings as aligned arrangements of fiducial points. The printed color markings facilitate optical image processing and the printed high-contrast markings facilitate high-contrast image processing. These fiducial points enable a visible area of interest to be located by a person and associated with relevant high-contrast imaging data. This method includes providing a patch; printing at least one arrangement of color markings on the patch; and printing at least one arrangement of high-contrast markings on the patch. According to further features of certain embodiments the markings are aligned, can designate the same point, or can be disjointed.
    • 描述了一种用于生产印刷贴片以提供多个颜色标记和作为基准点的排列布置的高对比度标记的方法。 打印的颜色标记便于光学图像处理,并且打印的高对比度标记便于高对比度图像处理。 这些基准点使得人们可以找到感兴趣的区域,并与相关的高对比度成像数据相关联。 该方法包括提供补丁; 在贴片上印刷至少一种颜色标记布置; 以及在所述贴片上打印至少一个高对比度标记布置。 根据某些实施例的进一步的特征,标记被对准,可以指定相同的点,或者可以是不相连的。
    • 10. 发明申请
    • Endoscope with Miniature Imaging Arrangement
    • 内窥镜与微型成像安排
    • US20080255416A1
    • 2008-10-16
    • US10571695
    • 2006-01-26
    • Pinhas Gilboa
    • Pinhas Gilboa
    • A61B1/05A61B1/06
    • A61B1/04A61B1/00096A61B1/00188A61B1/051A61B1/055A61B5/062H04N5/2254H04N5/23203H04N2005/2255
    • A miniature endoscope with an imaging arrangement associated with its distal tip portion includes an image sensor chip with a two-dimensional array of light-sensitive pixels and a lens arrangement deployed for focusing light from a field of view onto the image sensor chip so as to generate an image of a scene viewed from the distal tip portion. The lens arrangement is preferably directly affixed to the image sensor chip by a quantity of transparent adhesive. Use of bidirectional communication along data lines to the image sensor chip allows use of only four wires connecting to the chip. These and other features allow miniaturization of the endoscope to a diameter of about 2 millimeters while still generating color images of high dynamic range.
    • 具有与其远端部分相关联的成像装置的微型内窥镜包括具有二维光敏像素阵列的图像传感器芯片和用于将来自视野的光聚焦到图像传感器芯片上的透镜布置,以便 生成从远端部分观看的场景的图像。 透镜装置优选通过一定量的透明粘合剂直接固定到图像传感器芯片上。 沿图像传感器芯片沿着数据线的双向通信允许仅使用连接到芯片的四条线。 这些和其他特征允许内窥镜的小型化直径约2毫米,同时仍然产生高动态范围的彩色图像。