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1. 发明授权

US09560988B2 System and method for rendering an image of an elongate medical device 有权
标题翻译：用于渲染细长医疗装置的图像的系统和方法
公开(公告)号：US09560988B2
公开(公告)日：2017-02-07
申请号：US12980732
申请日：2010-12-29
申请人： Carlos Carbonera , Daniel R. Starks , Lev A. Koyrakh
发明人： Carlos Carbonera , Daniel R. Starks , Lev A. Koyrakh
IPC分类号： A61B5/05 , A61B5/06 , A61B5/00
CPC分类号： A61B5/065 , A61B5/6855
摘要： A system for visually rendering an elongate medical device in a body is provided. The system includes an electronic control unit configured to find a measured physical location for each of a plurality of position sensors on the elongate medical device. The electronic control unit is further configured to apply a spline function to each of the measured physical locations to determine a display location for each position sensor. The electronic control unit is further configured to interpolate between display locations of adjacent position sensors to identify display locations for portions of the elongate medical device between adjacent position sensors. The electronic control unit is further configured to generate image data for display of an image of the elongate medical device including the display locations of the position sensors and the display locations of the portions of the elongate medical device between adjacent position sensors.
摘要翻译：提供了一种用于在身体中视觉呈现细长医疗装置的系统。该系统包括电子控制单元，其配置成为细长医疗装置上的多个位置传感器中的每一个找到测量的物理位置。电子控制单元还被配置为向所测量的物理位置中的每一个施加样条函数，以确定每个位置传感器的显示位置。电子控制单元还被配置为在相邻位置传感器的显示位置之间插值，以识别相邻位置传感器之间的细长医疗设备的部分的显示位置。电子控制单元还被配置为产生用于显示细长医疗装置的图像的图像数据，其包括位置传感器的显示位置和细长医疗装置在相邻位置传感器之间的部分的显示位置。

2. 发明申请

US20120157825A1 Navigational Reference Dislodgement Detection Method and System 有权
标题翻译：导航参考检测方法与系统
公开(公告)号：US20120157825A1
公开(公告)日：2012-06-21
申请号：US12972253
申请日：2010-12-17
申请人： Lev A. Koyrakh , Jeffrey A. Schweitzer , Daniel R. Starks , Carlos Carbonera
发明人： Lev A. Koyrakh , Jeffrey A. Schweitzer , Daniel R. Starks , Carlos Carbonera
IPC分类号： A61B5/05
CPC分类号： A61B5/06 , A61B5/042 , A61B5/05 , A61B5/062 , A61B5/063 , A61B5/7207 , A61B5/7221 , A61B34/20 , A61B2034/2051 , A61B2034/2053 , A61B2034/2072
摘要： A method of detecting dislodgement of a navigational reference for a localization system includes securing a reference catheter, including at least one reference localization element, at an initial reference location within a localization field. The positions of one or more of the reference localization elements are monitored for a perceived displacement that suggests that the reference catheter has become dislodged from the initial reference location (e.g., a displacement above a certain threshold, such as about 4 mm). The direction of this perceived displacement may then be further analyzed (e.g., compared to a predicted or most likely direction of displacement) to determine whether there has been an actual dislodgement of the reference catheter, and, if so, an appropriate signal (e.g., an audible or visual warning) may be generated. Upon dislodgement, guidance may be provided to aid the practitioner in restoring the reference catheter to its initial location.
摘要翻译：检测用于定位系统的导航参考的移动的方法包括在定位区域内的初始参考位置处固定包括至少一个参考定位元件的参考导管。监测一个或多个参考定位元件的位置以感知到的位移，其表明参考导管已经从初始参考位置移除（例如，高于某个阈值的位移，例如约4mm）。然后可以进一步分析这种感知的位移的方向（例如，与预期的或最可能的位移方向相比较），以确定是否已经存在参考导管的实际移动，并且如果是，则适当的信号（例如，可能会产生声音或视觉警告）。在移动时，可以提供指导以帮助从业者将参考导管恢复到其初始位置。

3. 发明授权

US10918307B2 Catheter navigation using impedance and magnetic field measurements 有权
公开(公告)号：US10918307B2
公开(公告)日：2021-02-16
申请号：US13231284
申请日：2011-09-13
申请人： Eric S. Olson , Carlos Carbonera , Lev A. Koyrakh , Daniel R. Starks
发明人： Eric S. Olson , Carlos Carbonera , Lev A. Koyrakh , Daniel R. Starks
IPC分类号： A61B5/00 , A61B5/06 , A61B34/20 , A61B5/0538 , A61B90/00
摘要： A method of operating a positioning system by registering a first coordinate system of a first positioning system in a second coordinate system of a second positioning system includes determining an interpolation function configured to register the first, non-orthonormal coordinate system in the second, orthonormal coordinate system. Fiducial pairs are collected by the respective positioning systems, each of which contain a respective coordinate in the respective coordinate system, both of which refer to the same physical point in three dimensional space. Establishing a working interpolation function involves an analysis of the fiducial pairs using a thin-plate spline algorithm. The method further includes repeatedly obtaining a first coordinate in the first coordinate system and determining a corresponding second coordinate in the second coordinate system in accordance with the interpolation function.

4. 发明申请

US20130066193A1 CATHETER NAVIGATION USING IMPEDANCE AND MAGNETIC FIELD MEASUREMENTS 审中-公开
标题翻译：使用阻抗和磁场测量的导管导航
公开(公告)号：US20130066193A1
公开(公告)日：2013-03-14
申请号：US13231284
申请日：2011-09-13
申请人： Eric S. Olson , Carlos Carbonera , Lev A. Koyrakh , Daniel R. Starks
发明人： Eric S. Olson , Carlos Carbonera , Lev A. Koyrakh , Daniel R. Starks
IPC分类号： A61B5/05
CPC分类号： A61B5/063 , A61B5/0538 , A61B5/062 , A61B5/6852 , A61B5/7207 , A61B34/20 , A61B2034/2051 , A61B2034/2053 , A61B2090/0818
摘要： A method of operating a positioning system by registering a first coordinate system of a first positioning system in a second coordinate system of a second positioning system includes determining an interpolation function configured to register the first, non-orthonormal coordinate system in the second, orthonormal coordinate system. Fiducial pairs are collected by the respective positioning systems, each of which contain a respective coordinate in the respective coordinate system, both of which refer to the same physical point in three dimensional space. Establishing a working interpolation function involves an analysis of the fiducial pairs using a thin-plate spline algorithm. The method further includes repeatedly obtaining a first coordinate in the first coordinate system and determining a corresponding second coordinate in the second coordinate system in accordance with the interpolation function.
摘要翻译：一种通过在第二定位系统的第二坐标系中登记第一定位系统的第一坐标系来操作定位系统的方法包括确定配置成在第二正交坐标系中登记第一非正交坐标系的内插函数系统。基准对由相应的定位系统收集，每个定位系统在相应的坐标系中包含相应的坐标系，两者均指三维空间中相同的物理点。建立工作插值函数涉及使用薄板样条算法对基准对的分析。该方法还包括重复地获得第一坐标系中的第一坐标并根据插值函数确定第二坐标系中的对应的第二坐标。

5. 发明授权

US09585586B2 Navigational reference dislodgement detection method and system 有权
标题翻译：导航参考检测方法及系统
公开(公告)号：US09585586B2
公开(公告)日：2017-03-07
申请号：US12972253
申请日：2010-12-17
申请人： Lev A. Koyrakh , Jeffrey A. Schweitzer , Daniel R. Starks , Carlos Carbonera
发明人： Lev A. Koyrakh , Jeffrey A. Schweitzer , Daniel R. Starks , Carlos Carbonera
IPC分类号： A61B5/042 , A61B5/00
CPC分类号： A61B5/06 , A61B5/042 , A61B5/05 , A61B5/062 , A61B5/063 , A61B5/7207 , A61B5/7221 , A61B34/20 , A61B2034/2051 , A61B2034/2053 , A61B2034/2072
摘要： A method of detecting dislodgement of a navigational reference for a localization system includes securing a reference catheter, including at least one reference localization element, at an initial reference location within a localization field. The positions of one or more of the reference localization elements are monitored for a perceived displacement that suggests that the reference catheter has become dislodged from the initial reference location (e.g., a displacement above a certain threshold, such as about 4 mm). The direction of this perceived displacement may then be further analyzed (e.g., compared to a predicted or most likely direction of displacement) to determine whether there has been an actual dislodgement of the reference catheter, and, if so, an appropriate signal (e.g., an audible or visual warning) may be generated. Upon dislodgement, guidance may be provided to aid the practitioner in restoring the reference catheter to its initial location.
摘要翻译：检测用于定位系统的导航参考的移动的方法包括在定位区域内的初始参考位置处固定包括至少一个参考定位元件的参考导管。监测一个或多个参考定位元件的位置以感知到的位移，其表明参考导管已经从初始参考位置移除（例如，高于某个阈值的位移，例如约4mm）。然后可以进一步分析这种感知的位移的方向（例如，与预期的或最可能的位移方向相比较），以确定是否已经存在参考导管的实际移动，并且如果是，则适当的信号（例如，可能会产生声音或视觉警告）。在移动时，可以提供指导以帮助从业者将参考导管恢复到其初始位置。

6. 发明申请

US20120172713A1 SYSTEM AND METHOD FOR RENDERING AN IMAGE OF AN ELONGATE MEDICAL DEVICE 有权
标题翻译：用于呈现ELENATE医疗装置的图像的系统和方法
公开(公告)号：US20120172713A1
公开(公告)日：2012-07-05
申请号：US12980732
申请日：2010-12-29
申请人： Carlos Carbonera , Daniel R. Starks , Lev A. Koyrakh
发明人： Carlos Carbonera , Daniel R. Starks , Lev A. Koyrakh
IPC分类号： A61B5/05
CPC分类号： A61B5/065 , A61B5/6855
摘要： A system for visually rendering an elongate medical device in a body is provided. The system includes an electronic control unit configured to find a measured physical location for each of a plurality of position sensors on the elongate medical device. The electronic control unit is further configured to apply a spline function to each of the measured physical locations to determine a display location for each position sensor. The electronic control unit is further configured to interpolate between display locations of adjacent position sensors to identify display locations for portions of the elongate medical device between adjacent position sensors. The electronic control unit is further configured to generate image data for display of an image of the elongate medical device including the display locations of the position sensors and the display locations of the portions of the elongate medical device between adjacent position sensors.
摘要翻译：提供了一种用于在身体中视觉呈现细长医疗装置的系统。该系统包括电子控制单元，其配置成为细长医疗装置上的多个位置传感器中的每一个找到测量的物理位置。电子控制单元还被配置为向所测量的物理位置中的每一个施加样条函数，以确定每个位置传感器的显示位置。电子控制单元还被配置为在相邻位置传感器的显示位置之间插值，以识别相邻位置传感器之间的细长医疗设备的部分的显示位置。电子控制单元还被配置为产生用于显示细长医疗装置的图像的图像数据，其包括位置传感器的显示位置和细长医疗装置在相邻位置传感器之间的部分的显示位置。

7. 发明申请

US20130173230A1 METHOD AND SYSTEM FOR GENERATING A MULTI-DIMENSIONAL SURFACE MODEL OF A GEOMETRIC STRUCTURE 审中-公开
标题翻译：用于产生几何结构的多维表面模型的方法和系统
公开(公告)号：US20130173230A1
公开(公告)日：2013-07-04
申请号：US13338374
申请日：2011-12-28
申请人： Carlos Carbonera , Vasily Vylkov , Daniel R. Starks , Jiang Qian , Eric J. Voth
发明人： Carlos Carbonera , Vasily Vylkov , Daniel R. Starks , Jiang Qian , Eric J. Voth
IPC分类号： G06F17/10
CPC分类号： G06T17/00
摘要： A method of generating a multi-dimensional surface model of a geometric structure is provided. The method comprises acquiring a set of location data points comprising a plurality of location data points corresponding to respective locations on the surface of a region of the geometric structure. The method further comprises defining a bounding box containing each location data point of the set of location data points, and constructing a voxel grid based on the bounding box, wherein the voxel grid comprises a plurality of voxels. The method still further comprises extracting a multi-faceted surface model from certain of the plurality of voxels of the voxel grid using, for example, an alpha-hull approximation technique. The method may further comprise one or more of decimating and smoothing the surface of the multi-faceted surface model. A system comprising a processing apparatus for performing the aforedescribed method is also provided.
摘要翻译：提供了一种产生几何结构的多维表面模型的方法。该方法包括获取一组位置数据点，该位置数据点包括对应于几何结构区域的表面上的相应位置的多个位置数据点。所述方法还包括定义包含所述一组位置数据点中的每个位置数据点的边界框，以及基于所述边界框构建体素网格，其中所述体素网格包括多个体素。该方法还包括使用例如α壳体近似技术从体素网格的多个体素中的某些特征提取多面表面模型。该方法还可以包括对多面表面模型的表面进行抽取和平滑处理的一个或多个。还提供了一种包括用于执行上述方法的处理装置的系统。

8. 发明授权

US09159162B2 Method and system for generating a multi-dimensional surface model of a geometric structure 有权
标题翻译：用于生成几何结构的多维表面模型的方法和系统
公开(公告)号：US09159162B2
公开(公告)日：2015-10-13
申请号：US13338381
申请日：2011-12-28
申请人： Carlos Carbonera , Vasily Vylkov , Daniel R. Starks , Jiang Qian , Eric J. Voth
发明人： Carlos Carbonera , Vasily Vylkov , Daniel R. Starks , Jiang Qian , Eric J. Voth
IPC分类号： G06T17/00 , G06T15/00
CPC分类号： G06T17/10 , G06T11/60 , G06T15/08 , G06T17/00 , G06T2210/12
摘要： A method of constructing a bounding box comprises: acquiring a set of sensed data points; adding, for each sensed data point, at least one calculated data point; and defining a bounding box containing the sensed and calculated data points. A method of identifying voxels in a voxel grid corresponding to a plurality of data points comprises: calculating, for each data point, a distance between it and each voxel; creating a subset of voxels comprising voxels having a distance from one data point that is less than a predetermined distance; creating another subset comprising those voxels that neighbor a voxel in the first subset; computing, for each voxel in the second subset, a distance between it and each voxel in the first subset; and identifying each voxel in the first subset that is a distance away from each voxel in the second subset that exceeds a predetermined distance.
摘要翻译：一种构造边界框的方法包括：获取一组感测数据点; 对于每个感测数据点，添加至少一个计算的数据点; 并定义包含感测和计算的数据点的边界框。一种识别对应于多个数据点的体素网格中的体元的方法包括：针对每个数据点计算其与每个体素之间的距离; 创建体素的子集，其包括距离一个数据点的距离小于预定距离的体素; 创建另一子集，其包括邻近所述第一子集中的体素的所述体素; 对于第二子集中的每个体素计算其与第一子集中的每个体素之间的距离; 以及识别所述第一子集中距离所述第二子集中超过预定距离的每个体素的距离的每个体素。

9. 发明申请

US20130169638A1 METHOD AND SYSTEM FOR GENERATING A MULTI-DIMENSIONAL SURFACE MODEL OF A GEOMETRIC STRUCTURE 有权
标题翻译：用于产生几何结构的多维表面模型的方法和系统
公开(公告)号：US20130169638A1
公开(公告)日：2013-07-04
申请号：US13338381
申请日：2011-12-28
申请人： Carlos Carbonera , Vasily Vylkov , Daniel R. Starks , Jiang Qian , Eric J. Voth
发明人： Carlos Carbonera , Vasily Vylkov , Daniel R. Starks , Jiang Qian , Eric J. Voth
IPC分类号： G06T15/00
CPC分类号： G06T17/10 , G06T11/60 , G06T15/08 , G06T17/00 , G06T2210/12
摘要： A method of constructing a bounding box comprises: acquiring a set of sensed data points; adding, for each sensed data point, at least one calculated data point; and defining a bounding box containing the sensed and calculated data points. A method of identifying voxels in a voxel grid corresponding to a plurality of data points comprises: calculating, for each data point, a distance between it and each voxel; creating a subset of voxels comprising voxels having a distance from one data point that is less than a predetermined distance; creating another subset comprising those voxels that neighbor a voxel in the first subset; computing, for each voxel in the second subset, a distance between it and each voxel in the first subset; and identifying each voxel in the first subset that is a distance away from each voxel in the second subset that exceeds a predetermined distance.
摘要翻译：一种构造边界框的方法包括：获取一组感测数据点; 对于每个感测数据点，添加至少一个计算的数据点; 并定义包含感测和计算的数据点的边界框。一种识别对应于多个数据点的体素网格中的体元的方法包括：针对每个数据点计算其与每个体素之间的距离; 创建体素的子集，其包括距离一个数据点的距离小于预定距离的体素; 创建另一子集，其包括邻近所述第一子集中的体素的所述体素; 对于第二子集中的每个体素计算其与第一子集中的每个体素之间的距离; 以及识别所述第一子集中距离所述第二子集中超过预定距离的每个体素的距离的每个体素。

10. 发明授权

US09282915B2 Method and system for generating and/or repairing a surface model of a geometric structure 有权
标题翻译：用于产生和/或修复几何结构的表面模型的方法和系统
公开(公告)号：US09282915B2
公开(公告)日：2016-03-15
申请号：US13306376
申请日：2011-11-29
申请人： Carlos Carbonera , Eric J. Voth , Jeffrey A. Schweitzer
发明人： Carlos Carbonera , Eric J. Voth , Jeffrey A. Schweitzer
IPC分类号： G06F7/60 , G06F17/10 , A61B5/107 , A61B5/00 , A61B5/042 , G06T17/20
CPC分类号： A61B5/1076 , A61B5/0044 , A61B5/0053 , A61B5/0422 , G06T17/205 , G06T2210/41 , G06T2210/56
摘要： A method and system for generating and/or repairing surface models is provided. The method comprises acquiring data points corresponding to surface locations of a structure. The method further comprises generating a surface model of the structure based on the data points. The method further comprises adding additional data points to the point cloud formed by the acquired data points, and updating the model by constructing a surface model based on the added data points. The system comprises a processing apparatus configured to acquire data points corresponding to respective surface locations of a structure. The processing apparatus is further configured to generate a surface model of the structure based on the data points. The processing apparatus is further configured to add additional data points to the point cloud formed by the acquired data points, and update the surface model by constructing a surface model based on the added data points.
摘要翻译：提供了用于产生和/或修复表面模型的方法和系统。该方法包括获取对应于结构的表面位置的数据点。所述方法还包括基于所述数据点生成所述结构的表面模型。该方法还包括向由所获取的数据点形成的点云添加附加数据点，并且通过基于添加的数据点构建表面模型来更新模型。该系统包括被配置为获取对应于结构的各个表面位置的数据点的处理装置。处理装置还被配置为基于数据点生成结构的表面模型。处理装置还被配置为将附加数据点添加到由所获取的数据点形成的点云，并且通过基于添加的数据点构建表面模型来更新表面模型。

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