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1. 发明授权

US07677078B2 Line-based calibration of ultrasound transducer integrated with a pose sensor 有权
标题翻译：与姿态传感器集成的超声波换能器的基于线路的校准
公开(公告)号：US07677078B2
公开(公告)日：2010-03-16
申请号：US11649391
申请日：2007-01-03
申请人： Frank Sauer , Ali Khamene , Oliver Kutter , Sebastian Kassner
发明人： Frank Sauer , Ali Khamene , Oliver Kutter , Sebastian Kassner
IPC分类号： G01M1/14
CPC分类号： A61B8/12 , A61B5/062 , A61B8/0833 , A61B8/4254 , A61B8/483 , A61B8/587 , B33Y80/00
摘要： Apparatus for calibrating an ultrasound transducer providing B-scans for two-dimensional (2D) images, includes: an ultrasound probe for providing B-scans; a position sensing device, the position sensing device being attached to the ultrasound probe and operating as part of a position sensing system in cooperation with a fixed sensing control unit, for labeling the B-scans with their respective relative positions and orientations (pose); a phantom marker for being imaged by the ultrasound probe for providing measurements which together with known physical properties of the phantom marker are used to derive calibration information for relating measurement data from the position sensing device to the poses of the B-scans to construct a 3D image; and the phantom marker comprising an encoded line object with distinctive calibration characteristics indicative of position along the line object, wherein the line object is disposed in a generally circumferential manner about a common axis with the probe.
摘要翻译：用于校准提供二维（2D）图像的B扫描的超声换能器的装置包括：用于提供B扫描的超声探头; 位置感测装置，所述位置感测装置附接到所述超声波探头，并且作为与固定感测控制单元协作的位置感测系统的一部分进行操作，用于以它们各自的相对位置和取向（姿势）标记B扫描; 用于由超声波探头成像的用于提供测量的幻影标记，其与模拟标记的已知物理特性一起用于导出校准信息，用于将来自位置感测装置的测量数据与B扫描的姿态相关联以构建3D 图片; 并且所述假想标记包括具有指示沿着所述线对象的位置的独特校准特性的编码线对象，其中所述线对象以围绕所述探针的公共轴线大致圆周方式设置。

2. 发明申请

US20080287787A1 Line-based calibration of ultrasound transducer integrated with a pose sensor 有权
标题翻译：与姿态传感器集成的超声波换能器的基于线路的校准
公开(公告)号：US20080287787A1
公开(公告)日：2008-11-20
申请号：US11649391
申请日：2007-01-03
申请人： Frank Sauer , Ali Khamene , Oliver Kutter , Sebastian Kassner
发明人： Frank Sauer , Ali Khamene , Oliver Kutter , Sebastian Kassner
IPC分类号： A61B8/13
CPC分类号： A61B8/12 , A61B5/062 , A61B8/0833 , A61B8/4254 , A61B8/483 , A61B8/587 , B33Y80/00
摘要： Apparatus for calibrating an ultrasound transducer providing B-scans for two-dimensional (2D) images, includes: an ultrasound probe for providing B-scans; a position sensing device, the position sensing device being attached to the ultrasound probe and operating as part of a position sensing system in cooperation with a fixed sensing control unit, for labeling the B-scans with their respective relative positions and orientations (pose); a phantom marker for being imaged by the ultrasound probe for providing measurements which together with known physical properties of the phantom marker are used to derive calibration information for relating measurement data from the position sensing device to the poses of the B-scans to construct a 3D image; and the phantom marker comprising an encoded line object with distinctive calibration characteristics indicative of position along the line object, wherein the line object is disposed in a generally circumferential manner about a common axis with the probe.
摘要翻译：用于校准提供二维（2D）图像的B扫描的超声换能器的装置包括：用于提供B扫描的超声探头; 位置感测装置，所述位置感测装置附接到所述超声波探头，并且作为与固定感测控制单元协作的位置感测系统的一部分进行操作，用于以它们各自的相对位置和取向（姿势）标记B扫描; 用于由超声波探头成像的用于提供测量的幻影标记，其与模拟标记的已知物理特性一起用于导出校准信息，用于将来自位置感测装置的测量数据与B扫描的姿态相关联以构建3D 图片; 并且所述假想标记包括具有指示沿着所述线对象的位置的独特校准特性的编码线对象，其中所述线对象以围绕所述探针的公共轴线大致圆周方式设置。

3. 发明授权

US09681925B2 Method for augmented reality instrument placement using an image based navigation system 有权
公开(公告)号：US09681925B2
公开(公告)日：2017-06-20
申请号：US11107640
申请日：2005-04-15
申请人： Fred S. Azar , Ali Khamene , Frank Sauer , Sebastian Vogt
发明人： Fred S. Azar , Ali Khamene , Frank Sauer , Sebastian Vogt
IPC分类号： A61B5/05 , A61B90/00 , A61B34/20 , A61B90/11 , A61B34/10
CPC分类号： A61B90/36 , A61B34/10 , A61B34/20 , A61B90/11 , A61B90/361 , A61B2034/107 , A61B2090/365
摘要： A system and method for instrument placement using an image based navigation system is disclosed. A target of interest is identified in a medical image of a patient. An image plane is displayed that goes through a center of the target. The image plane has a configurable orientation. The image plane is used to select a path for an instrument from a position on the patient's skin to the center of the target. A trajectory plane is viewed from a tip of the instrument to the center of the target. The trajectory plane reflects an orientation of the instrument. A particular trajectory plane is selected that is representative of a desired orientation of the instrument. An image of the particular trajectory plane is frozen. The instrument can then be inserted using a virtual guide and is navigated toward the target.

4. 发明授权

US08244332B2 Three-dimensional breast anatomy imaging system 有权
标题翻译：三维乳房解剖成像系统
公开(公告)号：US08244332B2
公开(公告)日：2012-08-14
申请号：US11292338
申请日：2005-12-01
申请人： Fred S. Azar , Ali Khamene , Frank Sauer , Bruce Tromberg , Albert Cerussi
发明人： Fred S. Azar , Ali Khamene , Frank Sauer , Bruce Tromberg , Albert Cerussi
IPC分类号： A61B6/00
CPC分类号： A61B5/4312 , A61B5/0091 , A61B34/20 , A61B2034/105 , A61B2034/2051 , A61B2034/2055 , A61B2090/373 , G01N21/359 , G01N21/474 , G01N21/4795 , G01N2021/1787 , G01N2021/4745 , G01N2201/0221 , G01N2201/0612 , G01N2201/0691 , G01N2201/08
摘要： A diffuse optical spectroscopy system comprises a laser breast scanner, a handheld probe connected to the laser breast scanner for scanning a breast, and a tracking device coupled to the handheld probe, wherein the tracking device determines locations of the handheld probe relative to the breast. The tracking device comprises a magnetic tracking device, an optical tracking device or a laser tracking device.
摘要翻译：扩散光谱系统包括激光乳房扫描器，连接到用于扫描乳房的激光乳房扫描器的手持式探头以及耦合到手持探针的跟踪装置，其中跟踪装置确定手持式探针相对于乳房的位置。跟踪装置包括磁跟踪装置，光学跟踪装置或激光跟踪装置。

5. 发明授权

US07711405B2 Method of registering pre-operative high field closed magnetic resonance images with intra-operative low field open interventional magnetic resonance images 失效
标题翻译：用术中低场开放介入磁共振图像记录术前高磁场闭合磁共振图像的方法
公开(公告)号：US07711405B2
公开(公告)日：2010-05-04
申请号：US10833742
申请日：2004-04-28
申请人： Ali Khamene , Frank Sauer
发明人： Ali Khamene , Frank Sauer
IPC分类号： A61B5/05
CPC分类号： G01R33/56 , G01R33/5608
摘要： A system and method for registering pre-operative magnetic resonance (MR) images with intra-operative MR images is disclosed. A pre-operative MR image of an object is received. A set of intra-operative MR images of the object is received. The pre-operative MR image is rigidly registered with the initial intra-operative MR image. The subsequent set of intra-operative images is deformably registered. The pre-operative MR image undergoes both rigid and deformation transformation to match specification of each image with in intra-operative MR image set.
摘要翻译：公开了一种用于将术前磁共振（MR）图像与术中MR图像对准的系统和方法。接收对象的术前MR图像。接收对象的一组手术中MR图像。手术前MR图像与初始手术中MR图像刚性对齐。随后的一组术中图像可变形地记录。手术前MR图像经历刚性和变形变换，以在手术中的MR图像组中匹配每个图像的规格。

6. 发明申请

US20050249398A1 Rapid and robust 3D/3D registration technique 有权
标题翻译：快速和健壮的3D / 3D注册技术
公开(公告)号：US20050249398A1
公开(公告)日：2005-11-10
申请号：US11109119
申请日：2005-04-19
申请人： Ali Khamene , Frank Sauer , Chenyang Xu
发明人： Ali Khamene , Frank Sauer , Chenyang Xu
IPC分类号： A61K31/4439 , A61P9/00 , C07D401/14 , G06K9/00 , G06K9/32 , G06T7/00
CPC分类号： G06T7/38 , G06T2207/30004
摘要： Exemplary methods are provided. In one exemplary method, a lower-dimension signature is generated for each of a plurality of data sets of a given dimension. Registration is performed on the lower-dimension signatures. In another exemplary method, a two-dimensional signature is generated for each of a plurality of three-dimensional volumes. Registration is performed on the two-dimensional signatures.
摘要翻译：提供了示例性方法。在一个示例性方法中，为给定维度的多个数据集中的每一个产生较低维度签名。对较低维的签名执行注册。在另一示例性方法中，为多个三维体积中的每一个生成二维签名。对二维签名执行注册。

7. 发明申请

US20050203380A1 System and method for augmented reality navigation in a medical intervention procedure 有权
标题翻译：医疗干预程序中增强现实导航的系统和方法
公开(公告)号：US20050203380A1
公开(公告)日：2005-09-15
申请号：US11056317
申请日：2005-02-11
申请人： Frank Sauer , Ali Khamene , Sebastian Vogt
发明人： Frank Sauer , Ali Khamene , Sebastian Vogt
IPC分类号： A61B5/05
CPC分类号： G02B7/002 , A61B34/10 , A61B34/20 , A61B90/20 , A61B90/36 , A61B90/361 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2090/371 , G02B27/017 , G02B2027/0138 , G02B2027/0187 , G06F3/012
摘要： A method for augmented reality navigation of a medical intervention includes providing a stereoscopic head mounted display, the display including a pair of stereo viewing cameras, at least one tracking camera, and a stereoscopic guidance display. During a medical intervention on a patient, the patient's body pose is determined from a rigid body transformation between the tracking camera and frame markers on the scanning table, and the pose of an intervention instrument with respect to the table is determined. A visual representation of the patient overlaid with an image of the intervention target, the instrument, and a path for guiding the instrument to perform said medical intervention is displayed in the stereoscopic guidance display.
摘要翻译：用于医疗干预的增强现实导航的方法包括提供立体头戴式显示器，所述显示器包括一对立体观看照相机，至少一个跟踪相机和立体指导显示器。在患者的医疗干预中，患者的身体姿势由跟踪摄像机和扫描台上的帧标记之间的刚性身体变换确定，并且确定干预仪器相对于桌子的姿势。在立体指导显示中显示覆盖有介入目标图像，仪器和用于引导仪器执行所述医疗干预的路径的患者的视觉表示。

8. 发明授权

US07724943B2 Rapid and robust 3D/3D registration technique 有权
标题翻译：快速和健壮的3D / 3D注册技术
公开(公告)号：US07724943B2
公开(公告)日：2010-05-25
申请号：US11109119
申请日：2005-04-19
申请人： Ali Khamene , Frank Sauer , Chenyang Xu
发明人： Ali Khamene , Frank Sauer , Chenyang Xu
IPC分类号： G06K9/00 , G06T17/00 , G06T15/00
CPC分类号： G06T7/38 , G06T2207/30004
摘要： Exemplary methods are provided. In one exemplary method, a lower-dimension signature is generated for each of a plurality of data sets of a given dimension. Registration is performed on the lower-dimension signatures. In another exemplary method, a two-dimensional signature is generated for each of a plurality of three-dimensional volumes. Registration is performed on the two-dimensional signatures.
摘要翻译：提供了示例性方法。在一个示例性方法中，为给定维度的多个数据集中的每一个产生较低维度签名。对较低维的签名执行注册。在另一示例性方法中，为多个三维体积中的每一个生成二维签名。对二维签名执行注册。

9. 发明申请

US20070230764A1 Fast generation of digitally reconstructed radiographs 审中-公开
标题翻译：快速生成数字重建的X光片
公开(公告)号：US20070230764A1
公开(公告)日：2007-10-04
申请号：US10951167
申请日：2004-09-27
申请人： Ali Khamene , Frank Sauer
发明人： Ali Khamene , Frank Sauer
IPC分类号： G06K9/00
CPC分类号： G06T15/08 , G06T2210/41
摘要： A system and corresponding method for fast generation of digitally reconstructed radiograph (DRR) images are provided, the system including a processor, an imaging adapter in signal communication with the processor for receiving volumetric data, a preprocessing unit in signal communication with the processor for preprocessing subvolumes into a set of local line integrals, and an online processing unit in signal communication with the processor for online processing global line integrals, each from a set of local line integrals, respectively; and the corresponding method including receiving three-dimensional volumetric data, subdividing the volumetric data into a set of overlapping subvolumes, preprocessing each subvolume into a dense set of local line integrals at several angles and positions, online processing global line integrals, each from a set of local line integrals, respectively, and adding up values of the set of local line integrals for each global line integral to form pixels of the DRR image.
摘要翻译：提供了用于快速生成数字重建X射线照片（DRR）图像的系统和相应方法，该系统包括处理器，与处理器进行信号通信的成像适配器，用于接收体积数据，与处理器进行信号通信的预处理单元，用于预处理子体积成一组局部线积分，以及与处理器进行信号通信的在线处理单元，用于在线处理全局线积分，分别来自一组局部线积分; 以及相应的方法，包括接收三维体积数据，将体数据细分为一组重叠的子体积，将每个子体积在几个角度和位置处预处理成一组密集的局部线积分，在线处理全局线积分，每一个集合的本地线积分，并且将每个全局线积分的局部线积分的集合的值相加以形成DRR图像的像素。

10. 发明申请

US20060188139A1 Tree structure based 2D to 3D registration 有权
标题翻译：基于树结构的2D到3D注册
公开(公告)号：US20060188139A1
公开(公告)日：2006-08-24
申请号：US11303564
申请日：2005-12-16
申请人： Ali Khamene , Charles Florin , Frank Sauer , James Williams
发明人： Ali Khamene , Charles Florin , Frank Sauer , James Williams
IPC分类号： G06K9/00
CPC分类号： G06K9/00208 , G06K2009/00932 , G06K2209/05
摘要： A system and method for tree structure based two-dimensional to three-dimensional registration are provided for receiving three-dimensional (3D) data indicative of vessels, segmenting the 3D data with a vessel tree, simulating two-dimensional (2D) data responsive to the segmented 3D data to form a simulated 2D image, receiving 2D data indicative of vessels, segmenting the received 2D data with a vessel tree, finding a distance transform of the segmented 2D data to form a 2D distance map image, considering a set of poses as state vectors with the corresponding probability computed using the similarity measure computation, re-sampling the pose vector to find a set of most probable poses and considering them as hypothesized poses, recomputing the projection and re-evaluating the probability of the hypothesized poses and updating the state vector until the optimal pose is found.
摘要翻译：提供了一种用于基于树结构的二维至三维配准的系统和方法，用于接收指示血管的三维（3D）数据，用血管树分割3D数据，模拟二维（2D）数据，响应于分割的3D数据以形成模拟2D图像，接收指示血管的2D数据，用血管树分割接收的2D数据，找到分割的2D数据的距离变换以形成2D距离图图像，考虑一组姿势作为具有使用相似度测量计算计算的相应概率的状态向量，重新采样姿态向量以找到一组最可能的姿势并将其视为假设姿势，重新计算投影并重新估计假设姿势的概率和更新状态矢量，直到找到最佳姿势。

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