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1. 发明授权

US07251522B2 X-ray image-assisted navigation using original, two-dimensional x-ray images 有权
标题翻译： X射线图像辅助导航使用原始的二维X射线图像
公开(公告)号：US07251522B2
公开(公告)日：2007-07-31
申请号：US10661834
申请日：2003-09-12
申请人： Robert Essenreiter , Falko Seifferth , Robert Schmidt , Mario Zeiss , Sorin-Alexandru Neagu , Matthias Mühlhäusser , Anders Steiner
发明人： Robert Essenreiter , Falko Seifferth , Robert Schmidt , Mario Zeiss , Sorin-Alexandru Neagu , Matthias Mühlhäusser , Anders Steiner
IPC分类号： A61B5/05
CPC分类号： A61B34/20 , A61B2034/2055 , A61B2034/2072 , A61B2090/376
摘要： A method for displaying images in a medical navigation system assisted by x-ray images includes calibrating an x-ray device in the medical navigation system and producing a plurality of two-dimensional x-ray images of a patient using the x-ray device. During the producing step, positions of the x-ray device are determined using the medical navigation system in order to produce positional data. Data associated with the two-dimensional x-ray images is converted into three-dimensional data. The two-dimensional x-ray images, production information corresponding to the two-dimension x-ray images, and the three-dimensional data to the navigation system. At least the two-dimensional x-ray images are displayed on an image output of the medical navigation system.
摘要翻译：用于在由x射线图像辅助的医疗导航系统中显示图像的方法包括校准医疗导航系统中的x射线装置，并使用x射线装置产生患者的多个二维X射线图像。在生产步骤中，使用医疗导航系统确定x射线装置的位置，以便产生位置数据。与二维X射线图像相关联的数据被转换为三维数据。二维X射线图像，对应于二维X射线图像的生产信息，以及导航系统的三维数据。至少二维X射线图像显示在医疗导航系统的图像输出上。

2. 发明授权

US07634122B2 Registering intraoperative scans 有权
标题翻译：注册术中扫描
公开(公告)号：US07634122B2
公开(公告)日：2009-12-15
申请号：US11211170
申请日：2005-08-24
申请人： Michael Bertram , Robert Essenreiter
发明人： Michael Bertram , Robert Essenreiter
IPC分类号： G06K9/00
CPC分类号： A61B34/20 , A61B90/36 , A61B2034/2055 , A61B2090/364 , A61B2090/374 , A61B2090/3762 , G06T7/33 , G06T2207/30004 , Y10S128/922
摘要： A system and apparatus for registering image data of a body, wherein the image data are captured in a detection range and the body is subsequently shifted relative to the detection range or vice versa. The image data are registered from the detected position of a first marker array, arranged in a defined positional relationship relative to the body, and from the detected position of a second marker array, arranged in a defined positional relationship relative to the detection range. The apparatus includes a camera and a first marker array that is arranged in a known positional relationship relative to the body, wherein a second marker array is arranged at a fixed position relative to a detection range.
摘要翻译：一种用于登记身体的图像数据的系统和装置，其中，图像数据在检测范围内被捕获，并且身体随后相对于检测范围移动，反之亦然。从相对于身体以规定的位置关系布置的第一标记阵列的检测位置和相对于检测范围以规定的位置关系布置的第二标记阵列的检测位置登记图像数据。该装置包括照相机和相对于身体以已知的位置关系布置的第一标记阵列，其中第二标记阵列相对于检测范围布置在固定位置。

3. 发明授权

US07922391B2 Determining calibration information for an x-ray apparatus 有权
标题翻译：确定X射线设备的校准信息
公开(公告)号：US07922391B2
公开(公告)日：2011-04-12
申请号：US12436267
申请日：2009-05-06
申请人： Robert Essenreiter , Michael Bertram , Martin Ringholz
发明人： Robert Essenreiter , Michael Bertram , Martin Ringholz
IPC分类号： G01D18/00
CPC分类号： A61B6/583 , A61B6/4441 , A61B34/20 , A61B2017/00712 , A61B2017/00725 , A61B2034/2055 , A61B2090/367 , A61B2090/376
摘要： A device and method are provided that enable calibration information to be determined for an x-ray apparatus that performs a three-dimensional x-ray scan. The calibration information is determined using an adapting method, wherein the adapting method is based on a position of an x-ray source relative to an x-ray unit marker device during image acquisition, an x-ray unit data set that describes the position of the x-ray unit marker device during image acquisition, and a two-dimensional calibration data set that describes at least one and preferably two actual two-dimensional x-ray images produced by irradiating a calibration object.
摘要翻译：提供了一种能够为执行三维X射线扫描的X射线装置确定校准信息的装置和方法。使用适配方法确定校准信息，其中适应方法基于在图像采集期间相对于x射线单元标记装置的X射线源的位置，X射线单元数据集描述图像采集期间的x射线单位标记装置，以及描述通过照射校准对象产生的至少一个且优选两个实际二维X射线图像的二维校准数据组。

4. 发明申请

US20090268875A1 METHOD FOR REGISTERING A TWO-DIMENSIONAL IMAGE DATA SET, GENERATED USING FAN-SHAPED IMAGING RAYS, IN THE MEDICAL FIELD AND A CORRESPONDING COMPUTER PROGRAM PRODUCT AND METHOD AND SYSTEM FOR AUTOMATICALLY REGISTERING A BODY ON THE BASIS OF TWO-DIMENSIONAL IMAGE DATA, FOR USE IN MEDICAL NAVIGATION SYSTEMS 有权
标题翻译：用于注册使用扇形成像的二维图像数据集的方法，在医疗领域和相应的计算机程序产品中，以及用于在二维图像数据的基础上自动注册身体的方法和系统，用于使用医疗导航系统
公开(公告)号：US20090268875A1
公开(公告)日：2009-10-29
申请号：US12427789
申请日：2009-04-22
申请人： Martin Edlauer , Uli Mezger , Robert Essenreiter , Manfred Weiser
发明人： Martin Edlauer , Uli Mezger , Robert Essenreiter , Manfred Weiser
IPC分类号： H05G1/28 , G06K9/00
CPC分类号： A61B6/488 , A61B6/032 , A61B34/20 , A61B90/36 , A61B2017/00707 , A61B2017/00725 , A61B2090/363 , A61B2090/364 , A61B2090/376 , A61B2090/3762 , A61B2090/3983 , A61B2090/3995 , G06F19/00
摘要： The present invention relates to a method for registering a two-dimensional image data set, generated using fan-shaped imaging rays, in the medical field, wherein the method comprises: processing the two-dimensional image data on the basis of a spatial transformation function which describes a spatial relative position between points which have been imaged using a fan-shaped imaging ray, and the imaging apparatus used for imaging; and processing the two-dimensional image data on the basis of an imaging transformation function which describes an imaging function of the imaging apparatus used for generating the two-dimensional image data set, which describes a spatial relationship between the actual spatial position of imaged points and their imaging location in a recording.
摘要翻译：本发明涉及一种用于在医疗领域中记录使用扇形成像光线产生的二维图像数据集的方法，其中该方法包括：基于空间变换函数来处理二维图像数据其描述了已经使用扇形成像光线成像的点之间的空间相对位置和用于成像的成像装置; 并且基于描述用于生成二维图像数据集的成像装置的成像功能的成像变换功能来处理二维图像数据，其描绘成像点的实际空间位置和他们的成像位置在录音。

5. 发明授权

US08218843B2 Method for registering two-dimensional image data, computer program product, navigation method for navigating a treatment apparatus in the medical field, and computational device for registering two-dimensional image data 失效
标题翻译：用于记录二维图像数据的方法，计算机程序产品，用于导航医疗领域中的治疗装置的导航方法以及用于注册二维图像数据的计算装置
公开(公告)号：US08218843B2
公开(公告)日：2012-07-10
申请号：US12243148
申请日：2008-10-01
申请人： Martin Edlauer , Uli Mezger , Robert Essenreiter , Manfred Weiser
发明人： Martin Edlauer , Uli Mezger , Robert Essenreiter , Manfred Weiser
IPC分类号： G06K9/60 , G06T15/00 , G06T19/00 , G01N23/083
CPC分类号： A61N5/1049 , G06T7/38 , G06T2207/10081 , G06T2207/10121 , G06T2207/30004 , Y10S378/901
摘要： The present application relates to a method for registering two-dimensional image data, comprising the steps of: providing a registered three-dimensional image data set of an object under examination; providing a two-dimensional image data set of the object under examination which is to be registered; generating synthetic two-dimensional image data sets of the object under examination from the three-dimensional image data set, wherein the synthetic two-dimensional image data sets to be generated are parameterized with regard to parameters which describe the two-dimensional image data set to be registered; comparing the parameterized synthetic two-dimensional image data sets with the two-dimensional image data set to be registered, and finding the parameterized synthetic two-dimensional image data set having the greatest similarity to the two-dimensional image data set to be registered; on the basis of this, ascertaining the spatial relationship between the two-dimensional image data set to be registered and the registered three-dimensional image data set, and thus registering the two-dimensional image data set.
摘要翻译：本申请涉及一种用于登记二维图像数据的方法，包括以下步骤：提供被检查对象的注册的三维图像数据集; 提供待登记对象的二维图像数据集; 从三维图像数据集合生成被检查对象的合成二维图像数据集，其中将生成的合成二维图像数据集参数化为参数，其描述将二维图像数据设置为注册; 将参数化的合成二维图像数据集与要登记的二维图像数据组进行比较，并找到与要登记的二维图像数据集具有最大相似性的参数化合成二维图像数据集; 基于此，确定要登记的二维图像数据集和登记的三维图像数据集之间的空间关系，从而记录二维图像数据集。

6. 发明申请

US20090285366A1 DETERMINING CALIBRATION INFORMATION FOR AN X-RAY APPARATUS 有权
公开(公告)号：US20090285366A1
公开(公告)日：2009-11-19
申请号：US12436267
申请日：2009-05-06
申请人： Robert Essenreiter , Michael Bertram , Martin Ringholz
发明人： Robert Essenreiter , Michael Bertram , Martin Ringholz
IPC分类号： G01D18/00
CPC分类号： A61B6/583 , A61B6/4441 , A61B34/20 , A61B2017/00712 , A61B2017/00725 , A61B2034/2055 , A61B2090/367 , A61B2090/376
摘要： The present invention relates to a method for determining calibration information which includes information on a spatial relationship between an x-ray apparatus reference frame and a three-dimensional scan reference frame, comprising the following steps: a three-dimensional calibration data set is provided which represents a three-dimensional calibration model of a calibration object in the three-dimensional scan reference frame, wherein the calibration model has been determined from scan data generated by a three-dimensional calibration x-ray scan, wherein in the three-dimensional calibration x-ray scan, an x-ray unit is moved along a three-dimensional scanning path relative to the calibration object, wherein at least a portion of the three-dimensional scanning path lies in the x-ray apparatus reference frame; x-ray source relative position data is provided which includes information on the relative position of an x-ray source relative to an x-ray unit marker device attached to the x-ray unit when actual two-dimensional x-ray images are produced; a two-dimensional calibration data set is provided which describes a first of the actual two-dimensional x-ray images which has been produced by means of irradiating at least the calibration object in a first position (FIG. 1) of the x-ray source in the x-ray apparatus reference frame, and which also describes: a) a second of the actual two-dimensional x-ray images which has been produced by means of irradiating at least the calibration object, which is spatially fixed as compared to the first two-dimensional x-ray image, in a second position (FIG. 2) of the x-ray source in the x-ray apparatus reference frame; and/or b) the dimensions of the calibration object; an x-ray unit data set is provided which describes the position of the x-ray unit marker device when the at least one actual two-dimensional x-ray image is generated; and the calibration information is determined by means of an adapting method on the basis of the x-ray source relative position data, the x-ray unit data set and the two-dimensional calibration data set.

7. 发明申请

US20060050942A1 Registering intraoperative scans 有权
公开(公告)号：US20060050942A1
公开(公告)日：2006-03-09
申请号：US11211170
申请日：2005-08-24
申请人： Michael Bertram , Robert Essenreiter
发明人： Michael Bertram , Robert Essenreiter
IPC分类号： G06K9/00
CPC分类号： A61B34/20 , A61B90/36 , A61B2034/2055 , A61B2090/364 , A61B2090/374 , A61B2090/3762 , G06T7/33 , G06T2207/30004 , Y10S128/922
摘要： A system and apparatus for registering image data of a body, wherein the image data are captured in a detection range and the body is subsequently shifted relative to the detection range or vice versa. The image data are registered from the detected position of a first marker array, arranged in a defined positional relationship relative to the body, and from the detected position of a second marker array, arranged in a defined positional relationship relative to the detection range. The apparatus includes a camera and a first marker array that is arranged in a known positional relationship relative to the body, wherein a second marker array is arranged at a fixed position relative to a detection range.

8. 发明授权

US10429182B2 Method and apparatus for detecting undesirable rotation of medical markers 有权
公开(公告)号：US10429182B2
公开(公告)日：2019-10-01
申请号：US14408984
申请日：2012-06-19
申请人： Jorg Uhde , Robert Essenreiter
发明人： Jorg Uhde , Robert Essenreiter
IPC分类号： A61B34/20 , A61B90/00 , G01B21/22 , G06F17/40 , G16H20/40 , G06F19/00
摘要： Provided is a data processing method for determining rotation by a marker device of a medical tracking system about its mount. The data processing method includes acquiring a first marker device position dataset which represents a position of the marker device before a movement of the marker device. A second marker device position dataset is acquired which represents the position of the marker device after a movement of the marker device. A marker device displacement dataset is calculated, which represents the displacement of the marker device, from the first and second marker device position datasets. At least one axis of rotation of the marker device displacement dataset is calculated. A determination is made whether or not the marker device is rotated about its mount from the position of the at least one axis of rotation relative to the marker device.

9. 发明授权

US08175365B2 Method for registering a two-dimensional image data set, generated using fan-shaped imaging rays, in the medical field and a corresponding computer program product and method and system for automatically registering a body on the basis of two-dimensional image data, for use in medical navigation systems 有权
标题翻译：用于在医疗领域中记录使用扇形成像光线生成的二维图像数据集的方法以及用于基于二维图像数据自动登记身体的相应的计算机程序产品和方法和系统，以供使用在医疗导航系统中
公开(公告)号：US08175365B2
公开(公告)日：2012-05-08
申请号：US12427789
申请日：2009-04-22
申请人： Martin Edlauer , Uli Mezger , Robert Essenreiter , Manfred Weiser
发明人： Martin Edlauer , Uli Mezger , Robert Essenreiter , Manfred Weiser
IPC分类号： G06K9/00
CPC分类号： A61B6/488 , A61B6/032 , A61B34/20 , A61B90/36 , A61B2017/00707 , A61B2017/00725 , A61B2090/363 , A61B2090/364 , A61B2090/376 , A61B2090/3762 , A61B2090/3983 , A61B2090/3995 , G06F19/00
摘要： The present invention relates to a method for registering a two-dimensional image data set, generated using fan-shaped imaging rays, in the medical field, wherein the method comprises: processing the two-dimensional image data on the basis of a spatial transformation function which describes a spatial relative position between points which have been imaged using a fan-shaped imaging ray, and the imaging apparatus used for imaging; and processing the two-dimensional image data on the basis of an imaging transformation function which describes an imaging function of the imaging apparatus used for generating the two-dimensional image data set, which describes a spatial relationship between the actual spatial position of imaged points and their imaging location in a recording.
摘要翻译：本发明涉及一种用于在医疗领域中记录使用扇形成像光线产生的二维图像数据集的方法，其中该方法包括：基于空间变换函数来处理二维图像数据其描述了已经使用扇形成像光线成像的点之间的空间相对位置和用于成像的成像装置; 并且基于描述用于生成二维图像数据集的成像装置的成像功能的成像变换功能来处理二维图像数据，其描绘成像点的实际空间位置和他们的成像位置在录音。

10. 发明申请

US20090087063A1 METHOD FOR REGISTERING TWO-DIMENSIONAL IMAGE DATA, COMPUTER PROGRAM PRODUCT, NAVIGATION METHOD FOR NAVIGATING A TREATMENT APPARATUS IN THE MEDICAL FIELD, AND COMPUTATIONAL DEVICE FOR REGISTERING TWO-DIMENSIONAL IMAGE DATA 失效
标题翻译：注册二维图像数据的方法，计算机程序产品，用于导航医疗中的治疗装置的导航方法以及用于注册二维图像数据的计算装置
公开(公告)号：US20090087063A1
公开(公告)日：2009-04-02
申请号：US12243148
申请日：2008-10-01
申请人： Martin EDLAUER , Uli Mezger , Robert Essenreiter , Manfred Weiser
发明人： Martin EDLAUER , Uli Mezger , Robert Essenreiter , Manfred Weiser
IPC分类号： G06K9/00
CPC分类号： A61N5/1049 , G06T7/38 , G06T2207/10081 , G06T2207/10121 , G06T2207/30004 , Y10S378/901
摘要： The present application relates to a method for registering two-dimensional image data, comprising the steps of: providing a registered three-dimensional image data set of an object under examination; providing a two-dimensional image data set of the object under examination which is to be registered; generating synthetic two-dimensional image data sets of the object under examination from the three-dimensional image data set, wherein the synthetic two-dimensional image data sets to be generated are parameterized with regard to parameters which describe the two-dimensional image data set to be registered; comparing the parameterized synthetic two-dimensional image data sets with the two-dimensional image data set to be registered, and finding the parameterized synthetic two-dimensional image data set having the greatest similarity to the two-dimensional image data set to be registered; on the basis of this, ascertaining the spatial relationship between the two-dimensional image data set to be registered and the registered three-dimensional image data set, and thus registering the two-dimensional image data set.
摘要翻译：本申请涉及一种用于登记二维图像数据的方法，包括以下步骤：提供被检查对象的注册的三维图像数据集; 提供待登记对象的二维图像数据集; 从三维图像数据集合生成被检查对象的合成二维图像数据集，其中将生成的合成二维图像数据集参数化为参数，其描述将二维图像数据设置为注册; 将参数化的合成二维图像数据集与要登记的二维图像数据组进行比较，并找到与要登记的二维图像数据集具有最大相似性的参数化合成二维图像数据集; 基于此，确定要登记的二维图像数据集和登记的三维图像数据集之间的空间关系，从而记录二维图像数据集。

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