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1. 发明申请

WO2008095068A1 METHOD AND APPARATUS FOR CONTINUOUS GUIDANCE OF ENDOSCOPY 审中-公开
标题翻译：连续指导内镜的方法和装置
公开(公告)号：WO2008095068A1
公开(公告)日：2008-08-07
申请号：PCT/US2008/052589
申请日：2008-01-31
申请人： THE PENN STATE RESEARCH FOUNDATION , HIGGINS, William, E. , MERRITT, Scott, A. , RAI, Lav , GIBBS, Jason, D. , YU, Kun-chang
发明人： HIGGINS, William, E. , MERRITT, Scott, A. , RAI, Lav , GIBBS, Jason, D. , YU, Kun-chang
IPC分类号： A61B1/00
CPC分类号： A61B1/0005 , A61B1/00009 , A61B34/20 , A61B34/25 , A61B90/36 , A61B90/361 , A61B2034/105 , A61B2034/107 , A61B2090/365
摘要： Methods and apparatus provide continuous guidance of endoscopy during a live procedure. A data-set based on 3D image data is pre-computed including reference information representative of a predefined route through a body organ to a final destination. A plurality of live real endoscopic (RE) images are displayed as an operator maneuvers an endoscope within the body organ. A registration and tracking algorithm registers the data-set to one or more of the RE images and continuously maintains the registration as the endoscope is locally maneuvered. Additional information related to the final destination is then presented enabling the endoscope operator to decide on a final maneuver for the procedure. The reference information may include 3D organ surfaces, 3D routes through an organ system, or 3D regions of interest (ROIs), as well as a virtual endoscopic (VE) image generated from the precomputed data-set. The preferred method includes the step of superimposing one or both of the 3D routes and ROIs on one or both of the RE and VE images. The 3D organ surfaces and routes may correspond to the surfaces and paths of a tracheobronchial airway tree extracted, for example, from 3D MDCT images of the chest.
摘要翻译：方法和装置在实时程序中提供内窥镜检查的连续指导。基于3D图像数据的数据集被预先计算，包括表示通过身体器官到最终目的地的预定义路线的参考信息。多个实时内窥镜（RE）图像作为操作者显示在身体器官内的内窥镜。注册和跟踪算法将数据集注册到一个或多个RE图像，并且在内窥镜被局部操纵时连续地保持注册。然后呈现与最终目的地相关的附加信息，使得内窥镜操作者能够决定该程序的最终操纵。参考信息可以包括3D器官表面，通过器官系统的3D路线或感兴趣的3D区域（ROI）以及从预先计算的数据集生成的虚拟内窥镜（VE）图像。优选的方法包括将一个或两个3D路线和ROI叠加在RE和VE图像中的一个或两个上的步骤。 3D器官表面和路线可以对应于例如从胸部的3D MDCT图像提取的气管支气管气道树的表面和路径。

2. 发明申请

WO2009103046A2 MEDICAL IMAGE REPORTING SYSTEM AND METHOD 审中-公开
标题翻译：医学图像报告系统及方法
公开(公告)号：WO2009103046A2
公开(公告)日：2009-08-20
申请号：PCT/US2009/034197
申请日：2009-02-16
申请人： THE PENN STATE RESEARCH FOUNDATION , HIGGINS, William, E. , GIBBS, Jason, D. , YU, Kun-chang , GRAHAM, Michael, W. , LU, Kongkuo
发明人： HIGGINS, William, E. , GIBBS, Jason, D. , YU, Kun-chang , GRAHAM, Michael, W. , LU, Kongkuo
IPC分类号： A61B6/00
CPC分类号： G06T7/162 , G06F19/00 , G06T7/12 , G06T2207/20044 , G06T2207/30061
摘要： This invention relates generally to medical imaging and, in particular, to a method and system for I) reconstructing a model path through a branched tubular organ, II) automatic lymph node station mapping, and III) automatic path or route report generation. Novel methodologies and systems segment and define accurate endoluminal surfaces in airway trees, including small peripheral bronchi. An automatic algorithm is described that searches the entire lung volume for airway branches and poses airway-tree segmentation as a global graph-theoretic optimization problem. A suite of interactive segmentation tools for cleaning and extending critical areas of the automatically segmented result is disclosed. A model path is reconstructed through the airway tree. Additionally, a computer-based system for automatically locating the central chest lymph -node stations in a 3D MDCT image is described. Automated analysis methods extract the airway tree, airway-tree centerlines, aorta, pulmonary artery, lungs, key skeletal structures, and major-airway labels. Geometrical and anatomical cues arising from the extracted structures are used to localize the major nodal stations. The system calculates and displays the nodal stations in 3D. Visualization tools within the system enable the user to interact with the stations to locate visible lymph nodes. Additionally, a method and apparatus for producing and previewing a report for peripheral bronchoscopic procedures using patient-specific MDCT chest scans is disclosed. The report provides quantitative data about the route and both static and dynamic previews of the procedure. Static previews consist of virtual bronchoscopic endoluminal renderings at bifurcations encountered along the route, renderings of the airway tree and ROI at the suggested biopsy location, and three-dimensional cues as to the location for the biopsy.
摘要翻译：本发明一般涉及医学成像，特别是涉及I）通过分支管状器官重建模型路径的方法和系统，II）自动淋巴结站映射，以及III）自动路径或路线报告生成。新颖的方法和系统在气道树中划分并定义精确的内腔表面，包括小型外周支气管。描述了一种自动算法，其搜索整个肺体积以进行气道分支，并将气道树分割作为全局图理论优化问题。公开了一套用于清理和扩展自动分段结果关键区域的交互式分割工具。通过气道树重建模型路径。另外，描述了一种用于在3D MDCT图像中自动定位中央胸部淋巴结站的基于计算机的系统。自动分析方法提取气道树，气道树中心线，主动脉，肺动脉，肺，关键骨骼结构和主要气道标签。提取的结构产生的几何和解剖学线索用于本地化主要节点。系统以3D形式计算和显示节点站。系统中的可视化工具使用户能够与站点进行交互，以定位可见的淋巴结。另外，公开了一种用于使用患者特异性MDCT胸部扫描来生产和预览用于外周支气管镜手术的报告的方法和装置。该报告提供有关路线的定量数据，以及程序的静态和动态预览。静态预览包括在路线上遇到的分叉处的虚拟支气管镜腔内效果图，气道树的渲染和建议的活检位置处的ROI，以及针对活检位置的三维线索。

3. 发明申请

WO2008095100A1 METHODS AND APPARATUS FOR 3D ROUTE PLANNING THROUGH HOLLOW ORGANS 审中-公开
标题翻译：通过中空机构进行3D路由规划的方法和设备
公开(公告)号：WO2008095100A1
公开(公告)日：2008-08-07
申请号：PCT/US2008/052661
申请日：2008-01-31
申请人： THE PENN STATE RESEARCH FOUNDATION , HIGGINS, William, E. , GIBBS, Jason, D.
发明人： HIGGINS, William, E. , GIBBS, Jason, D.
IPC分类号： G06T17/40
CPC分类号： A61B34/10 , A61B1/00009 , A61B1/00045 , A61B1/2676 , A61B6/032 , A61B6/466 , A61B6/469 , A61B2034/105 , A61B2034/107 , G06T19/003 , G06T2207/30061 , G06T2210/41
摘要： Methods and apparatus assist in planning routes through hollow, branching organs in patients to optimize subsequent endoscopic procedures. Information is provided about the organ and a follow-on endoscopic procedure associated with the organ. The most appropriate navigable route or routes to a target region of interest (ROI) within the organ are then identified given anatomical, endoscopic-device, or procedure-specific constraints derived from the information provided. The method may include the step of modifying the viewing direction at each site along a route to give physically meaningful navigation directions or to reflect the requirements of a follow-on live endoscopic procedure. An existing route may further be extended, if necessary, to an ROI beyond the organ. The information provided may include anatomical constraints that define locations or organs to avoid; anatomical constraints that confine the route within specific geometric locations; or a metric for selecting the most appropriate route. For example, the metric may define the closest route to the ROI such that the route satisfies all applicable anatomical, device, and procedural constraints.
摘要翻译：方法和设备有助于通过患者的空心分支器官来规划路线，以优化随后的内窥镜手术。提供有关器官的信息和与器官相关的后续内窥镜手术。然后，根据从所提供的信息导出的解剖学，内窥镜装置或程序特异性约束，识别到器官内目标感兴趣区域（ROI）的最适当的导航路线或路线。该方法可以包括沿着路线修改每个站点处的观察方向以给出物理上有意义的导航方向或反映后续活动内窥镜过程的要求的步骤。如果需要，现有的路线可以进一步延伸到器官以外的ROI。所提供的信息可以包括限定要避免的位置或器官的解剖学约束; 将路线限制在特定几何位置的解剖学约束; 或用于选择最合适路线的度量。例如，度量可以定义到ROI的最近路线，使得路线满足所有适用的解剖，设备和程序限制。

4. 发明申请

WO2012106310A1 METHOD AND DEVICE FOR DETERMINING THE LOCATION OF AN ENDOSCOPE 审中-公开
标题翻译：用于确定内窥镜位置的方法和装置
公开(公告)号：WO2012106310A1
公开(公告)日：2012-08-09
申请号：PCT/US2012/023279
申请日：2012-01-31
申请人： THE PENN STATE RESEARCH FOUNDATION , CORNISH, Duane, C. , HIGGINS, William, E. , GIBBS, Jason, D.
发明人： CORNISH, Duane, C. , HIGGINS, William, E. , GIBBS, Jason, D.
IPC分类号： A61B1/267 , A61M25/095 , A61B6/03 , G09B23/28
CPC分类号： A61B1/2676 , A61B1/00006 , A61B1/00133 , A61B5/066 , A61B6/12 , A61B6/5247 , A61B34/20 , A61B2034/102 , A61B2034/2046 , A61B2034/2061 , A61B2090/062 , G06K9/00208 , G06K9/00214 , G06K9/6289
摘要： A technician-free strategy enables real-time guidance of bronchoscopy. The approach uses measurements of the bronchoscope's movement to predict its position in 3D virtual space. To achieve this, a bronchoscope model, defining the device's shape in the airway tree to a given point p, provides an insertion depth to p. In real time, the invention compares an observed bronchoscope insertion depth and roll angle, measured by an optical sensor, to precalculated insertion depths along a predefined route in the virtual airway tree to predict a bronchoscope's location and orientation.
摘要翻译：无需技术人员的策略可实时支持支气管镜检查。该方法使用支气管镜运动的测量来预测其在3D虚拟空间中的位置。为了实现这一点，将气道树中的装置形状定义为给定点p的支气管镜模型提供了对p的插入深度。实际上，本发明将观察到的支气管镜插入深度和由光学传感器测量的滚动角度沿虚拟气道树中的预定路线预先计算的插入深度进行比较以预测支气管镜的位置和取向。

5. 发明公开

EP2670291A1 METHOD AND DEVICE FOR DETERMINING THE LOCATION OF AN ENDOSCOPE 审中-公开
标题翻译：方法和装置确定内窥镜的位置
公开(公告)号：EP2670291A1
公开(公告)日：2013-12-11
申请号：EP12741987.7
申请日：2012-01-31
申请人： The Penn State Research Foundation
发明人： CORNISH, Duane, C. , HIGGINS, William, E. , GIBBS, Jason, D.
IPC分类号： A61B1/267 , A61M25/095 , A61B6/03 , G09B23/28
CPC分类号： A61B1/2676 , A61B1/00006 , A61B1/00133 , A61B5/066 , A61B6/12 , A61B6/5247 , A61B34/20 , A61B2034/102 , A61B2034/2046 , A61B2034/2061 , A61B2090/062 , G06K9/00208 , G06K9/00214 , G06K9/6289
摘要： A technician-free strategy enables real-time guidance of bronchoscopy. The approach uses measurements of the bronchoscope's movement to predict its position in 3D virtual space. To achieve this, a bronchoscope model, defining the device's shape in the airway tree to a given point p, provides an insertion depth to p. In real time, the invention compares an observed bronchoscope insertion depth and roll angle, measured by an optical sensor, to precalculated insertion depths along a predefined route in the virtual airway tree to predict a bronchoscope's location and orientation.

6. 发明公开

EP2115702A1 METHODS AND APPARATUS FOR 3D ROUTE PLANNING THROUGH HOLLOW ORGANS 有权
标题翻译： VERFAHREN UND VORRICHTUNG ZUR 3D-ROUTENPLANNUNG DURCH HOHLORGANE
公开(公告)号：EP2115702A1
公开(公告)日：2009-11-11
申请号：EP08714148.7
申请日：2008-01-31
申请人： The Penn State Research Foundation
发明人： HIGGINS, William, E. , GIBBS, Jason, D.
IPC分类号： G06T17/40
CPC分类号： A61B34/10 , A61B1/00009 , A61B1/00045 , A61B1/2676 , A61B6/032 , A61B6/466 , A61B6/469 , A61B2034/105 , A61B2034/107 , G06T19/003 , G06T2207/30061 , G06T2210/41
摘要： Methods and apparatus assist in planning routes through hollow, branching organs in patients to optimize subsequent endoscopic procedures. Information is provided about the organ and a follow-on endoscopic procedure associated with the organ. The most appropriate navigable route or routes to a target region of interest (ROI) within the organ are then identified given anatomical, endoscopic-device, or procedure-specific constraints derived from the information provided. The method may include the step of modifying the viewing direction at each site along a route to give physically meaningful navigation directions or to reflect the requirements of a follow-on live endoscopic procedure. An existing route may further be extended, if necessary, to an ROI beyond the organ. The information provided may include anatomical constraints that define locations or organs to avoid; anatomical constraints that confine the route within specific geometric locations; or a metric for selecting the most appropriate route. For example, the metric may define the closest route to the ROI such that the route satisfies all applicable anatomical, device, and procedural constraints.
摘要翻译：方法和设备有助于通过空腹，分支器官来规划路线，以优化随后的内窥镜手术。提供有关器官的信息和与器官相关的后续内窥镜手术。然后，根据所提供的信息导出解剖学，内窥镜装置或程序特异性约束，到达器官内目标感兴趣区域（ROI）的最合适的导航路线或路线。该方法可以包括沿着路线修改每个站点处的观察方向以给出物理上有意义的导航方向或反映后续活体内窥镜过程的要求的步骤。如果需要，现有路线可以进一步延伸到器官以外的ROI。所提供的信息可以包括限定要避免的位置或器官的解剖学约束; 将路线限制在特定几何位置的解剖学约束; 或用于选择最合适路线的度量。例如，度量可以定义到ROI的最近路线，使得路线满足所有适用的解剖，设备和程序限制。

7. 发明授权

EP2115702B1 METHODS AND APPARATUS FOR 3D ROUTE PLANNING THROUGH HOLLOW ORGANS 有权
标题翻译：方法和设备的3D路线规划BY空腔脏器
公开(公告)号：EP2115702B1
公开(公告)日：2016-11-23
申请号：EP08714148.7
申请日：2008-01-31
申请人： The Penn State Research Foundation
发明人： HIGGINS, William, E. , GIBBS, Jason, D.
IPC分类号： G06T19/00
CPC分类号： A61B34/10 , A61B1/00009 , A61B1/00045 , A61B1/2676 , A61B6/032 , A61B6/466 , A61B6/469 , A61B2034/105 , A61B2034/107 , G06T19/003 , G06T2207/30061 , G06T2210/41
摘要： Methods and apparatus assist in planning routes through hollow, branching organs in patients to optimize subsequent endoscopic procedures. Information is provided about the organ and a follow-on endoscopic procedure associated with the organ. The most appropriate navigable route or routes to a target region of interest (ROI) within the organ are then identified given anatomical, endoscopic-device, or procedure-specific constraints derived from the information provided. The method may include the step of modifying the viewing direction at each site along a route to give physically meaningful navigation directions or to reflect the requirements of a follow-on live endoscopic procedure. An existing route may further be extended, if necessary, to an ROI beyond the organ. The information provided may include anatomical constraints that define locations or organs to avoid; anatomical constraints that confine the route within specific geometric locations; or a metric for selecting the most appropriate route. For example, the metric may define the closest route to the ROI such that the route satisfies all applicable anatomical, device, and procedural constraints.

8. 发明公开

EP2109391A1 METHOD AND APPARATUS FOR CONTINUOUS GUIDANCE OF ENDOSCOPY 审中-公开
标题翻译：方法和装置连续内窥镜指南
公开(公告)号：EP2109391A1
公开(公告)日：2009-10-21
申请号：EP08728657.1
申请日：2008-01-31
申请人： The Penn State Research Foundation
发明人： HIGGINS, William, E. , MERRITT, Scott, A. , RAI, Lav , GIBBS, Jason, D. , YU, Kun-chang
IPC分类号： A61B1/00
CPC分类号： A61B1/0005 , A61B1/00009 , A61B34/20 , A61B34/25 , A61B90/36 , A61B90/361 , A61B2034/105 , A61B2034/107 , A61B2090/365
摘要： Methods and apparatus provide continuous guidance of endoscopy during a live procedure. A data-set based on 3D image data is pre-computed including reference information representative of a predefined route through a body organ to a final destination. A plurality of live real endoscopic (RE) images are displayed as an operator maneuvers an endoscope within the body organ. A registration and tracking algorithm registers the data-set to one or more of the RE images and continuously maintains the registration as the endoscope is locally maneuvered. Additional information related to the final destination is then presented enabling the endoscope operator to decide on a final maneuver for the procedure. The reference information may include 3D organ surfaces, 3D routes through an organ system, or 3D regions of interest (ROIs), as well as a virtual endoscopic (VE) image generated from the precomputed data-set. The preferred method includes the step of superimposing one or both of the 3D routes and ROIs on one or both of the RE and VE images. The 3D organ surfaces and routes may correspond to the surfaces and paths of a tracheobronchial airway tree extracted, for example, from 3D MDCT images of the chest.

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