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1. 发明申请

WO2011094518A3 IMAGE-BASED GLOBAL REGISTRATION SYSTEM AND METHOD APPLICABLE TO BRONCHOSCOPY GUIDANCE 审中-公开
标题翻译：基于图像的全球注册系统和方法适用于支配镜指导
公开(公告)号：WO2011094518A3
公开(公告)日：2011-08-04
申请号：PCT/US2011/022891
申请日：2011-01-28
申请人： THE PENN STATE RESEARCH FOUNDATION , HIGGINS, William, E. , KHARE, Rahul , MERRITT, Scott, A.
发明人： HIGGINS, William, E. , KHARE, Rahul , MERRITT, Scott, A.
IPC分类号： A61B5/00 , A61B17/94 , A61B1/01 , A61B1/04
摘要： A global registration system and method identifies bronchoscope position without the need for significant bronchoscope maneuvers, technician intervention, or electromagnetic sensors. Virtual bronchoscopy (VB) renderings of a 3D airway tree are obtained including VB views of branch positions within the airway tree. At least one real bronchoscopic (RB) video frame is received from a bronchoscope inserted into the airway tree. An algorithm according to the invention is executed on a computer to identify the several most likely branch positions having a VB view closest to the received RB view, and the 3D position of the bronchoscope within the airway tree is determined in accordance with the branch position identified in the VB view. The preferred embodiment involves a fast local registration search over all the branches in a global airway-bifurcation search space, with the weighted normalized sum of squares distance metric used for finding the best match.
摘要翻译：全球注册系统和方法识别支气管镜位置，而不需要显着的支气管镜操作，技术人员干预或电磁传感器。获得3D气道树的虚拟支气管镜（VB）渲染，包括气道树内分支位置的VB视图。从插入气道树的支气管镜接收至少一个真实支气管镜（RB）视频帧。在计算机上执行根据本发明的算法以识别具有最接近所接收的RB视图的VB视图的几个最可能的分支位置，并且根据识别的分支位置确定气道树内的气管镜的3D位置在VB视图中。优选实施例涉及在全球气道分叉搜索空间中的所有分支上的快速本地登记搜索，其中用于寻找最佳匹配的加权归一化平方和距离量度。

2. 发明申请

WO2012106320A1 GLOBAL AND SEMI-GLOBAL REGISTRATION FOR IMAGE-BASED BRONCHOSCOPY GUIDANCE 审中-公开
标题翻译：基于图像的BRONCHOSCOPY指南的全球和半球注册
公开(公告)号：WO2012106320A1
公开(公告)日：2012-08-09
申请号：PCT/US2012/023297
申请日：2012-01-31
申请人： THE PENN STATE RESEARCH FOUNDATION , HIGGINS, William, E. , KHARE, Rahul
发明人： HIGGINS, William, E. , KHARE, Rahul
IPC分类号： A61B1/267 , A61B6/03 , A61M25/095
CPC分类号： A61B1/2676 , A61B5/066 , A61B6/12 , A61B6/5217 , A61B6/5247 , A61B6/583 , A61B2090/365 , G06K9/00208 , G06K9/00214 , G06K9/03 , G06K9/6206
摘要： Two system-level bronchoscopy guidance solutions are presented. The first incorporates a global -registration algorithm to provide the physician with updated navigational and guidance information during bronchoscopy. The system can handle general navigation to a region of interest (ROI), as well as adverse events, and it requires minimal commands so that it can be directly controlled by the physician. The second solution visualizes the global picture of all the bifurcations and their relative orientations in advance and suggests the maneuvers needed by the bronchoscope to approach the ROI. Guided bronchoscopy results using human airway-tree phantoms demonstrate the potential of the two solutions.
摘要翻译：提出了两个系统级支气管镜指导解决方案。第一个结合了全局注册算法，为医生在支气管镜检查期间提供更新的导航和指导信息。该系统可以处理一般导航到感兴趣的区域（ROI）以及不良事件，并且它需要最少的命令，以便它可以由医生直接控制。第二个解决方案可以提前了解所有分岔及其相对方向的全局图，并建议支气管镜需要进行ROI的操作。引导支气管镜检查结果使用人类气道树模型显示了两种解决方案的潜力。

3. 发明公开

EP2670292A1 GLOBAL AND SEMI-GLOBAL REGISTRATION FOR IMAGE-BASED BRONCHOSCOPY GUIDANCE 审中-公开
标题翻译： GLOBALE UND SEMIGLOBALE REGISTRIERUNGFÜREINE BILDBASIERTE BRONCHOSKOPIEFHHUNG
公开(公告)号：EP2670292A1
公开(公告)日：2013-12-11
申请号：EP12742650.0
申请日：2012-01-31
申请人： The Penn State Research Foundation
发明人： HIGGINS, William, E. , KHARE, Rahul
IPC分类号： A61B1/267 , A61B6/03 , A61M25/095
CPC分类号： A61B1/2676 , A61B5/066 , A61B6/12 , A61B6/5217 , A61B6/5247 , A61B6/583 , A61B2090/365 , G06K9/00208 , G06K9/00214 , G06K9/03 , G06K9/6206
摘要： Two system-level bronchoscopy guidance solutions are presented. The first incorporates a global-registration algorithm to provide the physician with updated navigational and guidance information during bronchoscopy. The system can handle general navigation to a region of interest (ROI), as well as adverse events, and it requires minimal commands so that it can be directly controlled by the physician. The second solution visualizes the global picture of all the bifurcations and their relative orientations in advance and suggests the maneuvers needed by the bronchoscope to approach the ROI. Guided bronchoscopy results using human airway-tree phantoms demonstrate the potential of the two solutions.
摘要翻译：提出了两个系统级支气管镜指导解决方案。第一个结合了全球注册算法，为医生在支气管镜检查期间提供更新的导航和指导信息。该系统可以处理对感兴趣区域（ROI）的一般导航以及不良事件，并且它需要最少的命令，使得其可以由医生直接控制。第二个解决方案提前展示了所有分岔及其相对方向的全局图，并提出了支气管镜需要接近ROI的动作。引导支气管镜检查结果使用人类气道树模型证明了这两种解决方案的潜力。

4. 发明公开

EP2528496A2 IMAGE-BASED GLOBAL REGISTRATION SYSTEM AND METHOD APPLICABLE TO BRONCHOSCOPY GUIDANCE 审中-公开
标题翻译： AUF EINE BRONCHOSKOPIEFHHUNG ANWENDBARES BILDBASIERTES GLOBALES REGISTRIERUNGSSYSTEM UND-FORFAHREN
公开(公告)号：EP2528496A2
公开(公告)日：2012-12-05
申请号：EP11737714.3
申请日：2011-01-28
申请人： The Penn State Research Foundation
发明人： HIGGINS, William, E. , KHARE, Rahul , MERRITT, Scott, A.
IPC分类号： A61B5/00 , A61B17/94 , A61B1/01 , A61B1/04
CPC分类号： A61B1/2676 , A61B1/00009 , G06K9/00208 , G06K9/00214 , G06K9/6206 , G06T7/75 , G06T2207/10068 , G06T2207/30061
摘要： A global registration system and method identifies bronchoscope position without the need for significant bronchoscope maneuvers, technician intervention, or electromagnetic sensors. Virtual bronchoscopy (VB) renderings of a 3D airway tree are obtained including VB views of branch positions within the airway tree. At least one real bronchoscopic (RB) video frame is received from a bronchoscope inserted into the airway tree. An algorithm according to the invention is executed on a computer to identify the several most likely branch positions having a VB view closest to the received RB view, and the 3D position of the bronchoscope within the airway tree is determined in accordance with the branch position identified in the VB view. The preferred embodiment involves a fast local registration search over all the branches in a global airway-bifurcation search space, with the weighted normalized sum of squares distance metric used for finding the best match.
摘要翻译：全球注册系统和方法识别支气管镜位置，而不需要显着的支气管镜手术，技术人员干预或电磁传感器。获得3D气道树的虚拟支气管镜（VB）效果图，包括气道树内分支位置的VB视图。从插入气道树的支气管镜接收至少一个真实的支气管镜（RB）视频帧。根据本发明的算法在计算机上执行以识别具有最接近接收的RB视图的VB视图的几个最可能的分支位置，并且根据所识别的分支位置确定气道树内的支气管镜的3D位置在VB视图中。优选实施例涉及在全球气道分岔搜索空间中的所有分支上的快速本地注册搜索，其中用于找到最佳匹配的加权归一化平方和距离度量。

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