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1. 发明申请

US20090259123A1 METHOD AND DEVICE FOR 3D ACQUISITION, 3D VISUALIZATION AND COMPUTER GUIDED SURGERY USING NUCLEAR PROBES 审中-公开
标题翻译：用于3D获取，3D可视化和使用核探针的计算机引导手术的方法和装置
公开(公告)号：US20090259123A1
公开(公告)日：2009-10-15
申请号：US12300758
申请日：2007-02-27
申请人： Nassir Navab , Sibylle Ziegler , Jörg Traub , Thomas Wendler
发明人： Nassir Navab , Sibylle Ziegler , Jörg Traub , Thomas Wendler
IPC分类号： A61B6/00
CPC分类号： G01T1/161 , A61B6/4258
摘要： A device for 3D acquisition, 3D visualization and computer guided surgery with a tracking system, which can be for example an external optical tracking system (4), a tracked nuclear probe (1) having a nuclear probe (11) and a tip of nuclear probe (14), which measures a radioactivity, is achieved by providing a time synchronized recording of the spatial position and orientation of the tip of nuclear probes (14) and its measured counts of radioactivity. Thus a 3D radioactive surface distribution (8) is generated and may be visualized spatially registered with the viewing geometry of any in a superimposed image (81). Moreover using the said device, a method for 3D acquisition, 3D visualization and computer guided surgery is introduced for invasive or minimally invasive interventions. A further introduced method is the spatial localization of any surgical instrument in the same coordinate system as the said tracked nuclear probe (1) and the guidance of it to the said 3D radioactive surface distribution (8) during the surgical procedure. This is achieved by visualizing a simulated radioactivity measurement or feeding it backs in an acoustic signal. The said simulated radioactivity measurement is calculated based on the 3D radioactive surface distribution (8) and the position and orientation of the tip of the surgical instrument. The invention compromises also an integrated system that implements all or some of the said methods. Finally the invention includes a tracked combination of nuclear probe with camera (9).
摘要翻译：一种用于3D采集，3D可视化和具有跟踪系统的计算机引导手术的装置，其可以是例如外部光学跟踪系统（4），具有核探针（11）的跟踪核探针（1）和核尖通过提供核探针（14）的尖端的空间位置和取向及其测量的放射性计数的时间同步记录来实现测量放射性的探针（14）。因此，生成3D放射性表面分布（8），并且可以与叠加图像（81）中的任何一个的观看几何空间地可视化地对齐。此外，使用所述装置，引入用于3D获取，3D可视化和计算机引导手术的方法用于侵入性或微创干预。进一步介绍的方法是在外科手术过程中任何外科器械在与所述跟踪的核探针（1）相同的坐标系中的空间定位以及它对所述3D放射性表面分布（8）的引导。这是通过可视化模拟放射性测量或将其反馈在声学信号中来实现的。所述模拟放射性测量是基于3D放射性表面分布（8）和外科器械尖端的位置和取向计算的。本发明也折衷了实现所有或一些所述方法的集成系统。最后，本发明包括核探头与照相机（9）的跟踪组合。

2. 发明授权

US09345441B2 Apparatus and method for nuclear imaging 有权
标题翻译：用于核成像的装置和方法
公开(公告)号：US09345441B2
公开(公告)日：2016-05-24
申请号：US13722294
申请日：2012-12-20
申请人： SURGICEYE GMBH
发明人： Thomas Wendler
IPC分类号： A61B6/00 , A61B1/317 , A61B1/267 , A61B1/233 , A61B1/313 , A61B1/273 , A61B1/31 , A61B1/307 , A61B1/303 , A61B1/227 , A61B1/06 , A61B1/04 , A61B1/00 , A61B6/03 , A61B5/06 , A61B8/08 , G01T1/161 , A61B8/00 , A61B8/12 , A61B6/12 , A61B19/00
CPC分类号： A61B6/466 , A61B1/00045 , A61B1/043 , A61B1/063 , A61B1/227 , A61B1/233 , A61B1/2676 , A61B1/2733 , A61B1/2736 , A61B1/303 , A61B1/307 , A61B1/31 , A61B1/3135 , A61B1/317 , A61B5/061 , A61B5/067 , A61B6/037 , A61B6/12 , A61B6/425 , A61B6/4258 , A61B6/4417 , A61B6/464 , A61B6/481 , A61B6/483 , A61B6/5258 , A61B6/56 , A61B6/583 , A61B8/0841 , A61B8/12 , A61B8/4245 , A61B8/4263 , A61B8/5261 , A61B34/20 , A61B34/30 , A61B2090/365 , G01T1/161
摘要： A system for endoscopic nuclear imaging, a nuclear probe and related methods are provided. In one embodiment, a system includes a movable endoscopic nuclear probe which comprises a collimator and a detector, the endoscopic nuclear probe having an elongated body with a longitudinal axis (X), wherein the detector and the collimator are arranged on the elongated body, and the collimator having a field of view with an axis (Y) and the axis (Y) is angled with respect to the axis (X) of the elongated body of the endoscopic nuclear probe; means for determining the position and orientation of the elongated body of the endoscopic nuclear probe; an evaluation unit including means for computationally determining an actual position and actual orientation of the elongated body of the endoscopic nuclear probe; and a program storage section and means for computing at least one quality parameter of the image.
摘要翻译：提供了内窥镜核成像系统，核探针和相关方法。在一个实施例中，系统包括可移动的内窥镜核探针，其包括准直器和检测器，所述内窥镜核探针具有带纵向轴线（X）的细长主体，其中所述检测器和准直器布置在细长主体上，以及具有轴线（Y）和轴线（Y）的视野的准直器相对于内窥镜核探头的细长主体的轴线（X）成角度; 用于确定内窥镜核探针的细长体的位置和取向的装置; 评估单元，其包括用于计算地确定内窥镜核探针的细长体的实际位置和实际取向的装置; 以及程序存储部分和用于计算图像的至少一个质量参数的装置。

3. 发明授权

US09286732B2 Nuclear image system and method for updating an original nuclear image 有权
标题翻译：用于更新原始核图像的核图像系统和方法
公开(公告)号：US09286732B2
公开(公告)日：2016-03-15
申请号：US14344972
申请日：2012-09-17
申请人： SurgicEye GmbH
发明人： Thomas Wendler
IPC分类号： G06K9/00 , G06T19/20 , A61B6/00 , G01T1/164 , G01T1/16 , G06T7/00 , G06T7/20 , A61B6/03 , A61B6/04
CPC分类号： G06T19/20 , A61B6/037 , A61B6/0492 , A61B6/4258 , A61B6/5205 , A61B6/5235 , A61B6/547 , F04C2270/041 , G01T1/16 , G01T1/164 , G01T1/1648 , G06T7/0012 , G06T2207/10104 , G06T2207/10108 , G06T2207/30004 , G06T2207/30196 , G06T2207/30204
摘要： A nuclear image system for updating an original nuclear image, the nuclear image system comprising: a data memory for storing the original three-dimensional nuclear image; a nuclear radiation detector, which is movable along a freely variable path, for measuring nuclear radiation, in order to obtain nuclear radiation values; a tracking system for tracking the nuclear radiation detector while measuring the nuclear radiation, so that detector coordinates are obtained which indicate a posture of the tracked nuclear radiation detector in relation to an image coordinate system of the nuclear image; a nuclear data input configured to receive the nuclear radiation values from the nuclear radiation detector and the detector coordinates from the tracking system, and to associate the nuclear radiation values with the respective detector coordinates; and an image updating module including an updating rule for changing the original nuclear image on the basis of the nuclear radiation values and the detector coordinates, wherein the image updating module is configured to generate an updated three-dimensional nuclear image by applying the updating rule to the original nuclear image.
摘要翻译：一种用于更新原始核图像的核图像系统，所述核图像系统包括：用于存储原始三维核图像的数据存储器; 核辐射探测器，其可沿着自由变化的路径移动，用于测量核辐射，以获得核辐射值; 跟踪系统，用于在测量核辐射的同时跟踪核辐射探测器，从而获得指示跟踪的核辐射探测器相对于核图像的图像坐标系的姿势的探测器坐标; 核数据输入，其被配置为从所述核辐射检测器接收核辐射值，并且从所述跟踪系统接收所述检测器坐标，并且将所述核辐射值与所述检测器坐标相关联; 以及图像更新模块，其包括基于所述核辐射值和所述检测器坐标来改变所述原始核图像的更新规则，其中，所述图像更新模块被配置为通过将所述更新规则应用于原始核形象。

4. 发明授权

US10429518B2 System and method for the determination of a dose in radiotherapy 有权
公开(公告)号：US10429518B2
公开(公告)日：2019-10-01
申请号：US16070698
申请日：2017-01-18
申请人： SURGICEYE GMBH
发明人： Joerg Traub , Philipp Matthies , Matthias Keicher
IPC分类号： G01T1/161 , G01T1/02 , A61N5/10 , G01T1/16
摘要： An image generating apparatus for image generation and dose calculation is provided. The image generating apparatus includes a movable detector for detecting nuclear radiation during a detection period and an evaluation system. The evaluation system includes an interface system for transmitting detector data to the evaluation system. The detector data include information about the detected radiation for image generation. The evaluation system further includes a data memory portion for storing the detector data. The evaluation system further includes a program memory portion with a program for repeatedly determining at least one quality value with respect to image generation during the detection period. The image generating apparatus includes an output system including at least one output unit. The at least one output unit includes one output unit for outputting an instruction to a user for further moving the detector in dependence of the detector data. The instruction relates to at least a part of the remaining detection period.

5. 发明申请

US20150305701A1 IMAGE FORMATION APPARATUS AND METHOD FOR NUCLEAR IMAGING 有权
标题翻译：图像形成装置和核成像方法
公开(公告)号：US20150305701A1
公开(公告)日：2015-10-29
申请号：US14738560
申请日：2015-06-12
申请人： Thomas WENDLER , Nassir NAVAB , Jörg TRAUB
发明人： Thomas WENDLER , Nassir NAVAB , Jörg TRAUB
IPC分类号： A61B6/00 , A61B6/03 , G01T1/161
CPC分类号： A61B6/5205 , A61B6/037 , A61B6/4258 , G01T1/161
摘要： An image generating apparatus for image generation is provided. The image generating apparatus includes a movable detector for detecting nuclear radiation during a detection period and an evaluation system. The evaluation system includes an interface system for transmitting detector data to the evaluation system. The detector data include information about the detected radiation for image generation. The evaluation system further includes a data memory portion for storing the detector data. The evaluation system further includes a program memory portion with a program for repeatedly determining at least one quality value with respect to image generation during the detection period.
摘要翻译：提供了一种用于图像生成的图像生成装置。图像产生装置包括用于在检测期间检测核辐射的可移动检测器和评估系统。评估系统包括用于将检测器数据发送到评估系统的接口系统。检测器数据包括关于用于图像生成的检测到的辐射的信息。评估系统还包括用于存储检测器数据的数据存储部分。评估系统还包括具有程序的程序存储器部分，该程序用于在检测周期期间重复地确定关于图像生成的至少一个质量值。

6. 发明授权

US09743898B2 Image formation apparatus and method for nuclear imaging 有权
公开(公告)号：US09743898B2
公开(公告)日：2017-08-29
申请号：US14738560
申请日：2015-06-12
申请人： Thomas Wendler , Nassir Navab , Jörg Traub
发明人： Thomas Wendler , Nassir Navab , Jörg Traub
IPC分类号： G06K9/00 , A61B6/00 , G01T1/161 , A61B6/03
CPC分类号： A61B6/5205 , A61B6/037 , A61B6/4258 , G01T1/161
摘要： An image generating apparatus for image generation is provided. The image generating apparatus includes a movable detector for detecting nuclear radiation during a detection period and an evaluation system. The evaluation system includes an interface system for transmitting detector data to the evaluation system. The detector data include information about the detected radiation for image generation. The evaluation system further includes a data memory portion for storing the detector data. The evaluation system further includes a program memory portion with a program for repeatedly determining at least one quality value with respect to image generation during the detection period.

7. 发明申请

US20140235921A1 SYSTEM AND METHOD FOR POSITIONING WITH NUCLEAR IMAGING 审中-公开
标题翻译：用于与核成像定位的系统和方法
公开(公告)号：US20140235921A1
公开(公告)日：2014-08-21
申请号：US14346539
申请日：2012-09-24
申请人： SurgicEye GmbH , humediQ GmbH
发明人： Thomas Wendler , Christian Hieronimi , Jörg Traub
IPC分类号： A61N5/10
CPC分类号： A61N5/1049 , A61N5/1064 , A61N5/107 , A61N2005/1052 , A61N2005/1059 , F04C2270/041
摘要： The invention relates to a system for determining the position of radioactively marked target tissue of a patient in radiation therapy by means of a radiation therapy device. The system comprises at least one detector for the imaging detection of the radiation distribution of a radioactive radiation source that is located in target tissue region, a computing unit that is designed to calculate the pose of the target tissue region from measurement data of the detector and to calculate a correction variable as the difference between the calculated pose and comparison values, and an interface by means of which the data for the calculated pose of radioactively marked target tissue region and the correction variable can be transmitted by the computing unit to a radiation therapy device or a patient positioning device. The invention further relates to a corresponding method.
摘要翻译：本发明涉及一种用于通过放射治疗装置确定放射治疗中的患者放射性标记的目标组织的位置的系统。该系统包括用于成像检测位于目标组织区域中的放射性辐射源的辐射分布的至少一个检测器，被设计成根据检测器的测量数据计算目标组织区域的姿态的计算单元，以及计算校正变量作为计算出的姿势与比较值之间的差异，以及通过计算单元将放射性标记的目标组织区域的计算姿态的数据和校正变量的数据传输到放射治疗的界面装置或患者定位装置。本发明还涉及相应的方法。

8. 发明申请

US20130168570A1 DEVICE AND METHOD FOR COMBINED OPTICAL AND NUCLEAR IMAGE ACQUISITION 有权
标题翻译：用于组合光学和核图像获取的装置和方法
公开(公告)号：US20130168570A1
公开(公告)日：2013-07-04
申请号：US13806403
申请日：2011-06-22
申请人： Thomas Wendler , Nassir Navab
发明人： Thomas Wendler , Nassir Navab
IPC分类号： G01N23/00 , H01L27/146
CPC分类号： G01N23/00 , A61B5/0035 , A61B5/0059 , A61B6/037 , A61B6/4417 , A61B6/4429 , A61B6/5247 , A61B6/583 , G01N21/00 , G01T1/1603 , H01L27/146
摘要： A device for combined optical and nuclear image comprises a nuclear image acquisition module and a reference image acquisition module. The reference image acquisition module has: an optical image sensor and an optical imaging system for deflecting the optical radiation from a reference field of view to the image sensor, wherein the optical imaging system comprises a mirror for the optical radiation, which mirror is arranged between the reference field of view and the optical image sensor. On the image sensor, a respective image area is assigned to at least one of nuclear partial fields of view. The optical imaging system is arranged such that the optical radiation coming from the at least one nuclear partial field of view is deflected substantially exactly to the respectively assigned of the image areas.
摘要翻译：用于组合光学和核图像的装置包括核图像采集模块和参考图像采集模块。参考图像采集模块具有：光学图像传感器和用于将光学辐射从参考视野偏转到图像传感器的光学成像系统，其中光学成像系统包括用于光学辐射的反射镜，该反射镜布置在参考视场和光学图像传感器。在图像传感器上，将相应的图像区域分配给核部分视场中的至少一个。光学成像系统被布置成使得来自至少一个核部分视场的光辐射基本上精确地偏转到分别指定的图像区域。

9. 发明授权

US09146198B2 Device and method for combined optical and nuclear image acquisition 有权
标题翻译：用于组合光学和核图像采集的装置和方法
公开(公告)号：US09146198B2
公开(公告)日：2015-09-29
申请号：US13806403
申请日：2011-06-22
申请人： Thomas Wendler , Nassir Navab
发明人： Thomas Wendler , Nassir Navab
IPC分类号： G01N23/00 , H01L27/146 , A61B5/00 , A61B6/03 , A61B6/00 , G01N21/00 , G01T1/16
CPC分类号： G01N23/00 , A61B5/0035 , A61B5/0059 , A61B6/037 , A61B6/4417 , A61B6/4429 , A61B6/5247 , A61B6/583 , G01N21/00 , G01T1/1603 , H01L27/146
摘要： A device for combined optical and nuclear image comprises a nuclear image acquisition module and a reference image acquisition module. The reference image acquisition module has: an optical image sensor; and an optical imaging system for deflecting the optical radiation from a reference field of view to the image sensor, wherein the optical imaging system comprises a mirror for the optical radiation, which mirror is arranged between the reference field of view and the optical image sensor. On the image sensor, a respective image area assigned to at least one of nuclear partial fields of view. The optical imaging system is arranged such that the optical radiation coming from the at least one nuclear partial field of view is deflected substantially exactly to the respectively assigned of the image areas.
摘要翻译：用于组合光学和核图像的装置包括核图像采集模块和参考图像采集模块。参考图像采集模块具有：光学图像传感器; 以及用于将光辐射从参考视野偏转到图像传感器的光学成像系统，其中所述光学成像系统包括用于所述光学辐射的反射镜，所述反射镜被布置在所述参考视场和所述光学图像传感器之间。在图像传感器上，分配给核部分视野中的至少一个的相应图像区域。光学成像系统被布置成使得来自至少一个核部分视场的光辐射基本上精确地偏转到分别指定的图像区域。

10. 发明申请

US20130338490A1 APPARATUS AND METHOD FOR NUCLEAR IMAGING 有权
标题翻译：用于核成像的装置和方法
公开(公告)号：US20130338490A1
公开(公告)日：2013-12-19
申请号：US13722294
申请日：2012-12-20
申请人： SURGICEYE GMBH
发明人： Thomas Wendler
IPC分类号： A61B6/00 , A61B1/267 , A61B1/233 , A61B1/313 , A61B1/273 , A61B1/31 , A61B1/307 , A61B1/303 , A61B1/227 , A61B1/06 , A61B1/04 , A61B1/00 , A61B8/12 , A61B6/03 , A61B5/06 , A61B8/08 , A61B1/317
CPC分类号： A61B6/466 , A61B1/00045 , A61B1/043 , A61B1/063 , A61B1/227 , A61B1/233 , A61B1/2676 , A61B1/2733 , A61B1/2736 , A61B1/303 , A61B1/307 , A61B1/31 , A61B1/3135 , A61B1/317 , A61B5/061 , A61B5/067 , A61B6/037 , A61B6/12 , A61B6/425 , A61B6/4258 , A61B6/4417 , A61B6/464 , A61B6/481 , A61B6/483 , A61B6/5258 , A61B6/56 , A61B6/583 , A61B8/0841 , A61B8/12 , A61B8/4245 , A61B8/4263 , A61B8/5261 , A61B34/20 , A61B34/30 , A61B2090/365 , G01T1/161
摘要： A system for endoscopic nuclear imaging, a nuclear probe and related methods are provided. In one embodiment, a system includes a movable endoscopic nuclear probe which comprises a collimator and a detector, the endoscopic nuclear probe having an elongated body with a longitudinal axis (X), wherein the detector and the collimator are arranged on the elongated body, and the collimator having a field of view with an axis (Y) and the axis (Y) is angled with respect to the axis (X) of the elongated body of the endoscopic nuclear probe; means for determining the position and orientation of the elongated body of the endoscopic nuclear probe; an evaluation unit including means for computationally determining an actual position and actual orientation of the elongated body of the endoscopic nuclear probe; and a program storage section and means for computing at least one quality parameter of the image.
摘要翻译：提供了内窥镜核成像系统，核探针和相关方法。在一个实施例中，系统包括可移动的内窥镜核探针，其包括准直器和检测器，所述内窥镜核探针具有带纵向轴线（X）的细长主体，其中所述检测器和准直器布置在细长主体上，以及具有轴线（Y）和轴线（Y）的视野的准直器相对于内窥镜核探头的细长主体的轴线（X）成角度; 用于确定内窥镜核探针的细长体的位置和取向的装置; 评估单元，其包括用于计算地确定内窥镜核探针的细长体的实际位置和实际取向的装置; 以及程序存储部分和用于计算图像的至少一个质量参数的装置。

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