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1. 发明申请

US20050271302A1 GPU-based image manipulation method for registration applications 有权
标题翻译：基于GPU的图像处理方法用于注册应用
公开(公告)号：US20050271302A1
公开(公告)日：2005-12-08
申请号：US11109126
申请日：2005-04-19
申请人： Ali Khamene , Christophe Chefd'hotel , Jens Guhring , Bernhard Geiger , Sebastian Vogt
发明人： Ali Khamene , Christophe Chefd'hotel , Jens Guhring , Bernhard Geiger , Sebastian Vogt
IPC分类号： G06K9/00 , G06K9/64 , G06T7/00
CPC分类号： G06T15/005 , G06K9/00986 , G06K9/64 , G06T1/20 , G06T7/35 , G06T2200/28 , G06T2207/10072 , G06T2207/10116 , G06T2207/10132 , G06T2207/30004
摘要： Exemplary systems and methods for performing registration applications are provided. An exemplary system includes a central processing unit (CPU) for transferring a plurality of images to a graphics processing unit (GPU); wherein the GPU performs a registration application on the plurality of images to produce a registration result, and wherein the GPU returns the registration result to the CPU. An exemplary method includes the steps of transferring a plurality of images from a central processing unit (CPU) to a graphics processing unit (GPU); performing a registration application on the plurality of images using the GPU; transferring the result of the step of performing from the GPU to CPU.
摘要翻译：提供了用于执行注册申请的示例性系统和方法。示例性系统包括用于将多个图像传送到图形处理单元（GPU）的中央处理单元（CPU）; 其中所述GPU对所述多个图像执行注册应用以产生注册结果，并且其中所述GPU将所述注册结果返回给所述CPU。一种示例性方法包括将多个图像从中央处理单元（CPU）传送到图形处理单元（GPU）的步骤; 使用所述GPU对所述多个图像执行注册应用; 将执行步骤的结果从GPU传送到CPU。

2. 发明申请

US20050238223A1 Flexible generation of digitally reconstructed radiographs 有权
标题翻译：灵活地生成数字重建的X光片
公开(公告)号：US20050238223A1
公开(公告)日：2005-10-27
申请号：US10953342
申请日：2004-09-29
申请人： Jens Guhring , Sebastian Vogt , Ali Khamene
发明人： Jens Guhring , Sebastian Vogt , Ali Khamene
IPC分类号： G06K9/00 , G06K9/36 , G06T15/08
CPC分类号： G06T15/08
摘要： A system and corresponding method for flexible generation of digitally reconstructed radiograph (DRR) images on a graphics processing unit (GPU) are provided, the system including a processor, an imaging adapter in signal communication with the processor for receiving volumetric data, an integration unit in signal communication with the processor for integrating the volumetric data into incremental line integrals, and a modeling unit in signal communication with the processor for modeling composite line integrals from the incremental line integrals; and the corresponding method including receiving three-dimensional (3D) volumetric data into a graphics pipeline, integrating the 3D volumetric data into incremental line integrals along a plurality of viewing rays, modeling composite line integrals from the incremental line integrals, and adding the incremental line integrals for each composite line integral to form pixels of the DRR image.
摘要翻译：提供了一种用于在图形处理单元（GPU）上灵活生成数字重建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，整合单元与处理器的信号通信，用于将体积数据集成到增量线积分中，以及与处理器进行信号通信的建模单元，用于从增量线积分建模复合线积分; 以及相应的方法，包括将三维（3D）体积数据接收到图形管线中，将3D体积数据集成到沿着多个观察射线的增量线积分中，从增量线积分建模复合线积分，以及将增量线每个复合线的积分积分以形成DRR图像的像素。

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。

5. 发明申请

US20050094898A1 Method and system for hybrid rigid registration of 2D/3D medical images 有权
标题翻译： 2D / 3D医学图像混合刚性配准的方法和系统
公开(公告)号：US20050094898A1
公开(公告)日：2005-05-05
申请号：US10946204
申请日：2004-09-21
申请人： Chenyang Xu , Xiaolei Huang , Frank Sauer , Christophe Chefd'hotel , Jens Guhring , Sebastian Vogt , Yiyong Sun
发明人： Chenyang Xu , Xiaolei Huang , Frank Sauer , Christophe Chefd'hotel , Jens Guhring , Sebastian Vogt , Yiyong Sun
IPC分类号： G06K9/00 , G06K9/64 , G06T7/40
CPC分类号： G06K9/00208 , G06T7/33 , G06T7/35
摘要： A method of aligning a pair of images with (101) a first image and a second image, wherein said images comprise a plurality of intensities corresponding to a domain of points in a D-dimensional space includes identifying (102) feature points on both images using the same criteria, computing (103) a feature vector for each feature point, measuring a feature dissimilarity (104) for each pair of feature vectors, wherein a first feature vector of each pair is associated with a first feature point on the first image, and a second feature vector of each pair is associated with a second feature point on the second image. A correspondence mapping (105) for each pair of feature points is determined using the feature dissimilarity associated with each feature point pair, and an image transformation (106) is defined to align (108) the second image with the first image using one or more pairs of feature points that are least dissimilar.
摘要翻译：一种将一对图像与（101）第一图像和第二图像对准的方法，其中所述图像包括对应于D维空间中的点的区域的多个强度，包括在两个图像上识别（102）特征点使用相同的标准，计算（103）每个特征点的特征向量，测量每对特征向量的特征不相似性（104），其中每对特征向量的第一特征向量与第一图像上的第一特征点相关联并且每对的第二特征向量与第二图像上的第二特征点相关联。使用与每个特征点对相关联的特征不相似度来确定每对特征点的对应映射（105），并且定义图像变换（106）以使用一个或多个对象（108）将第二图像与第一图像对准成对的特征点是最不相似的。

6. 发明申请

US20050251030A1 Method for augmented reality instrument placement using an image based navigation system 有权
标题翻译：使用基于图像的导航系统增强现实仪器放置的方法
公开(公告)号：US20050251030A1
公开(公告)日：2005-11-10
申请号：US11107640
申请日：2005-04-15
申请人： Fred Azar , Ali Khamene , Frank Sauer , Sebastian Vogt
发明人： Fred Azar , Ali Khamene , Frank Sauer , Sebastian Vogt
IPC分类号： A61B5/05 , A61B6/00 , A61B19/00
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.
摘要翻译：公开了一种使用基于图像的导航系统进行仪器放置的系统和方法。在患者的医学图像中识别感兴趣的目标。显示穿过目标中心的图像平面。图像平面具有可配置的方向。图像平面用于从患者皮肤上的位置到目标的中心选择仪器的路径。从仪器的尖端到目标的中心观察轨迹平面。轨迹平面反映了仪器的方向。选择代表仪器的期望取向的特定轨迹平面。特定轨迹平面的图像被冻结。然后可以使用虚拟指南插入仪器并导航到目标。

7. 发明申请

US20050238254A1 Method and system for fast n-dimensional dynamic registration 审中-公开
标题翻译：快速n维动态注册的方法和系统
公开(公告)号：US20050238254A1
公开(公告)日：2005-10-27
申请号：US11109104
申请日：2005-04-19
申请人： Jens Guhring , Sebastian Vogt
发明人： Jens Guhring , Sebastian Vogt
IPC分类号： G06T3/00 , G06T7/00 , G06K9/32 , G06K9/00
CPC分类号： G06T3/0075 , G06T7/30 , G06T2207/30004
摘要： A method of updating the registration of a pair of images comprising the steps of providing a pair of images with a source image and a target image, determining a full registration between the source image and the target image, obtaining a first new target image, determining a registration between the target image and the first new target image, and determining an incremental registration between the first new target image and the source image, based on the registration between the first new target image and the target image and on the full registration between the source image and the target image. The determination of the full registration between the source image and the target image can be performed in parallel with the determination of the incremental registration between the first new target image and the source image.
摘要翻译：一种更新一对图像的登记的方法，包括以下步骤：提供具有源图像和目标图像的一对图像，确定源图像与目标图像之间的完全对准，获得第一新目标图像，确定目标图像和第一新目标图像之间的对准，并且基于第一新目标图像和目标图像之间的登记以及在第一新目标图像和目标图像之间的完全登记来确定第一新目标图像和源图像之间的增量登记源图像和目标图像。可以与第一新目标图像和源图像之间的增量对准的确定并行地执行源图像和目标图像之间的完全对准的确定。

8. 发明申请

US20050237336A1 Method and system for multi-object volumetric data visualization 审中-公开
标题翻译：多目标体积数据可视化的方法和系统
公开(公告)号：US20050237336A1
公开(公告)日：2005-10-27
申请号：US11110414
申请日：2005-04-20
申请人： Jens Guhring , Sebastian Vogt
发明人： Jens Guhring , Sebastian Vogt
IPC分类号： G06T15/20 , G09G5/00
CPC分类号： G06T15/08 , G06T15/04
摘要： A method of rendering volumetric digital images including the steps of providing one or more digital images representing objects with known spatial relation to each other, associating a texture with each object (digital image), choosing a viewing direction for said rendering, imposing a single proxy geometry on all of the one or more textures, and resampling each of the one or more textures using coordinates generated by the single proxy geometry. The range of the coordinate system generated by said proxy geometry extends beyond the valid range of a texture coordinate. The range of the proxy geometry coordinates can be checked to determine which objects provide a valid contribution to the rendering.
摘要翻译：一种呈现体积数字图像的方法，包括以下步骤：提供表示具有彼此已知空间关系的对象的一个或多个数字图像，将纹理与每个对象（数字图像）相关联，选择用于所述呈现的观看方向，施加单个代理在所有一个或多个纹理上的几何形状，以及使用由单个代理几何生成的坐标对一个或多个纹理中的每一个进行重新采样。由所述代理几何生成的坐标系的范围超出纹理坐标的有效范围。可以检查代理几何坐标的范围，以确定哪些对象为渲染提供了有效的贡献。

9. 发明授权

US07774044B2 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：US07774044B2
公开(公告)日：2010-08-10
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 , G09G5/00
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。

10. 发明申请

US20060281971A1 METHOD AND APPARATUS FOR MINIMALLY INVASIVE SURGERY USING ENDOSCOPES 有权
标题翻译：使用内镜治疗微创外科手术的方法和装置
公开(公告)号：US20060281971A1
公开(公告)日：2006-12-14
申请号：US11383598
申请日：2006-05-16
申请人： Frank Sauer , Ali Khamene , Sebastian Vogt
发明人： Frank Sauer , Ali Khamene , Sebastian Vogt
IPC分类号： A61B1/04
CPC分类号： A61B34/20 , A61B1/0005 , A61B1/04 , A61B90/36 , A61B2090/364 , A61B2090/376 , G16H50/50
摘要： A method and apparatus for presenting three-dimensional data to a physician is provided to facilitate the flexible navigation of an endoscope and surgical instruments with respect to anatomical structures. In accordance with a first embodiment a first set of data corresponding to a three dimensional model of a patient's anatomy is received. This three-dimensional model may be rendered from images taken in CT or MRI scanning, as discussed above In accordance with this embodiment, this model is then combined with a second set of data corresponding to a view obtained from an endoscope. In another embodiment, the view from the illustrative endoscope is displayed as an inset image on the display of the three-dimensional image. In yet another embodiment, the three-dimensional image comprises a graphical representation of at least a first surgical instrument, such as said endoscope. The surgeon may select among various combinations of views and may zoom in or out from any particular view.
摘要翻译：提供了一种用于向医师呈现三维数据的方法和装置，以便于内窥镜和外科器械相对于解剖结构的灵活导航。根据第一实施例，接收对应于患者解剖结构的三维模型的第一组数据。这种三维模型可以从CT或MRI扫描中拍摄的图像呈现，如上所述根据本实施例，该模型然后与对应于从内窥镜获得的视图的第二组数据组合。在另一个实施例中，来自说明性内窥镜的视图作为插入图像被显示在三维图像的显示器上。在另一个实施例中，三维图像包括至少第一外科器械（例如所述内窥镜）的图形表示。外科医生可以在各种视图组合中进行选择，并且可以放大或缩小任何特定视图。

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