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1. 发明授权

US09144461B2 Feedback system for integrating interventional planning and navigation 有权
标题翻译：整合干预计划与导航的反馈系统
公开(公告)号：US09144461B2
公开(公告)日：2015-09-29
申请号：US13131886
申请日：2009-11-05
申请人： Jochen Kruecker , Sandeep Dalal , Sheng Xu , Bradford J. Wood
发明人： Jochen Kruecker , Sandeep Dalal , Sheng Xu , Bradford J. Wood
IPC分类号： A61B18/14 , A61B18/18 , A61B18/12 , A61B19/00 , A61N7/02
CPC分类号： A61B18/18 , A61B18/1206 , A61B18/1477 , A61B18/1815 , A61B34/20 , A61B2018/1425 , A61B2034/104 , A61B2034/107 , A61B2034/2051 , A61B2090/378 , A61N7/02
摘要： A therapy planning and image guidance and navigation for an interventional procedure are combined in one system. The system includes: a radio frequency ablation therapy planning component (1) capable of creating an initial treatment plan, adjusting the treatment plan to take into account data received during a procedure and transferring a treatment plan to a navigation component, a navigation system component (2) to guide an ablation probe (6) and a feedback sub-system (3) for determining actual ablation probe positions/orientations and actual ablation size/shape via imaging (4) and/or tracking (5) systems, and enabling exchange of information between the planning component and the navigation component. By combining and integrating procedure planning and navigation, and by providing feedback from the navigation component back to the planning component about actual electrode position and orientation and ablation volume, complex procedures can be carried out more accurately, efficiently, and potentially with better clinical outcomes.
摘要翻译：介入程序的治疗计划和图像引导和导航结合在一个系统中。该系统包括：射频消融治疗计划组件（1），其能够创建初始治疗计划，调整治疗计划以考虑在手术期间接收的数据并将治疗计划转移到导航部件，导航系统组件（ 2）引导消融探针（6）和反馈子系统（3），用于通过成像（4）和/或跟踪（5）系统来确定实际消融探针位置/取向和实际消融尺寸/形状，以及使能交换计划部件和导航部件之间的信息。通过结合和整合程序规划和导航，并通过向导航组件提供关于实际电极位置和取向和消融量的规划组件的反馈，可以更准确，高效地，潜在地实现更好的临床结果。

2. 发明申请

US20110251607A1 FEEDBACK SYSTEM FOR INTEGRATING INTERVENTIONAL PLANNING AND NAVIGATION 有权
标题翻译：用于整合传统规划和导航的反馈系统
公开(公告)号：US20110251607A1
公开(公告)日：2011-10-13
申请号：US13131886
申请日：2009-11-05
申请人： Jochen Kruecker , Sandeep Dalal , Sheng Xu , Bradford J. Wood
发明人： Jochen Kruecker , Sandeep Dalal , Sheng Xu , Bradford J. Wood
IPC分类号： A61B18/00 , A61B5/05
CPC分类号： A61B18/18 , A61B18/1206 , A61B18/1477 , A61B18/1815 , A61B34/20 , A61B2018/1425 , A61B2034/104 , A61B2034/107 , A61B2034/2051 , A61B2090/378 , A61N7/02
摘要： A therapy planning and image guidance and navigation for an interventional procedure are combined in one system. The system includes: a radio frequency ablation therapy planning component (1) capable of creating an initial treatment plan, adjusting the treatment plan to take into account data received during a procedure and transferring a treatment plan to a navigation component, a navigation system component (2) to guide an ablation probe (6) and a feedback sub-system (3) for determining actual ablation probe positions/orientations and actual ablation size/shape via imaging (4) and/or tracking (5) systems, and enabling exchange of information between the planning component and the navigation component. By combining and integrating procedure planning and navigation, and by providing feedback from the navigation component back to the planning component about actual electrode position and orientation and ablation volume, complex procedures can be carried out more accurately, efficiently, and potentially with better clinical outcomes.
摘要翻译：介入程序的治疗计划和图像引导和导航结合在一个系统中。该系统包括：射频消融治疗计划组件（1），其能够创建初始治疗计划，调整治疗计划以考虑在手术期间接收的数据并将治疗计划转移到导航部件，导航系统组件（ 2）引导消融探针（6）和反馈子系统（3），用于通过成像（4）和/或跟踪（5）系统来确定实际消融探针位置/取向和实际消融尺寸/形状，以及使能交换计划部件和导航部件之间的信息。通过结合和整合程序规划和导航，并通过向导航组件提供关于实际电极位置和取向和消融量的规划组件的反馈，可以更准确，高效地，潜在地实现更好的临床结果。

3. 发明授权

US11562665B2 Tumor ablation training system 有权
公开(公告)号：US11562665B2
公开(公告)日：2023-01-24
申请号：US13378412
申请日：2010-05-14
申请人： Jochen Kruecker , Sheng Xu , Sandeep Dalal , Bradford Johns Wood
发明人： Jochen Kruecker , Sheng Xu , Sandeep Dalal , Bradford Johns Wood
IPC分类号： G09B23/28
摘要： A training system and method includes a subject phantom (102) capable of being visualized on a display (120). A spatial tracking system (104) is configured to track an interventional instrument (108) in subject phantom space. A simulation system (110) is configured to generate a simulated abnormality in the phantom space and to simulate interactions with the simulated abnormality to provide feedback and evaluation information to a user for training the user in an associated procedure related to the abnormality.

4. 发明授权

US10423757B2 System and method for probabilistic ablation planning 有权
公开(公告)号：US10423757B2
公开(公告)日：2019-09-24
申请号：US13885714
申请日：2011-11-07
申请人： Jochen Kruecker , Sandeep Dalal , Bradford Johns Wood , Sheng Xu
发明人： Jochen Kruecker , Sandeep Dalal , Bradford Johns Wood , Sheng Xu
IPC分类号： A61B18/18 , G06F19/00 , A61B18/14 , A61B34/10 , G16H50/50 , A61B18/00 , A61B90/00
摘要： A system and method for ablation planning includes defining (502) shapes and sizes for one or more ablation volumes based on probability of treatment, and determining (510) a target volume to be treated. A procedure plan is provided (516) by determining a number and location of planned ablations within the target volume using the one or more ablation volumes. A joint probability distribution (520) is determined for at least two planned ablations in the target volume. A final configuration is visualized (530) to determine if plan objectives are met based on a probability of treatment for the target volume.

5. 发明授权

US08447384B2 Method and system for performing biopsies 有权
标题翻译：进行活组织检查的方法和系统
公开(公告)号：US08447384B2
公开(公告)日：2013-05-21
申请号：US12993854
申请日：2009-06-12
申请人： Sheng Xu , Jochen Kruecker , Guy Shechter , Ian Farmer , Peter Lyle Choyke , Peter Pinto , Bradford J. Wood
发明人： Sheng Xu , Jochen Kruecker , Guy Shechter , Ian Farmer , Peter Lyle Choyke , Peter Pinto , Bradford J. Wood
IPC分类号： A61B5/05
CPC分类号： A61B8/4254 , A61B10/0233 , A61B34/20 , A61B2034/2051 , A61B2090/364 , A61B2090/374 , A61B2090/378
摘要： A method and system for performing biopsies can include an imaging system for obtaining diagnostic images of a target region; a tracking system; a probe having a deployable biopsy needle for performing a biopsy procedure where the tracking system generates tracking information for at least one of the probe and the biopsy needle; an ultrasound imaging system for obtaining ultrasound imaging of the target region; and a computer in communication with the tracking system, the imaging system and the ultrasound imaging system. The computer can register the tracking system with the imaging system. The computer transfers a marking of a biopsy site associated with the biopsy procedure from the ultrasound imaging to the diagnostic images based on the tracking information and the registration of the tracking system with the diagnostic images.
摘要翻译：用于进行活组织检查的方法和系统可以包括用于获得目标区域的诊断图像的成像系统; 跟踪系统; 具有用于执行活检程序的可展开活检针的探针，其中所述跟踪系统生成所述探针和所述活检针中的至少一个的跟踪信息; 用于获得所述目标区域的超声成像的超声成像系统; 以及与跟踪系统，成像系统和超声成像系统通信的计算机。计算机可以使用成像系统注册跟踪系统。计算机根据跟踪信息和跟踪系统与诊断图像的登记，将与活检程序相关联的活检部位的标记从超声成像传送到诊断图像。

6. 发明授权

US08731264B2 System and method for fusing real-time ultrasound images with pre-acquired medical images 有权
标题翻译：将实时超声图像与预先获取的医学图像融合的系统和方法
公开(公告)号：US08731264B2
公开(公告)日：2014-05-20
申请号：US12516407
申请日：2007-11-26
申请人： Jochen Kruecker , Sheng Xu , Neil David Glossop , Peter Lyle Choyke , Bradford J. Wood
发明人： Jochen Kruecker , Sheng Xu , Neil David Glossop , Peter Lyle Choyke , Bradford J. Wood
IPC分类号： G06K9/00
CPC分类号： A61B8/4254 , A61B8/4245 , G06T3/0081 , G06T7/30 , G06T2207/10068 , G06T2207/10072 , G06T2207/10132 , G06T2207/30004
摘要： A method, apparatus and system for fusing real-time ultrasound images with pre-acquired medical images are described.
摘要翻译：描述了将实时超声图像与预先获取的医学图像进行融合的方法，装置和系统。

7. 发明申请

US20110082363A1 METHOD AND SYSTEM FOR PERFORMING BIOPSIES 有权
标题翻译：用于生物生产的方法和系统
公开(公告)号：US20110082363A1
公开(公告)日：2011-04-07
申请号：US12993854
申请日：2009-06-12
申请人： Sheng Xu , Jochen Kruecker , Guy Shechter , Ian Farmer , Peter Lyle Choyke , Peter Pinto , Bradford J. Wood
发明人： Sheng Xu , Jochen Kruecker , Guy Shechter , Ian Farmer , Peter Lyle Choyke , Peter Pinto , Bradford J. Wood
IPC分类号： A61B8/00 , A61B5/055 , G09B23/28
CPC分类号： A61B8/4254 , A61B10/0233 , A61B34/20 , A61B2034/2051 , A61B2090/364 , A61B2090/374 , A61B2090/378
摘要： A method and system for performing biopsies can include an imaging system (190) for obtaining diagnostic images of a target region (200); a tracking system (100); a probe (75) having a deployable biopsy needle for performing a biopsy procedure where the tracking system generates tracking information for at least one of the probe and the biopsy needle; an ultrasound imaging system (50) for obtaining ultrasound imaging of the target region; and a computer (150) in communication with the tracking system, the imaging system and the ultrasound imaging system. The computer can register the tracking system with the imaging system. The computer transfers a marking (500) of a biopsy site associated with the biopsy procedure from the ultrasound imaging to the diagnostic images based on the tracking information and the registration of the tracking system with the diagnostic images.
摘要翻译：用于进行活组织检查的方法和系统可以包括用于获得目标区域（200）的诊断图像的成像系统（190）; 跟踪系统（100）; 具有用于执行活检程序的可展开活检针的探针（75），其中所述跟踪系统生成所述探针和所述活检针中的至少一个的跟踪信息; 用于获得目标区域的超声成像的超声成像系统（50）以及与跟踪系统，成像系统和超声成像系统通信的计算机（150）。计算机可以使用成像系统注册跟踪系统。计算机根据跟踪信息和跟踪系统与诊断图像的配准，将与活检程序相关联的活检部位的标记（500）从超声成像传送到诊断图像。

8. 发明申请

US20140058387A1 SYSTEM AND METHOD FOR PROBABILISTIC ABLATION PLANNING 有权
标题翻译：用于概率规划的系统和方法
公开(公告)号：US20140058387A1
公开(公告)日：2014-02-27
申请号：US13885714
申请日：2011-11-07
申请人： Jochen Kruecker , Sandeep Dalal , Bradford Johns Wood , Sheng Xu
发明人： Jochen Kruecker , Sandeep Dalal , Bradford Johns Wood , Sheng Xu
IPC分类号： A61B19/00 , G06F19/00
摘要： A system and method for ablation planning includes defining (502) shapes and sizes for one or more ablation volumes based on probability of treatment, and determining (510) a target volume to be treated. A procedure plan is provided (516) by determining a number and location of planned ablations within the target volume using the one or more ablation volumes. A joint probability distribution (520) is determined for at least two planned ablations in the target volume. A final configuration is visualized (530) to determine if plan objectives are met based on a probability of treatment for the target volume.
摘要翻译：用于消融规划的系统和方法包括基于治疗概率来定义（502）一个或多个消融体积的形状和尺寸，以及确定（510）要治疗的目标体积。通过使用一个或多个消融量确定目标体积内的计划消融的数量和位置来提供程序计划（516）。确定目标体积中至少两个计划消融的联合概率分布（520）。可视化最终配置（530）以根据目标体积的治疗概率确定是否满足计划目标。

9. 发明申请

US20120189998A1 TUMOR ABLATION TRAINING SYSTEM 审中-公开
标题翻译：肿瘤消融训练系统
公开(公告)号：US20120189998A1
公开(公告)日：2012-07-26
申请号：US13378412
申请日：2010-05-14
申请人： Jochen Kruecker , Sheng Xu , Sandeep Dalal , Bradford Johns Wood
发明人： Jochen Kruecker , Sheng Xu , Sandeep Dalal , Bradford Johns Wood
IPC分类号： G09B23/30
CPC分类号： G09B23/286
摘要： A training system and method includes a subject phantom (102) capable of being visualized on a display (120). A spatial tracking system (104) is configured to track an interventional instrument (108) in subject phantom space. A simulation system (110) is configured to generate a simulated abnormality in the phantom space and to simulate interactions with the simulated abnormality to provide feedback and evaluation information to a user for training the user in an associated procedure related to the abnormality.
摘要翻译：训练系统和方法包括能够在显示器（120）上可视化的主体体模（102）。空间跟踪系统（104）被配置为在主体幻影空间中跟踪介入仪器（108）。模拟系统（110）被配置为在幻影空间中产生模拟异常并且模拟与模拟异常的相互作用，以向用户提供反馈和评估信息，以在与该异常相关的相关过程中训练用户。

10. 发明申请

US20100249595A1 SYSTEM AND METHOD FOR AUTOMATIC CALIBRATION OF TRACKED ULTRASOUND 审中-公开
标题翻译：用于跟踪超声波自动校准的系统和方法
公开(公告)号：US20100249595A1
公开(公告)日：2010-09-30
申请号：US12740352
申请日：2008-11-05
申请人： Sheng Xu , Jochen Kruecker
发明人： Sheng Xu , Jochen Kruecker
IPC分类号： A61B8/14 , G06K9/62
CPC分类号： G01S7/5205 , A61B8/4245 , A61B8/4254 , A61B8/483 , A61B8/582 , A61B8/585 , G01S7/52074 , G01S15/8936 , G06T7/80 , G06T2207/10132 , G06T2207/30004
摘要： A system and method of tracking ultrasound transducers or probes (12) with spatial localizers (16) achieves automatic calibration with a minimum addition of hardware to that required by earlier systems. An image-based tracking algorithm localizes control points in an image space (I). An unlimited number of points can then be used for ultrasound calibration, allowing for high calibration accuracy. The proposed calibration system (10) is simple and low cost. The calibration is fast and can be carried out automatically.
摘要翻译：使用空间定位器（16）跟踪超声换能器或探头（12）的系统和方法通过以前的系统所需的硬件的最小添加来实现自动校准。基于图像的跟踪算法定位图像空间（I）中的控制点。然后可以将无限数量的点用于超声波校准，从而允许高校准精度。所提出的校准系统（10）简单，成本低。校准速度快，可以自动进行。

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