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1. 发明授权

US07761135B2 Method and device for correction motion in imaging during a medical intervention 有权
标题翻译：用于在医疗干预期间成像中校正运动的方法和装置
公开(公告)号：US07761135B2
公开(公告)日：2010-07-20
申请号：US11636953
申请日：2006-12-11
申请人： Marcus Pfister , Norbert Rahn
发明人： Marcus Pfister , Norbert Rahn
IPC分类号： A61B5/05
CPC分类号： A61B6/504 , A61B6/12 , G06T5/50 , G06T7/33 , G06T7/38 , G06T2207/10072 , G06T2207/10121 , G06T2207/20221 , G06T2207/30101
摘要： The present invention relates to a method and a device for correcting motion in imaging during a medical intervention, by which method a 3D tomographic image of a target area for the intervention is first recorded while there are one or more medical instruments in the target area that will remain there during the intervention. During the intervention 2D fluoroscopic images of the target area are recorded and registered with the 3D image. The registration is therein adjusted for each 2D fluoroscopic image in realtime based in each case on the one or more instruments. The 2D fluoroscopic images are then in each case visualized with representations, concurring in terms of perspective, of the 3D image. Virtually error-free overlaying of the 3D image with in each case one 2D fluoroscopic image can be implemented using the present method and associated device.
摘要翻译：本发明涉及一种用于在医疗介入期间校正成像中的运动的方法和装置，通过该方法首先记录用于干预的目标区域的3D断层图像，同时目标区域中存在一个或多个医疗器械将在干预期间留在那里。在干预期间，记录2D目标区域的二维透视图像并将其与3D图像一起登记。在每个情况下，在一个或多个仪器上实时地对每个2D透视图像进行配准。然后，2D透视图像在每种情况下可视化，并以透视方式同意3D图像。在每种情况下，3D图像的几乎无误差的重叠可以使用本方法和相关联的装置来实现一个2D透视图像。

2. 发明授权

US07366563B2 Catheter device 有权
标题翻译：导管装置
公开(公告)号：US07366563B2
公开(公告)日：2008-04-29
申请号：US11012971
申请日：2004-12-14
申请人： Martin Kleen , Marcus Pfister , Norbert Rahn
发明人： Martin Kleen , Marcus Pfister , Norbert Rahn
IPC分类号： A61B5/05
CPC分类号： A61B5/0071 , A61B5/0073 , A61B5/0084 , A61B5/06 , A61B5/062 , A61B5/7285 , A61B34/20 , A61B90/36 , A61B90/361 , A61B2034/2051 , A61B2090/367 , A61B2090/373
摘要： Catheter device for insertion into an area being examined, in particular into a vessel or cavity-containing organ in the body of a person or animal, wherein in the area of the catheter tip a device (3) is provided for emitting excitation light for light-optically exciting an area being examined surrounding the catheter tip, furthermore a device (3) is provided for collecting response light emitted, owing to excitation, from the area being examined, and furthermore a position sensor (13, 24, 27) is provided enabling the catheter tip's spatial position and/or orientation to be registered in a system of coordinates of a position-registering system (7, 14).
摘要翻译：用于插入被检查区域的导管装置，特别是插入人或动物身体中的容器或含腔器官中，其中在导管末端的区域中设置有用于发射光的激发光的装置（3） - 光学激发围绕导管尖端的被检查的区域，此外，提供了一种装置（3），用于从被检查的区域收集由于激发而发射的响应光，并且还提供了位置传感器（13,24,27）使得导管末端的空间位置和/或取向能够登记在位置登记系统（7,14）的坐标系统中。

3. 发明申请

US20070167721A1 Method and device for correction motion in imaging during a medical intervention 有权
标题翻译：用于在医疗干预期间成像中校正运动的方法和装置
公开(公告)号：US20070167721A1
公开(公告)日：2007-07-19
申请号：US11636953
申请日：2006-12-11
申请人： Marcus Pfister , Norbert Rahn
发明人： Marcus Pfister , Norbert Rahn
IPC分类号： A61B5/05
CPC分类号： A61B6/504 , A61B6/12 , G06T5/50 , G06T7/33 , G06T7/38 , G06T2207/10072 , G06T2207/10121 , G06T2207/20221 , G06T2207/30101
摘要： The present invention relates to a method and a device for correcting motion in imaging during a medical intervention, by which method a 3D tomographic image of a target area for the intervention is first recorded while there are one or more medical instruments in the target area that will remain there during the intervention. During the intervention 2D fluoroscopic images of the target area are recorded and registered with the 3D image. The registration is therein adjusted for each 2D fluoroscopic image in realtime based in each case on the one or more instruments. The 2D fluoroscopic images are then in each case visualized with representations, concurring in terms of perspective, of the 3D image. Virtually error-free overlaying of the 3D image with in each case one 2D fluoroscopic image can be implemented using the present method and associated device.
摘要翻译：本发明涉及一种用于在医疗介入期间校正成像中的运动的方法和装置，通过该方法首先记录用于干预的目标区域的3D断层图像，同时目标区域中存在一个或多个医疗器械将在干预期间留在那里。在干预期间，记录2D目标区域的二维透视图像并将其与3D图像一起登记。在每个情况下，在一个或多个仪器上实时地对每个2D透视图像进行配准。然后，2D透视图像在每种情况下可视化，并以透视方式同意3D图像。在每种情况下，3D图像的几乎无误差的重叠可以使用本方法和相关联的装置来实现一个2D透视图像。

4. 发明申请

US20050203420A1 Method for merging medical images 有权
公开(公告)号：US20050203420A1
公开(公告)日：2005-09-15
申请号：US11007492
申请日：2004-12-08
申请人： Martin Kleen , Marcus Pfister , Norbert Rahn
发明人： Martin Kleen , Marcus Pfister , Norbert Rahn
IPC分类号： G01N21/64 , A61B1/00 , A61B5/00 , A61B5/055 , A61B6/03 , A61B8/00 , G06T1/00 , G06T7/00 , A61B6/00
CPC分类号： A61B5/0073 , A61B5/0071 , A61B5/0084 , A61B5/055 , A61B6/032 , A61B6/5247 , A61B8/00 , A61B8/5238 , G06K9/32 , G06K2209/05 , G06T7/38
摘要： The invention relates to a method for the merged display of first image information captured using a first imaging device with second image information captured using a second imaging device, whereby said image information relates to the same area of examination in the human or animal body, in particular a hollow organ, in which method: a plurality of individual, two-dimensional images of the area under examination are recorded in the form of fluorescence images by light-excitation of fluorescent areas of the area under examination, using a medical instrument to be introduced invasively into the area under examination, in particular a catheter, a 3D fluorescence image data record, suitable for the three-dimensional reconstruction of a fluorescence three-dimensional image of the area under examination, is generated from the individual two-dimensional images, a further 3D image data record of the area under examination recorded using a further examination procedure, said further 3D image data record being suitable for the three-dimensional reconstruction of a further three-dimensional image of the area under examination, is used, the 3D fluorescence image data record and the further 3D image data record are registered with one another, and one or more fluorescence-optically marked, relevant areas of the examination volume, on the basis of the mapping rules determined by the registration process, are displayed on a monitor, said areas being accurately positioned in the further three-dimensional image generated using the further 3D data record, whereby either a) one or more fluorescence-optically marked, relevant areas of the area under examination are identified in the 3D fluorescence image data record in terms of their spatial position, and only these extracted partial image areas are displayed, said extracted partial image areas being accurately positioned in the further three-dimensional image, or b) the complete fluorescence three-dimensional image is superimposed over the further three-dimensional image, with voxels having predefined gray-scale values being masked out.

5. 发明申请

US20050165303A1 Catheter device 有权
标题翻译：导管装置
公开(公告)号：US20050165303A1
公开(公告)日：2005-07-28
申请号：US11012971
申请日：2004-12-14
申请人： Martin Kleen , Marcus Pfister , Norbert Rahn
发明人： Martin Kleen , Marcus Pfister , Norbert Rahn
IPC分类号： G01N21/64 , A61B1/00 , A61B5/00 , A61B5/06 , A61B19/00 , A61M25/00 , A61B5/05
CPC分类号： A61B5/0071 , A61B5/0073 , A61B5/0084 , A61B5/06 , A61B5/062 , A61B5/7285 , A61B34/20 , A61B90/36 , A61B90/361 , A61B2034/2051 , A61B2090/367 , A61B2090/373
摘要： Catheter device comprising a catheter, in particular an intravascular catheter, for insertion into an area being examined, in particular into a vessel or cavity-containing organ in the body of a person or animal, wherein in the area of the catheter tip a device (3) is provided for emitting excitation light for light-optically exciting an area being examined surrounding said catheter tip, furthermore a device (3) is provided for collecting response light emitted, owing to excitation, from the area being examined, and furthermore a position sensor (13, 24, 27) is provided enabling said catheter tip's spatial position and/or orientation to be registered in a system of coordinates of a position-registering system (7, 14).
摘要翻译：导管装置，其包括导管，特别是血管内导管，用于插入被检查的区域，特别是插入人或动物身体中的血管或含空腔的器官中，其中在导管末端的区域中， 3）用于发射用于光学激发围绕所述导管尖端的被检查区域的激发光，此外，设备（3）用于从被检查的区域收集由于激发而发射的响应光，并且还提供位置传感器（13,24,27）被设置成能够使所述导管尖端的空间位置和/或取向登记在位置登记系统（7,14）的坐标系中。

6. 发明申请

US20060235295A1 Method for movement-compensation in imaging 有权
公开(公告)号：US20060235295A1
公开(公告)日：2006-10-19
申请号：US11402320
申请日：2006-04-11
申请人： Jan Boese , Martin Kleen , Marcus Pfister , Norbert Rahn
发明人： Jan Boese , Martin Kleen , Marcus Pfister , Norbert Rahn
IPC分类号： A61B5/05
CPC分类号： A61B8/5276 , A61B5/7285 , A61B6/5264 , A61B6/527 , A61B6/541 , A61B8/543 , G06T7/20
摘要： In a method for mathematical compensation of a periodic movement of an organ in a first image-generation method used to image said organ, two time series of three-dimensional image data are acquired using gating, one by the first image-generation method and one by the second image-generation method, the image data that have been acquired by the second image-generation method being used to calculate motion fields which are applied for the compensation of the data from the time series which was acquired by the first image-generation method. The compensation encompasses the mathematical inclusion of motion fields and the mapping of the image data to a reference time. All the image data mapped back to the reference time are added together.

7. 发明申请

US20050197559A1 Method for endoluminal imaging with movement correction 有权
标题翻译：用于运动矫正的腔内成像方法
公开(公告)号：US20050197559A1
公开(公告)日：2005-09-08
申请号：US11076537
申请日：2005-03-08
申请人： Jan Boese , Martin Kleen , Marcus Pfister , Norbert Rahn
发明人： Jan Boese , Martin Kleen , Marcus Pfister , Norbert Rahn
IPC分类号： G01N21/64 , A61B5/00 , A61B5/05 , A61B5/055 , A61B5/06 , A61B6/00 , A61B6/02 , A61B6/03 , A61B6/12 , A61B8/12 , A61B19/00 , A61M25/095 , G01N21/17
CPC分类号： A61B5/06 , A61B5/0073 , A61B5/0084 , A61B5/7207 , A61B5/7289 , A61B8/12 , A61B8/5238
摘要： The present invention relates to a method for imaging using an image-generating, endoluminal instrument (1) by means of which a sequence of 2D image data of a hollow channel (2), in particular a vessel, of an object under investigation is recorded, wherein the images are recorded in a known temporal relation to a periodic movement of the object under investigation and spatial coordinates of the image are captured by means of a position sensor during each recording of an image (5) and stored as position data (9, 10) together with the 2D image data of the image (5). The method is characterized in that first position data (10) which does not lie in a predefinable movement phase of the object under investigation is corrected, before or after being stored, by interpolation between second position data (9) which does lie in the specified movement phase and/or by subtraction or addition of predetermined values. By means of the method a movement correction of the data can be performed without the need to reduce the volume of recorded image material.
摘要翻译：本发明涉及一种使用图像生成的腔内器械（1）进行成像的方法，通过该方法，记录被调查对象的空心通道（2），特别是血管的2D图像数据的序列，其中图像以已知的时间关系记录在被调查对象的周期性运动中，并且在每次记录图像（5）期间通过位置传感器捕获图像的空间坐标，并将其存储为位置数据（9），10）与图像（5）的2D图像数据一起。该方法的特征在于，通过在位于指定的位置的第二位置数据（9）之间的内插来校正不在被调查对象的预定义移动阶段的第一位置数据（10），在存储之前或之后，移动阶段和/或通过减去或添加预定值。通过该方法，可以执行数据的移动校正，而不需要减少记录的图像材料的体积。

8. 发明申请

US20050187538A1 Remote control device for a medical probe 有权
标题翻译：用于医疗探头的遥控装置
公开(公告)号：US20050187538A1
公开(公告)日：2005-08-25
申请号：US10966754
申请日：2004-10-15
申请人： Jan Boese , Martin Kleen , Marcus Pfister , Norbert Rahn
发明人： Jan Boese , Martin Kleen , Marcus Pfister , Norbert Rahn
IPC分类号： G02B23/24 , A61B1/00 , A61B8/12 , A61B17/00 , A61B19/00 , A61M25/01 , A61M31/00 , G05D1/00
CPC分类号： A61B1/00039 , A61B34/70 , A61B34/74 , A61B34/76 , A61B34/77 , A61M25/0136
摘要： The device according to the invention ensures accurate and in particular sensitive navigation of the probe, which can be inserted into a body, despite the fact that the remote control uses simple means, by means of a movement (MR;MB;MP) corresponding intuitively to the navigation of a probe using the control device (1). Intuitive operation can be converted in particular using an inventive U-shaped embodiment of the control device (1). Sensitive controllability can be increased by transmitting the mechanical interaction between the probe and an environment under examination to the control device (1) and thus directly to the operating hand (3) by means of inventive feedback.
摘要翻译：根据本发明的装置，尽管远程控制使用简单的手段，借助于直观对应的移动（MR; MB; MP），可以确保探头的精确和特别灵敏的导航，其可插入到身体中使用控制装置（1）到探针的导航。可以使用控制装置（1）的本发明的U形实施例特别地转换直观的操作。可以通过发明反馈将探测器和被检查环境之间的机械相互作用传输到控制装置（1），从而直接传递给操作手（3）来增加敏感的可控性。

9. 发明授权

US07760926B2 Method and device for marking three-dimensional structures on two-dimensional projection images 有权
标题翻译：用于在二维投影图像上标记三维结构的方法和装置
公开(公告)号：US07760926B2
公开(公告)日：2010-07-20
申请号：US11453623
申请日：2006-06-15
申请人： Jan Boese , Andreas Meyer , Marcus Pfister , Norbert Rahn
发明人： Jan Boese , Andreas Meyer , Marcus Pfister , Norbert Rahn
IPC分类号： G06K9/00
CPC分类号： G03B42/026 , A61B6/02 , A61B6/4441 , A61B6/466 , A61B6/469 , A61B6/481 , A61B6/503 , A61B6/504 , A61B6/541 , A61B34/20 , A61B90/37 , A61B2017/00703 , A61B2090/364 , A61B2090/376 , G03B42/021
摘要： The invention relates to a method and a device for marking three-dimensional structures on two-dimensional projection images of an object, with which a position marker is determined on two projection images of the object recorded from different projection directions, from which the position of the position marker in the three-dimensional space is calculated so that further, subsequently recorded projection images can be displayed superimposed by the position marker.
摘要翻译：本发明涉及一种用于标记物体的二维投影图像上的三维结构的方法和装置，利用该方法和装置在从不同投影方向记录的物体的两个投影图像上确定位置标记，计算三维空间中的位置标记，使得随后记录的投影图像可以通过位置标记叠加显示。

10. 发明授权

US07664542B2 Registering intra-operative image data sets with pre-operative 3D image data sets on the basis of optical surface extraction 有权
标题翻译：基于光学表面提取，将手术前图像数据集与术前3D图像数据集进行注册
公开(公告)号：US07664542B2
公开(公告)日：2010-02-16
申请号：US11496069
申请日：2006-07-28
申请人： Jan Boese , Martin Kleen , Klaus Klingenbeck-Regn , Marcus Pfister , Norbert Rahn
发明人： Jan Boese , Martin Kleen , Klaus Klingenbeck-Regn , Marcus Pfister , Norbert Rahn
IPC分类号： A61B5/05 , A61B6/00
CPC分类号： G06T7/55 , G06T7/38 , G06T7/50 , G06T2207/30004
摘要： The invention relates to a method for registering intra-operative image data set with pre-operative 3D image data set, including: spatially calibrating an optical 3D sensor system with an intra-operative imaging modality, intra-operatively detecting the surface of an examination area of interest with the 3D sensor system to produce an intra-operative surface mask, intra-operatively recording the area of interest for examination with the intra-operative modality at least partly containing the intra-operative surface mask to obtain an intra-operative image data set, computing the same surface from the pre-operative 3D image data set containing the detected surface to obtain a pre-operative surface mask, registering the intra-operative and pre-operative surface mask with each other, determining a mapping specification between pre-operative 3D image data set and intra-operative image data set based on the calibration and the registration, and overlaying the intra-operative image data set with the pre-operative 3D data set based on the mapping specification.
摘要翻译：本发明涉及一种用于记录术前图像数据组与手术前3D图像数据集的方法，所述方法包括：空间校准具有术中成像模态的光学3D传感器系统，操作内检测检查区域的表面感兴趣的3D传感器系统以产生术中表面掩模，用至少部分地包含术中表面掩模的手术内模式操作内记录用于检查的感兴趣区域以获得手术中图像数据设置，从包含检测到的表面的术前3D图像数据集计算相同的表面，以获得术前表面掩模，将手术前和手术前表面掩模彼此对准，基于校准和注册的手术3D图像数据集和手术中图像数据集合，并且将术中图像数据集w 基于映射规范的术前3D数据集。

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