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1. 发明授权

US07054793B2 Device and method for generating a virtual model of an installation 有权
标题翻译：用于生成安装虚拟模型的设备和方法
公开(公告)号：US07054793B2
公开(公告)日：2006-05-30
申请号：US09750673
申请日：2001-01-02
申请人： Soeren Moritz , Wolfgang Friedrich , Ali-Reza Bani-Hashemi , Nicholas Craft , Nassir Navab , Frank Sauer
发明人： Soeren Moritz , Wolfgang Friedrich , Ali-Reza Bani-Hashemi , Nicholas Craft , Nassir Navab , Frank Sauer
IPC分类号： G06F17/50
CPC分类号： G06T17/00
摘要： The invention relates to a method and a device for generating a virtual installation model (2) as an image of a real installation (1). As a database therefor, digital picture data (4) representing pictures of a real installation (1) on the one hand and installation components (13) of a component library (6) on the other hand are used. The data of the installation components as well as the digital picture data (4) of the real installation (1) is evaluated by means of an image analysis (5). Based on this analysis, the identified installation components (13) are assigned to the virtually generated installation model (2). The virtual image of the real installation thus created serves to document the actual structure of the installation/facility, to simplify failure analysis, e.g., in areas that are difficult to access, and/or to operate and monitor the installation/facility. In addition to geometric data, functional data, etc. of the installation components are also stored.
摘要翻译：本发明涉及一种用于生成虚拟安装模型（2）作为真实设备（1）的图像的方法和装置。作为数据库，使用表示实际装置（1）的照片的数字图像数据（4）和组件库（6）的安装部件（13）。通过图像分析（5）评估安装部件的数据以及实际安装（1）的数字图像数据（4）。基于此分析，将已识别的安装组件（13）分配给虚拟生成的安装模型（2）。如此创建的真实安装的虚拟映像用于记录安装/设施的实际结构，以简化故障分析，例如在难以访问的区域和/或操作和监视安装/设施。除了几何数据，还存储了安装组件的功能数据等。

2. 发明授权

US5835563A Calibration apparatus for X-ray geometry 失效
标题翻译： X射线几何校准装置
公开(公告)号：US5835563A
公开(公告)日：1998-11-10
申请号：US576736
申请日：1995-12-21
申请人： Nassir Navab , Ali Reza Bani-Hashemi
发明人： Nassir Navab , Ali Reza Bani-Hashemi
IPC分类号： A61B6/12 , G01D18/00
CPC分类号： A61B6/583 , A61B6/12
摘要： Calibration apparatus for X-ray geometry, for use in conjunction with a portion of a patient's body to be X-rayed, an X-ray source, and imaging arrangement for forming an image, wherein the imaging arrangement is at a given orientation and distance from the portion of a patient's body, comprises a calibration ring adapted for being fastened to a portion of a patient's body, such as a patient's head. The ring exhibits a first degree of transparency to X-rays. An encoding arrangement incorporated in the ring comprises a plurality of encoding units exhibiting a second degree of transparency to X-rays, different from the first degree, the encoding units being arranged in a predetermined configuration such that an essentially two-dimensional projected image, formed by the imaging arrangement, of the calibration ring with the encoding arrangement exhibits a pattern of contrasting intensity attributable to at least a portion of the encoding arrangement from which the orientation and distance can be determined uniquely.
摘要翻译：用于与X射线的患者身体的一部分结合使用的用于X射线几何形状的校准装置，X射线源和用于形成图像的成像装置，其中成像装置处于给定的取向和距离从患者身体的部分，包括适于紧固到患者身体的一部分（例如患者头部）的校准环。环对X射线显示出第一程度的透明度。结合在环中的编码装置包括与X射线呈现出第二度透明度的多个编码单元，其不同于第一程度，编码单元以预定构造布置，使得形成基本上二维的投影图像通过成像装置，具有编码装置的校准环表现出归因于可以唯一地确定取向和距离的编码装置的至少一部分的对比强度的图案。

3. 发明授权

US5822396A Calibration system and method for x-ray geometry 失效
标题翻译： x射线几何的校准系统和方法
公开(公告)号：US5822396A
公开(公告)日：1998-10-13
申请号：US893283
申请日：1997-07-15
申请人： Nassir Navab , Ali Reza Bani-Hashemi
发明人： Nassir Navab , Ali Reza Bani-Hashemi
IPC分类号： A61B6/00 , G01D18/00
CPC分类号： A61B6/583
摘要： A system for X-ray geometry calibration comprises a calibration frame adapted for mounting proximate to at least a portion of a patient's body, such as a patient's head. An X-ray source cooperates with a target at a given orientation and distance from the portion of a patient's body for forming an image of the portion of a patient's body and of at least an associated portion of the calibration frame. The calibration frame includes encoding arrangement for uniquely determining correspondence between the image of the associated portion of the calibration frame and the calibration frame such that the orientation and distance can be determined uniquely from the image of the associated portion of the calibration frame.
摘要翻译：用于X射线几何校准的系统包括适于安装在患者身体的至少一部分（例如患者头部）附近的校准框架。 X射线源以与患者身体部分相对的给定取向和距离与目标协作，以形成患者身体部分和校准框架的至少相关部分的图像。校准框架包括用于唯一地确定校准框架的相关部分的图像与校准框架之间的对应关系的编码装置，使得可以从校准框架的相关部分的图像中唯一地确定取向和距离。

4. 发明申请

US20060152434A1 Calibrating real and virtual views 有权
标题翻译：校准真实视图和虚拟视图
公开(公告)号：US20060152434A1
公开(公告)日：2006-07-13
申请号：US10863414
申请日：2004-06-08
申请人： Frank Sauer , Yakup Genc , Nassir Navab
发明人： Frank Sauer , Yakup Genc , Nassir Navab
IPC分类号： G09G5/00
CPC分类号： G06F3/012 , G02B27/0101 , G02B27/0189 , G02B2027/0138 , G02B2027/0187
摘要： A method for calibrating real and virtual views includes tracking a calibration screen, wherein a real reference point, generated by a real reference point generator, is projected on the calibration screen, aligning a view of a virtual reference point to a view of the real reference point in a display, wherein the real reference point generator and the display have a fixed relative position, determining a point correspondence between the virtual reference point and the real reference point, and determining one or more parameters for rendering a virtual object in the real scene.
摘要翻译：用于校准实际和虚拟视图的方法包括跟踪校准屏幕，其中由实际参考点发生器生成的实际参考点被投影在校准屏幕上，将虚拟参考点的视图与真实参考图像的视图对准指向显示器，其中所述实际参考点发生器和所述显示器具有固定的相对位置，确定所述虚拟参考点和所述实际参考点之间的点对应，以及确定用于在所述真实场景中呈现虚拟对象的一个或多个参数。

5. 发明申请

US20050272991A1 Method and system for registering pre-procedural images with intra-procedural images using a pre-computed knowledge base 有权
标题翻译：使用预先计算的知识库将程序前图像注册到程序内图像的方法和系统
公开(公告)号：US20050272991A1
公开(公告)日：2005-12-08
申请号：US11104831
申请日：2005-04-13
申请人： Chenyang Xu , Nassir Navab , Frank Sauer , Ali Khamene
发明人： Chenyang Xu , Nassir Navab , Frank Sauer , Ali Khamene
IPC分类号： A61B5/05 , A61B5/055 , A61B6/00 , A61B6/03 , A61B19/00 , G06F17/30 , G06F19/00
CPC分类号： A61B5/055 , A61B6/032
摘要： A system and method for registering pre-operative images of an object with an intra-operative image of the object is disclosed. Prior to an operative procedure, Digitally Reconstructed Radiographs (DRRs) are generated for the pre-operative images of each individual patient. Signatures are extracted from the DRRs. The signatures are stored in a knowledge base. During the operative procedure, a signature is extracted from the intra-operative image. The intra-operative signature is compared to the stored pre-operative signatures. A pre-operative image having a best signature match to the intra-operative signature is retrieved. The retrieved pre-operative image is registered with the intra-operative image.
摘要翻译：公开了一种用于登记具有对象的手术内图像的对象的术前图像的系统和方法。在手术过程之前，为每个患者的术前图像生成数字重建放射照片（DRR）。从DRR中提取签名。签名存储在知识库中。在手术过程中，从手术中的图像中提取出一个签名。术中签名与存储的术前签名进行比较。检索与手术内签名具有最佳签名匹配的术前图像。检索到的术前图像与手术内图像一起登记。

6. 发明授权

US07620223B2 Method and system for registering pre-procedural images with intra-procedural images using a pre-computed knowledge base 有权
标题翻译：使用预先计算的知识库将程序前图像注册到程序内图像的方法和系统
公开(公告)号：US07620223B2
公开(公告)日：2009-11-17
申请号：US11104831
申请日：2005-04-13
申请人： Chenyang Xu , Nassir Navab , Frank Sauer , Ali Khamene
发明人： Chenyang Xu , Nassir Navab , Frank Sauer , Ali Khamene
IPC分类号： G06K9/00
CPC分类号： A61B5/055 , A61B6/032
摘要： A system and method for registering pre-operative images of an object with an intra-operative image of the object is disclosed. Prior to an operative procedure, Digitally Reconstructed Radiographs (DRRs) are generated for the pre-operative images of each individual patient. Signatures are extracted from the DRRs. The signatures are stored in a knowledge base. During the operative procedure, a signature is extracted from the intra-operative image. The intra-operative signature is compared to the stored pre-operative signatures. A pre-operative image having a best signature match to the intra-operative signature is retrieved. The retrieved pre-operative image is registered with the intra-operative image.
摘要翻译：公开了一种用于登记具有对象的手术内图像的对象的术前图像的系统和方法。在手术过程之前，为每个患者的术前图像生成数字重建放射照片（DRR）。从DRR中提取签名。签名存储在知识库中。在手术过程中，从手术中的图像中提取出一个签名。术中签名与存储的术前签名进行比较。检索与手术内签名具有最佳签名匹配的术前图像。检索到的术前图像与手术内图像一起登记。

7. 发明授权

US07369101B2 Calibrating real and virtual views 有权
标题翻译：校准真实视图和虚拟视图
公开(公告)号：US07369101B2
公开(公告)日：2008-05-06
申请号：US10863414
申请日：2004-06-08
申请人： Frank Sauer , Yakup Genc , Nassir Navab
发明人： Frank Sauer , Yakup Genc , Nassir Navab
IPC分类号： G09G5/00
CPC分类号： G06F3/012 , G02B27/0101 , G02B27/0189 , G02B2027/0138 , G02B2027/0187
摘要： A method for calibrating real and virtual views includes tracking a calibration screen, wherein a real reference point, generated by a real reference point generator, is projected on the calibration screen, aligning a view of a virtual reference point to a view of the real reference point in a display, wherein the real reference point generator and the display have a fixed relative position, determining a point correspondence between the virtual reference point and the real reference point, and determining one or more parameters for rendering a virtual object in the real scene.
摘要翻译：用于校准实际和虚拟视图的方法包括跟踪校准屏幕，其中由实际参考点发生器生成的实际参考点被投影在校准屏幕上，将虚拟参考点的视图与真实参考图像的视图对准指向显示器，其中所述实际参考点发生器和所述显示器具有固定的相对位置，确定所述虚拟参考点和所述实际参考点之间的点对应，以及确定用于在所述真实场景中呈现虚拟对象的一个或多个参数。

8. 发明授权

US07379077B2 Augmented and virtual reality guided instrument positioning using along-the-line-of-sight alignment 有权
标题翻译：使用视线对准的增强和虚拟现实引导仪器定位
公开(公告)号：US07379077B2
公开(公告)日：2008-05-27
申请号：US09818427
申请日：2001-03-27
申请人： Ali Bani-Hashemi , Nassir Navab , Frank Sauer
发明人： Ali Bani-Hashemi , Nassir Navab , Frank Sauer
IPC分类号： G90G5/00 , G06T15/00
CPC分类号： B25J9/1689 , G05B2219/40121 , G05B2219/40126
摘要： There is provided a method for augmented reality guided instrument positioning. A viewpoint is established, from which a line of sight to a point on a target defines a path for an instrument to follow during a positioning of the instrument to the point on the target. The instrument is aligned along the line of sight to the point on the target.
摘要翻译：提供了一种增强现实引导仪器定位的方法。建立一个观点，从目标到目标点的瞄准线定义了仪器在目标位置定位时跟随的路径。仪器沿着视线对准目标点。

9. 发明申请

US20150150525A1 DYNAMIC NUCLEAR EMISSION AND X-RAY IMAGING DEVICE AND RESPECTIVE IMAGING METHOD 审中-公开
标题翻译：动态核排放和X射线成像装置及相关成像方法
公开(公告)号：US20150150525A1
公开(公告)日：2015-06-04
申请号：US14407022
申请日：2013-06-11
申请人： Nassir Navab , Thomas Wendler
发明人： Nassir Navab , Thomas Wendler
IPC分类号： A61B6/00 , A61B6/03
CPC分类号： A61B6/4458 , A61B6/032 , A61B6/037 , A61B6/12 , A61B6/4007 , A61B6/4258 , A61B6/4266 , A61B6/4417 , A61B6/4441 , A61B6/4452 , A61B6/5205 , A61B6/5235 , A61B6/547
摘要： A diagnostic device for computer tomography and nuclear imaging of a body is provided. The device includes at least one movable robot arm, an x-ray source, and a detector for nuclear radiation. Further, a method for the 3D imaging of a body is provided. The method includes irradiating the body by a moving x-ray source, and acquiring nuclear emission data via readings from a moving nuclear detector, supervising the poses of the x-ray source and the nuclear detector, synchronizing the readings from the nuclear detector and the x-ray source with their respective poses, and calculating 3D images by using the acquired information from the x-ray source and from the nuclear detector.
摘要翻译：提供了一种用于计算机断层摄影和身体核成像的诊断装置。该装置包括至少一个可移动机器人臂，X射线源和用于核辐射的检测器。此外，提供了一种用于身体的3D成像的方法。该方法包括通过移动的x射线源照射身体，以及通过来自移动的核检测器的读数获取核发射数据，监督x射线源和核检测器的姿势，使来自核检测器和 x射线源及其各自的姿势，并且通过使用从X射线源和核探测器获取的信息来计算3D图像。

10. 发明申请

US20140276190A1 System and Method for Bioelectric Localization and Navigation of Interventional Medical Devices 审中-公开
标题翻译：介入医疗器械的生物电定位和导航系统与方法
公开(公告)号：US20140276190A1
公开(公告)日：2014-09-18
申请号：US13798637
申请日：2013-03-13
申请人： Nassir Navab , Noah Cowan , Bernhard Fuerst , Eric S. Fortune
发明人： Nassir Navab , Noah Cowan , Bernhard Fuerst , Eric S. Fortune
IPC分类号： A61B5/06
摘要： A system and method for tracking a position of an interventional medical device configured to be deployed into a subject during a medical procedure. An anatomical dataset of the subject is acquired while at least one electrical sensor is disposed along the interventional medical device. A feedback signal is generated from the electrical sensor and is processed and analyzed to identify positional information of the interventional medical device. A position of the interventional medical device with respect to the anatomical dataset is identified and the position of the interventional medical device with respect to the anatomical dataset is shown on a display.
摘要翻译：一种用于跟踪介入医疗装置的位置的系统和方法，所述介入医疗装置配置成在医疗过程期间被部署到被检体内。当沿着介入医疗装置设置至少一个电传感器时，获取对象的解剖数据集。从电传感器生成反馈信号，并对其进行处理和分析，以识别介入医疗装置的位置信息。识别介入医疗装置相对于解剖数据集的位置，并且在显示器上显示介入医疗装置相对于解剖数据集的位置。

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