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WO2008035271A3 - Device for registering a 3d model - Google Patents

Device for registering a 3d model Download PDF

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Publication number
WO2008035271A3
WO2008035271A3 PCT/IB2007/053740 IB2007053740W WO2008035271A3 WO 2008035271 A3 WO2008035271 A3 WO 2008035271A3 IB 2007053740 W IB2007053740 W IB 2007053740W WO 2008035271 A3 WO2008035271 A3 WO 2008035271A3
Authority
WO
WIPO (PCT)
Prior art keywords
reference frame
determined
model
spatial coordinates
sectional images
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/IB2007/053740
Other languages
French (fr)
Other versions
WO2008035271A2 (en
Inventor
Heinrich Schulz
Jochen Kruecker
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Philips Intellectual Property and Standards GmbH
Koninklijke Philips NV
Original Assignee
Philips Intellectual Property and Standards GmbH
Koninklijke Philips Electronics NV
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Philips Intellectual Property and Standards GmbH, Koninklijke Philips Electronics NV filed Critical Philips Intellectual Property and Standards GmbH
Publication of WO2008035271A2 publication Critical patent/WO2008035271A2/en
Publication of WO2008035271A3 publication Critical patent/WO2008035271A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; Determining position of diagnostic devices within or on the body of the patient
    • A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
    • A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/20—Analysis of motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A61B2034/252—User interfaces for surgical systems indicating steps of a surgical procedure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/363—Use of fiducial points
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
    • A61B2090/3975—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/397—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave
    • A61B2090/3975—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active
    • A61B2090/3979—Markers, e.g. radio-opaque or breast lesions markers electromagnetic other than visible, e.g. microwave active infrared
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10072—Tomographic images
    • G06T2207/10081—Computed x-ray tomography [CT]
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10116—X-ray image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30101—Blood vessel; Artery; Vein; Vascular

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Physics & Mathematics (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pathology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biophysics (AREA)
  • Human Computer Interaction (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Multimedia (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

The invention relates to an examination apparatus comprising an imaging device, for example an ultrasonic scanner (3), for generating sectional images (S) of a body volume, and a localization device (4) for determining the spatial coordinates (ij) of the imaging device (3) with respect to a reference frame (x, y, z). Optionally also the spatial coordinates (Γ_M, Ic) of artificial markers (M) attached to the examined object (2) and/or of an instrument like a catheter (6) can be determined. Object features (A) ('anatomical markers') can be identified in the sectional images (S), and a registration between the reference frame (x, y, z) and a previously acquired 3D model (V) of the examined body region can be determined by a data processing device (10) based on the acquired data.
PCT/IB2007/053740 2006-09-20 2007-09-17 Device for registering a 3d model Ceased WO2008035271A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP06120972.2 2006-09-20
EP06120972 2006-09-20

Publications (2)

Publication Number Publication Date
WO2008035271A2 WO2008035271A2 (en) 2008-03-27
WO2008035271A3 true WO2008035271A3 (en) 2008-11-06

Family

ID=39200920

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2007/053740 Ceased WO2008035271A2 (en) 2006-09-20 2007-09-17 Device for registering a 3d model

Country Status (1)

Country Link
WO (1) WO2008035271A2 (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009150647A2 (en) * 2008-06-11 2009-12-17 Dune Medical Devices Ltd. Double registration
LT2939599T (en) 2011-09-06 2018-07-25 Ezono Ag Magnetic medical device and magnetizer
WO2013140315A1 (en) * 2012-03-23 2013-09-26 Koninklijke Philips N.V. Calibration of tracked interventional ultrasound
GB201303917D0 (en) 2013-03-05 2013-04-17 Ezono Ag System for image guided procedure
US9459087B2 (en) 2013-03-05 2016-10-04 Ezono Ag Magnetic position detection system
US9257220B2 (en) 2013-03-05 2016-02-09 Ezono Ag Magnetization device and method
US10799145B2 (en) 2013-03-15 2020-10-13 The Cleveland Clinic Foundation Method and system to facilitate intraoperative positioning and guidance
KR101998396B1 (en) * 2017-12-22 2019-07-09 한국기술교육대학교 산학협력단 Method for workspace modeling based on virtual wall using 3d scanner and system thereof
WO2019152850A1 (en) 2018-02-02 2019-08-08 Centerline Biomedical, Inc. Segmentation of anatomic structures
WO2019152846A1 (en) 2018-02-02 2019-08-08 Centerline Biomedical, Inc. Graphical user interface for marking anatomic structures
JP7440534B2 (en) 2019-04-04 2024-02-28 センターライン バイオメディカル，インコーポレイテッド Spatial registration of tracking system and images using 2D image projection
EP3948800A4 (en) 2019-04-04 2023-05-10 Centerline Biomedical, Inc. REGISTRATION OF A SPATIAL TRACKING SYSTEM WITH AUGMENTED REALITY DISPLAY

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6317621B1 (en) * 1999-04-30 2001-11-13 Siemens Aktiengesellschaft Method and device for catheter navigation in three-dimensional vascular tree exposures

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6317621B1 (en) * 1999-04-30 2001-11-13 Siemens Aktiengesellschaft Method and device for catheter navigation in three-dimensional vascular tree exposures

Non-Patent Citations (5)

* Cited by examiner, † Cited by third party
Title
ELA SJOLIE ET AL: "Minimal invasive abdominal surgery based on ultrasound vision, possible?", COMPUTER ASSISTED RADIOLOGY AND SURGERY, vol. 1230, June 2001 (2001-06-01), pages 38 - 43, XP002492904, Retrieved from the Internet <URL:http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B7581-47V9SDF-H&_user=987766&_rdoc=1&_fmt=&_orig=search&_sort=d&view=c&_acct=C000049880&_version=1&_urlVersion=0&_userid=987766&md5=b0d4613dfadc8bde83d9bfd7ad393c19> [retrieved on 20080820] *
KASPERSEN J. H. ET AL: "Three-dimensional ultrasound-based navigation combined with preoperative CT during abdominal interventions: A feasibility study", CARDIOVASCULAR AND INTERVENTIONAL RADIOLOGY, vol. 26, no. 4, 25 June 2003 (2003-06-25), Springer, Berlin, Germany, pages 347 - 356, XP008095609 *
MAGUIRE G Q ET AL: "GRAPHICS APPLIED TO MEDICAL IMAGE REGISTRATION", IEEE COMPUTER GRAPHICS AND APPLICATIONS, IEEE SERVICE CENTER, NEW YORK, NY, US, vol. 11, no. 2, 1 March 1991 (1991-03-01), pages 20 - 28, XP001176846, ISSN: 0272-1716 *
RICHARD L. WAHI ET AL: ""Anatometabolic" Tumor Imaging : Fusion of FDG PET with CT or MRI to Localize Foci of Increased Activity", THEJOURNALOF NUDEARMEDICINE, vol. 34, no. 7, July 2003 (2003-07-01), XP002492903, Retrieved from the Internet <URL:http://jnm.snmjournals.org/cgi/reprint/34/7/1190?ijkey=f462e5584eeaeed9d7c7e06673d7ba8a67d685f4> [retrieved on 20080820] *
TAYLOR L M ET AL: "Design of a simple ultrasound/ CT fusion image fusion solution for the evaluation of prostate seed brachytherapy", PROCEEDINGS OF THE IEEE 27TH. ANNUAL NORTHEAST BIOENGINEERING CONFERENCE. UNIVERITY OF CONNECTICUT STORRS, CT, MARCH 31 - APRIL 1, 2001; [PROCEEDINGS OF THE IEEE ANNUAL NORTHEAST BIOENGINEERING CONFERENCE], NEW YORK, NY : IEEE, US, vol. CONF. 27, 31 March 2001 (2001-03-31), pages 57 - 58, XP010543358, ISBN: 978-0-7803-6717-3 *

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Publication number Publication date
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