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    METHOD AND A SYSTEM FOR REGISTERING A 3D PRE ACQUIRED IMAGE COORDINATE SYSTEM WITH A MEDICAL POSITIONING SYSTEM COORDINATE SYSTEM AND WITH A 2D IMAGE COORDINATE SYSTEM
    3.
    发明申请
    METHOD AND A SYSTEM FOR REGISTERING A 3D PRE ACQUIRED IMAGE COORDINATE SYSTEM WITH A MEDICAL POSITIONING SYSTEM COORDINATE SYSTEM AND WITH A 2D IMAGE COORDINATE SYSTEM 有权
    用于注册具有医疗定位系统协调系统和2D图像坐标系统的3D预先获得的图像坐标系统的方法和系统

    公开(公告)号：US20160035092A1

    公开(公告)日：2016-02-04

    申请号：US14815319

    申请日：2015-07-31

    Applicant: MediGuide, Ltd.

    Inventor： Gera Strommer ,  Uzi Eichler ,  Liat Schwartz

    IPC: G06T7/00 ,  G06K9/46 ,  G06K9/62

    CPC classification number: G06T7/0012 ,  G06K9/32 ,  G06K9/4604 ,  G06K9/6201 ,  G06K2209/05 ,  G06T7/344 ,  G06T2207/30004

    Abstract: A method for registering a three dimensional (3D) coordinates system with a Medical Positioning System (MPS) coordinate system and with a two dimensional (2D) coordinate system, includes acquiring at least one 2D image of a volume of interest, the volume of interest including at least one tubular organ within the body of a patient. The 2D image is associated with the 2D coordinate system, and a plurality of MPS points is acquired, within the at least one tubular organ. The MPS points are associated with the MPS coordinate system, the MPS coordinate system being registered with the 2D coordinate system. A 3D image model is extracted of the at least one tubular organ form a pre-acquired 3D image of the volume of interest. A volumetric model of the at least one tubular organ from the 2D image is estimated and from the acquired MPS points, the 3D coordinate system is registered with the MPS coordinate system and with the 2D coordinate system by matching the extracted 3D image model and the estimated volumetric model of the at least one tubular organ.

    Abstract translation: 一种用医学定位系统（MPS）坐标系统和二维（2D）坐标系进行三维（3D）坐标系统的记录方法，包括获取感兴趣体积的至少一个2D图像，感兴趣的体积 包括在患者体内的至少一个管状器官。 2D图像与2D坐标系相关联，并且在至少一个管状器官内获取多个MPS点。 MPS点与MPS坐标系相关联，MPS坐标系被注册到2D坐标系。 提取所述至少一个管状器官的3D图像模型，形成感兴趣体积的预先获取的3D图像。 估计来自2D图像的至少一个管状器官的体积模型，并且从所获取的MPS点，通过使所提取的3D图像模型和所估计的3D图像模型匹配，将3D坐标系统与MPS坐标系统和2D坐标系统对齐 至少一个管状器官的体积模型。

    ENHANCED COMPENSATION OF MOTION IN A MOVING ORGAN USING PROCESSED REFERENCE SENSOR DATA
    5.
    发明申请
    ENHANCED COMPENSATION OF MOTION IN A MOVING ORGAN USING PROCESSED REFERENCE SENSOR DATA 审中-公开
    使用加工参考传感器数据对移动机构中运动的增强补偿

    公开(公告)号：US20140296657A1

    公开(公告)日：2014-10-02

    申请号：US14243254

    申请日：2014-04-02

    Applicant: MEDIGUIDE LTD.

    Inventor： Alon Izmirli ,  Uzi Eichler

    IPC: A61B6/00 ,  A61B5/0205 ,  A61B5/08 ,  A61B6/12

    CPC classification number: A61B6/5264 ,  A61B5/061 ,  A61B5/1114 ,  A61B5/721 ,  A61B6/04 ,  A61B6/12

    Abstract: An apparatus includes a positioning system and a patient reference sensor (PRS). The positioning system acquires a plurality of raw PRS readings over time, which can indicate the position and orientation of the PRS. A filter is configured to process the raw PRS readings and output filtered PRS readings. The filter outputs filtered PRS readings as a baseline value while the raw PRS readings stay within a predetermined range and output filtered PRS readings as unchanged raw PRS readings when the raw PRS readings reach or vary outside of the predetermined range. A motion compensation function generated based on at least the filtered PRS readings can be used to correct a subject position and orientation (P&O) to compensate for the motion of the moving region of interest over time.

    Abstract translation: 一种装置包括定位系统和患者参考传感器（PRS）。 定位系统随时间获取多个原始PRS读数，可以指示PRS的位置和方向。 过滤器配置为处理原始PRS读数并输出过滤的PRS读数。 过滤器将过滤的PRS读数作为基准值输出，而原始PRS读数保持在预定范围内，并且当原始PRS读数达到或超出预定范围时，将过滤的PRS读数作为未更改的原始PRS读数输出。 基于至少滤波后的PRS读数产生的运动补偿功能可用于校正被摄体位置和方向（P＆O）以补偿随时间变化的感兴趣区域的运动。

    Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors
    6.
    发明授权
    Method and apparatus for invasive device tracking using organ timing signal generated from MPS sensors 有权

    公开(公告)号：US10251712B2

    公开(公告)日：2019-04-09

    申请号：US15826129

    申请日：2017-11-29

    Applicant: MediGuide Ltd.

    Inventor： Itzhak Shmarak ,  Gera Strommer ,  Uzi Eichler

    IPC: A61B34/20 ,  A61B5/06 ,  A61B5/11 ,  A61B5/00 ,  A61B6/00 ,  A61B8/02 ,  A61B8/08 ,  A61B90/00 ,  A61B34/10 ,  A61B5/113 ,  A61B6/03 ,  A61B8/12 ,  G06F19/00 ,  A61B5/0456 ,  A61B5/08 ,  A61B6/12 ,  A61B8/00 ,  A61B17/00 ,  A61N5/10 ,  A61B90/10 ,  A61B34/00

    Abstract: Apparatus for generating an organ timing signal relating to an inspected organ within the body of a patient, including a medical positioning system, and a processor coupled with the medical positioning system, the medical positioning system including at least one reference electromagnetic transducer placed at a reference location, at least one inner electromagnetic transducer attached to a surgical tool inserted in a blood vessel in the vicinity of the inspected organ, and a medical positioning system processor coupled with the reference electromagnetic transducer and the inner electromagnetic transducer, the medical positioning system processor determining the three-dimensional position of the inner electromagnetic transducer, by processing transmitted electromagnetic signals transmitted from one of the reference electromagnetic transducer and the inner electromagnetic transducer with detected electromagnetic signals detected by the other of the reference electromagnetic transducer and the inner electromagnetic transducer, the medical positioning system processor further generating medical positioning system data sets, each of the medical positioning system data sets including a collection of three-dimensional position coordinate readings demonstrating the motion trajectory of the surgical tool over time, the processor generating the organ timing signal from the medical positioning system data sets by detecting and identifying periodic motion frequencies in the medical positioning system data sets, and filtering the periodic motion frequencies from the medical positioning system data sets.

    Method and a system for registering a 3D pre acquired image coordinate system with a medical positioning system coordinate system and with a 2D image coordinate system
    10.
    发明授权
    Method and a system for registering a 3D pre acquired image coordinate system with a medical positioning system coordinate system and with a 2D image coordinate system 有权
    方法和系统，用于登记具有医疗定位系统坐标系和2D图像坐标系的3D预获取图像坐标系

    公开(公告)号：US09595102B2

    公开(公告)日：2017-03-14

    申请号：US14815319

    申请日：2015-07-31

    Applicant: MediGuide, Ltd.

    Inventor： Gera Strommer ,  Uzi Eichler ,  Liat Schwartz

    IPC: G06K9/20 ,  G06K9/62 ,  G06T7/00 ,  G06K9/32 ,  G06K9/46

    CPC classification number: G06T7/0012 ,  G06K9/32 ,  G06K9/4604 ,  G06K9/6201 ,  G06K2209/05 ,  G06T7/344 ,  G06T2207/30004

    Abstract: A method for registering a three dimensional (3D) coordinates system with a Medical Positioning System (MPS) coordinate system and with a two dimensional (2D) coordinate system, includes acquiring at least one 2D image of a volume of interest, the volume of interest including at least one tubular organ within the body of a patient. The 2D image is associated with the 2D coordinate system, and a plurality of MPS points is acquired, within the at least one tubular organ. The MPS points are associated with the MPS coordinate system, the MPS coordinate system being registered with the 2D coordinate system. A 3D image model is extracted of the at least one tubular organ form a pre-acquired 3D image of the volume of interest. A volumetric model of the at least one tubular organ from the 2D image is estimated and from the acquired MPS points, the 3D coordinate system is registered with the MPS coordinate system and with the 2D coordinate system by matching the extracted 3D image model and the estimated volumetric model of the at least one tubular organ.

    Abstract translation: 一种用医学定位系统（MPS）坐标系统和二维（2D）坐标系进行三维（3D）坐标系统的记录方法，包括获取感兴趣体积的至少一个2D图像，感兴趣的体积 包括在患者体内的至少一个管状器官。 2D图像与2D坐标系相关联，并且在至少一个管状器官内获取多个MPS点。 MPS点与MPS坐标系相关联，MPS坐标系被注册到2D坐标系。 提取所述至少一个管状器官的3D图像模型，形成感兴趣体积的预先获取的3D图像。 估计来自2D图像的至少一个管状器官的体积模型，并且从所获取的MPS点，通过使所提取的3D图像模型和所估计的3D图像模型匹配，将3D坐标系统与MPS坐标系统和2D坐标系统对齐 至少一个管状器官的体积模型。

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