公开(公告)号：US07713205B2

公开(公告)日：2010-05-11

申请号：US11172097

申请日：2005-06-29

Applicant: Dongshan Fu ,  Gopinath Kuduvalli ,  John Allison

Inventor： Dongshan Fu ,  Gopinath Kuduvalli ,  John Allison

IPC: A61B8/00

CPC classification number: A61N5/1049 ,  A61B8/08 ,  A61N5/1067 ,  A61N5/107 ,  A61N2005/1052 ,  A61N2005/1055 ,  A61N2005/1058 ,  A61N2005/1061 ,  A61N2005/1062

Abstract: An apparatus and method of dynamically tracking a soft tissue target with ultrasound images, without the use of fiducial markers. In one embodiment, the apparatus includes an ultrasound imager to generate a reference ultrasound and a first ultrasound image having a soft tissue target, and a processing device coupled to the ultrasound imager to receive the reference ultrasound image and the first ultrasound image, to register the first ultrasound image with the reference ultrasound image, and to determine a displacement of the soft tissue target based on registration of the first ultrasound image with the reference ultrasound image.

Abstract translation: 用超声图像动态跟踪软组织靶的装置和方法，而不使用基准标记。 在一个实施例中，该装置包括用于产生参考超声的超声波成像器和具有软组织靶的第一超声图像，以及耦合到超声波成像器以接收参考超声图像和第一超声图像的处理装置， 第一超声图像和参考超声图像，并且基于第一超声图像与参考超声图像的配准来确定软组织靶的位移。

公开(公告)号：US20110160589A1

公开(公告)日：2011-06-30

申请号：US13044364

申请日：2011-03-09

Applicant: Dongshan Fu ,  Gopinath Kuduvalli ,  John Allison

Inventor： Dongshan Fu ,  Gopinath Kuduvalli ,  John Allison

IPC: A61B8/00

CPC classification number: A61N5/1049 ,  A61B8/08 ,  A61N5/1067 ,  A61N5/107 ,  A61N2005/1052 ,  A61N2005/1055 ,  A61N2005/1058 ,  A61N2005/1061 ,  A61N2005/1062

Abstract: Apparatus and methods of dynamically tracking a soft tissue target with ultrasound images are described. An apparatus includes an ultrasound imager coupled to a robotic arm. A method includes acquiring a first ultrasound (US) image of a patient with an ultrasound imager, determining a quality metric of the first US image, and adjusting one or more imaging parameters of the ultrasound imager if the quality metric of the acquired first US image is less than a quality threshold.

Abstract translation: 描述了利用超声图像动态跟踪软组织靶的装置和方法。 一种装置包括耦合到机器臂的超声波成像器。 一种方法包括用超声波成像器获取患者的第一超声波（US）图像，确定第一美国图像的质量度量，以及如果所获取的第一美国图像的质量度量，则调整超声成像器的一个或多个成像参数 小于质量阈值。

公开(公告)号：US20100183196A1

公开(公告)日：2010-07-22

申请号：US12750519

申请日：2010-03-30

Applicant: Dongshan Fu ,  Gopinath Kuduvalli ,  John Allison

Inventor： Dongshan Fu ,  Gopinath Kuduvalli ,  John Allison

IPC: G06K9/00

CPC classification number: A61N5/1049 ,  A61B8/08 ,  A61N5/1067 ,  A61N5/107 ,  A61N2005/1052 ,  A61N2005/1055 ,  A61N2005/1058 ,  A61N2005/1061 ,  A61N2005/1062

Abstract: An apparatus and method of dynamically tracking a soft tissue target with ultrasound images, without the use of fiducial markers. In one embodiment, the apparatus includes an ultrasound imager to generate a reference ultrasound and a first ultrasound image having a soft tissue target, and a processing device coupled to the ultrasound imager to receive the reference ultrasound image and the first ultrasound image, to register the first ultrasound image with the reference ultrasound image, and to determine a displacement of the soft tissue target based on registration of the first ultrasound image with the reference ultrasound image.

Abstract translation: 用超声图像动态跟踪软组织靶的装置和方法，而不使用基准标记。 在一个实施例中，该装置包括用于产生参考超声的超声波成像器和具有软组织靶的第一超声图像，以及耦合到超声波成像器以接收参考超声图像和第一超声图像的处理装置， 第一超声图像和参考超声图像，并且基于第一超声图像与参考超声图像的配准来确定软组织靶的位移。

公开(公告)号：US20070015991A1

公开(公告)日：2007-01-18

申请号：US11172097

申请日：2005-06-29

Applicant: Dongshan Fu ,  Gopinath Kuduvalli ,  John Allison

Inventor： Dongshan Fu ,  Gopinath Kuduvalli ,  John Allison

IPC: A61B5/05

CPC classification number: A61N5/1049 ,  A61B8/08 ,  A61N5/1067 ,  A61N5/107 ,  A61N2005/1052 ,  A61N2005/1055 ,  A61N2005/1058 ,  A61N2005/1061 ,  A61N2005/1062

Abstract: An apparatus and method of dynamically tracking a soft tissue target with ultrasound images, without the use of fiducial markers.

Abstract translation: 用超声图像动态跟踪软组织靶的装置和方法，而不使用基准标记。

公开(公告)号：US20100202673A1

公开(公告)日：2010-08-12

申请号：US12754824

申请日：2010-04-06

Applicant: Hui Zhang ,  Dongshan Fu ,  Gopinath Kuduvalli

Inventor： Hui Zhang ,  Dongshan Fu ,  Gopinath Kuduvalli

IPC: G06K9/00

CPC classification number: A61B6/08 ,  A61B5/113 ,  A61B6/4458 ,  A61B6/466 ,  A61B6/5235 ,  A61B6/5247 ,  A61B2090/366 ,  A61N5/1037 ,  A61N5/1049 ,  A61N5/1067 ,  A61N2005/105 ,  A61N2005/1059

Abstract: Tracking a pathological anatomy within a patient's body is described. A data model of a skin surface of the patient's body may be acquired using light reflected from the skin surface. The data model can be matched with skin surfaces reconstructed and/or interpolated from four-dimensional diagnostic imaging data, such as 4D CT data, to determine a temporal phase of the patient's respiratory motion. The identified temporal phase may then be used in conjunction with the diagnostic imaging data to identify a location of the pathological anatomy within the patient's body.

Abstract translation: 描述了病人体内病理解剖的跟踪。 可以使用从皮肤表面反射的光获取患者身体的皮肤表面的数据模型。 数据模型可以与四维诊断成像数据（如4D CT数据）重建和/或内插的皮肤表面匹配，以确定患者呼吸运动的时间阶段。 所识别的时间阶段然后可以与诊断成像数据结合使用以识别病人体内的病理解剖结构的位置。

公开(公告)号：US20090175406A1

公开(公告)日：2009-07-09

申请号：US12008083

申请日：2008-01-07

Applicant: Hui Zhang ,  Dongshan Fu ,  Gopinath Kuduvalli

Inventor： Hui Zhang ,  Dongshan Fu ,  Gopinath Kuduvalli

IPC: A61B6/00

CPC classification number: A61B6/08 ,  A61B5/113 ,  A61B6/4458 ,  A61B6/466 ,  A61B6/5235 ,  A61B6/5247 ,  A61B2090/366 ,  A61N5/1037 ,  A61N5/1049 ,  A61N5/1067 ,  A61N2005/105 ,  A61N2005/1059

Abstract: A method and apparatus for tracking a pathological anatomy within a patient's body is described. A data model of a skin surface of the patient's body may be acquired using light reflected from the skin surface. The data model can be matched with skin surfaces reconstructed and/or interpolated from four-dimensional (4D) diagnostic imaging data, such as 4D CT data, to determine a temporal phase of the patient's respiratory motion. The identified temporal phase may then be used in conjunction with the diagnostic imaging data to identify a location of the pathological anatomy within the patient's body.

Abstract translation: 描述了用于跟踪患者体内的病理解剖结构的方法和装置。 可以使用从皮肤表面反射的光获取患者身体的皮肤表面的数据模型。 数据模型可以与四维（4D）诊断成像数据（例如4D CT数据）重建和/或内插的皮肤表面匹配，以确定患者呼吸运动的时间阶段。 所识别的时间阶段然后可以与诊断成像数据结合使用以识别病人体内的病理解剖结构的位置。

公开(公告)号：US07480399B2

公开(公告)日：2009-01-20

申请号：US11654254

申请日：2007-01-16

Applicant: Dongshan Fu ,  Gopinath Kuduvalli

Inventor： Dongshan Fu ,  Gopinath Kuduvalli

IPC: G06K9/00 ,  A61B5/05

CPC classification number: A61N5/1049 ,  A61N5/1067 ,  A61N5/107 ,  A61N2005/1061 ,  A61N2005/1062 ,  G01N23/04 ,  G06T7/254 ,  G06T7/32 ,  G06T7/38 ,  G06T2207/10124 ,  G06T2207/30004

Abstract: A method and system is presented in image-guided radiosurgery for determining the measure of similarity of two digital images, for example a 2D x-ray image and a 2D DRR synthesized from 3D scan data. A two-dimensional array of pixel values of a difference image may be formed by subtracting each pixel value of the second image from the corresponding pixel value of the first image. The pattern intensity function may be constructed by taking the summation of functions of the gradients of the difference image. The neighborhood R may be defined so as to allow the gradients of the difference image to be considered in at least one direction.

Abstract translation: 在图像引导放射外科中提出了一种方法和系统，用于确定两个数字图像的相似度的测量，例如2D X射线图像和从3D扫描数据合成的2D DRR。 可以通过从第一图像的相应像素值中减去第二图像的每个像素值来形成差分图像的像素值的二维阵列。 图案强度函数可以通过取差分图像的梯度的函数的和来构成。 可以定义邻域R以允许在至少一个方向上考虑差分图像的梯度。

公开(公告)号：US07366278B2

公开(公告)日：2008-04-29

申请号：US10881206

申请日：2004-06-30

Applicant: Dongshan Fu ,  Gopinath Kuduvalli

Inventor： Dongshan Fu ,  Gopinath Kuduvalli

IPC: A61B6/03

CPC classification number: G06T11/008

Abstract: A method and system are presented for generating a DRR of an anatomical region so that the visibility within the DRR of one or more skeletal reference structures is enhanced. 3D scan data, which have been obtained from a 3D scan of the object conducted at a 3D scan energy level, are provided. The 3D scan data are modified to compensated for a difference between the ratio of bone-to-tissue attenuation at the 3D scan energy level, and the ratio of bone-to-tissue attenuation at the intensity of the imaging beam which the DRR emulates. The modified 3D scan data are related to the raw 3D scan data by a non-linear, exponential relationship. A plurality of hypothetical rays are cast through the modified 3D scan data, from the known geometry of the imaging beam. The 3D scan data are integrated along each hypothetical ray, and the integrated values are projected onto an imaging plane.

Abstract translation: 提出了一种用于生成解剖区域的DRR的方法和系统，使得增强了一个或多个骨架参考结构的DRR内的可视性。 提供了从3D扫描能级进行的对象的3D扫描获得的3D扫描数据。 3D扫描数据被修改以补偿3D扫描能量级别的骨组织衰减比率与DRR模拟的成像束强度之间的骨组织衰减比。 经修改的3D扫描数据通过非线性指数关系与原始3D扫描数据相关。 通过成像光束的已知几何形状，通过修改的3D扫描数据投射多个假想射线。 3D扫描数据沿着每个假想射线进行积分，并将积分值投影到成像平面上。

公开(公告)号：US07327865B2

公开(公告)日：2008-02-05

申请号：US10880486

申请日：2004-06-30

Applicant: Dongshan Fu ,  Gopinath Kuduvalli

Inventor： Dongshan Fu ,  Gopinath Kuduvalli

IPC: G06K9/00

CPC classification number: G06K9/32 ,  G06K2209/05 ,  G06T7/344 ,  G06T2207/10081 ,  G06T2207/10121 ,  G06T2207/10124 ,  G06T2207/30012

Abstract: A method and system is presented for tracking patient motion in image guided surgery, using skeletal reference structures instead of fiducial markers. A non-rigid 2D/3D image registration is performed between pre-operative 3D scan data and intra-operative 2D images. The CT numbers are modified to compensate for the difference between the ratio of bone-to-tissue attenuation at the CT scan energy level, and the x-ray projection energy level. DRRs are generated from the modified CT numbers. An ROI, within which the image registration is restricted, is defined within the DRRs by calculating a modified Shannon entropy for each image, and seeking the region in which the image entropy is maximized. The DRRs and 2D images are enhanced by applying a top hat filter to increase the visibility of the skeletal structures. The 2D/3D transformation parameters are determined by generating a full motion field that accounts for non-rigid motions and deformations. The full motion field is derived by estimating a plurality of local motion fields, using multi-level block matching and a similarity measure based on pattern intensity.

Abstract translation: 提出了一种方法和系统，用于跟踪图像引导手术中的患者运动，使用骨骼参考结构而不是基准标记。 在术前3D扫描数据和手术前2D图像之间进行非刚性2D / 3D图像配准。 修改CT编号以补偿CT扫描能量水平下的骨组织衰减比率与x射线投影能量水平之间的差异。 从修改的CT编号生成DRR。 通过对每个图像计算修改的香农熵，并寻找最大化图像熵的区域，在DRR内部定义图像配准受限的ROI。 通过应用顶帽过滤器来增加骨架结构的可见性，可以增强DRR和2D图像。 2D / 3D变换参数通过产生考虑非刚性运动和变形的全运动场来确定。 通过使用多级块匹配和基于模式强度的相似性度量来估计多个局部运动场来导出全运动场。

公开(公告)号：US20050047544A1

公开(公告)日：2005-03-03

申请号：US10652786

申请日：2003-08-29

Applicant: Dongshan Fu ,  Gopinath Kuduvalli ,  Shehrzad Qureshi

Inventor： Dongshan Fu ,  Gopinath Kuduvalli ,  Shehrzad Qureshi

IPC: A61N5/10 ,  G01N23/04 ,  G06T7/00 ,  G06T7/20 ,  G09G5/00

CPC classification number: A61N5/1049 ,  A61N5/1067 ,  A61N5/107 ,  A61N2005/1061 ,  A61N2005/1062 ,  G01N23/04 ,  G06T7/254 ,  G06T7/32 ,  G06T7/38 ,  G06T2207/10124 ,  G06T2207/30004

Abstract: A method and system is provided for registering a 2D radiographic image of a target with previously generated 3D scan data of the target. A reconstructed 2D image is generated from the 3D scan data. The radiographic 2D image is registered with the reconstructed 2D images to determine the values of in-plane transformation parameters (x, y, θ) and out-of-plane rotational parameters (r, φ), where the parameters represent the difference in the position of the target in the radiographic image, as compared to the 2D reconstructed image. An initial estimate for the in-plane transformation parameters is made by a 3D multi-level matching process, using the sum-of-square differences similarity measure. Based on these estimated parameters, an initial 1-D search is performed for the out-of-plane rotation parameters (r, φ), using a pattern intensity similarity measure. The in-plane parameters (x, y, θ) and the out-of-plane parameters (r, φ) are iteratively refined, until a desired accuracy is reached.

Abstract translation: 提供了一种方法和系统，用于将目标的2D放射线照相图像与先前生成的目标的3D扫描数据进行注册。 从3D扫描数据生成重建的2D图像。 射线照相2D图像与重建的2D图像一起记录，以确定面内变换参数（x，y，θ）和平面外旋转参数（r，phi）的值，其中参数表示 与2D重建图像相比，放射线照相图像中的目标的位置。 通过3D多级匹配过程，使用平方和差异相似性度量来进行面内变换参数的初始估计。 基于这些估计的参数，使用模式强度相似性度量对面外旋转参数（r，phi）执行初始1-D搜索。 平面内参数（x，y，θ）和平面外参数（r，phi）被迭代地改进，直到达到期望的精度。