公开(公告)号：US10546396B2

公开(公告)日：2020-01-28

申请号：US13977438

申请日：2011-12-25

申请人： Uzi Eichler ,  Yuval Vaknin ,  Alon Izmirli ,  Shlomo Hoory

发明人： Uzi Eichler ,  Yuval Vaknin ,  Alon Izmirli ,  Shlomo Hoory

IPC分类号： G06T11/00

摘要： A system for registering a group of images of an anatomical region of a patient in a coordinate system of a medical system is disclosed. The system includes an object disposed in a known position in the coordinate system. In one embodiment, the object has a first state in which the object is visible in at least one image and a second state in which the object is invisible in at least another image. In another embodiment, the object is substantially invisible to the eye in each image, but detectable by image processing. The system includes an electronic control unit configured to process the images to identify an image location of the object, create a transformation model responsive to the image location and the known position of the object in the coordinate system, and register the group of images in the coordinate system using the model.

公开(公告)号：US20130272592A1

公开(公告)日：2013-10-17

申请号：US13977438

申请日：2011-12-25

申请人： Uzi Eichler ,  Yuval Vaknin ,  Alon Izmirli ,  Shlomo Hoory

发明人： Uzi Eichler ,  Yuval Vaknin ,  Alon Izmirli ,  Shlomo Hoory

IPC分类号： G06T11/00

CPC分类号： G06T11/005 ,  A61B6/547 ,  A61B6/583 ,  A61B34/20 ,  A61B90/39 ,  A61B2034/2051 ,  A61B2090/364 ,  A61B2090/376 ,  A61B2090/3966 ,  A61B2090/3983 ,  A61B2090/3995

摘要： A system for registering a group of images of an anatomical region of a patient in a coordinate system of a medical system is disclosed. The system includes an object disposed in a known position in the coordinate system. In one embodiment, the object has a first state in which the object is visible in at least one image and a second state in which the object is invisible in at least another image. In another embodiment, the object is substantially invisible to the eye in each image, but detectable by image processing. The system includes an electronic control unit configured to process the images to identify an image location of the object, create a transformation model responsive to the image location and the known position of the object in the coordinate system, and register the group of images in the coordinate system using the model.

摘要翻译： 公开了一种用于在医疗系统的坐标系中登记患者的解剖区域的一组图像的系统。 该系统包括设置在坐标系中已知位置的物体。 在一个实施例中，对象具有第一状态，其中对象在至少一个图像中可见，而第二状态中对象在至少另一图像中不可见。 在另一个实施例中，对象在每个图像中对于眼睛基本上是不可见的，但是可以通过图像处理来检测。 该系统包括：电子控制单元，被配置为处理图像以识别对象的图像位置，响应于坐标系中的图像位置和对象的已知位置创建变换模型，并将该组图像注册在 坐标系使用模型。

公开(公告)号：US20110238399A1

公开(公告)日：2011-09-29

申请号：US13129781

申请日：2009-11-05

申请人： Yoav Ophir ,  Uzi Eichler ,  Ilan Efrat ,  Guy Mencel ,  Mark Gandelsman ,  Alon Izmirli

发明人： Yoav Ophir ,  Uzi Eichler ,  Ilan Efrat ,  Guy Mencel ,  Mark Gandelsman ,  Alon Izmirli

IPC分类号： G06F17/50

CPC分类号： G06F17/5022 ,  G01R33/072 ,  G06F3/0346

摘要： A system for mapping a magnetic field in a volume of interest, the system includes a magnetic field transmitter, generating a magnetic field in the volume of interest, at least one freestanding magnetic field detector, operative to freely move within the volume of interest, the at least one freestanding magnetic field detector acquiring measurements of the flux of the magnetic field at a plurality of poses, and a processor, coupled with the magnetic field detector, the processor re estimating parameters characterizing the magnetic field model according to deviations between the measurements of the flux of the magnetic field and according to predictions of the flux, the predictions being determined according to a stored magnetic field model, thereby, the processor estimating a new magnetic field model.

摘要翻译： 一种用于将感兴趣体积中的磁场映射的系统，该系统包括磁场发射器，在感兴趣的体积中产生磁场，至少一个独立的磁场检测器，可操作以在感兴趣体积内自由移动， 至少一个独立的磁场检测器获取多个姿态的磁场通量的测量结果，以及与该磁场检测器耦合的处理器，处理器重新估计表征磁场模型的参数，该参数根据 磁场的磁通量，并且根据通量的预测，预测根据存储的磁场模型确定，从而，处理器估计新的磁场模型。

公开(公告)号：US10069668B2

公开(公告)日：2018-09-04

申请号：US12650932

申请日：2009-12-31

申请人： Amit Cohen ,  Uzi Eichler ,  Alon Izmirli

发明人： Amit Cohen ,  Uzi Eichler ,  Alon Izmirli

IPC分类号： A61B6/00 ,  H04L27/34 ,  A61B6/12 ,  A61B34/20 ,  G06T7/33 ,  A61B17/00 ,  A61B90/00

摘要： An apparatus for displaying a moving region of interest located within a body includes a positioning system to determine a position and orientation (P&O) of a medical device as well as to track, using an internal position reference sensor, the motion of the region of interest over time. A compensation function block generates a motion compensation function based on the motion of the region of interest, which is configured to compensate for the motion of the region of interest between a first time, for example a time at which an image was acquired and a second time, for example a time at which a P&O of the device was measured. The measured P&O is corrected using the compensation function. A representation of the medical device is superimposed on the image in accordance with the corrected P&O.

公开(公告)号：US08700376B2

公开(公告)日：2014-04-15

申请号：US13129781

申请日：2009-11-05

申请人： Yoav Ophir ,  Uzi Eichler ,  Ilan Efrat ,  Guy Mencel ,  Mark Gandelsman ,  Alon Izmirli

发明人： Yoav Ophir ,  Uzi Eichler ,  Ilan Efrat ,  Guy Mencel ,  Mark Gandelsman ,  Alon Izmirli

IPC分类号： G06F17/50 ,  G06G7/62

CPC分类号： G06F17/5022 ,  G01R33/072 ,  G06F3/0346

摘要： A system for mapping a magnetic field in a volume of interest, the system includes a magnetic field transmitter, generating a magnetic field in the volume of interest, at least one freestanding magnetic field detector, operative to freely move within the volume of interest, the at least one freestanding magnetic field detector acquiring measurements of the flux of the magnetic field at a plurality of poses, and a processor, coupled with the magnetic field detector, the processor re estimating parameters characterizing the magnetic field model according to deviations between the measurements of the flux of the magnetic field and according to predictions of the flux, the predictions being determined according to a stored magnetic field model, thereby, the processor estimating a new magnetic field model.

摘要翻译： 一种用于将感兴趣体积中的磁场映射的系统，该系统包括磁场发射器，在感兴趣的体积中产生磁场，至少一个独立的磁场检测器，可操作以在感兴趣体积内自由移动， 至少一个独立的磁场检测器获取多个姿态的磁场通量的测量结果，以及与该磁场检测器耦合的处理器，处理器重新估计表征磁场模型的参数，该参数根据 磁场的磁通量，并且根据通量的预测，预测根据存储的磁场模型确定，由此，处理器估计新的磁场模型。

公开(公告)号：US20110158488A1

公开(公告)日：2011-06-30

申请号：US12650932

申请日：2009-12-31

申请人： Amit Cohen ,  Uzi Eichler ,  Alon Izmirli

发明人： Amit Cohen ,  Uzi Eichler ,  Alon Izmirli

IPC分类号： G06K9/00 ,  A61B6/00

CPC分类号： H04L27/3405 ,  A61B6/12 ,  A61B6/503 ,  A61B6/5235 ,  A61B6/5264 ,  A61B6/527 ,  A61B34/20 ,  A61B2017/00703 ,  A61B2034/2051 ,  A61B2090/376 ,  A61B2090/3983 ,  G06T7/33 ,  G06T2207/10121 ,  G06T2207/30021 ,  G06T2207/30048

摘要： An apparatus for displaying a moving region of interest located within a body includes a positioning system to determine a position and orientation (P&O) of a medical device as well as to track, using an internal position reference sensor, the motion of the region of interest over time. A compensation function block generates a motion compensation function based on the motion of the region of interest, which is configured to compensate for the motion of the region of interest between a first time, for example a time at which an image was acquired and a second time, for example a time at which a P&O of the device was measured. The measured P&O is corrected using the compensation function. A representation of the medical device is superimposed on the image in accordance with the corrected P&O.

摘要翻译： 用于显示位于主体内的感兴趣的运动区域的装置包括定位系统，用于确定医疗装置的位置和方位（P＆O）以及使用内部位置参考传感器跟踪感兴趣区域的运动 随着时间的推移。 补偿功能块基于感兴趣区域的运动产生运动补偿功能，其被配置为在第一时间（例如，获取图像的时间）和第二时间段之间补偿感兴趣区域的运动 时间，例如测量设备的P＆O的时间。 使用补偿功能校正测量的P＆O。 根据校正的P＆O，将医疗装置的表示叠加在图像上。

公开(公告)号：US09427172B2

公开(公告)日：2016-08-30

申请号：US13341396

申请日：2011-12-30

申请人： Uzi Eichler ,  Alon Izmirli ,  Dan Seter

发明人： Uzi Eichler ,  Alon Izmirli ,  Dan Seter

IPC分类号： G01R33/04 ,  A61B5/06 ,  A61B6/12 ,  A61B6/00 ,  A61B8/08

CPC分类号： A61B5/062 ,  A61B6/12 ,  A61B6/487 ,  A61B8/0841 ,  A61B34/20 ,  A61B90/37 ,  A61B2034/2051 ,  A61B2090/3782

摘要： A roll-detecting sensor assembly includes a coil extending along and disposed about an axis. The coil comprises one or more portions, with each portion defining a winding angle. At least one of the portions defines a winding angle that is substantially nonzero relative to a line perpendicular to the axis, whereby the projected area of the coil in an applied magnetic field changes as the coil rotates about the axis. As a result, the coil is configured to produce a signal responsive to the magnetic field indicative of the roll of the sensor about the axis. In an embodiment, at least one of the portions defines a winding angle that is at least 2 degrees. In an embodiment, at least one of the portions defines a winding angle that is about 45 degrees.

摘要翻译： 辊检测传感器组件包括绕轴线延伸并围绕轴设置的线圈。 线圈包括一个或多个部分，每个部分限定绕组角度。 所述部分中的至少一个限定相对于垂直于该轴线的线基本上不为零的绕组角度，由此在所施加的磁场中的线圈的投影面积随着线圈绕轴线旋转而改变。 结果，线圈被配置为产生响应于表示传感器的绕轴的磁场的信号的信号。 在一个实施例中，至少一个部分限定了至少2度的卷绕角度。 在一个实施例中，这些部分中的至少一个限定约45度的卷绕角度。

公开(公告)号：US20130169272A1

公开(公告)日：2013-07-04

申请号：US13341396

申请日：2011-12-30

申请人： Uzi Eichler ,  Alon Izmirli ,  Dan Seter

发明人： Uzi Eichler ,  Alon Izmirli ,  Dan Seter

IPC分类号： G01R33/04 ,  G01R33/02

CPC分类号： A61B5/062 ,  A61B6/12 ,  A61B6/487 ,  A61B8/0841 ,  A61B34/20 ,  A61B90/37 ,  A61B2034/2051 ,  A61B2090/3782

摘要： A roll-detecting sensor assembly includes a coil extending along and disposed about an axis. The coil comprises one or more portions, with each portion defining a winding angle. At least one of the portions defines a winding angle that is substantially nonzero relative to a line perpendicular to the axis, whereby the projected area of the coil in an applied magnetic field changes as the coil rotates about the axis. As a result, the coil is configured to produce a signal responsive to the magnetic field indicative of the roll of the sensor about the axis. In an embodiment, at least one of the portions defines a winding angle that is at least 2 degrees. In an embodiment, at least one of the portions defines a winding angle that is about 45 degrees.

摘要翻译： 辊检测传感器组件包括绕轴线延伸并围绕轴设置的线圈。 线圈包括一个或多个部分，每个部分限定绕组角度。 这些部分中的至少一个限定相对于垂直于该轴线的线基本上不为零的绕组角度，由此在施加的磁场中的线圈的投影面积随着线圈围绕轴线旋转而改变。 结果，线圈被配置为产生响应于表示传感器的绕轴的磁场的信号的信号。 在一个实施例中，至少一个部分限定了至少2度的卷绕角度。 在一个实施例中，这些部分中的至少一个限定约45度的卷绕角度。

公开(公告)号：US09717468B2

公开(公告)日：2017-08-01

申请号：US11329824

申请日：2006-01-10

申请人： Gera Strommer ,  Uzi Eichler ,  Liat Schwartz ,  Itzhak Shmarak

发明人： Gera Strommer ,  Uzi Eichler ,  Liat Schwartz ,  Itzhak Shmarak

IPC分类号： A61B6/12 ,  A61B5/06 ,  A61B6/00 ,  A61F2/24 ,  A61B5/055 ,  A61B5/00 ,  A61B8/08 ,  A61B34/20

CPC分类号： A61B6/12 ,  A61B5/055 ,  A61B5/06 ,  A61B5/7289 ,  A61B6/465 ,  A61B6/481 ,  A61B6/503 ,  A61B6/504 ,  A61B6/5235 ,  A61B6/541 ,  A61B8/0833 ,  A61B8/0841 ,  A61B8/5238 ,  A61B2034/2051 ,  A61F2/2427

摘要： Method for positioning an artificial heart valve at the anatomic position of a malfunctioning heart valve of a heart of a patient, by employing a catheter bearing the artificial heart valve and a valve fixation device, at the tip of the catheter, the method including the procedures of receiving a marking input associated with an image of the heart, and respective of the anatomic position, in a medical positioning system (MPS) coordinate system, moving the tip toward the anatomic position, constantly detecting the current position of the artificial heart valve, and producing an indication when the current position substantially matches the anatomic position, thereby enabling the catheter to fix the malfunctioning heart valve in place, by the valve fixation device.

公开(公告)号：US08971993B2

公开(公告)日：2015-03-03

申请号：US12950841

申请日：2010-11-19

申请人： Gera Strommer ,  Uzi Eichler ,  Amit Cohen

发明人： Gera Strommer ,  Uzi Eichler ,  Amit Cohen

IPC分类号： A61B5/05 ,  A61B17/22 ,  A61B19/00 ,  A61B17/34 ,  A61B17/00

CPC分类号： A61B34/00 ,  A61B5/06 ,  A61B5/066 ,  A61B6/487 ,  A61B17/22 ,  A61B17/3403 ,  A61B34/10 ,  A61B34/20 ,  A61B2017/00247 ,  A61B2017/22042 ,  A61B2017/22049 ,  A61B2034/107 ,  A61B2034/2051 ,  A61B2090/062 ,  G01R33/285

摘要： Systems and methods are disclosed for navigating a surgical device toward a target organ in the body of a patient. An example method includes providing a surgical needle and a guide wire, the surgical needle configured for insertion into a vein or a beating heart. The method also includes holding the guide wire within the surgical needle while the surgical needle is inserted into the vein or the beating heart. The method also includes generating output in two modes, the output based on at least one medical positioning system (MPS) sensor on the guide wire, the output corresponding to a position of the surgical needle and the guide wire for navigating the surgical needle and the guide wire toward a target in the vein or the heart. The methods can be carried out directly by a physician or via a computer processor-based surgical system.

摘要翻译： 公开了用于将手术装置导向患者体内的靶器官的系统和方法。 一种示例性方法包括提供外科用针和导丝，所述外科针被配置为插入静脉或打浆心脏。 该方法还包括在外科手术针插入静脉或打浆心脏的同时将导丝保持在手术针内。 所述方法还包括以两种模式产生输出，所述输出基于所述导丝上的至少一个医疗定位系统（MPS）传感器，所述输出对应于所述外科用针的位置和用于导航所述外科手术针的导丝 将导丝导向静脉或心脏中的目标。 这些方法可以由医生直接执行，或者可以通过基于计算机处理器的手术系统进行。