CN102368972B - 利用患者特异性模型对影像引导进程进行计算机化模拟的系统和方法 - Google Patents
利用患者特异性模型对影像引导进程进行计算机化模拟的系统和方法 Download PDFInfo
- Publication number
- CN102368972B CN102368972B CN201080012578.9A CN201080012578A CN102368972B CN 102368972 B CN102368972 B CN 102368972B CN 201080012578 A CN201080012578 A CN 201080012578A CN 102368972 B CN102368972 B CN 102368972B
- Authority
- CN
- China
- Prior art keywords
- model
- polygonal mesh
- image data
- patient
- medical image
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 92
- 230000008569 process Effects 0.000 title claims abstract description 47
- 238000004088 simulation Methods 0.000 title claims abstract description 21
- 210000003484 anatomy Anatomy 0.000 claims abstract description 37
- 210000004204 blood vessel Anatomy 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims 1
- 238000013213 extrapolation Methods 0.000 description 13
- 230000011218 segmentation Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 238000003384 imaging method Methods 0.000 description 8
- 238000002591 computed tomography Methods 0.000 description 7
- 238000013178 mathematical model Methods 0.000 description 7
- 210000000056 organ Anatomy 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000012545 processing Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 230000002792 vascular Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000002399 angioplasty Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002594 fluoroscopy Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000007170 pathology Effects 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000012549 training Methods 0.000 description 2
- 238000005481 NMR spectroscopy Methods 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 210000000709 aorta Anatomy 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 210000000748 cardiovascular system Anatomy 0.000 description 1
- 210000001715 carotid artery Anatomy 0.000 description 1
- 210000001072 colon Anatomy 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000000968 intestinal effect Effects 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 238000007620 mathematical function Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000003325 tomography Methods 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
- G06T17/20—Finite element generation, e.g. wire-frame surface description, tesselation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T19/00—Manipulating 3D models or images for computer graphics
- G06T19/20—Editing of 3D images, e.g. changing shapes or colours, aligning objects or positioning parts
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2210/00—Indexing scheme for image generation or computer graphics
- G06T2210/41—Medical
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2219/00—Indexing scheme for manipulating 3D models or images for computer graphics
- G06T2219/20—Indexing scheme for editing of 3D models
- G06T2219/2021—Shape modification
Abstract
本发明的实施方式涉及进行影像引导进程的计算机化模拟的方法。所述方法包括根据医学影像数据产生基于数字影像的解剖结构的模型,根据基于影像的模型和外推数据产生代表解剖结构和未包括在医学影像数据中的邻近解剖区域的扩展模型,显示扩展模型的图解表示,以及利用扩展模型进行影像引导进程的计算机化模拟。
Description
背景技术
临床实践正在尽可能地用较小创伤的技术来代替传统的开放式外科进程(程序,方法),然而,其间接地需要基于影像的反馈。在诸如血管导管插入术、血管成形术和支架置入术的影像引导进程中,医生需要识别影像中的解剖结构。如果没有全面的培训,这些进程是难以掌握的,而使用人来进行培训可能是致命的。因此,影像引导进程的模拟系统可以在没有不必要的风险的情况下培训医生,并且也可作为手术前的计划工具或手术后的评估工具。大多数模拟系统基于预定义的解剖结构模型,不是患者特异性的。因此,这样的系统不能在实施手术前准确地计划特定患者的手术,也不能用于手术后的评估。一种更先进的模拟系统是使用患者特异性医学影像数据的患者特异性模拟系统。
附图说明
特别指出并且在说明书的结论部分明确要求保护的为发明的主题。然而本发明既与组织和操作方法有关,又与其对象、特征和优点有关,当阅览附图时,可通过参考以下详细描述最好地理解,其中:
图1示出了根据本发明实施方式的用于模拟影像引导进程的示例性系统;
图2示出了有助于理解本发明实施方式的示例性解剖结构的图解;
图3为说明根据本发明的某些实施方式模拟影像引导进程的方法的流程图;
图4A和图4B示出了根据本发明的实施方式产生的示例性的3D数字模型的图示;
图5为说明根据本发明的一些实施方式,生成影像引导进程的客户特异性模拟扩展模型的示例性方法的流程图;
图6为根据本发明实施方式的扩展模型的示例性3D通用模型的图示;和
图7A和图7B示出了根据本发明的实施方式产生的示例性3D数字模型的图示。
应理解为了简单和明确地说明,图中示出的元件未必是按比例绘制的。例如,可能为了清晰而将某些元件的尺寸相对于其他元件进行放大。此外,在认为适合的情况下,各幅图之间可重复编号以表示相对应的或类似的元件。
具体实施方式
在下面的详细描述中,为了全面理解本发明,提出了许多具体细节。然而,本领域普通技术人员应懂得本发明可在没有这些具体细节的情况下实施。在其他情况下,未详细描述公知的方法、程序、组件、模块、单元和/或流程,以免使本发明含糊不清。
本发明的实施方式涉及患者特异性的影像引导进程的计算机化模拟。该方法可包括根据从对象扫描接收的医学影像数据产生解剖结构的数字模型。该对象可以例如为即将接受影像引导进程的患者。从例如CT系统或任何其他合适的成像系统接收的医学影像数据通常不包括或覆盖要模拟的所关注的整个区域,而是更有限的区域或部分。例如,支架置入术前进行的扫描可通常覆盖紧邻于待治疗区域的区域。如本领域技术人员所理解的,对患者的扫描通常是作为诊断工具进行的,以诊断例如特定解剖区域的病理,因此这样的扫描通常仅覆盖患病、损伤或变化的区域及其紧邻区域。治疗病理的手术或程序可能需要穿过扫描未覆盖的其他解剖区域。医生希望在进行手术之前实践整个进程和/或进行进程后评估。因此,为了能够进行全面的进程模拟,需要其他区域的解剖模型。
根据本发明的实施方式,该方法可包括根据数字模型和代表未包括在医学影像数据中的解剖结构的邻近截面的外推数据来产生扩展模型。扩展模型的图示可显示在监视器上,扩展模型可与其他信息如工具模型一起示出。医生可使用扩展模型进行影像引导进程的计算机化模拟,作为实际手术的预先进程。
医学影像数据可以是患者特异性医学影像,其获得自成像系统如计算机断层扫描(CT)、CT-荧光透视、荧光透视、磁共振成像(MRI)、超声、正电子发射断层扫描(PET)和X-射线。本发明的实施方式可使用医学影像数据作为输入来产生解剖结构、器官和系统的3D或4D模型,并进一步产生包括获得自成像系统而未呈现在医学影像中的区域的扩展模型。
根据影像数据生成的3D模型可以为,例如代表解剖结构三维(3D)表面的多边形网格,结构体积的体素掩码(voxel mask)或面片表面(patchsurface),如2D B-样条等。为了便于说明,根据多边形网格对本发明的实施方式进行描述。然而本领域技术人员应理解,本发明并不限于这样的模型,其他模型也包括在本发明的范围内。
参照图1,图1示出了根据本发明实施方式的用于模拟影像引导进程的示例性系统100。系统100可包括输入单元105、输出单元120、模型生成单元110、模拟单元115和管理单元135。系统100进一步包括存储器130和控制器131。输入单元105可接收医学影像数据并可将该医学影像数据传输至模型生成单元110以产生患者特异的模拟模型。该模型可包括代表未呈现在用作输入数据的医学影像数据中的解剖结构区域的扩展部分。当使用者使用模拟单元115进行模拟作为例如预先进程时,模型图示和模拟过程会显示在输出单元120的监视器(未示出)上。
输入单元105可与成像系统(未示出)如X-射线系统、CT系统、MRI系统和/或超声成像系统相连或接收来自其的医学影像数据。输入单元105可包括鼠标、键盘、触摸屏或触摸板或任意合适的输入设备。可替代地或另外地,输入单元105可包括有线或无线网络接口卡(NIC),以接收来自例如成像系统的数据。根据一些实施方式,输入单元105可与储存医学影像的系统或服务器如影像归档和通信系统(picture archivingcommunication system,PACS)通信,并可从该系统、服务器或应用程序中获得任何相关的影像信息、数据或参数。
模型生成单元110可包括以生成数字模型例如解剖结构如器官脉管系统或体内任何其他重要区域的3D或4D解剖模型及其图示的组件或模块。该模型可根据从成像系统接收的信息,例如,通过输入单元105从CT系统接收的医学影像,通过模型生成单元110生成。模拟单元115可包括用于生成影像引导进程的模拟的组件。根据本发明的实施方式,系统100可进一步包括力反馈装置(未示出),从而当在体内操作物理工具时可模拟对力的感知。
输出单元120可包括与显示屏相连的组件以实现可见的输出或可选地与扬声器或另一音频设备相连以实现可听的输出。输出单元120可包括一个或多个显示器、扬声器和/或任何其他合适的输出装置。输出单元120可与系统100的任何其他组件或单元通信,并由此使该单元能够与外部系统通信。单元105、110和120可以是软件、硬件、固件或它们的任意合适组合或可以包括软件、硬件、固件或它们的任意合适组合。
控制器131可以是任何合适的控制器或处理单元,例如中央处理单元处理器(CPU)。存储器130可以是任何合适的存储组件、装置、芯片或系统,并且可储存可由控制器131执行的应用程序或其他可执行代码。例如,可将执行模型生成和/或模拟的应用程序或模块装载到存储器130中并由控制器131执行。
应认识到,本文描述的系统100为一种示例性的系统。根据本发明的实施方式,可在单一的计算装置上实现系统100,或可替代地在分布式配置中在两个或多个不同的计算装置上实现。例如,模型生成单元110可在第一计算装置上运行并由第一管理单元管理,而模拟单元115可在另一个计算装置上运行并由与该第一管理单元通信的第二管理单元管理。在另一种示例性实施方式中,管理单元135可在计算装置上运行,模型生成单元110可在第二计算装置上运行,模拟单元115可在第三计算装置上运行。
参照图2,其示出了心血管系统的解剖结构的示例性图解,有助于理解本发明的实施方式。当进行影像引导进程模拟,如颈动脉支架术模拟时,使用者可在使用各种导管进行实验的同时在脉管系统中实施导航。通常,出于诊断目的而对患者进行的扫描仅在紧邻损伤处进行。因此,用作输入数据的模拟模型时,这样的扫描可能未包括医生应通过该区域导航而到达损伤处的所有区域。
图2的图解示出了代表用示例性成像系统扫描的区域的顶部区域220和未扫描的底部区域230。因此,医学影像数据仅包括区域220的影像。根据本发明的实施方式,为了进行充分和/或全面的进程模拟,可产生代表扫描区域220和非扫描区域230的用于模拟的扩展模型。根据本发明的实施方式,代表扫描区域的模型部分可由特定对象的医学影像数据生成,并且可见该模型外推至包括未扫描区域的表示。外推可包括从一组预先设计的代表解剖结构的通用模型中选择代表所需的扩展部分的最佳匹配。
例如,在血管成形术如颈动脉支架置入术中,为了到达左脊椎中损伤可能存在的点235,可将导管插入患者身体下部的主动脉中,并引导其通过位于通往左脊椎的路途的点240。因此,在模拟进程中需要包括主动脉的扩展模型。
参照图3,图3为描述了根据本发明一些实施方式的模拟影像引导进程方法的示例性流程图。另外参照图4A和图4B,其示出了根据本发明的实施方式产生的示例性3D数字模型的图示。如框310所示,该方法可包括接收对象的医学影像数据。该医学影像数据从成像或扫描系统接收,如CT或MRI扫描仪。如框315所示,该方法可包括处理所接收的影像数据并根据处理数据生成医学影像中所描绘的解剖结构的模型,该模型是患者特异性的。仅包括在医学影像数据中体现的解剖结构的模型在本文中也被称为基本模型或基于影像的模型。图4A示出了一种示例性的基于影像的模型410,其由部分脉管系统的CT数据处理得到。
根据示例性实施方式,处理可包括将医学影像数据分割。分割涉及将影像区域划分为与不同解剖结构相对应的非重叠区域,以及识别医学影像中所需的解剖结构。其他分割技术,如软分割(soft segmentation)、概率分割或贝叶斯分割(Bayesian segmentation)可实现重叠区域。应认识到,本发明的实施方式对这方面没有限制,可使用任何适用的分割或软分割方法。
可使用全自动算法、具有来自使用者的最小输入的半自动算法、使用者可明确指定所需分割或使用例如CAD工具进行手动分割的定制算法来实现分割过程。分割过程的输出包括将影像数据的一部分作为代表所需解剖结构体积的一组体素(掩码)进行识别。数据的处理进一步包括生成该体积的离散表面,也称为边界表示(boundary-representation,B-rep)。这些表面通常由多边形网格表示,本发明的实施方式对这方面没有限制,其他表示如样条曲面片(spline surface patches)或体素构造表示(实体几何构造法,constructive solid geometry,CSG)或它们的任意混合也同样可能。
处理可进一步包括多边形网格的近似管状截面的中心线的计算,例如血管、肠或结肠。在图4A的示例性基于影像的模型中,中心线代表不同管道的中心线。可通过三次样条(cubic splines)例如Catmul-Rom样条或任何其他合适的数学函数来定义管道中心线。另外地或可替代地,该处理可进一步包括不同管道的半径的计算。
根据某些实施方式,生成医学影像中所描绘的解剖结构的基于影像的模型可包括配准过程。配准(registration)可被定义为将多个数据集校准至单一坐标系中,以使得对应点的空间位置重叠。解剖结构的分割部分可根据代表患者解剖结构的其他模型进行适当定位和旋转。该其他模型可以是本文中所述的通用模型或患者特异性模型。例如,配准模拟血管可包括根据患者的骨骼结构、内脏器官或肺的数字模型对其进行适当定位。配准使得能够呈现出所处理对象的真实影像。配准可进一步实现在保留模拟模型中器官的相对位置、截面、区域或部分的同时,在模拟模型的空间中旋转或浮动或重新定位。
根据某些实施方式,与分割、多边形网格的生成、计算中心线和/或半径有关的程序、任务和/或函数可在分割阶段进行,或在模型生成单元110或模拟单元115启动模拟时进行。本领域技术人员应知晓,虽然通常进行本文中所述内容,但也存在其他实施。例如,模拟单元115可利用一组体素作为输入以生成模型,而无需进行面绘制(surface rendering)和/或中心线或半径的计算和/或配准。应认识到本发明的实施方式不限于示例性方法或所描述的用于生成基于影像的解剖结构的基本模型的系统,在未偏离本发明范围的前提下,也可使用其他方法生成该模型。
再参见图3,根据本发明的实施方式,该方法可包括通过外推医学影像数据中所描绘的基本模型来生成或计算解剖结构的扩展模型(框320)。然后,该方法可包括根据扩展模型进行影像引导进程的患者特异性模拟(框325)。根据本发明的实施方式,对象的医学影像数据中缺失的部分、截面或区域可通过外推根据医学影像数据计算的模型来进行模拟或建模。图4B示出了通过识别图4中的基本模型410的边界并外推该基本模型410并添加外推截面420、421而产生的扩展模型,在图5、图6、图7A和图7B中有详细解释。
参照图5,其为描述了根据本发明的实施方式生成影像引导进程的患者特异性模拟的扩展模型的方法的示例性流程图。另外参照图6、图7A和图7B,它们示出了根据本发明的实施方式产生的典型多边形网格的图示。本发明的实施方式可适用于不同的解剖结构、系统、截面、区域、器官或它们的部分。因此,本文中参照图5所述的方法可适用于生成任何这样的解剖结构的扩展模型。然而,为了简单和清楚,下面的讨论涉及脉管系统的示例性图示说明。应注意本发明的实施方式在这方面没有限制。为了便于说明,根据多边形网格对本发明的实施方式进行了描述。然而本领域技术人员应知晓,本发明并不限于这样的模型,其他模型也包括在本发明的范围内。
根据图5的典型实施方式,输入至外推阶段是指表示为多边形网格的基于影像的模型,其代表基于该影像模型的3D表面,经过适当的配准和旋转,还包括由样条表示的管道中心线。如框510所示,该方法可包括识别一个或多个多边形网格的边界,如图4A的网格410或图7A的网格710。例如,可通过检测仅与一个多边形有关的边缘来检测多边形网格的边界。所检测的边缘可被分为一个或多个连接性组件,其中每个组件与可能需要外推的单一管道的开放性边界相连。
根据本发明的一种示例性实施方式,该方法可包括为每个需要外推的边界选择通用的预先设计的模型以用作扩展截面的模型,其表示为例如多边形网格,如图6的网格610(框515)。通用模型可选自一组预先设计的模型以根据特定参数和规则与开放性边界的边缘最佳匹配。可用多边形网格代表通用模型,以用作对未包括在根据医学影像数据生成的基于影像的模型的区域或截面进行的近似或估计。
所选的通用模型,例如多边形网格,可在数据库、图书馆或任何其他通用网格的存储库中检索。该存储库可存储大量的多边形网格或其他模型,每个模型对应于例如特定解剖位置的特定管道,并具有已知的物理特性如长度和半径。根据本发明的实施方式,可利用预先生成的模型或多边形网格的存储库获得与代表基本的或基于影像模型的多边形网格的开放性边界最接近或最佳匹配的多边形网格。例如,如图7A和图7B所描述,可选择多边形网格610作为基础或起始点,以在边界715处生成截面710的扩展截面720。可基于预定义的分割模型的几何属性组手动或自动进行最佳匹配的选择。另外,可使用手动或自动运行进行选择。根据本发明的实施方式,系统可发送给使用者建议以选择特定的通用模型,然后使用者可手动确认或拒绝建议。
然后,如框525所示,示例性实施方式可包括定位所选的网格使其与边界成一直线。示例性对准方法可利用与预定义的外推网格库有关的中心线,并可且包括在边界附近的分割区域的边缘处计算中心线的切向量。可根据在边缘或所检测边界的点计算这样的切向量。接下来,可定位预定义的或生成的多边形网格中心线上的点。该点可与所计算的模拟器官边界的正切值接近或相同的切向量相关或具有该切向量。使用具有相似切向量的点能够使预定义的多边形网格按照与模拟器官或代表其的多边形网格有关的正确方向定位。
然后,如框530所示,示例性的实施方式可包括将代表基于影像模型的多边形网格的中心线与如图7A所描述的所选的预定义多边形网格的中心线相连接。如此处所述,可根据所计算的正切值进行中心线的连接。可对中心线进行接合、结合或紧密结合(weld),使具有接近、相似或相同正切值的点重叠以确保在3D空间中对基本模型和添加截面进行相似定位或定向。
接下来,如框535所示,示例性实施方式可包括除去多余截面。由于已知由基本多边形网格表示的基本模型的边界的配准,可定义虚框、球体或其他结构化体积以使其包含多边形网格。因此,除去延伸出或在该虚拟体积外的所添加截面的部分,因为其是多余的。可替代地,只有位于该虚拟框或体积内的所选择网格的顶点才能得以保留并如本文所述进行进一步处理。
如框540所示,示例性实施方式可包括缩放所选通用网格的半径以更好地匹配代表基本模型的基本多边形网格的半径。所选择的预定义多边形网格的形状可能不适合或完全匹配其所连接的边界或开放端。此外,虽然如本文所述进行定位或定向,然而代表基本模型的多边形网格和所选的代表扩展截面的多边形网格的中心线在空间中仍然可能是分离的。此外,例如在模拟血管的情况下,预定义的横截面匹配至开放端的外推截面可能不是一个完整的圆形,也不能保证其中心线为精确的圆柱体的数学中心线。因此,可能对中心线周围的每个角度使用不同的缩放因子。
随后,如框545所示,示例性实施方式可能包括将所选的多边形网格的表面与基本多边形网格的表面进行焊接。例如,如图7B所描述,可将基本多边形网格和所选择的预定义多边形网格连接以产生连续表面。可将来自基本多边形网格的边界和来自相应的所选扩展截面的网格的顶点进行连接并用单一顶点表示,同时将多余顶点从模型中除去。对需要扩展的基本模型的每个开放端、边界或边缘重复上述典型方法。
本领域技术人员应理解,可使用多种方法和与基本模型不同或相似的模型来代表扩展解剖结构的预定义的通用模型。根据某些实施方式,代表扩展区域的模型可与基本模型不同。因此,代表外推区域的模型可转换为符合基本模型的另一种格式或表示。然后在所转换表示中的外推区域可与基本模型紧密结合或连接。
可替代地,根据本发明的其他实施方式,多边形网格或代表外推截面的另一合适模型可在进程中(程序性)生成。外推截面或区域的程序性生成可包括识别基本模型的关键属性,如待扩展的边界、相关半径、中心线等。例如,所生成的血管基本模型的中心线可根据第一组规则进行外推。第一组规则的非限定性实例可包括涉及将外推朝着预定方向均匀弯曲的规则。然后,通过例如第二组规则,对模拟血管模型的半径函数进行外推。第二组规则的非限制性实例可包括均匀地将半径从基本模型的识别值朝向预定义长度的预定义值(例如1cm)进行改变,然后在距离顶端的预定义的距离处(例如距离顶端2mm),均匀地将半径改变为零。然后,使用外推中心线和半径函数,生成代表基本模型及其外推的统一多边形网格。
本发明的实施方式可包括物件如计算机或处理器可读的介质,或计算机或处理器的存储介质如存储器、磁盘驱动器或USB快速存储器,其编码、包括或储存指令如计算机可执行指令,当由处理器或控制器执行时,可实施本文所公开的方法。
虽然本发明的实施方式无此方面的限制,但如本文中所使用的,术语“多个”和“复数个”可包括例如“多个”或“两个或更多”。术语“多个”和“复数个”可在整个说明书中使用,以描述两个或多个组件、装置、元件、单元、参数等。
除非明确规定,本文的方法实施方式不限于特定顺序或序列。另外,某些描述的方法实施方式或其元素可能在相同时间点或重叠的时间点进行。如本领域所知,可执行代码段如函数、任务、子任务或程序的执行可称为函数、程序或其他组件的执行。
虽然本发明的实施方式无此方面限制,但利用术语例如“处理”、“计算”、“计算”、“确定”、“建立”、“分析”、“检验”等进行的讨论可能涉及计算机、计算平台、计算系统或其他电子计算设备的运行和/或处理,其将计算机寄存器和/或存储器内的表示为物理(例如电子)量的数据操作和/或转换成计算机寄存器和/或存储器或可储存指令并进行运行和/或处理的其他信息储存介质内的其他类似的表示为物理量的数据。
虽然本文对本发明的某些特征进行了说明和描述,但本领域技术人员将可进行多种修改、替换、更改、及等同替代等。因此,应理解所附权利要求意图覆盖落入本发明实质精神内的所有修改和更改。
Claims (15)
1.一种进行影像引导进程的计算机化模拟的方法,所述方法包括:
根据获自患者的医学影像数据产生所述患者中解剖结构的基于数字影像的模型,所述基于数字影像的模型包括代表所述医学影像数据的第一3D多边形网格;
根据所述基于影像的模型和未包括在所述医学影像数据中的代表解剖结构的邻近截面的数据,产生代表患者中的所述解剖结构和未包括在所述医学影像数据中的邻近解剖区域的扩展模型,其中,产生所述扩展模型包括:
从一组预先设计的通用3D多边形网格中自动选择未包括在所述医学影像数据中的代表解剖结构的第二3D多边形网格,和
定位所述第二3D多边形网格使其与所述第一3D多边形网格的边界成一直线;显示所述扩展模型的图解表示;和
利用所述扩展模型进行影像引导进程的计算机化模拟。
2.根据权利要求1所述的方法,其中,从患者的扫描接收所述医学影像数据,并且所述基于影像的模型为与患者有关的患者特异性模型。
3.根据权利要求1所述的方法,其中,产生所述基于影像的模型包括产生第一3D多边形网格。
4.根据权利要求3所述的方法,其中,产生所述扩展模型包括:
识别所述第一3D多边形网格的边界;
根据空间位置和几何参数,自动选择所述第二3D多边形网格,使得其代表与所述边界最佳匹配的扩展截面;和
将所述第一3D多边形网格的所述边界与所述第二3D多边形网格结合。
5.根据权利要求4所述的方法,其中,所述结合所述边界包括:
计算与所述边界相关的管状截面的中心线;和
将所述第一3D多边形网格的管状截面的所述中心线与所述第二3D多边形网格的中心线相连接。
6.根据权利要求5所述的方法,进一步包括:
除去与多余截面相关的数字数据;和
缩放所述第二3D多边形网格,以使得所述第二3D多边形网格的半径与所述第一3D多边形网格的半径相匹配。
7.根据权利要求1所述的方法,其中,产生所述扩展模型包括:
识别所述基于影像的模型的边界;
识别所述边界的属性;
根据一种或多种所述属性生成在进程中生成的模型作为所述基于影像的模型的扩展,其中所述扩展模型包括所述基于影像的模型和所述在进程中生成的模型。
8.根据权利要求7所述的方法,其中,识别所述边界处的所述属性包括确定所述边界的半径值以及定义与所述边界相关的截面的中心线。
9.根据权利要求1所述的方法,其中,产生所述扩展模型包括:
识别所述基于影像的模型的边界,以第一格式表示所述基于影像的模型;
识别所述边界的属性;和
选择预定义模型作为所述扩展模型,以不同于所述第一格式的第二格式表示所述预定义模型。
10.根据权利要求9所述的方法,进一步包括:
将所述模型的所述第二格式转化为所述第一格式。
11.根据权利要求1所述的方法,其中,产生所述基于影像的模型包括:
分割所述医学影像数据;
识别代表所述解剖结构的所需体积的部分所述影像数据;和
生成所述所需体积的边界表示。
12.根据权利要求1所述的方法,其中,从CT或MRI扫描仪接收所述医学影像数据。
13.根据权利要求1所述的方法,其中,所述解剖结构为血管。
14.一种进行影像引导进程的计算机化模拟的装置,所述装置包括:
模型生成模块,构造为根据获自患者的医学影像数据产生所述患者中解剖结构的基于数字影像的模型,所述基于数字影像的模型包括代表所述医学影像数据的第一3D多边形网格;
以及根据所述基于影像的模型和未包括在所述医学影像数据中的代表解剖结构的邻近截面的数据产生代表所述患者中的所述解剖结构和未包括在所述医学影像数据中的邻近解剖区域的扩展模型,其中,产生所述扩展模型包括:
从一组预先设计的通用3D多边形网格中自动选择未包括在所述医学影像数据中的代表解剖结构的第二3D多边形网格,和
定位所述第二3D多边形网格使其与所述第一3D多边形网格的边界成一直线;
模拟模块,构造为显示所述扩展模型的图解表示,并利用所述扩展模型进行所述影像引导进程的计算机化模拟。
15.根据权利要求14所述的装置,其中,从患者的扫描接收所述医学影像数据,并且所述基于影像的模型为与患者有关的患者特异性模型。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/405,954 US8543338B2 (en) | 2007-01-16 | 2009-03-17 | System and method for performing computerized simulations for image-guided procedures using a patient specific model |
US12/405,954 | 2009-03-17 | ||
PCT/IL2010/000172 WO2010106532A1 (en) | 2009-03-17 | 2010-03-02 | System and method for performing computerized simulations for image-guided procedures using a patient specific model |
Publications (2)
Publication Number | Publication Date |
---|---|
CN102368972A CN102368972A (zh) | 2012-03-07 |
CN102368972B true CN102368972B (zh) | 2015-08-19 |
Family
ID=42739246
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201080012578.9A Active CN102368972B (zh) | 2009-03-17 | 2010-03-02 | 利用患者特异性模型对影像引导进程进行计算机化模拟的系统和方法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US8543338B2 (zh) |
JP (1) | JP5654557B2 (zh) |
CN (1) | CN102368972B (zh) |
GB (1) | GB2480220B (zh) |
WO (1) | WO2010106532A1 (zh) |
Families Citing this family (46)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8343096B2 (en) | 2008-03-27 | 2013-01-01 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system |
US8684962B2 (en) | 2008-03-27 | 2014-04-01 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter device cartridge |
US8317744B2 (en) | 2008-03-27 | 2012-11-27 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter manipulator assembly |
WO2009120992A2 (en) | 2008-03-27 | 2009-10-01 | St. Jude Medical, Arrial Fibrillation Division Inc. | Robotic castheter system input device |
WO2009120982A2 (en) | 2008-03-27 | 2009-10-01 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system with dynamic response |
US9241768B2 (en) | 2008-03-27 | 2016-01-26 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Intelligent input device controller for a robotic catheter system |
US9161817B2 (en) | 2008-03-27 | 2015-10-20 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic catheter system |
WO2009140582A2 (en) * | 2008-05-16 | 2009-11-19 | Geodigm Corporation | Method and apparatus for combining 3d dental scans with other 3d data sets |
US8200466B2 (en) | 2008-07-21 | 2012-06-12 | The Board Of Trustees Of The Leland Stanford Junior University | Method for tuning patient-specific cardiovascular simulations |
US9405886B2 (en) | 2009-03-17 | 2016-08-02 | The Board Of Trustees Of The Leland Stanford Junior University | Method for determining cardiovascular information |
US9330497B2 (en) | 2011-08-12 | 2016-05-03 | St. Jude Medical, Atrial Fibrillation Division, Inc. | User interface devices for electrophysiology lab diagnostic and therapeutic equipment |
US9439736B2 (en) | 2009-07-22 | 2016-09-13 | St. Jude Medical, Atrial Fibrillation Division, Inc. | System and method for controlling a remote medical device guidance system in three-dimensions using gestures |
US10580325B2 (en) | 2010-03-24 | 2020-03-03 | Simbionix Ltd. | System and method for performing a computerized simulation of a medical procedure |
EP2542296A4 (en) * | 2010-03-31 | 2014-11-26 | St Jude Medical Atrial Fibrill | INTUITIVE USER INTERFACE CONTROL FOR REMOTE CATHETER NAVIGATION AND 3D CARTOGRAPHY AND VISUALIZATION SYSTEMS |
US8315812B2 (en) | 2010-08-12 | 2012-11-20 | Heartflow, Inc. | Method and system for patient-specific modeling of blood flow |
US8157742B2 (en) | 2010-08-12 | 2012-04-17 | Heartflow, Inc. | Method and system for patient-specific modeling of blood flow |
JP5504142B2 (ja) * | 2010-12-09 | 2014-05-28 | 日本電信電話株式会社 | 画像処理装置、画像処理方法及び画像処理プログラム |
US9224245B2 (en) * | 2011-01-10 | 2015-12-29 | Hangzhou Conformal & Digital Technology Limited Corporation | Mesh animation |
EP2691946A4 (en) | 2011-03-30 | 2015-09-23 | Mordechai Avisar | METHOD AND SYSTEM FOR SIMULATING SURGICAL PROCEDURES |
US10354555B2 (en) * | 2011-05-02 | 2019-07-16 | Simbionix Ltd. | System and method for performing a hybrid simulation of a medical procedure |
US9105200B2 (en) * | 2011-10-04 | 2015-08-11 | Quantant Technology, Inc. | Semi-automated or fully automated, network and/or web-based, 3D and/or 4D imaging of anatomy for training, rehearsing and/or conducting medical procedures, using multiple standard X-ray and/or other imaging projections, without a need for special hardware and/or systems and/or pre-processing/analysis of a captured image data |
US10734116B2 (en) | 2011-10-04 | 2020-08-04 | Quantant Technology, Inc. | Remote cloud based medical image sharing and rendering semi-automated or fully automated network and/or web-based, 3D and/or 4D imaging of anatomy for training, rehearsing and/or conducting medical procedures, using multiple standard X-ray and/or other imaging projections, without a need for special hardware and/or systems and/or pre-processing/analysis of a captured image data |
US9984501B2 (en) | 2012-05-14 | 2018-05-29 | Autodesk, Inc. | Adaptively merging intersecting meshes |
US8548778B1 (en) | 2012-05-14 | 2013-10-01 | Heartflow, Inc. | Method and system for providing information from a patient-specific model of blood flow |
TWI557685B (zh) * | 2012-05-23 | 2016-11-11 | 雲南恆達睿創三維數字科技有限公司 | 網格動畫製作方法 |
US10056012B2 (en) * | 2012-05-25 | 2018-08-21 | Surgical Theatre LLC | Hybrid image/scene renderer with hands free control |
GB2499694B8 (en) * | 2012-11-09 | 2017-06-07 | Sony Computer Entertainment Europe Ltd | System and method of image reconstruction |
US9042613B2 (en) * | 2013-03-01 | 2015-05-26 | Heartflow, Inc. | Method and system for determining treatments by modifying patient-specific geometrical models |
US9600940B2 (en) * | 2013-04-08 | 2017-03-21 | Kalloc Studios Asia Limited | Method and systems for processing 3D graphic objects at a content processor after identifying a change of the object |
WO2015009830A1 (en) * | 2013-07-16 | 2015-01-22 | Children's National Medical Center | Three dimensional printed replicas of patient's anatomy for medical applications |
US11547499B2 (en) | 2014-04-04 | 2023-01-10 | Surgical Theater, Inc. | Dynamic and interactive navigation in a surgical environment |
US9931790B2 (en) * | 2015-04-16 | 2018-04-03 | Siemens Healthcare Gmbh | Method and system for advanced transcatheter aortic valve implantation planning |
WO2017011337A1 (en) * | 2015-07-10 | 2017-01-19 | Quantant Technology Inc. | Remote cloud based medical image sharing and rendering |
WO2017066373A1 (en) | 2015-10-14 | 2017-04-20 | Surgical Theater LLC | Augmented reality surgical navigation |
FR3054691A1 (fr) * | 2016-07-28 | 2018-02-02 | Anatoscope | Procede de conception et de fabrication d'un appareillage personnalise dont la forme est adaptee a la morphologie d'un utilisateur |
US11416543B2 (en) | 2016-09-07 | 2022-08-16 | International Business Machines Corporation | Exam prefetching based on subject anatomy |
US11189370B2 (en) | 2016-09-07 | 2021-11-30 | International Business Machines Corporation | Exam prefetching based on subject anatomy |
EP3544512B1 (en) | 2016-11-22 | 2022-09-14 | Koninklijke Philips N.V. | Vascular tree standardization for biophysical simulation and/or an extension simulation for pruned portions |
US10249092B2 (en) * | 2016-11-23 | 2019-04-02 | Simbionix Ltd. | System and method for rendering complex data in a virtual reality or augmented reality environment |
RU2685961C2 (ru) | 2017-07-17 | 2019-04-23 | Общество с ограниченной ответственностью "ЭНСИМ" | Способ и система предоперационного моделирования хирургической процедуры |
RU178470U1 (ru) * | 2017-08-24 | 2018-04-04 | Общество с ограниченной ответственностью "ЭНСИМ" | Устройство предоперационного моделирования хирургической процедуры |
US10861236B2 (en) | 2017-09-08 | 2020-12-08 | Surgical Theater, Inc. | Dual mode augmented reality surgical system and method |
RU2684760C1 (ru) * | 2018-05-14 | 2019-04-12 | Общество с ограниченной ответственностью "ЭНСИМ" | Способ и система предоперационного моделирования медицинской процедуры |
TWI684994B (zh) * | 2018-06-22 | 2020-02-11 | 國立臺灣科技大學 | 脊椎影像註冊方法 |
US20220061809A1 (en) * | 2020-08-26 | 2022-03-03 | GE Precision Healthcare LLC | Method and system for providing an anatomic orientation indicator with a patient-specific model of an anatomical structure of interest extracted from a three-dimensional ultrasound volume |
US11532244B2 (en) | 2020-09-17 | 2022-12-20 | Simbionix Ltd. | System and method for ultrasound simulation |
Family Cites Families (377)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4000A (en) * | 1845-04-16 | Combined lock and latch | ||
US1959490A (en) | 1931-08-31 | 1934-05-22 | Mistelski Theodor | Wire pushing and pulling tool |
US3024539A (en) | 1961-04-19 | 1962-03-13 | Link Division Of General Prec | Trainer control column apparatus |
US3263824A (en) | 1963-12-20 | 1966-08-02 | Northrop Corp | Servo controlled manipulator device |
US3490059A (en) | 1966-06-06 | 1970-01-13 | Martin Marietta Corp | Three axis mounting and torque sensing apparatus |
US3517446A (en) | 1967-04-19 | 1970-06-30 | Singer General Precision | Vehicle trainer controls and control loading |
US3406601A (en) | 1967-09-19 | 1968-10-22 | Clifford Francis Patrick | Automatic measuring apparatus |
US3520071A (en) | 1968-01-29 | 1970-07-14 | Aerojet General Co | Anesthesiological training simulator |
US3579842A (en) | 1968-09-27 | 1971-05-25 | Weber & Scher Mfg Co Inc | Cable-measuring machine |
US3573444A (en) | 1969-06-04 | 1971-04-06 | Contour Saws | Gaging camber of lengthwise moving strip material |
US3704529A (en) | 1970-07-13 | 1972-12-05 | Forrest J Cioppa | Training and instruction device for performing cricothyroidotomy |
US3814145A (en) | 1970-07-31 | 1974-06-04 | Evg Entwicklung Verwert Ges | Wire mesh welding machine |
US3919691A (en) | 1971-05-26 | 1975-11-11 | Bell Telephone Labor Inc | Tactile man-machine communication system |
US3739276A (en) | 1971-06-29 | 1973-06-12 | Western Electric Co | Method of and system for measuring the speed and length of a moving elongated article |
US3722108A (en) | 1972-04-12 | 1973-03-27 | Weatherby Nasco Inc | Injection training aid |
US3789518A (en) | 1972-04-12 | 1974-02-05 | Weatherby Nasco Inc | Simulated human limb |
US3775865A (en) | 1972-07-24 | 1973-12-04 | R Rowan | Simulator for teaching suturing techniques |
US3945593A (en) | 1972-10-10 | 1976-03-23 | Bodenseewerk Geratetechnik Gmbh | Flight control apparatus |
US3795150A (en) | 1972-12-13 | 1974-03-05 | Us Air Force | System for rapidly positioning gimbaled objects |
US3861065A (en) | 1973-01-08 | 1975-01-21 | Lucas Aerospace Ltd | Apparatus for simulating the effects of aerodynamic forces on aircraft control |
US3875488A (en) | 1973-02-15 | 1975-04-01 | Raytheon Co | Inertially stabilized gimbal platform |
US3795061A (en) | 1973-03-21 | 1974-03-05 | Survival Technology | Training injector |
US3991490A (en) | 1973-04-09 | 1976-11-16 | Markman H David | Teaching aid for sigmoidoscope and the like |
GB1516503A (en) | 1974-07-01 | 1978-07-05 | Strathearn Audio Ltd | Arrangement for indicating speed of rotation of a body |
US4183249A (en) | 1975-03-07 | 1980-01-15 | Varian Associates, Inc. | Lens system for acoustical imaging |
US4033331A (en) | 1975-07-17 | 1977-07-05 | Guss Stephen B | Cardiac catheter and method of using same |
US4024873A (en) | 1976-05-24 | 1977-05-24 | Becton, Dickinson And Company | Balloon catheter assembly |
US4115755A (en) | 1976-06-11 | 1978-09-19 | United Technologies Corporation | Aerodynamic surface load sensing |
US4078317A (en) | 1976-07-30 | 1978-03-14 | Wheatley Ronald B | Flight simulator system |
US4276702A (en) | 1976-12-06 | 1981-07-07 | Pacer Systems, Inc. | Aircraft flight simulating trainer |
US4089494A (en) | 1976-12-16 | 1978-05-16 | Mcdonnell Douglas Corporation | Reduced servo noise control for a hydraulic actuator |
US4148014A (en) | 1977-04-06 | 1979-04-03 | Texas Instruments Incorporated | System with joystick to control velocity vector of a display cursor |
US4136554A (en) | 1977-10-31 | 1979-01-30 | Wells Electronics, Inc. | Tester for inflated items |
US4162582A (en) | 1978-01-09 | 1979-07-31 | Killeen George F | Flight trainer and entertainment device for simulating aerial acrobatics |
US4182054A (en) | 1978-02-16 | 1980-01-08 | Medical Plastics Laboratory, Inc. | Artificial arm |
US4177984A (en) | 1978-02-17 | 1979-12-11 | Mattel, Inc. | Captive flying toy airplane having simulated motor sounds |
DE2807902C2 (de) | 1978-02-24 | 1980-04-30 | Messerschmitt-Boelkow-Blohm Gmbh, 8000 Muenchen | Steuereinrichtung mit aktiver Kraft rückführung |
FR2419548A1 (fr) | 1978-03-09 | 1979-10-05 | Materiel Telephonique | Simulateur electro-hydraulique de commande de vol |
US4262549A (en) | 1978-05-10 | 1981-04-21 | Schwellenbach Donald D | Variable mechanical vibrator |
FR2442484A1 (fr) | 1978-11-22 | 1980-06-20 | Materiel Telephonique | Dispositif electronique de surveillance de fonctionnement de servoverin hydraulique |
US4307539A (en) | 1979-03-10 | 1981-12-29 | Klein Claus Dieter | Toy simulating a physician's instrument |
US4250887A (en) | 1979-04-18 | 1981-02-17 | Dardik Surgical Associates, P.A. | Remote manual injecting apparatus |
US4250636A (en) | 1979-06-01 | 1981-02-17 | Aviation Simulation Technology | Yoke assembly for flight simulator |
US4264312A (en) | 1980-04-28 | 1981-04-28 | The Kendall Company | Body channel simulation device |
US4360345A (en) | 1980-07-14 | 1982-11-23 | American Heart Association, Inc. | Health education system |
US4464117A (en) | 1980-08-27 | 1984-08-07 | Dr. Ing. Reiner Foerst Gmbh | Driving simulator apparatus |
NL8006091A (nl) | 1980-11-07 | 1982-06-01 | Fokker Bv | Vluchtnabootser. |
US4333070A (en) | 1981-02-06 | 1982-06-01 | Barnes Robert W | Motor vehicle fuel-waste indicator |
US4599070A (en) | 1981-07-29 | 1986-07-08 | Control Interface Company Limited | Aircraft simulator and simulated control system therefor |
ES260340Y (es) | 1981-08-31 | 1982-10-16 | Dispositivo de aprendizaje para endoscopias | |
US4436188A (en) | 1981-11-18 | 1984-03-13 | Jones Cecil R | Controlled motion apparatus |
JPS5877785U (ja) | 1981-11-24 | 1983-05-26 | 株式会社シグマ | モニタ−ゲ−ム機 |
DE3382431D1 (de) | 1982-01-22 | 1991-11-14 | British Aerospace | Steuerungsgeraet. |
US4427388A (en) | 1982-08-11 | 1984-01-24 | The United States Of America As Represented By The Secretary Of The Air Force | Yoke mover |
US4545390A (en) | 1982-09-22 | 1985-10-08 | C. R. Bard, Inc. | Steerable guide wire for balloon dilatation procedure |
US4504233A (en) | 1982-12-20 | 1985-03-12 | The Singer Company | High performance control loading system for manually-operable controls in a vehicle simulator |
DE3366764D1 (en) | 1983-01-28 | 1986-11-13 | Ibm | A stylus or pen for interactive use with a graphics input tablet |
FR2545606B1 (fr) | 1983-05-06 | 1985-09-13 | Hispano Suiza Sa | Capteur de torseur de forces |
US4655673A (en) | 1983-05-10 | 1987-04-07 | Graham S. Hawkes | Apparatus providing tactile feedback to operators of remotely controlled manipulators |
US4733214A (en) | 1983-05-23 | 1988-03-22 | Andresen Herman J | Multi-directional controller having resiliently biased cam and cam follower for tactile feedback |
US4481001A (en) | 1983-05-26 | 1984-11-06 | Collagen Corporation | Human skin model for intradermal injection demonstration or training |
DE3327342A1 (de) | 1983-07-29 | 1985-02-07 | Peter 7800 Freiburg Pedersen | Vorrichtung zur erfassung und auswertung des druckes in der ballonmanschette eines geschlossenen trachealtubus |
US4604016A (en) | 1983-08-03 | 1986-08-05 | Joyce Stephen A | Multi-dimensional force-torque hand controller having force feedback |
EP0137870B1 (fr) | 1983-09-20 | 1987-01-14 | ATELIERS DE CONSTRUCTIONS ELECTRIQUES DE CHARLEROI (ACEC) Société Anonyme | Simulateur pour l'entraînement de pilotes d'avions |
US4688983A (en) | 1984-05-21 | 1987-08-25 | Unimation Inc. | Low cost robot |
US4573452A (en) | 1984-07-12 | 1986-03-04 | Greenberg I Melvin | Surgical holder for a laparoscope or the like |
US4794384A (en) | 1984-09-27 | 1988-12-27 | Xerox Corporation | Optical translator device |
US4712101A (en) | 1984-12-04 | 1987-12-08 | Cheetah Control, Inc. | Control mechanism for electronic apparatus |
US4654648A (en) | 1984-12-17 | 1987-03-31 | Herrington Richard A | Wireless cursor control system |
US4782327A (en) | 1985-01-02 | 1988-11-01 | Victor B. Kley | Computer control |
US4605373A (en) | 1985-01-10 | 1986-08-12 | Rosen Bernard A | Training device for setting broken limbs |
US4632341A (en) | 1985-02-06 | 1986-12-30 | The United States Of America As Represented By The Secretary Of The Air Force | Stabilizing force feedback in bio-actuated control systems |
US5078152A (en) | 1985-06-23 | 1992-01-07 | Loredan Biomedical, Inc. | Method for diagnosis and/or training of proprioceptor feedback capabilities in a muscle and joint system of a human patient |
US4642055A (en) | 1985-06-24 | 1987-02-10 | Saliterman Steven S | Hemodynamic monitoring trainer |
DE3523188A1 (de) | 1985-06-28 | 1987-01-08 | Zeiss Carl Fa | Steuerung fuer koordinatenmessgeraete |
US4713007A (en) | 1985-10-11 | 1987-12-15 | Alban Eugene P | Aircraft controls simulator |
JPH0778718B2 (ja) | 1985-10-16 | 1995-08-23 | 株式会社日立製作所 | 画像表示装置 |
US5275174B1 (en) | 1985-10-30 | 1998-08-04 | Jonathan A Cook | Repetitive strain injury assessment |
US4659313A (en) | 1985-11-01 | 1987-04-21 | New Flite Inc. | Control yoke apparatus for computerized aircraft simulation |
NL8503096A (nl) | 1985-11-11 | 1987-06-01 | Fokker Bv | Simulator van mechanische eigenschappen van een besturingssysteem. |
US5103404A (en) | 1985-12-06 | 1992-04-07 | Tensor Development, Inc. | Feedback for a manipulator |
US4934694A (en) | 1985-12-06 | 1990-06-19 | Mcintosh James L | Computer controlled exercise system |
US4891764A (en) | 1985-12-06 | 1990-01-02 | Tensor Development Inc. | Program controlled force measurement and control system |
US5591924A (en) | 1985-12-18 | 1997-01-07 | Spacetec Imc Corporation | Force and torque converter |
FR2592514B1 (fr) | 1985-12-27 | 1988-04-08 | Beer Gabel Marc | Appareil de simulation pour l'etude de l'endoscopie |
US4742815A (en) | 1986-01-02 | 1988-05-10 | Ninan Champil A | Computer monitoring of endoscope |
US4646742A (en) | 1986-01-27 | 1987-03-03 | Angiomedics Incorporated | Angioplasty catheter assembly |
US4708650A (en) | 1986-02-10 | 1987-11-24 | Johnson & Johnson Dental Products Company | Direct delivery system for dental materials |
US4786892A (en) | 1986-02-22 | 1988-11-22 | Alps Electric Co., Ltd. | X-Y direction input device having changeable orientation of input axes and switch activation |
US4751662A (en) | 1986-07-14 | 1988-06-14 | United States Of America As Represented By The Secretary Of The Navy | Dynamic flight simulator control system |
US4803413A (en) | 1986-07-15 | 1989-02-07 | Honeywell Inc. | Magnetic isolating and pointing gimbal apparatus |
US4909232A (en) | 1986-07-30 | 1990-03-20 | Carella Richard F | Shooting and training device for archery |
WO1988002156A2 (en) | 1986-09-11 | 1988-03-24 | Hughes Aircraft Company | Digital simulation system for generating realistic scenes |
GB8622257D0 (en) | 1986-09-16 | 1986-10-22 | Daykin A P | Teaching aids |
NL8602624A (nl) | 1986-10-20 | 1988-05-16 | Oce Nederland Bv | Invoerinrichting met taktiele terugkoppeling. |
NL8602697A (nl) | 1986-10-27 | 1988-05-16 | Huka Bv Developments | Joystick. |
US4706006A (en) | 1986-10-31 | 1987-11-10 | Altman Stage Lighting Co., Inc. | Dual-axis tactile feedback light control device |
DE3638192A1 (de) | 1986-11-08 | 1988-05-19 | Laerdal Asmund S As | System und verfahren zum testen einer person in der ausuebung der cardiopulmonaren wiederbelebung (cpr) und zur bewertung von uebungen der cpr |
US4795296A (en) | 1986-11-17 | 1989-01-03 | California Institute Of Technology | Hand-held robot end effector controller having movement and force control |
US4726772A (en) | 1986-12-01 | 1988-02-23 | Kurt Amplatz | Medical simulator |
US5986643A (en) | 1987-03-24 | 1999-11-16 | Sun Microsystems, Inc. | Tactile feedback mechanism for a data processing system |
US6885361B1 (en) | 1987-03-24 | 2005-04-26 | Sun Microsystems, Inc. | Tactile feedback mechanism for a data processing system |
US5018922A (en) | 1987-03-26 | 1991-05-28 | Kabushiki Kaisha Komatsu Seisakusho | Master/slave type manipulator |
US4839838A (en) | 1987-03-30 | 1989-06-13 | Labiche Mitchell | Spatial input apparatus |
US4860215A (en) | 1987-04-06 | 1989-08-22 | California Institute Of Technology | Method and apparatus for adaptive force and position control of manipulators |
US4961138A (en) | 1987-05-01 | 1990-10-02 | General Datacomm, Inc. | System and apparatus for providing three dimensions of input into a host processor |
US4912638A (en) | 1987-05-04 | 1990-03-27 | Pratt Jr G Andrew | Biofeedback lifting monitor |
US4868549A (en) | 1987-05-18 | 1989-09-19 | International Business Machines Corporation | Feedback mouse |
DE3717459A1 (de) | 1987-05-23 | 1988-12-01 | Zeiss Carl Fa | Handgefuehrtes koordinatenmessgeraet |
US4748984A (en) | 1987-05-29 | 1988-06-07 | Patel Piyush V | Catheter assembly and method of performing coronary angiography and angioplasty |
US4874998A (en) | 1987-06-11 | 1989-10-17 | International Business Machines Corporation | Magnetically levitated fine motion robot wrist with programmable compliance |
US4907796A (en) | 1987-06-22 | 1990-03-13 | Roel Rodriguez Santiago | Ski simulator |
JPH0769972B2 (ja) | 1987-07-16 | 1995-07-31 | インタ−ナショナル・ビジネス・マシ−ンズ・コ−ポレ−ション | 画像生成方法 |
USH703H (en) | 1987-07-30 | 1989-11-07 | The United States Of America As Represented By The Secretary Of The Air Force | Manual control apparatus with electable mechanical impedance |
US4789340A (en) | 1987-08-18 | 1988-12-06 | Zikria Bashir A | Surgical student teaching aid |
US4867685A (en) | 1987-09-24 | 1989-09-19 | The Trustees Of The College Of Aeronautics | Audio visual instructional system |
US4775289A (en) | 1987-09-25 | 1988-10-04 | Regents Of The University Of Minnesota | Statically-balanced direct-drive robot arm |
US4825875A (en) | 1987-10-23 | 1989-05-02 | Ninan Champil A | Computer localization in pressure profile |
US4823634A (en) | 1987-11-03 | 1989-04-25 | Culver Craig F | Multifunction tactile manipulatable control |
US4982618A (en) | 1987-11-03 | 1991-01-08 | Culver Craig F | Multifunction tactile manipulatable control |
US4896554A (en) | 1987-11-03 | 1990-01-30 | Culver Craig F | Multifunction tactile manipulatable control |
US4815313A (en) | 1987-11-16 | 1989-03-28 | Abbott Laboratories | Syringe pressure calibration reference |
US4820162A (en) | 1987-11-23 | 1989-04-11 | Robert Ross | Joystick control accessory for computerized aircraft flight simulation program |
GB2212888A (en) | 1987-12-02 | 1989-08-02 | Philips Electronic Associated | X-y signal generating device |
JPH01164583A (ja) | 1987-12-21 | 1989-06-28 | Hitachi Ltd | エンドエフェクタ |
GB8801951D0 (en) | 1988-01-29 | 1988-02-24 | British Aerospace | Control apparatus |
EP0326768A3 (en) | 1988-02-01 | 1991-01-23 | Faro Medical Technologies Inc. | Computer-aided surgery apparatus |
US4907970A (en) | 1988-03-30 | 1990-03-13 | Grumman Aerospace Corporation | Sidestick-type thrust control simulator |
GB2220252A (en) | 1988-05-27 | 1990-01-04 | Creative Devices Res Ltd | Control device for data processing apparatus |
US4885565A (en) | 1988-06-01 | 1989-12-05 | General Motors Corporation | Touchscreen CRT with tactile feedback |
JPH0719512Y2 (ja) | 1988-06-15 | 1995-05-10 | 株式会社セガ・エンタープライゼス | 模擬操縦ゲーム装置 |
US4870964A (en) | 1988-06-16 | 1989-10-03 | Paul F. Bailey, Jr. | Opthalmic surgical device and method with image data reflected off of the eye |
US4887966A (en) | 1988-06-30 | 1989-12-19 | Gellerman Floyd R | Flight simulation control apparatus |
US4857881A (en) | 1988-07-08 | 1989-08-15 | Hayes Technology | Joystick with spring disconnect |
US5116180A (en) | 1988-07-18 | 1992-05-26 | Spar Aerospace Limited | Human-in-the-loop machine control loop |
GB8821675D0 (en) | 1988-09-02 | 1988-10-19 | Craig T R | Rotation & displacement sensing apparatus |
US5047952A (en) | 1988-10-14 | 1991-09-10 | The Board Of Trustee Of The Leland Stanford Junior University | Communication system for deaf, deaf-blind, or non-vocal individuals using instrumented glove |
US4907973A (en) | 1988-11-14 | 1990-03-13 | Hon David C | Expert system simulator for modeling realistic internal environments and performance |
US5009598A (en) | 1988-11-23 | 1991-04-23 | Bennington Thomas E | Flight simulator apparatus using an inoperative aircraft |
US4930770A (en) | 1988-12-01 | 1990-06-05 | Baker Norman A | Eccentrically loaded computerized positive/negative exercise machine |
US5153716A (en) | 1988-12-14 | 1992-10-06 | Horizonscan Inc. | Panoramic interactive system |
US5021982A (en) | 1988-12-28 | 1991-06-04 | Veda Incorporated | Motion base control process and pilot perceptual simulator |
US5353242A (en) | 1988-12-28 | 1994-10-04 | Veda Incorporated | Motion base control process and operator perceptual simulator |
US4881324A (en) | 1988-12-30 | 1989-11-21 | Gte Valenite Corporation | Apparatus for linear measurements |
US4998916A (en) | 1989-01-09 | 1991-03-12 | Hammerslag Julius G | Steerable medical device |
US5116051A (en) | 1989-01-12 | 1992-05-26 | Atari Games Corporation | Strain gauge pressure-sensitive video game control |
US4949119A (en) | 1989-01-12 | 1990-08-14 | Atari Games Corporation | Gearshift for a vehicle simulator using computer controlled realistic real world forces |
US5044956A (en) | 1989-01-12 | 1991-09-03 | Atari Games Corporation | Control device such as a steering wheel for video vehicle simulator with realistic feedback forces |
US5033352A (en) | 1989-01-19 | 1991-07-23 | Yamaha Corporation | Electronic musical instrument with frequency modulation |
US5019761A (en) | 1989-02-21 | 1991-05-28 | Kraft Brett W | Force feedback control for backhoe |
GB8904955D0 (en) | 1989-03-03 | 1989-04-12 | Atomic Energy Authority Uk | Multi-axis hand controller |
US5201753A (en) | 1989-03-17 | 1993-04-13 | Merit Medical Systems, Inc. | Totally self-contained, digitally controlled, disposable syringe inflation system, and method for monitoring, displaying and recording balloon catheter inflation data |
US5135488A (en) | 1989-03-17 | 1992-08-04 | Merit Medical Systems, Inc. | System and method for monitoring, displaying and recording balloon catheter inflation data |
US5057078A (en) | 1989-03-17 | 1991-10-15 | Merit Medical Systems, Inc. | Locking syringe |
US5062306A (en) | 1989-04-20 | 1991-11-05 | Kabushiki Kaisha Toyoda Jidoshokki Seisakusho | Apparatus for detecting torque of rotating shaft |
US5184306A (en) | 1989-06-09 | 1993-02-02 | Regents Of The University Of Minnesota | Automated high-precision fabrication of objects of complex and unique geometry |
US5004391A (en) | 1989-08-21 | 1991-04-02 | Rutgers University | Portable dextrous force feedback master for robot telemanipulation |
US5139261A (en) | 1989-09-15 | 1992-08-18 | Openiano Renato M | Foot-actuated computer game controller serving as a joystick |
US5196017A (en) | 1989-10-11 | 1993-03-23 | Silva Fidel H | Method and apparatus for patient protection against vessel rupture from balloon-tipped catheters |
US5661253A (en) | 1989-11-01 | 1997-08-26 | Yamaha Corporation | Control apparatus and electronic musical instrument using the same |
US5209131A (en) | 1989-11-03 | 1993-05-11 | Rank Taylor Hobson | Metrology |
US5126948A (en) | 1989-11-08 | 1992-06-30 | Ltv Aerospace And Defense Company | Digital position encoder and data optimizer |
US5112228A (en) | 1989-11-13 | 1992-05-12 | Advanced Cardiovascular Systems, Inc. | Vascular model |
US5048508A (en) | 1989-12-23 | 1991-09-17 | Karl Storz | Endoscope having sealed shaft |
US4964097A (en) | 1990-01-02 | 1990-10-16 | Conoco Inc. | Three dimensional image construction using a grid of two dimensional depth sections |
US5259894A (en) | 1990-01-26 | 1993-11-09 | Sampson Richard K | Method for solvent bonding non-porous materials to automatically create variable bond characteristics |
US5072361A (en) | 1990-02-01 | 1991-12-10 | Sarcos Group | Force-reflective teleoperation control system |
US5631861A (en) | 1990-02-02 | 1997-05-20 | Virtual Technologies, Inc. | Force feedback and texture simulating interface device |
US5184319A (en) | 1990-02-02 | 1993-02-02 | Kramer James F | Force feedback and textures simulating interface device |
US5104328A (en) | 1990-04-18 | 1992-04-14 | Lounsbury Katherine L | Anatomical model |
US5086401A (en) | 1990-05-11 | 1992-02-04 | International Business Machines Corporation | Image-directed robotic system for precise robotic surgery including redundant consistency checking |
US5022384A (en) | 1990-05-14 | 1991-06-11 | Capitol Systems | Vibrating/massage chair |
KR950013780B1 (ko) | 1990-05-22 | 1995-11-16 | 후루까와 뗀끼 고요교오 가부시끼가이샤 | 이동하고 있는 길다란 물건의 길이를 측정하는 장치 및 그 방법 |
EP0459761A3 (en) | 1990-05-31 | 1993-07-14 | Hewlett-Packard Company | Three dimensional computer graphics employing ray tracking to compute form factors in radiosity |
US5311422A (en) | 1990-06-28 | 1994-05-10 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | General purpose architecture for intelligent computer-aided training |
US5547382A (en) | 1990-06-28 | 1996-08-20 | Honda Giken Kogyo Kabushiki Kaisha | Riding simulation system for motorcycles |
US5077769A (en) | 1990-06-29 | 1991-12-31 | Siemens Gammasonics, Inc. | Device for aiding a radiologist during percutaneous transluminal coronary angioplasty |
US5158459A (en) | 1990-07-05 | 1992-10-27 | Ralph Edelberg | Freestanding integrated control stick, rudder pedals, and throttle for computerized aircraft flight simulation program |
GB9015177D0 (en) | 1990-07-10 | 1990-08-29 | Secr Defence | A helmet loader for flight simulation |
US5197003A (en) | 1990-08-01 | 1993-03-23 | Atari Games Corporation | Gearshift for a vehicle simulator having a solenoid for imposing a resistance force |
US5269519A (en) | 1990-08-15 | 1993-12-14 | David Malone | Game simulation interface apparatus and method |
US5423754A (en) | 1990-09-20 | 1995-06-13 | Scimed Life Systems, Inc. | Intravascular catheter |
US5680590A (en) | 1990-09-21 | 1997-10-21 | Parti; Michael | Simulation system and method of using same |
US5181181A (en) | 1990-09-27 | 1993-01-19 | Triton Technologies, Inc. | Computer apparatus input device for three-dimensional information |
WO1992007350A1 (en) | 1990-10-15 | 1992-04-30 | National Biomedical Research Foundation | Three-dimensional cursor control device |
JP3104249B2 (ja) | 1990-10-17 | 2000-10-30 | オムロン株式会社 | フィードバック制御装置 |
WO1992007609A1 (en) | 1990-10-29 | 1992-05-14 | Angeion Corporation | Digital display system for balloon catheter |
US5209661A (en) | 1990-10-29 | 1993-05-11 | Systems Control Technology, Inc. | Motor control desired dynamic load of a simulating system and method |
US5149270A (en) | 1990-10-29 | 1992-09-22 | Mckeown M J | Apparatus for practicing surgical procedures |
US5193963A (en) | 1990-10-31 | 1993-03-16 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Force reflecting hand controller |
US5062594A (en) | 1990-11-29 | 1991-11-05 | The United States Of America As Represented By The Secretary Of The Air Force | Flight control system with tactile feedback |
NL194053C (nl) | 1990-12-05 | 2001-05-03 | Koninkl Philips Electronics Nv | Inrichting met een rotatiesymmetrisch lichaam. |
US5191320A (en) | 1990-12-15 | 1993-03-02 | Sony Corporation Of America | Variable scale input device |
US5167159A (en) | 1990-12-18 | 1992-12-01 | Lucking William M | Tension transducer |
US5223776A (en) | 1990-12-31 | 1993-06-29 | Honeywell Inc. | Six-degree virtual pivot controller |
US5204600A (en) | 1991-02-06 | 1993-04-20 | Hewlett-Packard Company | Mechanical detent simulating system |
GB2252656B (en) | 1991-02-11 | 1994-12-14 | Keymed | Improvements in endoscopy training apparatus |
US5142931A (en) | 1991-02-14 | 1992-09-01 | Honeywell Inc. | 3 degree of freedom hand controller |
US5212473A (en) | 1991-02-21 | 1993-05-18 | Typeright Keyboard Corp. | Membrane keyboard and method of using same |
US5334027A (en) | 1991-02-25 | 1994-08-02 | Terry Wherlock | Big game fish training and exercise device and method |
US5354162A (en) | 1991-02-26 | 1994-10-11 | Rutgers University | Actuator system for providing force feedback to portable master support |
US5143505A (en) | 1991-02-26 | 1992-09-01 | Rutgers University | Actuator system for providing force feedback to a dextrous master glove |
DE9102864U1 (zh) | 1991-03-09 | 1991-05-29 | Hacoba Textilmaschinen Gmbh & Co Kg, 5600 Wuppertal, De | |
US5240417A (en) | 1991-03-14 | 1993-08-31 | Atari Games Corporation | System and method for bicycle riding simulation |
US5203563A (en) | 1991-03-21 | 1993-04-20 | Atari Games Corporation | Shaker control device |
US5177473A (en) | 1991-03-28 | 1993-01-05 | Drysdale Frank R | Foot operated electrical control with potentiometers |
GB9108497D0 (en) | 1991-04-20 | 1991-06-05 | Ind Limited W | Human/computer interface |
US5265034A (en) | 1991-05-13 | 1993-11-23 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Feedback controlled optics with wavefront compensation |
WO1992021117A1 (en) | 1991-05-23 | 1992-11-26 | Atari Games Corporation | Modular display simulator |
US5146566A (en) | 1991-05-29 | 1992-09-08 | Ibm Corporation | Input/output system for computer user interface using magnetic levitation |
US5215523A (en) | 1991-05-30 | 1993-06-01 | Eli Williams | Balloon catheter inflation syringe with remote display |
US5417210A (en) | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
US5279309A (en) | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
JP2514490B2 (ja) | 1991-07-05 | 1996-07-10 | 株式会社ダイヘン | 産業用ロボットの連動手動操作による教示制御方法 |
US5222893A (en) | 1991-07-05 | 1993-06-29 | Hardesty David L | Instrument panel cross check training device |
US5185561A (en) | 1991-07-23 | 1993-02-09 | Digital Equipment Corporation | Torque motor as a tactile feedback device in a computer system |
US5171299A (en) | 1991-08-02 | 1992-12-15 | Baxter International Inc. | Balloon catheter inflation pressure and diameter display apparatus and method |
US5186629A (en) | 1991-08-22 | 1993-02-16 | International Business Machines Corporation | Virtual graphics display capable of presenting icons and windows to the blind computer user and method |
US5403191A (en) | 1991-10-21 | 1995-04-04 | Tuason; Leo B. | Laparoscopic surgery simulator and method of use |
US5180351A (en) | 1991-10-21 | 1993-01-19 | Alpine Life Sports | Simulated stair climbing exercise apparatus having variable sensory feedback |
US5220260A (en) | 1991-10-24 | 1993-06-15 | Lex Computer And Management Corporation | Actuator having electronically controllable tactile responsiveness |
US5889670A (en) | 1991-10-24 | 1999-03-30 | Immersion Corporation | Method and apparatus for tactilely responsive user interface |
US5228356A (en) | 1991-11-25 | 1993-07-20 | Chuang Keh Shih K | Variable effort joystick |
US5309140A (en) | 1991-11-26 | 1994-05-03 | The United States Of America As Represented By The Secretary Of The Navy | Feedback system for remotely operated vehicles |
US5335557A (en) | 1991-11-26 | 1994-08-09 | Taizo Yasutake | Touch sensitive input control device |
US5371778A (en) | 1991-11-29 | 1994-12-06 | Picker International, Inc. | Concurrent display and adjustment of 3D projection, coronal slice, sagittal slice, and transverse slice images |
US5252068A (en) | 1991-12-31 | 1993-10-12 | Flight Dynamics, Incorporated | Weight-shift flight control transducer and computer controlled flight simulator, hang gliders and ultralight aircraft utilizing the same |
US5275169A (en) | 1992-01-15 | 1994-01-04 | Innovation Associates | Apparatus and method for determining physiologic characteristics of body lumens |
GB9201214D0 (en) | 1992-01-21 | 1992-03-11 | Mcmahon Michael J | Surgical retractors |
US5631973A (en) | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
ATE238140T1 (de) | 1992-01-21 | 2003-05-15 | Stanford Res Inst Int | Chirurgisches system |
US5318533A (en) | 1992-02-21 | 1994-06-07 | Scimed Life Systems, Inc. | Balloon catheter inflation device including apparatus for monitoring and wireless transmission of inflation data, and system |
CA2062147C (en) | 1992-03-02 | 1995-07-25 | Kenji Hara | Multi-axial joy stick device |
US5246007A (en) | 1992-03-13 | 1993-09-21 | Cardiometrics, Inc. | Vascular catheter for measuring flow characteristics and method |
US5428355A (en) | 1992-03-23 | 1995-06-27 | Hewlett-Packard Corporation | Position encoder system |
US5999185A (en) | 1992-03-30 | 1999-12-07 | Kabushiki Kaisha Toshiba | Virtual reality control using image, model and control data to manipulate interactions |
JP3199130B2 (ja) | 1992-03-31 | 2001-08-13 | パイオニア株式会社 | 3次元座標入力装置 |
US5189355A (en) | 1992-04-10 | 1993-02-23 | Ampex Corporation | Interactive rotary controller system with tactile feedback |
US5324260A (en) | 1992-04-27 | 1994-06-28 | Minnesota Mining And Manufacturing Company | Retrograde coronary sinus catheter |
JP2677315B2 (ja) | 1992-04-27 | 1997-11-17 | 株式会社トミー | 運転玩具 |
US5584701A (en) | 1992-05-13 | 1996-12-17 | University Of Florida Research Foundation, Incorporated | Self regulating lung for simulated medical procedures |
US5368484A (en) | 1992-05-22 | 1994-11-29 | Atari Games Corp. | Vehicle simulator with realistic operating feedback |
US5366376A (en) | 1992-05-22 | 1994-11-22 | Atari Games Corporation | Driver training system and method with performance data feedback |
US5515078A (en) | 1992-06-12 | 1996-05-07 | The Computer Museum, Inc. | Virtual-reality positional input and display system |
US5327790A (en) | 1992-06-19 | 1994-07-12 | Massachusetts Institute Of Technology | Reaction sensing torque actuator |
AU670311B2 (en) | 1992-07-06 | 1996-07-11 | Immersion Corporation | Determination of kinematically constrained multi-articulated structures |
US5245320A (en) | 1992-07-09 | 1993-09-14 | Thrustmaster, Inc. | Multiport game card with configurable address |
US5313230A (en) | 1992-07-24 | 1994-05-17 | Apple Computer, Inc. | Three degree of freedom graphic object controller |
US5296871A (en) | 1992-07-27 | 1994-03-22 | Paley W Bradford | Three-dimensional mouse with tactile feedback |
US5368487A (en) | 1992-07-31 | 1994-11-29 | Medina; Marelyn | Laparoscopic training device and method of use |
US5259626A (en) | 1992-08-07 | 1993-11-09 | Std Electronic International Ltd. | Programmable video game controller |
US5657429A (en) | 1992-08-10 | 1997-08-12 | Computer Motion, Inc. | Automated endoscope system optimal positioning |
US5428748A (en) | 1992-09-24 | 1995-06-27 | National Semiconductor Corporation | Method and apparatus for automatically configuring a computer peripheral |
US5283970A (en) | 1992-09-25 | 1994-02-08 | Strombecker Corporation | Toy guns |
US5368565A (en) | 1992-09-28 | 1994-11-29 | Medex, Inc. | Balloon catheter pressure monitor for local and remote display |
US5264768A (en) | 1992-10-06 | 1993-11-23 | Honeywell, Inc. | Active hand controller feedback loop |
US5286203A (en) | 1992-10-07 | 1994-02-15 | Aai Microflite Simulation International | Simulating horizontal stabilizer trimming in an aircraft |
US5666473A (en) | 1992-10-08 | 1997-09-09 | Science & Technology Corporation & Unm | Tactile computer aided sculpting device |
US5295694A (en) | 1992-10-27 | 1994-03-22 | Levin John M | Laparoscopic surgery simulating game |
US5397323A (en) | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
US5370535A (en) | 1992-11-16 | 1994-12-06 | Cae-Link Corporation | Apparatus and method for primary control loading for vehicle simulation |
US5389865A (en) | 1992-12-02 | 1995-02-14 | Cybernet Systems Corporation | Method and system for providing a tactile virtual reality and manipulator defining an interface device therefor |
US5629594A (en) | 1992-12-02 | 1997-05-13 | Cybernet Systems Corporation | Force feedback system |
US5769640A (en) | 1992-12-02 | 1998-06-23 | Cybernet Systems Corporation | Method and system for simulating medical procedures including virtual reality and control method and system for use therein |
US5412189A (en) | 1992-12-21 | 1995-05-02 | International Business Machines Corporation | Touch screen apparatus with tactile information |
US5451924A (en) | 1993-01-14 | 1995-09-19 | Massachusetts Institute Of Technology | Apparatus for providing sensory substitution of force feedback |
US5355148A (en) | 1993-01-14 | 1994-10-11 | Ast Research, Inc. | Fingerpoint mouse |
US5542676A (en) | 1993-02-11 | 1996-08-06 | Soundadvice For Sports, Inc. | Biosensor feedback device for sporting implements |
US5412880A (en) | 1993-02-23 | 1995-05-09 | Faro Technologies Inc. | Method of constructing a 3-dimensional map of a measurable quantity using three dimensional coordinate measuring apparatus |
US5314339A (en) | 1993-03-29 | 1994-05-24 | Marivel Aponte | Educational medical mannequin |
WO1994023811A1 (fr) | 1993-04-09 | 1994-10-27 | Sega Enterprises, Ltd. | Multiconnecteur pour appareil de jeu |
US5541831A (en) | 1993-04-16 | 1996-07-30 | Oliver Manufacturing Co., Inc. | Computer controlled separator device |
US5344354A (en) | 1993-04-30 | 1994-09-06 | Larry Wiley | Flight-simulating airplane toy |
JP3686686B2 (ja) | 1993-05-11 | 2005-08-24 | 松下電器産業株式会社 | 力覚呈示デバイス、データ入力装置、及びデータ入力デバイス装置 |
US5425644A (en) | 1993-05-13 | 1995-06-20 | Gerhard Szinicz | Surgical training apparatus and method |
US5429140A (en) | 1993-06-04 | 1995-07-04 | Greenleaf Medical Systems, Inc. | Integrated virtual reality rehabilitation system |
US5731804A (en) | 1995-01-18 | 1998-03-24 | Immersion Human Interface Corp. | Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems |
US5701140A (en) | 1993-07-16 | 1997-12-23 | Immersion Human Interface Corp. | Method and apparatus for providing a cursor control interface with force feedback |
US5739811A (en) | 1993-07-16 | 1998-04-14 | Immersion Human Interface Corporation | Method and apparatus for controlling human-computer interface systems providing force feedback |
US5805140A (en) | 1993-07-16 | 1998-09-08 | Immersion Corporation | High bandwidth force feedback interface using voice coils and flexures |
US5724264A (en) | 1993-07-16 | 1998-03-03 | Immersion Human Interface Corp. | Method and apparatus for tracking the position and orientation of a stylus and for digitizing a 3-D object |
US5467441A (en) | 1993-07-21 | 1995-11-14 | Xerox Corporation | Method for operating on objects in a first image using an object-based model data structure to produce a second contextual image having added, replaced or deleted objects |
US5425709A (en) | 1993-07-22 | 1995-06-20 | C. R. Bard, Inc. | Sheath for a balloon catheter |
US5382885A (en) | 1993-08-09 | 1995-01-17 | The University Of British Columbia | Motion scaling tele-operating system with force feedback suitable for microsurgery |
US5776126A (en) | 1993-09-23 | 1998-07-07 | Wilk; Peter J. | Laparoscopic surgical apparatus and associated method |
DE4332580A1 (de) | 1993-09-24 | 1995-03-30 | Deutsche Aerospace | Vorrichtung zur Nachbildung oder Simulation des Tastsinns in einem chirurgischen Instrument |
US5470232A (en) | 1993-09-29 | 1995-11-28 | The United States Of America As Represented By The Secretary Of The Navy | Reconfigurable aircraft stick control and method for connecting and removing stick control from aircraft simulator |
US5625576A (en) | 1993-10-01 | 1997-04-29 | Massachusetts Institute Of Technology | Force reflecting haptic interface |
US5397308A (en) | 1993-10-22 | 1995-03-14 | Scimed Life Systems, Inc. | Balloon inflation measurement apparatus |
US5436640A (en) | 1993-10-29 | 1995-07-25 | Thrustmaster, Inc. | Video game and simulator joystick controller with geared potentiometer actuation |
US5384460A (en) | 1993-11-03 | 1995-01-24 | Silitek Corporation | Encoder with a light emitting editing wheel |
US5599301A (en) | 1993-11-22 | 1997-02-04 | Advanced Cardiovascular Systems, Inc. | Motor control system for an automatic catheter inflation system |
WO1995016396A1 (en) | 1993-12-15 | 1995-06-22 | Computer Motion, Inc. | Automated endoscope system for optimal positioning |
US5473235A (en) | 1993-12-21 | 1995-12-05 | Honeywell Inc. | Moment cell counterbalance for active hand controller |
US5461711A (en) | 1993-12-22 | 1995-10-24 | Interval Research Corporation | Method and system for spatial accessing of time-based information |
JPH07200002A (ja) | 1993-12-28 | 1995-08-04 | Canon Inc | フィードバック制御装置 |
US5577981A (en) | 1994-01-19 | 1996-11-26 | Jarvik; Robert | Virtual reality exercise machine and computer controlled video system |
US6120465A (en) | 1994-01-24 | 2000-09-19 | Radionics Software Applications, Inc. | Virtual probe for a stereotactic digitizer for use in surgery |
WO1995020787A1 (en) | 1994-01-27 | 1995-08-03 | Exos, Inc. | Multimode feedback display technology |
US5492530A (en) | 1994-02-07 | 1996-02-20 | Cathco, Inc. | Method for accessing the coronary arteries from the radial or brachial artery in the arm |
US5580249A (en) | 1994-02-14 | 1996-12-03 | Sarcos Group | Apparatus for simulating mobility of a human |
US5482051A (en) | 1994-03-10 | 1996-01-09 | The University Of Akron | Electromyographic virtual reality system |
US5661667A (en) | 1994-03-14 | 1997-08-26 | Virtek Vision Corp. | 3D imaging using a laser projector |
GB9407936D0 (en) | 1994-04-21 | 1994-06-15 | Univ Bristol | Training device |
US6004134A (en) | 1994-05-19 | 1999-12-21 | Exos, Inc. | Interactive simulation including force feedback |
US5616030A (en) | 1994-06-01 | 1997-04-01 | Watson; Bruce L. | Flight simulator employing an actual aircraft |
US6160489A (en) | 1994-06-23 | 2000-12-12 | Motorola, Inc. | Wireless communication device adapted to generate a plurality of distinctive tactile alert patterns |
JP2843964B2 (ja) | 1994-06-27 | 1999-01-06 | 東レエンジニアリング株式会社 | ターレット型巻取機 |
US5524637A (en) | 1994-06-29 | 1996-06-11 | Erickson; Jon W. | Interactive system for measuring physiological exertion |
US5623582A (en) | 1994-07-14 | 1997-04-22 | Immersion Human Interface Corporation | Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects |
US5821920A (en) | 1994-07-14 | 1998-10-13 | Immersion Human Interface Corporation | Control input device for interfacing an elongated flexible object with a computer system |
US5575761A (en) | 1994-07-27 | 1996-11-19 | Hajianpour; Mohammed-Ali | Massage device applying variable-frequency vibration in a variable pulse sequence |
US5600348A (en) | 1994-08-19 | 1997-02-04 | Ftg Data Systems | Adjustable tip light pen |
US5565840A (en) | 1994-09-21 | 1996-10-15 | Thorner; Craig | Tactile sensation generator |
US5669818A (en) | 1995-03-23 | 1997-09-23 | Thorner; Craig | Seat-based tactile sensation generator |
US5684722A (en) | 1994-09-21 | 1997-11-04 | Thorner; Craig | Apparatus and method for generating a control signal for a tactile sensation generator |
US5609485A (en) | 1994-10-03 | 1997-03-11 | Medsim, Ltd. | Medical reproduction system |
US5765561A (en) | 1994-10-07 | 1998-06-16 | Medical Media Systems | Video-based surgical targeting system |
US5766016A (en) | 1994-11-14 | 1998-06-16 | Georgia Tech Research Corporation | Surgical simulator and method for simulating surgical procedure |
US5771181A (en) | 1994-12-14 | 1998-06-23 | Moore; Robert S. | Generation for virtual reality simulator systems |
US5548694A (en) | 1995-01-31 | 1996-08-20 | Mitsubishi Electric Information Technology Center America, Inc. | Collision avoidance system for voxel-based object representation |
US5930741A (en) | 1995-02-28 | 1999-07-27 | Virtual Technologies, Inc. | Accurate, rapid, reliable position sensing using multiple sensing technologies |
US5592401A (en) | 1995-02-28 | 1997-01-07 | Virtual Technologies, Inc. | Accurate, rapid, reliable position sensing using multiple sensing technologies |
US5542672A (en) | 1995-03-17 | 1996-08-06 | Meredith; Chris | Fishing rod and reel electronic game controller |
US5749853A (en) | 1995-03-17 | 1998-05-12 | Advanced Cardiovascular Systems, Inc. | Inflation control system with elapsed time measurement |
US5882206A (en) | 1995-03-29 | 1999-03-16 | Gillio; Robert G. | Virtual surgery system |
US5720619A (en) | 1995-04-24 | 1998-02-24 | Fisslinger; Johannes | Interactive computer assisted multi-media biofeedback system |
US5736978A (en) | 1995-05-26 | 1998-04-07 | The United States Of America As Represented By The Secretary Of The Air Force | Tactile graphics display |
US5691898A (en) | 1995-09-27 | 1997-11-25 | Immersion Human Interface Corp. | Safe and low cost computer peripherals with force feedback for consumer applications |
US5651775A (en) | 1995-07-12 | 1997-07-29 | Walker; Richard Bradley | Medication delivery and monitoring system and methods |
US5776050A (en) | 1995-07-24 | 1998-07-07 | Medical Media Systems | Anatomical visualization system |
US5810007A (en) | 1995-07-26 | 1998-09-22 | Associates Of The Joint Center For Radiation Therapy, Inc. | Ultrasound localization and image fusion for the treatment of prostate cancer |
JP2000501033A (ja) | 1995-11-30 | 2000-02-02 | ヴァーチャル テクノロジーズ インコーポレイテッド | 触覚をフィードバックする人間/機械インターフェース |
US6219032B1 (en) | 1995-12-01 | 2001-04-17 | Immersion Corporation | Method for providing force feedback to a user of an interface device based on interactions of a controlled cursor with graphical elements in a graphical user interface |
US5956484A (en) | 1995-12-13 | 1999-09-21 | Immersion Corporation | Method and apparatus for providing force feedback over a computer network |
US5806521A (en) | 1996-03-26 | 1998-09-15 | Sandia Corporation | Composite ultrasound imaging apparatus and method |
US6111577A (en) | 1996-04-04 | 2000-08-29 | Massachusetts Institute Of Technology | Method and apparatus for determining forces to be applied to a user through a haptic interface |
US5807377A (en) | 1996-05-20 | 1998-09-15 | Intuitive Surgical, Inc. | Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5797900A (en) | 1996-05-20 | 1998-08-25 | Intuitive Surgical, Inc. | Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US6047080A (en) | 1996-06-19 | 2000-04-04 | Arch Development Corporation | Method and apparatus for three-dimensional reconstruction of coronary vessels from angiographic images |
US5800179A (en) | 1996-07-23 | 1998-09-01 | Medical Simulation Corporation | System for training persons to perform minimally invasive surgical procedures |
US6084587A (en) | 1996-08-02 | 2000-07-04 | Sensable Technologies, Inc. | Method and apparatus for generating and interfacing with a haptic virtual reality environment |
US6024576A (en) | 1996-09-06 | 2000-02-15 | Immersion Corporation | Hemispherical, high bandwidth mechanical interface for computer systems |
US5694013A (en) | 1996-09-06 | 1997-12-02 | Ford Global Technologies, Inc. | Force feedback haptic interface for a three-dimensional CAD surface |
US6104379A (en) | 1996-12-11 | 2000-08-15 | Virtual Technologies, Inc. | Forearm-supported exoskeleton hand-tracking device |
US6038488A (en) | 1997-02-27 | 2000-03-14 | Bertec Corporation | Catheter simulation device |
AU7161598A (en) | 1997-04-21 | 1998-11-13 | Virtual Technologies, Inc. | Goniometer-based body-tracking device and method |
US6110130A (en) | 1997-04-21 | 2000-08-29 | Virtual Technologies, Inc. | Exoskeleton device for directly measuring fingertip position and inferring finger joint angle |
US6042555A (en) | 1997-05-12 | 2000-03-28 | Virtual Technologies, Inc. | Force-feedback interface device for the hand |
EP1051698B1 (en) | 1998-01-28 | 2018-01-17 | Immersion Medical, Inc. | Interface device and method for interfacing instruments to vascular access simulation systems |
US6062866A (en) | 1998-03-27 | 2000-05-16 | Prom; James M. | Medical angioplasty model |
US6538634B1 (en) | 1998-12-18 | 2003-03-25 | Kent Ridge Digital Labs | Apparatus for the simulation of image-guided surgery |
EP1253854A4 (en) | 1999-03-07 | 2010-01-06 | Discure Ltd | METHOD AND APPARATUS FOR COMPUTERIZED SURGERY |
US6674894B1 (en) | 1999-04-20 | 2004-01-06 | University Of Utah Research Foundation | Method and apparatus for enhancing an image using data optimization and segmentation |
US7538764B2 (en) | 2001-01-05 | 2009-05-26 | Interuniversitair Micro-Elektronica Centrum (Imec) | System and method to obtain surface structures of multi-dimensional objects, and to represent those surface structures for animation, transmission and display |
US7630750B2 (en) | 2001-02-05 | 2009-12-08 | The Research Foundation For The State University Of New York | Computer aided treatment planning |
WO2002086797A1 (en) | 2001-03-06 | 2002-10-31 | The John Hopkins University School Of Medicine | Simulation method for designing customized medical devices |
US6501231B1 (en) * | 2001-07-09 | 2002-12-31 | Amglo Kemlite Laboratories, Inc. | Metal halide lightbulb strobe system |
JP4319031B2 (ja) * | 2001-09-06 | 2009-08-26 | コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ | 対象のセグメンテーション方法及び装置 |
CA2459748A1 (en) | 2001-09-07 | 2003-03-20 | The General Hospital Corporation | Medical procedure training system |
DE50209767D1 (de) * | 2002-03-27 | 2007-05-03 | Brainlab Ag | Medizinische Navigation bzw. prä-operative Behandlungsplanung mit Unterstützung durch generische Patientendaten |
US20040009459A1 (en) | 2002-05-06 | 2004-01-15 | Anderson James H. | Simulation system for medical procedures |
US20050196740A1 (en) | 2004-03-08 | 2005-09-08 | Olympus Corporation | Simulator system and training method for endoscopic manipulation using simulator |
JP2008514317A (ja) | 2004-10-01 | 2008-05-08 | セダラ ソフトウェア コーポレイション | 血管構造セグメンテーションシステム及び方法 |
US7563228B2 (en) | 2005-01-24 | 2009-07-21 | Siemens Medical Solutions Usa, Inc. | Stereoscopic three or four dimensional ultrasound imaging |
US8388348B2 (en) | 2005-04-19 | 2013-03-05 | Regents Of The University Of Minnesota | Disease treatment simulation |
US8165908B2 (en) | 2005-07-29 | 2012-04-24 | Siemens Aktiengesellschaft | Tool tip with additional information and task-sensitive direct access help for a user |
US8149236B2 (en) * | 2005-08-01 | 2012-04-03 | National University Corporation NARA Institute of Science and Technology | Information processing apparatus and program |
US7681579B2 (en) | 2005-08-02 | 2010-03-23 | Biosense Webster, Inc. | Guided procedures for treating atrial fibrillation |
US7877128B2 (en) | 2005-08-02 | 2011-01-25 | Biosense Webster, Inc. | Simulation of invasive procedures |
US20070049817A1 (en) | 2005-08-30 | 2007-03-01 | Assaf Preiss | Segmentation and registration of multimodal images using physiological data |
US20070231779A1 (en) | 2006-02-15 | 2007-10-04 | University Of Central Florida Research Foundation, Inc. | Systems and Methods for Simulation of Organ Dynamics |
US9345548B2 (en) | 2006-02-27 | 2016-05-24 | Biomet Manufacturing, Llc | Patient-specific pre-operative planning |
WO2008087629A2 (en) | 2007-01-16 | 2008-07-24 | Simbionix Ltd. | Preoperative surgical simulation |
US7957570B2 (en) * | 2007-05-03 | 2011-06-07 | General Electric Company | System and method to generate an illustration of a cardiac region of interest |
US20090018805A1 (en) * | 2007-07-12 | 2009-01-15 | Michael Weber | Optically selective coatings for plant tissues |
WO2009119691A1 (ja) | 2008-03-25 | 2009-10-01 | 株式会社 東芝 | 医用画像処理装置及びx線診断装置 |
-
2009
- 2009-03-17 US US12/405,954 patent/US8543338B2/en active Active
-
2010
- 2010-03-02 GB GB1116083.5A patent/GB2480220B/en active Active
- 2010-03-02 WO PCT/IL2010/000172 patent/WO2010106532A1/en active Application Filing
- 2010-03-02 CN CN201080012578.9A patent/CN102368972B/zh active Active
- 2010-03-02 JP JP2012500366A patent/JP5654557B2/ja not_active Expired - Fee Related
Also Published As
Publication number | Publication date |
---|---|
US8543338B2 (en) | 2013-09-24 |
JP5654557B2 (ja) | 2015-01-14 |
CN102368972A (zh) | 2012-03-07 |
US20090177454A1 (en) | 2009-07-09 |
JP2012521030A (ja) | 2012-09-10 |
WO2010106532A1 (en) | 2010-09-23 |
GB201116083D0 (en) | 2011-11-02 |
GB2480220B (en) | 2016-06-15 |
GB2480220A (en) | 2011-11-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN102368972B (zh) | 利用患者特异性模型对影像引导进程进行计算机化模拟的系统和方法 | |
CN101925924B (zh) | 交互式图像分割 | |
US7805177B2 (en) | Method for determining the risk of rupture of a blood vessel | |
JP6434532B2 (ja) | 気管を検出するためのシステム | |
Neelapu et al. | Automatic localization of three-dimensional cephalometric landmarks on CBCT images by extracting symmetry features of the skull | |
CN106659453A (zh) | 用于分割肺部的系统和方法 | |
CN106132354B (zh) | 制造用于软骨修复的外科装备的方法和节点 | |
Volkau et al. | Geometric modeling of the human normal cerebral arterial system | |
KR20120118479A (ko) | 영상 안내 절차 동안의 변형에 관한 데이터를 정정하기 위한 시스템 및 방법 | |
CN106164981B (zh) | 外科手术中为手术器械插入显示计时信号的方法和系统 | |
EP3025303A1 (en) | Multi-modal segmentation of image data | |
Gall et al. | Computer-aided planning and reconstruction of cranial 3D implants | |
Kretschmer et al. | ADR-anatomy-driven reformation | |
WO2016116136A1 (en) | Atlas-based determination of tumour growth direction | |
US7792360B2 (en) | Method, a computer program, and apparatus, an image analysis system and an imaging system for an object mapping in a multi-dimensional dataset | |
CN107077718B (zh) | 在考虑待检查对象的解剖结构时重新格式化 | |
Iordanescu et al. | Automated centerline for computed tomography colonography1 | |
CN107106110A (zh) | 图像处理装置以及图像处理方法 | |
Wijnen et al. | Comparison of segmentation software packages for in-hospital 3D print workflow | |
CN112884879B (zh) | 用于提供至少一个管状结构的二维展开图像的方法 | |
Antila et al. | Segmentation of facial bone surfaces by patch growing from cone beam CT volumes | |
Kerr et al. | “True” color surface anatomy: mapping the Visible Human to patient-specific CT data | |
Montana-Brown et al. | SARAMIS: Simulation Assets for Robotic Assisted and Minimally Invasive Surgery | |
Knapp et al. | Patient specific color texture mapping of CT-based anatomical surface models utilizing cryosection data | |
JP5620419B2 (ja) | 医用画像生成処理装置およびプログラム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant |