128 results about "Imaging guidance" patented technology

Disclosed are approaches that may provide image-guidance to interventionalists by providing true 3D visualization and quantitative feedback in real-time. A guidance system may allow a physician to manipulate a medical device and see a 3D rendering with quantitative feedback floating in mixed reality, next to standard monitors. Image tracking may detect and co-register the medical device's 3D position using, for example, bi-plane C-arm X-ray fluoroscopy and provide a 3D trajectory as quantitative feedback. Patterns in a fluoroscopic image may be used to accurately determine an object's z-position from a single angle projection.

The invention provides a long-exit-pupil-distance broadband common-aperture composite simulation optical system, and belongs to the technical field of target scene composite analog simulation. A broadband objective lens group A, a space beam combiner group B and a long-wave infrared projection lens group D are sequentially arranged in the optical system from left to right along light, a visible light projection lens group C is located on the upper side of the space beam combiner group B, and a long-wave infrared projection lens group C is located on the lower side of the space beam combiner group B; a visible light image plane is positioned on the right side of the visible light projection lens group C; the medium-wave infrared projection lens group E is located on the lower side of the space beam combiner lens group B, the medium-wave infrared image surface is located on the lower side of the medium-wave infrared projection lens group E, the long-wave infrared image surface is located on the right side of the medium-wave infrared image surface, and the exit pupil position is located on the left side of the broadband objective lens group A; the problem that a single-channel target modulo system only adapts to simulation of imaging guidance equipment of a specific wave band and is not suitable for semi-physical simulation tests of three-mode composite imaging guidance equipment and two-mode composite imaging guidance equipment is solved.

The invention provides a digital human generation system based on a visual autoregression model, and the system introduces a BSQ multi-scale image word segmentation device, a condition image guide network and a time sequence attention layer based on the visual autoregression model to construct a digital human generation model, and adjusts the time sequence attention weight distribution through a temperature map. Target digital human image sequence generation guided by a human identity tag and a color coding image sequence is realized, and the visual generation quality and the time sequence consistency of the generated image sequence are improved; lPIPS perception loss is introduced during model training, direct constraint on the visual quality of the generated image is realized, and the visual generation quality of the generated image is further improved; in the digital human image sequence generation stage, a frame insertion smooth reasoning method is adopted, and the time sequence consistency of the generated image sequence is further improved; according to the invention, the modules cooperate to realize the generation of the motion-controllable target digital human image sequence, and the image sequence generation speed is obviously improved on the premise of ensuring the quality of the generated image.

Systems, devices, and methods for integrating images from various sources and using the same to guide endoscopic procedures are disclosed. An endoscopic system comprises an endoscope to be positioned and navigated in a patient anatomy, and a processor configured to reconstruct a three-dimensional (3D) image of an anatomical target based on at least two images of the anatomical target. The at least two images can be calibrated and registered using respective landmarks. One or more secondary images can be integrated with the reconstructed 3D image. The reconstructed image or the integrated image, along with the endoscope navigation plan, can be displayed to a user. Based on the reconstructed or the integrated image, the processor can generate an endoscope navigation plan for use in an image-guided endoscopic procedure.

The intelligent gynecological flushing system comprises a gynecological flushing platform, a colposcope image guiding system, a self-adaptive flushing execution system and an evaluation feedback optimization system, and the gynecological flushing platform is used for supporting a patient to conduct gynecological flushing; the colposcope image guiding system is used for collecting colposcope image data, identifying lesion characteristics based on an image identification technology, and transmitting an identification result to the self-adaptive flushing execution system; the self-adaptive flushing execution system is used for carrying out self-adaptive gynecological flushing on the focus part by utilizing flushing fluid according to the guidance of the colposcope image guidance system and based on the basic information of the patient; and the evaluation feedback optimization system is used for collecting the components of the flushing fluid after flushing and the reaction of the flushing part, performing quantitative evaluation on the flushing effect, feeding back the evaluation result to the self-adaptive flushing execution system, and optimizing the self-adaptive flushing parameters of the self-adaptive flushing execution system. According to the invention, the stability and accuracy of the flushing process can be ensured.

The invention discloses a radiotherapy equipment image guiding device and method and related equipment, and relates to the technical field of radiotherapy, and the device comprises a ray generation module which is provided with a ray source and is arranged at one side of a treatment room isocenter; the radiation source is used for moving along a first preset path; the ray source is used for emitting rays, and the rays penetrate through a patient; the detection and acquisition module is provided with a detector, is arranged on the other side of the isocenter of the treatment room and is distributed opposite to the ray source along the isocenter; the detector is used for moving along a second preset path, collecting rays penetrating through the patient and converting the rays into corresponding projection images; the registration module is used for performing registration on the projection image and a planned CT image by executing a first registration mode or a second registration mode so as to calculate a positioning deviation; and the first preset path and the second preset path are straight lines, so that the adaptability, precision and stability of radiotherapy are improved.

For interventional surgery, robot-assisted operation and image guidance are urgently required clinically. However, due to limitation of size, magnetic component interference and the like, tracking and positioning of magnetic imaging catheters in IVUS and OCT forms are difficult problems. The interventional imaging catheter, the six-degree-of-freedom positioning method, the six-degree-of-freedom positioning system, the six-degree-of-freedom positioning equipment and the medium are different from a magnetic positioning method of a transmission embedded sensor, and the interventional imaging catheter is compatible with a magnetic part in a permanent magnet rotor form. Meanwhile, in cooperation with a magnetic positioning search strategy for linearly solving an initial value, positioning of the catheter can be rapidly achieved.

The invention relates to the technical field related to ultrasonic detection, in particular to a method and a device for acquiring an angle of a transesophageal ultrasonic image in a preoperative CT image guidance operation. The method comprises the following steps: acquiring a heart and esophagus cutting model based on a CT image; the heart and esophagus cutting model comprises a heart model and an esophagus model; determining a long-axis section of the heart based on the heart model; determining an esophagus center line based on the esophagus model; selecting a point closest to the long-axis tangent plane in the central line of the esophagus as an ultrasonic irradiation position; the long-axis section of the heart is corrected based on the ultrasonic irradiation position, so that the long-axis section passes through the ultrasonic irradiation position, and the corrected long-axis section is obtained; and determining the angle of the ultrasonic probe based on the corrected long-axis tangent plane and the tangent plane of the esophageal center line at the ultrasonic irradiation position. By means of the arrangement, a doctor can obtain the intraoperative ultrasonic irradiation angle during preoperative planning, and the operation is more accurate and normative.

The invention provides a text-enhanced cross-modal pedestrian retrieval method based on image guidance, and belongs to the field of artificial intelligence and multi-modal perception.The method comprises the steps that training images and texts are input into an image encoder and a text encoder respectively; obtaining a global feature representation of the image features, and mapping the global feature representation into a pseudo token; extracting pseudo text features; extracting pseudo token embedding, and screening the pseudo token embedding; the optimal pseudo token is embedded and interacted with the learnable query to obtain a knowledge-based query; fusing the knowledge-based query and the text features to obtain enhanced text features; aligning the enhanced text features with the image features to obtain a trained image and a text encoder; respectively inputting a pedestrian image and text description into the trained image and the text encoder, fusing knowledge-based query and original text features, and calculating cosine similarity expressed by the enhanced text features and image features; the invention further provides a retrieval system. The problems of low cross-modal matching precision and insufficient fine granularity alignment are solved.

The invention discloses a low-cost injection type seeker semi-physical simulation test method which is suitable for semi-physical simulation of all weapon systems adopting image guidance. According to the method, a simulation mode of a traditional image guided weapon system based on a five-axis turntable is abandoned, three inner axes of the five-axis turntable are used for simulating guide machine motion, two outer axes of the five-axis turntable are used for simulating target motion, and a ground image is directly injected into a seeker image information processing card. The defects that a traditional weapon system simulation method is not comprehensive in tracking algorithm assessment, and the motion angle of a rotary table is limited are overcome. According to the method, the actual working process of a seeker tracking algorithm and an image seeker can be comprehensively assessed, the whole simulation process does not depend on a high-performance five-axis turntable and an image simulator, the purpose of assessing the working performance of the seeker in a low-cost and multi-dimensional mode is achieved, and the simulation system and method are simple in design, effective, practical and suitable for popularization and application. Good popularization and application space is realized.

The invention discloses a weak feature point cloud quick splicing method based on image guidance, which comprises the following steps of: 1) acquiring camera parameters required by subsequent calculation by adopting a Zhang's calibration method, and defining a reference plane as a space reference for subsequent pose calculation; 2) synchronously acquiring point cloud and RGB images, performing image matching through an AKAZE algorithm for 2D images, and then screening matching pairs by adopting an angle consistency + RANSAC algorithm to obtain a better 2D matching relationship; 3) calculating an initial 3D matching relation of adjacent point clouds by combining the results of the steps 1 and 2 to realize coarse registration; and 4) taking the point clouds after applying the result of the step 3) as input, and carrying out iterative optimization by adopting a Point-to-Plane-ICP algorithm to obtain an accurate 3D matching relationship between adjacent point clouds so as to complete splicing. According to the method, the problems of high splicing difficulty and low efficiency and precision of weak 3D feature adjacent point clouds are effectively solved, and the point cloud splicing efficiency is improved while the point cloud splicing precision is considered.

The invention discloses a weak texture scene image and point cloud data fusion method based on a DMF-Net, and the method proposes that the DMF-Net guided by a single-view image is combined, is used for the deep fusion of an image and point cloud data, enhances the feature expression in a weak texture scene, and completes a cross-modal point cloud completion task through a DMF-Net frame. Two stages of rough point cloud generation and upsampling from rough to fine are realized, a 3D encoder and a 2D encoder are utilized to extract point cloud and image features respectively, features of two modes are integrated through a dual-channel mode fusion module, global feature vectors are generated and are interpreted into initial rough point cloud, and complete three-dimensional point cloud can be obtained after optimization. Therefore, the fusion of the weak texture scene image and the point cloud data is realized, the limitation of the weak texture scene is effectively overcome, and the precision and robustness of downstream tasks such as three-dimensional reconstruction and geological analysis are remarkably improved.

The invention relates to the technical field of image guidance positioning, and provides a radiotherapy positioning system and a positioning structure based on image guidance, which are characterized in that a comprehensive, accurate and adaptive radiotherapy positioning system is constructed, the positioning structure is monitored and analyzed in real time from multi-modal image data fusion in combination with physiological features of target tissues, and the positioning structure is used for positioning the target tissues. In the radiotherapy process, parameters of the treatment bed and the positioning structure can be dynamically and accurately adjusted according to the actual position and state change of the target tissue, the integration mode effectively avoids the problem of positioning deviation caused by the fact that a traditional positioning method is single and lacks real-time dynamic adjustment, and the positioning accuracy is improved. The overall precision and reliability of radiotherapy positioning are greatly improved, and a solid guarantee is provided for accurate action of radiotherapy on target tissues.

The invention relates to the technical field of medical robots and image guidance, and discloses a target area operation method, device, equipment and medium based on a perceptual image, and the method comprises the steps: obtaining the perceptual image data of a target area, recognizing the boundary of the target area based on the perceptual image data, and planning and generating an operation path according to the boundary of the target area, and controlling the execution component to execute operation along the operation path, acquiring a contact feedback signal of the operation tool in the execution process, adjusting the operation state of the execution component, detecting interference information of the execution component in real time, dynamically correcting the operation path according to a detection result, and realizing autonomous perception and operation control of the target area. According to the method, a closed-loop autonomous control mechanism from sensing to operation is constructed by fusing sensing image recognition, path planning, execution control and real-time feedback correction processes, and accurate recognition and path adaptive adjustment of a target area in a dynamic environment are realized.

The application discloses a single-photon lidar point cloud denoising method based on multi-mode guidance and related equipment, and belongs to the field of lidar signal processing and computer vision. The three-dimensional point cloud of the single-photon lidar, the infrared image and the visible light image are synchronously collected; the infrared image and the visible light image are extracted and fused in parallel to generate multi-mode image guidance features; after the features of the point cloud are extracted, the features are projected onto the image plane to form spatially aligned alignment point cloud feature maps; the two features are interacted through bidirectional cross-attention calculation, the obtained features and the original features are aggregated, and then integrated through a multilayer perception machine to obtain multi-modal joint features; the joint features are decoded to output a denoising weight map and a signal enhancement map; the original point cloud is projected onto the image plane, noise points are filtered out by using the denoising weight map, and the reflection intensity of the reserved points is enhanced by using the signal enhancement map to generate a denoised three-dimensional image. The application realizes accurate noise filtering and effective signal enhancement, and improves the quality of the point cloud.

The present application relates to the technical field of cancer detection, in particular to a kind of tumor imaging guided photodynamic therapy reagent.The reagent is named ADS254BE / H2TPP NPs, which is composed of hydrophobic conjugated polymer ADS254BE and tetraphenylporphyrin H2TPP doped polymer microspheres, and the surface of the polymer microspheres also has PSMA modification layer.The reagent is prepared by uniformly mixing ADS254BE, H2TPP and PSMA solution, ultrasonic treatment, room temperature standing, and then evaporating solvent in the solution.The photodynamic diagnosis and treatment reagent provided by the present application shows bright red emission centered at 650nm, relatively large stoke shift, higher singlet oxygen generation rate, and good light stability and biocompatibility.The present application provides a feasible strategy for constructing new optical diagnosis and treatment integrated reagent, and is expected to promote the development of imaging guided photodynamic therapy.

The invention belongs to the technical field of medical instruments, and relates to an abdominal cavity puncture assembly for V-P shunt real-time image guidance. The puncture kit provided by the invention comprises an image guiding assembly and a puncture assembly. The image guiding assembly comprises a display and a transmission line and is used for transmitting image information; the puncture assembly is composed of an inner sleeve core and an outer sleeve, a light source and a camera are arranged at the tail end of the inner sleeve core, abdominal cavity images can be collected in real time, and the outer sleeve is formed by oppositely connecting a first sleeve and a second sleeve and provided with a thorn tip and a tube containing hole. When in use, the inner sleeve core is inserted into the outer sleeve, the handle is held by hand to puncture, the shunt tube is inserted and placed in place under the guidance of an image, and finally, the fixator is taken down, and the outer sleeve is pulled out. According to the kit, a minimally invasive incision (about 1cm) can be realized, accurate puncture and placement of the shunt tube can be realized under the guidance of an image, the shunt tube is ensured to be in place, smooth drainage is ensured, and the outer sleeve can be detached and pulled out under the condition that the shunt tube is not moved.

A neuronavigation system including a microelectrode array configured to be placed on a brain surface and record neural signals, the microelectrode array comprising a fiducial, and a computer system configured to register a position of the microelectrode array with respect to the brain surface based on the fiducial, receive neural signals from the microelectrode array, and generate a visualization overlaying the received neural signals on a brain image based on the registered position of the microelectrode array for display during a neurosurgical procedure. The neuronavigation system can be used in a variety of different neurosurgical applications, including implanting neural interfaces or locating particular cortical regions.

The invention relates to the technical field of medical equipment and image guidance, and discloses a high-precision image guidance treatment supporting system, method and device, and the system comprises an image guidance module, a space distance measurement module, an artificial intelligence processing module, a closed-loop feedback control module, and a motor driving module. The method comprises the following steps: collecting coordinates of a tumor area and a treatment bed deformation model, combining real-time pose information, utilizing artificial intelligence to generate a pose compensation parameter, outputting a six-degree-of-freedom compensation control instruction, and driving a motor to realize accurate adjustment of the position and the pose of the treatment bed. Real-time accurate adjustment of the treatment bed under six degrees of freedom can be achieved, multi-source data fusion and an artificial intelligence compensation mechanism are combined, the positioning accuracy and the alignment stability of a tumor area are effectively improved, position errors caused by manual operation or deformation of the treatment bed are reduced, and the accuracy of the treatment bed is improved. And the safety, the accuracy and the clinical working efficiency of radiotherapy are remarkably improved.

The invention provides a bimodal integrated device for particle radiotherapy. The bimodal integrated device comprises a control system, a sitting and standing posture system, a bimodal imaging system and an image processing system, the sitting and standing posture system is used for bearing and driving a to-be-detected object to rotate; the bimodal imaging system comprises at least two scanning units composed of ray source assemblies and detection assemblies to obtain image data, the image data comprises first data and second data, the first data comprises two-dimensional image data of a to-be-detected object, and the second data comprises three-dimensional image data of the to-be-detected object rotating to a preset angle; the bimodal imaging system outputs acquired image data to the image processing system; and the image processing system is used for generating medical images for monitoring and registration according to the image data, and has the advantages of being suitable for image guidance and real-time monitoring of sitting and standing radiotherapy while giving consideration to the three-dimensional anatomical precision and the two-dimensional instantaneous speed.

A neuronavigation system including a microelectrode array configured to be placed on a brain surface and record neural signals, the microelectrode array comprising a fiducial, and a computer system configured to register a position of the microelectrode array with respect to the brain surface based on the fiducial, receive neural signals from the microelectrode array, and generate a visualization overlaying the received neural signals on a brain image based on the registered position of the microelectrode array for display during a neurosurgical procedure. The neuronavigation system can be used in a variety of different neurosurgical applications, including implanting neural interfaces or locating particular cortical regions.

The hybrid stimulation system is an electrical stimulation system serves to delivered an electrical stimulation impulse to the heart (human or animal heart) , using a combination of internal (intravascular) and external (body surface) electrodes, the hybrid electrical stimulation system can be used for pacing of the heart during slow heart beat (bradycardia), or shocking the heart during fast heart beat (Tachycardia) , or to terminate fast abnormal heart beat (tachy-arrhythmia) by means of override pacing (Anti-tachycardia pacing). This hybrid system can be used and introduced into the body without the need for imaging guidance such as fluoroscopy or echocardiography to insert the internal component, and does not require direct contact between the internal pacing wire and the myocardium (internal heart surface).

In certain embodiments, an ophthalmic system and computer-implemented method for automatically initializing an image guided surgery are described. The initialization includes monitoring a scene using multiple images captured by a first imaging device. An eye of a user is detected within a first image of the multiple images. In response to detecting the eye of the user, a registration procedure is initiated with the first image and a reference image of the eye of the user to generate a set of transformation information. A set of overlay content is generated based on the set of transformation information. The set of overlay content includes a transformed first image or a transformed reference image. Overlay content is presented onto the scene via a second imaging device.

The invention discloses a CT image guided radiotherapy body position fixing device, and relates to the technical field of medical instruments, the CT image guided radiotherapy body position fixing device comprises a table body, a bearing mechanism is arranged above the table body, the bearing mechanism comprises a bed plate, the bed plate is arranged above the table body, an elastic mechanism is arranged at the top of the table body, and the elastic mechanism comprises two toothed plates; the toothed plates are fixedly connected to the two sides of the bottom of the bed plate, the bed plate is slidably connected to the table body through the toothed plates, an adjusting mechanism is arranged in the table body, and the bearing mechanism is used for driving the adjusting mechanism to rotate. The device has the beneficial effects that a limiting gear of the device rotates to drive a sliding plate and a sliding block to slide on a side plate through meshed concave teeth, and when the sliding plate moves downwards, the limiting gear can synchronously move under the limiting effect of the concave teeth, so that the limiting gear and the concave teeth are kept meshed all the time; the sliding plates on the two sides slide to drive the two clamping plates and the buffering cushion to move in the direction close to the center of the table body, and the body position of the patient is fixed and prevented from moving.

The invention discloses an A-D-A type NIR-II multi-mode optical diagnosis and treatment agent with multi-mode imaging guiding and photodynamic-photo-thermal synergistic treatment functions as well as a preparation method and application of the NIR-II multi-mode optical diagnosis and treatment agent. The NIR-II multi-mode optical diagnosis and treatment agent comprises a compound as shown in a structural formula I, or pharmaceutically acceptable salt, solvate and tautomer of the compound. According to the NIR-II multi-mode light diagnosis and treatment material, multi-mode imaging guidance and the photo-thermal-photodynamic effect are combined, many limitations in the prior art can be overcome, efficient diagnosis and treatment of diseases such as tumors and inflammation are achieved, and then development of the multi-mode diagnosis and treatment technology is promoted.

The invention discloses a pure visual navigation method for a legged robot fusing image guidance and image understanding. An image guiding part of the method adopts a target navigation planning algorithm based on a Transform architecture, outputs a relative navigation target point with a target image as guidance, and guides a robot to complete key path selection; in the image understanding part, a lightweight semantic segmentation and obstacle avoidance algorithm based on an improved Yov5 model is adopted, a passable area is obtained based on a semantic segmentation result and a preset passable semantic table, coordinates of obstacle avoidance target points are distributed and output at the position of the passable area in a visual angle, and a robot completes path following and obstacle avoidance tasks by means of semantic understanding. According to the method disclosed by the invention, the robot can perform a navigation task in a complex environment including an outdoor environment by only depending on a small number of target images, so that the generalization problem of an original pure end-to-end vision algorithm is effectively solved, and a long-distance navigation task in a complex scene is realized.

The application discloses an ablation system and method, which integrates a handheld ablation unit and a guide device. The handheld ablation unit is fixed and directionally guided by the guide device fixed on the surface of the tissue to be ablated. In combination with intelligent image guidance and energy self-adaptive regulation technology, the focus of focused ultrasound is located at the target ablation position, and accurate positioning of the target ablation position is realized. The system utilizes digital twin navigation technology and combines with a millimeter-level micro parallel robot to realize high-precision automatic measurement and ablation site positioning, reduce the workload of manual adjustment of doctors, optimize the treatment process, greatly improve the treatment efficiency, and is suitable for a larger range of patient groups.

The present application relates to a new use of fluorocarbon phase transition microparticles as a therapeutic ablation agent for mechanically damaging or ablating diseased tissue. When fluorocarbon phase transition microparticles are in contact with diseased tissue, under the excitation of low-frequency focused ultrasound, gas-liquid phase transition (i.e. vaporization) and ultrasonic cavitation resonance of vaporized microbubbles occur, followed by controlled intensity cavitation and mechanical damage of local tissue, thereby producing an ablation therapeutic effect on diseased tissue. Vaporized fluorocarbon phase transition microbubbles become ideal exogenous cavitation nuclei, which can significantly reduce the cavitation threshold and induce enhanced inertial cavitation effects. This method has the characteristics of short treatment time, low required ultrasonic pressure and sound intensity, minimal damage to tissues outside the target area, easy operation, etc., improving the targeting and safety of treatment. Although this treatment method requires image guidance, it does not require very precise focusing, reducing the difficulty of operation, and has application prospects in multiple clinical treatment fields such as prostate hyperplasia and tumor immunotherapy.

The invention provides an ultrasonic image calibration device and an acupuncture path tracking method, and relates to the field of medical image guiding technologies and minimally invasive surgical navigation systems. The device is characterized in that a first optical passive part is mounted on an ultrasonic probe; a first detection plane determined by the first optical passive part is parallel to the scanning surface of the ultrasonic probe; the support frame is mounted on the ultrasonic probe; the second optical passive part is mounted on the support frame; a second detection plane determined by the second optical passive part is parallel to the scanning surface of the ultrasonic probe; the characteristic piece is arranged on the second optical passive piece and is positioned in the scanning surface of the ultrasonic probe; and the processing assembly determines a second conversion matrix between an ultrasonic probe coordinate system where the first detection plane is located and an ultrasonic image coordinate system of the ultrasonic image collected by the ultrasonic probe to calibrate the ultrasonic image.

The embodiment of the present application provides a positioning guidance method and system, and related equipment for the flat film process, which belongs to the field of positioning image guidance and the field of robotics. The method includes: first, guiding the robot to play the target guidance information to guide the target object to enter the detection area of ​​the observation room, and then generating the posture contour prompt information according to the detection items of the target object. Then, the observation room is imaged by a camera to obtain the indoor image, and the projector is used to perform projection correction based on the indoor image. When the target object is in the detection area, the posture contour prompt information is projected to guide the target object to adjust the posture. Finally, when the body position of the target object meets the predetermined body position conditions, a flat film is taken. Therefore, the embodiment of the present application can be controlled by the host computer to guide the robot, camera and projector to guide the target object to perform the posture placement operation, assist the target object to adjust the posture, and improve the efficiency of flat film detection.