US Patent No: 7,570,791

Number of patents in Portfolio can not be more than 2000

Method and apparatus for performing 2D to 3D registration

ALSO PUBLISHED AS: 20040215071

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Abstract

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A method and apparatus for performing 2D to 3D registration includes an initialization step and a refinement step. The initialization step is directed to identifying an orientation and a position by knowing orientation information where data images are captured and by identifying centers of relevant bodies. The refinement step uses normalized mutual information and pattern intensity algorithms to register the 2D image to the 3D volume.

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Patent Owner(s)

Patent OwnerAddressTotal Patents
MEDTRONIC NAVIGATION, INC.LOUISVILLE, CO111

International Classification(s)

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Frank, Kevin J Lafayette, CO 17 506
Mark, Kevin E Westminster, CO 7 121

Cited Art Landscape

Patent Info (Count) # Cites Year
 
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BRAINLAB MED. COMPUTERSYSTEME GMBH (6)
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SURGICAL NAVIGATION SPECIALIST INC. (6)
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CARDIAC PATHWAYS CORPORATION (1)
5,237,996 Endocardial electrical mapping catheter 219 1992
 
CARDIORHYTHM A CA CORPORATION (1)
5,573,533 Method and system for radiofrequency ablation of cardiac tissue 304 1992
 
CARL ZEISS INDUSTRIELLE MESSTECHNIK GMBH (1)
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CATHEFFECTS, INC. (1)
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CYBEROPTICS CORPORATION (1)
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General Electric CGR S.A. (1)
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GENERAL ELECTRIC MEDICAL SYSTEMS ISRAEL LTD., AN ISRAEL CORPORATION AFFILIATED WITH GENERAL ELECTRIC COMPANY (1)
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5,143,076 Three-dimensional beam localization microscope apparatus for stereotactic diagnoses or surgery 95 1990
 
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5,426,687 Laser targeting device for use with image intensifiers in surgery 117 1993
 
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5,030,196 Magnetic treatment device 105 1983
 
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INTERATOM GERMAN (1)
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4,860,331 Image marker device 139 1988
 
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5,664,001 Medical X-ray imaging apparatus 100 1996
 
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4,821,200 Method and apparatus for manufacturing a modified, three-dimensional reproduction of a soft, deformable object 183 1987
 
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5,715,836 Method and apparatus for planning and monitoring a surgical operation 144 1995
 
KODAK GRAPHIC COMMUNICATIONS CANADA COMPANY (1)
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6,233,476 Medical positioning system 371 1999
 
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4,896,673 Method and apparatus for stone localization using ultrasound imaging 226 1988
 
MICRONIX PTY LTD (1)
5,099,845 Medical instrument location means 303 1990
 
Minnesota Mining and Manufacturing Company (1)
5,444,756 X-ray machine, solid state radiation detector and method for reading radiation detection information 112 1994
 
MITSUBISHI DENKI KABUSHIKI KAISHA (1)
4,788,481 Numerical control apparatus 123 1987
 
Mitutoyo Mfg. Co., Ltd. (1)
4,743,770 Profile-measuring light probe using a change in reflection factor in the proximity of a critical angle of light 132 1986
 
MIZUHO IKAKOGYO CO., LTD. (1)
5,050,608 System for indicating a position to be operated in a patient's body 366 1990
 
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5,682,886 Computer-assisted surgical system 526 1995
 
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NEW CHESTER INSURANCE COMPANY LIMITED (1)
5,385,146 Orthogonal sensing for use in clinical electrophysiology 160 1993
 
NORTHROP GRUMMAN CORPORATION (1)
5,291,199 Threat signal detection system 92 1977
 
NORTHROP GRUMMAN SYSTEMS CORPORATION (1)
5,762,064 Medical magnetic positioning system and method for determining the position of a magnetic probe 148 1995
 
NORTHWESTERN UNIVERSITY (1)
5,799,055 Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy 249 1996
 
OHIO MEDICAL INSTRUMENT COMPANY, INC. (1)
4,955,891 Method and apparatus for performing stereotactic surgery 214 1987
 
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5,413,573 Device for surgical procedures 181 1994
 
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5,107,843 Method and apparatus for thin needle biopsy in connection with mammography 103 1991
 
Ortopedia GmbH (1)
4,621,628 Apparatus for locating transverse holes of intramedullary implantates 153 1984
 
PACIFIC REPUBLIC CAPITAL CORP (1)
5,427,097 Apparatus for and method of carrying out stereotaxic radiosurgery and radiotherapy 218 1992
 
PHILIPS ELECTRONICS LTD (1)
5,834,759 Tracking device having emitter groups with different emitting directions 124 1997
 
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PROF. DR. SCHLONDORFF, GEORGE (1)
5,186,174 Process and device for the reproducible optical representation of a surgical operation 266 1990
 
PURDUE RESEARCH FOUNDATION (1)
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Quantime, Inc. (1)
4,753,528 Laser archery distance device 161 1985
 
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4,889,526 Non-invasive method and apparatus for modulating brain signals through an external magnetic or electric field to reduce pain 148 1987
 
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5,792,055 Guidewire antenna 155 1996
 
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SIEMENS ELEMA AB (1)
5,758,667 Device for locating a port on a medical implant 139 1996
 
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5,353,807 Magnetically guidable intubation device 195 1992
 
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5,098,426 Method and apparatus for precision laser surgery 395 1989
 
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5,013,317 Medical drill assembly transparent to X-rays and targeting drill bit 133 1990
 
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5,297,549 Endocardial mapping system 251 1992
 
STEREOTAXIS, INC. (1)
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SYBERNAV, LLC (1)
5,782,765 Medical positioning system 139 1996
 
SYNTHES (U.S.A.) (1)
4,803,976 Sighting instrument 196 1988
 
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5,257,998 Medical three-dimensional locating apparatus 245 1992
 
TECHNOMED MEDICAL SYSTEMS (1)
5,299,254 Method and apparatus for determining the position of a target relative to a reference of known co-ordinates and without a priori knowledge of the position of a source of radiation 116 1992
 
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5,741,214 Accessory pathway detecting/cauterizing apparatus 115 1994
 
THE REGENTS OF THE UNIVERSITY OF MICHIGAN (1)
4,884,566 System and method for determining orientation of planes of imaging 113 1988
 
THE RESEARCH FOUNDATION OF STATE UNIVERSITY OF NEW YORK (1)
5,212,720 Dual radiation targeting system 118 1992
 
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6,194,639 ACC synthase genes from pineapple 73 1997
 
The United States of America as represented by the Secretary of the Air Force (1)
4,653,509 Guided trephine samples for skeletal bone studies 149 1985
 
The United States of America as represented by the Secretary of the Army (1)
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5,031,203 Coaxial laser targeting device for use with x-ray equipment and surgical drill equipment during surgical procedures 143 1990
 
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4,727,565 Method of localization 153 1984
 
UNIVERSITE JOSEPH FOURIER (1)
5,447,154 Method for determining the position of an organ 209 1993
 
UNIVERSITY OF CHICAGO, THE (1)
4,875,165 Method for determination of 3-D structure in biplane angiography 131 1987
 
UNIVERSITY OF IOWA RESEARCH FOUNDATION (1)
5,800,535 Wireless prosthetic electrode for the brain 152 1994
 
UNIVERSITY OF PITTSBURGH - OF THE COMMONWEALTH SYSTEM OF HIGHER EDUCATION (1)
5,823,192 Apparatus for automatically positioning a patient for treatment/diagnoses 165 1996
 
UNIVERSITY OF VIRGINIA (1)
4,869,247 Video tumor fighting system 204 1988
 
Vanguard Imaging Ltd. (1)
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4,572,198 Catheter for use with NMR imaging systems 231 1984
 
VEXCEL CORPORATION (1)
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VIP Industries Limited (1)
5,458,718 Heat sealing method for making a luggage case 84 1994
 
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WHITE, DEBORAH O., 145 ALPINE DRIVE, ROCHESTER, NY 14618 A CITIZEN OF USA (1)
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Other [Check patent profile for assignment information] (48)
4,182,312 Dental probe 207 1977
4,202,349 Radiopaque vessel markers 236 1978
4,228,799 Method of guiding a stereotaxic instrument at an intracerebral space target point 105 1978
4,233,978 External female catheter 76 1978
4,319,136 Computerized tomography radiograph data transfer cap 110 1979
4,262,306 Method and apparatus for monitoring of positions of patients and/or radiation units 185 1979
4,638,798 Stereotactic method and apparatus for locating and treating or removing lesions 355 1980
4,485,815 Device and method for fluoroscope-monitored percutaneous puncture treatment 123 1982
4,506,676 Radiographic localization technique 171 1982
4,841,967 Positioning device for percutaneous needle insertion 172 1984
RE32619 Apparatus and method for nuclear magnetic resonance scanning and mapping 82 1984
4,706,665 Frame for stereotactic surgery 206 1984
4,722,336 Placement guide 134 1985
4,673,352 Device for measuring relative jaw positions and movements 132 1986
4,742,815 Computer monitoring of endoscope 182 1986
4,723,544 Hemispherical vectoring needle guide for discolysis 138 1986
4,779,212 Distance measuring device 137 1986
5,078,140 Imaging device - aided robotic stereotaxis system 544 1986
4,750,487 Stereotactic frame 320 1986
4,804,261 Anti-claustrophobic glasses 100 1987
4,809,694 Biopsy guide 202 1987
5,099,846 Method and apparatus for video presentation from a variety of scanner imaging sources 324 1988
4,875,478 Portable compression grid & needle holder 188 1989
5,057,095 Surgical implement detector utilizing a resonant marker 211 1989
5,047,036 Stereotactic device 149 1989
5,016,639 Method and apparatus for imaging the anatomy 203 1990
5,097,839 Apparatus for imaging the anatomy 243 1990
5,224,049 Method, system and mold assembly for use in preparing a dental prosthesis 180 1990
5,017,139 Mechanical support for hand-held dental/medical instrument 134 1990
5,193,106 X-ray identification marker 183 1990
5,105,829 Surgical implement detector utilizing capacitive coupling 167 1991
5,107,862 Surgical implement detector utilizing a powered marker 160 1991
5,261,404 Three-dimensional mammal anatomy imaging system and method 273 1991
5,300,080 Stereotactic instrument guided placement 153 1991
5,233,990 Method and apparatus for diagnostic imaging in radiation therapy 119 1992
5,188,126 Surgical implement detector utilizing capacitive coupling 135 1992
5,190,059 Surgical implement detector utilizing a powered marker 154 1992
5,398,684 Method and apparatus for video presentation from scanner imaging sources 174 1992
5,329,944 Surgical implement detector utilizing an acoustic marker 139 1993
5,330,485 Cerebral instrument guide frame and procedures utilizing it 151 1993
5,399,146 Isocentric lithotripter 117 1993
5,456,718 Apparatus for detecting surgical objects within the human body 181 1994
5,546,949 Method and apparatus of logicalizing and determining orientation of an insertion end of a probe within a biotic structure 109 1995
5,566,681 Apparatus and method for stabilizing a body part 132 1995
5,575,798 Stereotactic device 135 1995
5,638,819 Method and apparatus for guiding an instrument to a target 395 1995
5,727,553 Catheter with integral electromagnetic location identification device 148 1996
5,865,846 Human spinal disc prosthesis 614 1997

Patent Citation Ranking

Forward Cite Landscape

Patent Info (Count) # Cites Year
 
MEDTRONIC NAVIGATION, INC. (13)
8,175,681 Combination of electromagnetic and electropotential localization 20 2008
8,238,631 System and method for automatic registration between an image and a subject 1 2009
8,060,185 Navigation system for cardiac therapies 9 2009
8,046,052 Navigation system for cardiac therapies 11 2010
8,717,430 System and method for radio-frequency imaging, registration, and localization 0 2010
8,503,745 System and method for automatic registration between an image and a subject 2 2010
8,706,185 Method and apparatus for surgical navigation of a multiple piece construct for implantation 0 2010
8,467,851 Method and apparatus for positioning a reference frame 0 2010
8,401,616 Navigation system for cardiac therapies 8 2011
8,467,853 Navigation system for cardiac therapies 6 2011
8,737,708 System and method for automatic registration between an image and a subject 0 2012
8,731,641 Combination of electromagnetic and electropotential localization 0 2012
8,644,570 System and method for automatic registration between an image and a subject 0 2012
 
PHILIPS ELECTRONICS LTD (4)
7,805,269 Device and method for ensuring the accuracy of a tracking device in a volume 4 2005
7,751,868 Integrated skin-mounted multifunction device for use in image-guided surgery 8 2005
8,611,983 Method and apparatus for guiding an instrument to a target in the lung 1 2006
8,632,461 System, method and apparatus for navigated therapy and diagnosis 0 2006
 
INTUITIVE SURGICAL OPERATIONS, INC. (3)
8,126,223 Device and method for superimposing patterns on images in real-time, particularly for guiding by localisation 0 2004
8,086,008 Device and method for superimposing patterns on images in real-time, particularly for guiding by localisation 0 2010
8,712,125 Device and method for superimposing patterns on images in real time, particularly for guidance by location 0 2011
 
GENERAL ELECTRIC COMPANY (2)
8,041,093 System and method for definition of DICOM header values 2 2005
8,379,956 System and method for definition of DICOM header values 0 2011
 
TOSHIBA MEDICAL SYSTEMS CORPORATION (2)
7,940,976 X-ray image diagnosis apparatus and a method for generating image data 1 2007
8,351,566 PET device 0 2009
 
AccuMIS Inc. (1)
8,311,365 Analysis method for regional image 0 2009
 
BRAINLAB AG (1)
8,031,922 Registration of imaging data 0 2007
 
EMORY UNIVERSITY (1)
8,774,481 Atlas-assisted synthetic computed tomography using deformable image registration 0 2011
 
HITACHI MEDICAL CORPORATION (1)
8,226,560 Reference image display method for ultrasonography and ultrasonic diagnosis apparatus 0 2004
 
KONICA MINOLTA MEDICAL & GRAPHIC, INC. (1)
8,036,443 Image processing method and image processor 0 2006
 
MEDTRONIC, INC. (1)
8,494,613 Combination localization system 6 2010
 
REGENTS OF THE UNIVERSITY OF MINNESOTA (1)
8,494,614 Combination localization system 7 2010
 
SIEMENS AKTIENGESELLSCHAFT (1)
8,244,064 Method for registering and merging medical image data 1 2005
 
STRYKER LEIBINGER GMBH & CO. KG (1)
8,675,939 Registration of anatomical data sets 1 2010
 
UNITED STATES OF AMERICA, THE (1)
7,722,565 Access system 12 2005

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