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, CO119

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Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Frank, Kevin J Lafayette , US 10 315
Mark, Kevin E Westminster , US 4 43

Cited Art Landscape

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4,845,771 Exposure monitoring in radiation imaging 93 1987
5,079,699 Quick three-dimensional display 138 1989
5,371,778 Concurrent display and adjustment of 3D projection, coronal slice, sagittal slice, and transverse slice images 207 1991
5,682,890 Magnetic resonance stereotactic surgery with exoskeleton tissue stabilization 171 1995
5,980,535 Apparatus for anatomical tracking 165 1997
5,904,691 Trackable guide block 178 1997
5,987,960 Tool calibrator 141 1997
6,149,592 Integrated fluoroscopic projection image data, volumetric image data, and surgical device position data 165 1997
 
STRYKER TRAUMA GMBH (1)
5,478,343 Targeting device for bone nails 117 1994
 
VARIAN, INC. (1)
4,572,198 Catheter for use with NMR imaging systems 245 1984
 
IMRIS INC. (1)
5,735,278 Surgical procedure with magnetic resonance imaging 187 1996
 
US ARMY, SECRETARY OF THE ARMY (1)
4,422,041 Magnet position sensing system 134 1981
 
RICHARD WOLF GMBH (1)
4,771,787 Ultrasonic scanner and shock wave generator 150 1986
 
UNITED STATES AIR FORCE (1)
4,653,509 Guided trephine samples for skeletal bone studies 153 1985
 
BECTON, DICKINSON AND COMPANY (1)
5,005,592 Method and apparatus for tracking catheters 169 1989
 
Position Orientation Systems, Ltd. (1)
4,642,786 Method and apparatus for position and orientation measurement using a magnetic field and retransmission 237 1984
 
TRUSTEES OF DARTMOUTH COLLEGE (1)
4,722,056 Reference display systems for superimposing a tomagraphic image onto the focal plane of an operating microscope 271 1986
 
Picker Nordstar Inc. (1)
5,882,304 Method and apparatus for determining probe location 105 1997
 
LEIBINGER GMBH (1)
5,394,457 Device for marking body sites for medical examinations 244 1993
 
Cyberware Laboratory, Inc. (2)
4,705,401 Rapid three-dimensional surface digitizer 189 1985
4,737,032 Surface mensuration sensor 171 1985
 
BMO CAPITAL CORPORATION (4)
5,249,581 Precision bone alignment 208 1991
5,197,476 Locating target in human body 209 1991
5,295,483 Locating target in human body 208 1991
5,828,770 System for determining the spatial position and angular orientation of an object 319 1996
 
BOSTON SCIENTIFIC SCIMED, INC. (3)
5,054,492 Ultrasonic imaging catheter having rotational image correlation 291 1990
5,228,442 Method for mapping, ablation, and stimulation using an endocardial catheter 357 1992
5,964,796 Catheter assembly, catheter and multi-port introducer for use therewith 183 1998
 
Philips Electronics Ltd (1)
5,834,759 Tracking device having emitter groups with different emitting directions 130 1997
 
STEVEN M. HOFFBERG 2004-1 GRAT (2)
2002/0151,992 Media recording device with packet data interface 23 2002
2002/0151,992 Media recording device with packet data interface 23 2002
 
INTEGRA BURLINGTON MA, INC. (4)
5,160,337 Curved-shaped floor stand for use with a linear accelerator in radiosurgery 114 1990
5,230,623 Operating pointer with interactive computergraphics 561 1991
6,122,541 Head band for frameless stereotactic registration 212 1996
5,947,981 Head and neck localizer 137 1997
 
HITACHI MEDICAL CORPORATION (1)
5,448,610 Digital X-ray photography device 101 1994
 
SANDSTROM, GUNBRITT VIVIAN MONICA (1)
4,617,925 Adapter for definition of the position of brain structures 152 1984
 
ENTERPRISE MEDICAL TECHNOLOGY, INC. (1)
6,499,488 Surgical sensor 182 1999
 
SOLANA SURGICAL, LLC (1)
5,968,047 Fixation devices 366 1998
 
SIEMENS ELEMA AB (1)
5,758,667 Device for locating a port on a medical implant 150 1996
 
BRAINLAB AG (9)
5,702,406 Device for noninvasive stereotactic immobilization in reproducible position 120 1995
6,611,700 Method and apparatus for positioning a body for radiation using a position sensor 118 1999
6,516,046 Exact patient positioning by compairing reconstructed x-ray images and linac x-ray images 165 2000
6,428,547 Detection of the shape of treatment devices 123 2000
6,609,022 Intraoperative navigation updating 107 2001
6,640,128 Method and device for the navigation-assisted dental treatment 113 2001
6,551,325 Device, system and method for determining the position of an incision block 165 2001
6,584,174 Registering image information 127 2001
6,694,162 Navigated microprobe 126 2001
 
ORION-YHTYMA OY, A CORP. OF FINLAND (1)
5,107,843 Method and apparatus for thin needle biopsy in connection with mammography 107 1991
 
BRAINLAB MED. COMPUTERSYSTEME GMBH (6)
5,769,861 Method and devices for localizing an instrument 229 1996
5,889,834 Blade collimator for radiation therapy 97 1996
6,351,659 Neuro-navigation system 197 1997
6,178,345 Method for detecting the exact contour of targeted treatment areas, in particular, the external contour 100 1999
6,424,856 Method for the localization of targeted treatment areas in soft body parts 129 1999
6,527,443 Process and apparatus for image guided treatment with an integration of X-ray detection and navigation system 180 1999
 
PROF. DR. SCHLONDORFF, GEORGE (1)
5,186,174 Process and device for the reproducible optical representation of a surgical operation 275 1990
 
KABUSHIKI KAISHA TOSHIBA (2)
4,923,459 Stereotactics apparatus 157 1988
5,285,787 Apparatus for calculating coordinate data of desired point in subject to be examined 103 1992
 
GE MEDICAL SYSTEMS GLOBAL TECHNOLOGY COMPANY, LLC (24)
5,333,168 Time-based attenuation compensation 96 1993
5,400,384 Time-based attenuation compensation 96 1994
5,503,416 Undercarriage for X-ray diagnostic equipment 111 1994
5,426,683 One piece C-arm for X-ray diagnostic equipment 99 1994
5,619,261 Pixel artifact/blemish filter for use in CCD video camera 92 1994
5,829,444 Position tracking and imaging system for use in medical applications 231 1994
5,583,909 C-arm mounting structure for mobile X-ray imaging system 125 1994
5,596,228 Apparatus for cooling charge coupled device imaging systems 122 1995
5,627,873 Mini C-arm assembly for mobile X-ray imaging system 114 1995
5,617,462 Automatic X-ray exposure control system and method of use 122 1995
5,642,395 Imaging chain with miniaturized C-arm assembly for mobile X-ray imaging system 99 1995
5,803,089 Position tracking and imaging system for use in medical applications 201 1995
5,676,673 Position tracking and imaging system with error detection for use in medical applications 450 1996
5,800,352 Registration system for use with position tracking and imaging system for use in medical applications 229 1996
5,873,822 Automatic registration system for use with position tracking and imaging system for use in medical applications 224 1996
5,967,980 Position tracking and imaging system for use in medical applications 244 1996
5,802,719 One piece C-arm for X-ray diagnostic equipment 99 1997
6,445,943 Position tracking and imaging system for use in medical applications 197 1998
6,175,756 Position tracking and imaging system for use in medical applications 138 1998
6,285,902 Computer assisted targeting device for use in orthopaedic surgery 266 1999
6,484,049 Fluoroscopic tracking and visualization system 159 2000
6,490,475 Fluoroscopic tracking and visualization system 188 2000
6,341,231 Position tracking and imaging system for use in medical applications 160 2000
6,478,802 Method and apparatus for display of an image guided drill bit 103 2001
 
SIEMENS CORPORATION;INTELLECTUAL PROPERTY DEPARTMENT (1)
5,923,727 Method and apparatus for calibrating an intra-operative X-ray system 112 1997
 
INTEGRA LIFESCIENCES CORPORATION (1)
5,197,965 Skull clamp pin assembly 110 1992
 
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 136 1986
 
INTERNATIONAL BUSINESS MACHINES CORPORATION (14)
5,086,401 Image-directed robotic system for precise robotic surgery including redundant consistency checking 536 1990
5,059,789 Optical position and orientation sensor 287 1990
5,417,210 System and method for augmentation of endoscopic surgery 690 1992
5,279,309 Signaling device and method for monitoring positions in a surgical operation 434 1992
5,976,156 Stereotaxic apparatus and method for moving an end effector 177 1993
5,408,409 Image-directed robotic system for precise robotic surgery including redundant consistency checking 372 1993
5,445,166 System for advising a surgeon 388 1994
5,695,500 System for manipulating movement of a surgical instrument with computer controlled brake 337 1994
5,402,801 System and method for augmentation of surgery 340 1994
5,950,629 System for assisting a surgeon during surgery 272 1994
5,630,431 System and method for augmentation of surgery 303 1994
5,572,999 Robotic system for positioning a surgical instrument relative to a patient's body 461 1995
5,749,362 Method of creating an image of an anatomical feature where the feature is within a patient's body 334 1995
6,024,695 System and method for augmentation of surgery 224 1999
 
SMITHS MEDICAL MD, INC. (3)
4,905,698 Method and apparatus for catheter location determination 231 1988
5,386,828 Guide wire apparatus with location sensing member 163 1993
5,749,835 Method and apparatus for location of a catheter tip 138 1997
 
SIEMENS AKTIENGESELLSCHAFT (6)
4,368,536 Diagnostic radiology apparatus for producing layer images 89 1980
5,042,486 Catheter locatable with non-ionizing field and method for locating same 394 1990
5,152,288 Apparatus and method for measuring weak, location-dependent and time-dependent magnetic fields 124 1991
5,265,611 Apparatus for measuring weak, location-dependent and time-dependent magnetic field 109 1992
6,131,396 Heat radiation shield, and dewar employing same 90 1997
6,139,183 X-ray exposure system for 3D imaging 106 1998
 
CHITTENDEN BANK (3)
5,307,072 Non-concentricity compensation in position and orientation measurement systems 159 1992
5,453,686 Pulsed-DC position and orientation measurement system 202 1993
5,640,170 Position and orientation measuring system having anti-distortion source configuration 161 1995
 
INTEGRA RADIONICS, INC. (4)
5,662,111 Process of stereotactic optical navigation 292 1995
6,006,126 System and method for stereotactic registration of image scan data 384 1995
5,971,997 Intraoperative recalibration apparatus for stereotactic navigators 142 1997
5,921,992 Method and system for frameless tool calibration 188 1997
 
Biomagnetic Technologies, Inc. (1)
4,793,355 Apparatus for process for making biomagnetic measurements 196 1987
 
BAE SYSTEMS PLC (2)
4,849,692 Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields 338 1986
4,945,305 Device for quantitatively measuring the relative position and orientation of two bodies in the presence of metals utilizing direct current magnetic fields 424 1989
 
Fonar Corporation (1)
5,647,361 Magnetic resonance imaging method and apparatus for guiding invasive therapy 272 1993
 
MediGuide, Ltd. (1)
6,233,476 Medical positioning system 440 1999
 
Quantime, Inc. (1)
4,753,528 Laser archery distance device 166 1985
 
VEXCEL IMAGING CORPORATION (1)
4,829,373 Stereo mensuration apparatus 136 1987
 
Deutsches Krebsforschungszentrum Stiftung des offentlichen Rechts (1)
5,315,630 Positioning device in medical apparatus 144 1993
 
HARRIS GRAPHICS CORPORATION, A CORP. OF DE (1)
4,719,419 Apparatus for detecting a rotary position of a shaft 120 1985
 
EP Technologies, Inc. (3)
5,487,391 Systems and methods for deriving and displaying the propagation velocities of electrical events in the heart 172 1994
5,485,849 System and methods for matching electrical characteristics and propagation velocities in cardiac tissue 160 1994
5,546,940 System and method for matching electrical characteristics and propagation velocities in cardiac tissue to locate potential ablation sites 105 1995
 
KLIEGIS, ULRICH (1)
5,715,836 Method and apparatus for planning and monitoring a surgical operation 154 1995
 
MED INSTITUTE, INC. (1)
4,961,422 Method and apparatus for volumetric interstitial conductive hyperthermia 162 1988
 
NEUTAR L.L.C. (2)
6,273,896 Removable frames for stereotactic localization 162 1998
6,298,262 Instrument guidance for stereotactic surgery 169 2001
 
SMITH & NEPHEW RICHARDS INC. (1)
5,013,317 Medical drill assembly transparent to X-rays and targeting drill bit 138 1990
 
ELBIT SYSTEMS LTD. (1)
5,646,524 Three dimensional tracking system employing a rotating field 121 1993
 
Instrumentarium Oy (1)
4,543,959 Diagnosis apparatus and the determination of tissue structure and quality 178 1985
 
KODAK GRAPHIC COMMUNICATIONS CANADA COMPANY (1)
5,305,091 Optical coordinate measuring system for large objects 149 1992
 
VIP Industries Limited (1)
5,458,718 Heat sealing method for making a luggage case 88 1994
 
CALIFORNIA INSTITUTE OF COMPUTER ASSISTED SURGERY, INC. (1)
6,167,296 Method for volumetric image navigation 241 1999
 
CCS TECHNOLOGY, INC. (1)
5,543,951 Method for receive-side clock supply for video signals digitally transmitted with ATM in fiber/coaxial subscriber line networks 109 1995
 
NEUROTECH USA, INC. (1)
5,871,487 Microdrive for use in stereotactic surgery 159 1997
 
LUNAR CORPORATION (2)
5,480,439 Method for periprosthetic bone mineral density measurement 114 1994
* 6,282,261 Multi-mode x-ray image intensifier system 7 2000
 
OEC MEDICAL SYSTEMS, INC. (2)
4,797,907 Battery enhanced power generation for mobile X-ray machine 127 1987
RE35025 Battery enhanced power generation for mobile X-ray machine 95 1991
 
TURON AB A CORPORATION OF SWEDEN (1)
4,727,565 Method of localization 158 1984
 
IMAGE GUIDED TECHNOLOGIES, INC. (6)
5,622,170 Apparatus for determining the position and orientation of an invasive portion of a probe inside a three-dimensional body 371 1994
RE35816 Method and apparatus for three-dimensional non-contact shape sensing 196 1995
5,617,857 Imaging system having interactive medical instruments and methods 298 1995
5,987,349 Method for determining the position and orientation of two moveable objects in three-dimensional space 174 1997
5,907,395 Optical fiber probe for position measurement 140 1997
5,920,395 System for locating relative positions of objects in three dimensional space 222 1997
 
SIEMENS MEDICAL SOLUTIONS USA, INC. (1)
6,122,538 Motion--Monitoring method and system for medical devices 198 1997
 
COMPASS INTERNATIONAL, INC. (2)
5,483,961 Magnetic field digitizer for stereotactic surgery 253 1994
5,787,886 Magnetic field digitizer for stereotatic surgery 146 1995
 
SIEMENS MEDICAL SYSTEMS, INC. (2)
5,446,548 Patient positioning and monitoring system 325 1993
5,820,553 Identification system and method for radiation therapy 246 1996
 
GENERAL ELECTRIC COMPANY (19)
4,358,856 Multiaxial x-ray apparatus 167 1980
5,211,165 Tracking system to follow the position and orientation of a device with radiofrequency field gradients 448 1991
5,251,635 Stereoscopic X-ray fluoroscopy system using radiofrequency fields 211 1991
5,255,680 Automatic gantry positioning for imaging systems 242 1991
5,265,610 Multi-planar X-ray fluoroscopy system using radiofrequency fields 237 1991
5,274,551 Method and apparatus for real-time navigation assist in interventional radiological procedures 191 1991
5,271,400 Tracking system to monitor the position and orientation of a device using magnetic resonance detection of a sample contained within the device 248 1992
5,318,025 Tracking system to monitor the position and orientation of a device using multiplexed magnetic resonance detection 266 1992
5,353,795 Tracking system to monitor the position of a device using multiplexed magnetic resonance detection 172 1992
5,445,150 Invasive system employing a radiofrequency tracking system 189 1993
5,377,678 Tracking system to follow the position and orientation of a device with radiofrequency fields 295 1993
5,437,277 Inductively coupled RF tracking system for use in invasive imaging of a living body 260 1994
5,419,325 Magnetic resonance (MR) angiography using a faraday catheter 146 1994
5,443,066 Invasive system employing a radiofrequency tracking system 204 1994
5,611,025 Virtual internal cavity inspection system 147 1994
5,730,129 Imaging of interventional devices in a non-stationary subject 175 1995
5,715,822 Magnetic resonance devices suitable for both tracking and imaging 191 1995
5,740,802 Computer graphic and live video system for enhancing visualization of body structures during surgery 210 1995
6,437,567 Radio frequency coil for open magnetic resonance imaging system 119 1999
 
General Electric CGR S.A. (1)
5,219,351 Mammograph provided with an improved needle carrier 164 1991
 
FUJI PHOTO OPTICAL CO., LTD. (1)
5,211,176 Ultrasound examination system 137 1991
 
B.V. OPTISCHE INDUSTRIE "DE OUDE DELFT" (1)
4,701,049 Measuring system employing a measuring method based on the triangulation principle for the non-contact measurement of a distance from the surface of a contoured object to a reference level. _ 151 1984
 
Rudolph Technologies, Inc. (1)
4,822,163 Tracking vision sensor 130 1986
 
COMPUMEDICS GERMANY GMBH (1)
5,514,146 Device for accomodating at least one sonographic probe 84 1994
 
Schneider Medical Technologies, Inc. (1)
5,531,227 Imaging device and method 284 1994
 
C. R. BARD, INC. (1)
5,423,334 Implantable medical device characterization system 247 1993
 
CARL ZEISS INDUSTRIELLE MESSTECHNIK GMBH (1)
5,884,410 Sensing system for coordinate measuring equipment 105 1996
 
SCHNEIDER (USA) INC. (1)
5,792,055 Guidewire antenna 167 1996
 
SATO, YUKIO, WAKAMIZU-JUTAKU #1-45, 2-2-8, WAKAMIZU, CHIKUSA-KU, NAGOYA-SHI, AICHI, JAPAN (1)
4,794,262 Method and apparatus for measuring profile of three-dimensional object 184 1986
 
Sextant Avionique (2)
5,109,194 Electromagnetic position and orientation detector for a pilot's helmet 101 1990
5,457,641 Method and apparatus for determining an orientation associated with a mobile system, especially a line of sight inside a helmet visor 96 1994
 
Laboratory Equipment, Corp. (1)
4,951,653 Ultrasound brain lesioning system 236 1988
 
HOWMEDICA INTERNATIONAL S. DE R.L. (2)
4,418,422 Aiming device for setting nails in bones 135 1981
4,625,718 Aiming apparatus 115 1985
 
REVLON CONSUMER PRODUCTS CORPORATION (1)
5,999,837 Localizing and orienting probe for view devices 119 1997
 
Neurodynamics, Inc. (1)
4,931,056 Catheter guide apparatus for perpendicular insertion into a cranium orifice 207 1988
 
CARL-ZEISS-STIFTUNG (4)
4,660,970 Method and apparatus for the contact-less measuring of objects 142 1984
4,825,091 Optoelectronic distance sensor with visible pilot beam 158 1988
5,359,417 Surgical microscope for conducting computer-supported stereotactic microsurgery and a method for operating the same 146 1992
5,795,294 Procedure for the correlation of different coordinate systems in computer-supported, stereotactic surgery 128 1995
* Cited By Examiner

Patent Citation Ranking

Forward Cite Landscape

Patent Info (Count) # Cites Year
 
HITACHI MEDICAL CORPORATION (1)
* 8,226,560 Reference image display method for ultrasonography and ultrasonic diagnosis apparatus 1 2004
 
KONINKLIJKE PHILIPS ELECTRONICS N.V. (2)
* 8,942,457 Navigating an interventional device 0 2011
* 2013/0101,196 NAVIGATING AN INTERVENTIONAL DEVICE 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 (3)
* 7,940,976 X-ray image diagnosis apparatus and a method for generating image data 1 2007
* 8,351,566 PET device 0 2009
* 2010/0166,137 PET DEVICE 0 2009
 
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 3 2009
8,060,185 Navigation system for cardiac therapies 12 2009
8,046,052 Navigation system for cardiac therapies 13 2010
8,717,430 System and method for radio-frequency imaging, registration, and localization 1 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 1 2010
8,467,851 Method and apparatus for positioning a reference frame 1 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 1 2012
8,644,570 System and method for automatic registration between an image and a subject 0 2012
 
KONICA MINOLTA MEDICAL & GRAPHIC, INC. (1)
* 8,036,443 Image processing method and image processor 0 2006
 
SIEMENS AKTIENGESELLSCHAFT (1)
* 8,244,064 Method for registering and merging medical image data 2 2005
 
INTUITIVE SURGICAL OPERATIONS, INC. (4)
* 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 1 2011
* 2012/0130,167 DEVICE AND METHOD FOR SUPERIMPOSING PATTERNS ON IMAGES IN REAL TIME, PARTICULARLY FOR GUIDANCE BY LOCATION 1 2011
 
REGENTS OF THE UNIVERSITY OF MINNESOTA (1)
8,494,614 Combination localization system 7 2010
 
MEDTRONIC, INC. (3)
8,494,613 Combination localization system 6 2010
9,020,224 Volume of efficacy model capture 0 2012
9,008,752 Method to determine distribution of a material by an infused magnetic resonance image contrast agent 0 2012
 
AccuMIS Inc. (2)
* 8,311,365 Analysis method for regional image 0 2009
* 2011/0026,802 Analysis Method for Regional Image 0 2009
 
EMORY UNIVERSITY (2)
* 8,774,481 Atlas-assisted synthetic computed tomography using deformable image registration 0 2011
* 2011/0235,884 Atlas-Assisted Synthetic Computed Tomography Using Deformable Image Registration 1 2011
 
Stryker Leibinger GmbH & Co. KG (2)
* 8,675,939 Registration of anatomical data sets 9 2010
* 2012/0016,269 Registration of Anatomical Data Sets 2 2010
 
BRAINLAB AG (1)
* 8,031,922 Registration of imaging data 1 2007
 
UNITED STATES OF AMERICA, THE (1)
7,722,565 Access system 16 2005
 
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 9 2005
8,611,983 Method and apparatus for guiding an instrument to a target in the lung 2 2006
8,632,461 System, method and apparatus for navigated therapy and diagnosis 0 2006
 
CANON KABUSHIKI KAISHA (2)
* 2013/0093,995 OPHTHALMIC APPARATUS, OPHTHALMIC IMAGE PROCESSING METHOD, AND RECORDING MEDIUM 0 2012
* 2013/0235,342 IMAGE PROCESSING APPARATUS AND IMAGE PROCESSING METHOD 0 2013
* Cited By Examiner

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