Claims
- 1. A method for marking three-dimensional (3D) locations from images obtained from an ultrasound imaging system including a transducer, comprising the steps of:
tracking the pose of said transducer with respect to an external 3D coordinate system; obtaining a two-dimensional (2D) ultrasound image from said transducer; marking a desired target with a marker on said 2D ultrasound image; and calculating the 3D position of said marker utilizing data from said step of tracking.
- 2. A method for marking as recited in claim 1, wherein said step of marking comprises marking said desired target while keeping said transducer stationary.
- 3. A method for marking as recited in claim 2, wherein said step of marking comprises depressing a switch to initiate said marking.
- 4. A method for marking as recited in claim 2, wherein said step of depressing a switch to initiate said marking comprises depressing a switch attached to said transducer.
- 5. A method for marking as recited in claim 2, wherein said step of depressing a switch to initiate said marking comprises depressing a foot-switch.
- 6. A method for marking as recited in claim 2, wherein said step of marking comprises actuating a voice recognition system to initiate said marking.
- 7. A method for marking as recited in claim 1, wherein said step of marking comprises making a recorded image of said 2D ultrasound image, recording appurtenant pose data from said step of tracking; and marking said recorded image.
- 8. A method for marking as recited in claim 7, wherein said step of marking comprises depressing a switch to initiate said marking.
- 9. A method for marking as recited in claim 8, wherein said step of depressing a switch to initiate said marking comprises depressing a switch attached to said transducer.
- 10. A method for marking as recited in claim 8, wherein said step of depressing a switch to initiate said marking comprises depressing a foot-switch.
- 11. A method for marking as recited in claim 8, wherein said step of marking comprises actuating a voice recognition system to initiate said marking.
- 12. A method for marking three-dimensional (3D) locations from images obtained from an ultrasound imaging system including a transducer, comprising the steps of:
tracking the pose of said transducer with respect to an external 3D coordinate system; obtaining a two-dimensional (2D) ultrasound image from said transducer; adjusting said pose of said transducer such that said target coincides with a designated part of said 2D ultrasound image for indicating marker location; automatically locating a potential target of a predetermined type in said designated part; marking said target with a marker; and calculating the 3D position of said marker utilizing data from said tracking step.
- 13. A method for marking as recited in claim 12, wherein said step of adjusting said pose of said transducer comprises adjusting said pose of said transducer such that said target is on a center-line of said 2D ultrasound image.
- 14. A method for marking as recited in claim 1, wherein said step of automatically locating a potential target comprises using a search algorithm for denoising said 2D ultrasound image around said center-line.
- 15. A method for marking as recited in claim 13, wherein said step of automatically locating a potential target comprises using a search algorithm for de-noising said 2D ultrasound image around said center-line by using a median filter.
- 16. A method for marking as recited in claim 13, wherein said step of automatically locating a potential target comprises using a search algorithm for denoising said 2D ultrasound image around said center-line by using a median filter.
- 17. A method for marking as recited in claim 13, wherein said step of automatically locating a potential target comprises scanning along said center-line and verifying the existence of a target by using a Hough transform.
- 18. A method for marking as recited in claim 12, wherein said step of adjusting said pose of said transducer comprises adjusting said pose of said transducer such that said target coincides with a vertical off-center line in said 2D ultrasound image for indicating marker location.
- 19. A method for marking as recited in claim 12, wherein said step of adjusting said pose of said transducer comprises adjusting said pose of said transducer such that said target coincides with a line tilted at an angle in said 2D ultrasound image for indicating marker location.
- 20. A method for marking as recited in claim 12, wherein said step of adjusting said pose of said transducer comprises adjusting said pose of said transducer such that said target is on a designated line in said 2D ultrasound image for indicating marker location.
- 21. A method for marking as recited in claim 20, including a step of inputting target position along said designated line by a pointing device.
- 22. A method for marking as recited in claim 20, wherein said step of inputting target position comprises inputting target position by operating a thumb wheel.
- 23. A method for marking as recited in claim 12, wherein said step of adjusting said pose of said transducer comprises adjusting first and second poses of said transducer such that said target is on a designated line for indicating target location in said 2D ultrasound image for each pose.
- 24. A method for marking as recited in claim 12, wherein said step of adjusting said pose of said transducer comprises adjusting said pose of said transducer such that said target is on first and second designated intersecting lines in said 2D ultrasound image for indicating target location.
- 25. A method for marking three-dimensional (3D) locations from images obtained from an ultrasound imaging system including a transducer, comprising the steps of:
tracking the pose of said transducer with respect to an external 3D coordinate system; obtaining a two-dimensional (2D) ultrasound image from said transducer; automatically locating a potential target of a predetermined type in said 2D ultrasound image; and optionally marking said target with a marker; and calculating the 3D position of markers marked with a marker, utilizing data from said tracking step.
- 26. A method for marking three-dimensional (3D) locations from images obtained from an augmented reality (AR) ultrasound imaging system including a transducer, comprising the steps of:
tracking the pose of said transducer with respect to an external 3D coordinate system from the viewpoint of a user; obtaining a two-dimensional (2D) ultrasound image of an object from said transducer; overlaying said ultrasound image onto a view of said object in registration therewith from said viewpoint; marking a desired target with a marker on said 2D ultrasound image; and calculating the 3D position of said marker utilizing data from said step of tracking.
- 27. A method for marking three-dimensional (3D) locations from images obtained from a stereoscopic augmented reality (AR) ultrasound imaging system including a transducer, comprising the steps of:
tracking the pose of said transducer with respect to an external 3D coordinate system from the viewpoint of a user; obtaining a two-dimensional (2D) ultrasound image of an object from said transducer; overlaying said ultrasound image onto a view of said object in registration therewith from said viewpoint of a user; marking a desired target with a marker on said 2D ultrasound image; calculating the 3D position of said marker utilizing data from said step of tracking; and providing stereoscopic visualization of said marker utilizing said 3D position of said marker.
- 28. Apparatus for marking three-dimensional (3D) locations from images obtained from an ultrasound imaging system including a transducer, comprising:
means for tracking the pose of said transducer with respect to an external 3D coordinate system; means for obtaining a two-dimensional (2D) ultrasound image from said transducer; means for marking a desired target with a marker on said 2D ultrasound image; and means for calculating the 3D position of said marker utilizing data from said step of tracking.
- 29. Apparatus for marking as recited in claim 28, wherein said means for marking comprises a switch to initiate said marking.
- 30. Apparatus for marking as recited in claim 29, wherein said switch is attached to said transducer.
- 31. Apparatus for marking as recited in claim 29, wherein said switch comprises a foot-switch.
- 32. Apparatus for marking as recited in claim 28, wherein said means for marking comprises a voice recognition system to initiate said marking.
- 33. Apparatus for marking as recited in claim 28, wherein said means for marking comprises means for making a recorded image of said 2D ultrasound image and recording appurtenant pose data from said means for tracking and said means for marking includes means for marking said recorded image.
- 34. Apparatus for marking three-dimensional (3D) locations from images obtained from an ultrasound imaging system including a transducer, comprising:
means for tracking the pose of said transducer with respect to an external 3D coordinate system; means for obtaining a two-dimensional (2D) ultrasound image from said transducer; means for adjusting said pose of said transducer such that said target coincides with a designated part of said 2D ultrasound image for indicating marker location; means for automatically locating a potential target of a predetermined type in said designated part; means for marking said target with a marker; and means for calculating the 3D position of said marker utilizing data from said tracking step.
- 35. Apparatus for marking as recited in claim 34, wherein said designated part comprises a center-line of said 2D ultrasound image.
- 36. Apparatus for marking as recited in claim 34, wherein said means for automatically locating a potential target comprises a search algorithm for de-noising said 2D ultrasound image around said center-line.
- 37. Apparatus for marking as recited in claim 34, wherein said means for automatically locating a potential target comprises a search algorithm for de-noising said 2D ultrasound image around said center-line by using a median filter.
- 38. Apparatus for marking as recited in claim 34, wherein said step of automatically locating a potential target comprises means for scanning along said center-line and verifying the existence of a target by using a Hough transform.
- 39. Apparatus for marking as recited in claim 34, wherein said wherein said designated part comprises a vertical off-center line in said 2D ultrasound image for indicating marker location.
- 40. Apparatus for marking as recited in claim 34, wherein said designated part comprises a line tilted at an angle in said 2D ultrasound image for indicating marker location.
- 41. Apparatus for marking as recited in claim 34, wherein said designated part comprises a designated line in said 2D ultrasound image for indicating marker location.
- 42. Apparatus for marking as recited in claim 41, including a pointing device for inputting marker location.
- 43. A method for marking as recited in claim 42, wherein said pointing device comprises a thumbwheel.
- 44. Apparatus for marking three-dimensional (3D) locations from images obtained from an ultrasound imaging system including a transducer, comprising:
means for tracking the pose of said transducer with respect to an external 3D coordinate system; means for obtaining a two-dimensional (2D) ultrasound image from said transducer; means for automatically locating a potential target of a predetermined type in said 2D ultrasound image; means for optionally marking said target with a marker; and means for calculating the 3D position of markers marked with a marker, utilizing data from said tracking step.
- 45. Apparatus for marking three-dimensional (3D) locations from images obtained from an augmented reality (AR) ultrasound imaging system including a transducer, comprising:
means for tracking the pose of said transducer with respect to an external 3D coordinate system from the viewpoint of a user; means for obtaining a two-dimensional (2D) ultrasound image of an object from said transducer; means for overlaying said ultrasound image onto a view of said object in registration therewith from said viewpoint; means for marking a desired target with a marker on said 2D ultrasound image; and means for calculating the 3D position of said marker utilizing data from said step of tracking.
- 46. Apparatus for marking three-dimensional (3D) locations from images obtained from a stereoscopic augmented reality (AR) ultrasound imaging system including a transducer, comprising:
means for tracking the pose of said transducer with respect to an external 3D coordinate system from the viewpoint of a user; means for obtaining a two-dimensional (2D) ultrasound image of an object from said transducer; means for overlaying said ultrasound image onto a view of said object in registration therewith from said viewpoint of a user; means for marking a desired target with a marker on said 2D ultrasound image; means for calculating the 3D position of said marker utilizing data from said step of tracking; and means for providing stereoscopic visualization of said marker utilizing said 3D position of said marker.
Parent Case Info
[0001] Reference is hereby made to the following U.S. Provisional patent applications whereof the benefit is hereby claimed and the disclosures hereby incorporated by reference:
[0002] U.S. Provisional patent application No. 60/312.872, entitled MARKING 3D LOCATIONS FROM ULTRASOUND IMAGES and filed Aug. 16, 2001 in the names of Frank Sauer, Ali Khamene, Benedicte Bascle;
[0003] U.S. Provisional patent application No. 60/312,876, entitled LOCAL 3D RECONSTRUCTION FROM ULTRASOUND IMAGES and filed Aug. 16, 2001 in the names of Frank Sauer, Ali Khamene, Benedicte Bascle;
[0004] U.S. Provisional patent application No. 60/312,871, entitled SPATIOTEMPORAL FREEZING OF ULTRASOUND IMAGES IN AUGMENTED REALITY VISUALIZATION and filed Aug. 16, 2001 in the names of Frank Sauer, Ali Khamene, Benedicte Bascle;
[0005] U.S. Provisional patent application No. 60/312,875, entitled USER INTERFACE FOR AUGMENTED AND VIRTUAL REALITY SYSTEMS and filed Aug. 16, 2001 in the names of Frank Sauer, Lars Schimmang, Ali Khamene; and
[0006] U.S. Provisional patent application No. 60/312,873, entitled VIDEO-ASSISTANCE FOR ULTRASOUND GUIDED NEEDLE BIOPSY and filed Aug. 16, 2001 in the names of Frank Sauer and Ali Khamene.
[0007] Reference is hereby made to the following copending U.S. patent applications being filed on even date herewith.
[0008] U.S. patent application entitled LOCAL 3D RECONSTRUCTION FROM ULTRASOUND IMAGES and filed in the names of Frank Sauer, Ali Khamene, Benedicte Bascle;
[0009] U.S. patent application entitled SPATIOTEMPORAL FREEZING OF ULTRASOUND IMAGES IN AUGMENTED REALITY VISUALIZATION and filed in the names of Frank Sauer, Ali Khamene, Benedicte Bascle;
[0010] U.S. patent application entitled USER INTERFACE FOR AUGMENTED AND VIRTUAL REALITY SYSTEMS and filed in the names of Frank Sauer, Lars Schimmang, Ali Khamene; and
[0011] U.S. patent application entitled VIDEO-ASSISTANCE FOR ULTRASOUND GUIDED NEEDLE BIOPSY and filed in the names of Frank Sauer and Ali Khamene.
Provisional Applications (5)
|
Number |
Date |
Country |
|
60312872 |
Aug 2001 |
US |
|
60312876 |
Aug 2001 |
US |
|
60312871 |
Aug 2001 |
US |
|
60312875 |
Aug 2001 |
US |
|
60312873 |
Aug 2001 |
US |