Computerized boundary estimation in medical images
First Claim
1. A method of producing a computerized boundary estimation in medical images using a Radial Bas-Relief technique, and utilizing a surgical robot having a head axis, a computer equipped with a frame grabber, a 4-axis motion controller, an ultrasound scanner, and one of a transurethral and a transrectal ultrasound probe which passes through an outer/sheath of a resectoscope mounted to said surgical robot, said method comprising the steps of:
- (a) engaging said resectoscope to said robot suspended on a counterbalance gantry at an undisturbed reference position (verumontanum); and
(b) scanning for a target organ on a patient by moving said head axis of said surgical robot mounted with said ultrasound probe;
wherein scanned images obtained in (b) are fed into said frame grabber, and images of said target organ are then digitized to enable image processing and boundary estimation outlining by said computer.
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Abstract
A computerised boundary estimation technique (using prostate as an example) in medical images (ultrasound in particular), called Radial Bas-Relief. An imaging probe can be carried by a robot and shares the same reference frame as the robot. The prostate is scanned and the ultrasound images are fed into a computer which provides computational images processing. Such a method is employed to allow a quick and robust extract of the boundary of interest from transverse images taken transurethrally or transrectally.
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Citations
8 Claims
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1. A method of producing a computerized boundary estimation in medical images using a Radial Bas-Relief technique, and utilizing a surgical robot having a head axis, a computer equipped with a frame grabber, a 4-axis motion controller, an ultrasound scanner, and one of a transurethral and a transrectal ultrasound probe which passes through an outer/sheath of a resectoscope mounted to said surgical robot, said method comprising the steps of:
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(a) engaging said resectoscope to said robot suspended on a counterbalance gantry at an undisturbed reference position (verumontanum); and (b) scanning for a target organ on a patient by moving said head axis of said surgical robot mounted with said ultrasound probe; wherein scanned images obtained in (b) are fed into said frame grabber, and images of said target organ are then digitized to enable image processing and boundary estimation outlining by said computer. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification