1. A frame concatenation apparatus, comprising:
a storage unit to store a plurality of frames to be transmitted;
a generation unit to generate a concatenated frame including the plurality of frames read out from the storage unit and serially concatenated, and including frame length information on each frame attached thereto; and
an attachment unit to attach information for establishing synchronization with a receiver of the concatenated frame, to the concatenated frame.
2. The frame concatenation apparatus according to claim 1, wherein each of the plurality of frames includes the same destination information, and
the generation unit generates the concatenated frame in which any one of the plurality of frames includes the destination information, and the destination information is omitted from each of one or more remaining frames.
3. The frame concatenation apparatus according to claim 1, wherein each of the plurality of frames includes the same virtual network identification information, and
the generation unit generates the concatenated frame in which any one of the plurality of frames includes the virtual network identification information, and the virtual network identification information is omitted from each of one or more remaining frames.
4. The frame concatenation apparatus according to claim 1, wherein each of the plurality of frames includes the same destination information and the same virtual network identification information, and
the generation unit generates the concatenated frame in which any one of the plurality of frames includes the destination information and the virtual network identification information, and the destination information and the virtual network identification information are omitted from each of one or more remaining frames.
5. The frame concatenation apparatus according to claim 1, wherein the generation unit executes one selected from at least two among processes (1) to (4) below:
(1) a first process for generating a concatenated frame in which any one of a plurality of frames including the same destination information includes the destination information, and the destination information is omitted from each of one or more remaining frames;
(2) a second process for generating a concatenated frame in which any one of a plurality of frames including the same virtual network identification information includes the virtual network identification information, and the virtual network identification information is omitted from each of one or more remaining frames;
(3) a third process for generating a concatenated frame in which any one of a plurality of frames including the same destination information and the same virtual network identification information includes the destination information and the virtual network identification information, and the destination information and the virtual network identification information are omitted from each of one or more remaining frames; and
(4) a fourth process for generating a concatenated frame in which a plurality of frames each including different destination information are concatenated, and
the frame concatenation apparatus further comprises an insertion unit that inserts information identifying any of the first to fourth processes selected by the generation unit, into the concatenated frame or each of the plurality of frames.
6. The frame concatenation apparatus according to claim 1, further comprising:
a detection unit that detects each frame length of each of the plurality of frames; and
a frame length insertion unit that inserts the each detected frame length into each of the frames.
7. The frame concatenation apparatus according claim 2, wherein any one of the plurality of frames is a frame placed at a beginning of the concatenated frame.
8. The frame concatenation apparatus according to claim 1, wherein
the frame is a MAC frame including a typelength field in which one of a Type value indicating a type of an upper layer protocol and a length value indicating a frame length is stored, and
the frame concatenation apparatus further comprises a rewriting unit that, when the length value is stored in the typelength field of a MAC frame located at the beginning of the concatenated frame, rewrites this length value with the type value, and attaches rewrite information indicating that the value of the typelength field has been rewritten, to the concatenated frame.
9. A frame restoration device, comprising:
a reception unit to receive a concatenated frame including a plurality of frames serially concatenated and including frame length information on each frame attached thereto;
a division unit to divide the concatenated frame into the plurality of frames, based on the frame length information on each frame included in the concatenated frame; and
a deletion unit to delete the frame length information from each of the divided plurality of frames.
10. The frame restoration device according to claim 9, wherein the concatenated frame is in a state where any one of the plurality of frames includes destination information, and the destination information has been omitted from each of one or more remaining frames, and
the frame restoration device further comprises a restoration unit that attaches the destination information included in any one of the plurality of frames, to each of the one or more frames that have been divided by the division unit and do not include the destination information.
11. The frame restoration device according to claim 9, wherein the concatenated frame is in a state where any one of the plurality of frames includes virtual network identification information, and the virtual network identification information has been omitted from each of one or more remaining frames, and
the frame restoration device further comprises a restoration unit that attaches the virtual network identification information included in any one of the plurality of frames, to each of the one or more frames that have been divided by the division unit and do not include the virtual network identification information.
12. The frame restoration device according to claim 9, wherein the concatenated frame is in a state where any one of the plurality of frames includes destination information and virtual network identification information, and the destination information and the virtual network identification information have been omitted from each of one or more remaining frames, and
the frame restoration device further comprises a restoration unit that attaches the destination information and the virtual network identification information included in any one of the plurality of frames, to each of the one or more frames that have been divided by the division unit and do not include the destination information and the virtual network identification information.
13. The frame restoration device according to claim 9, wherein the division unit executes one selected from at least two among processes (1) to (4) below:
(1) a first process for dividing the concatenated frame in a state where any one of the plurality of frames that have been concatenated includes destination information, and the destination information has been omitted from each of one or more remaining frames;
(2) a second process for dividing the concatenated frame in a state where any one of the plurality of frames that have been concatenated includes virtual network identification information, and the virtual network identification information has been omitted from each of one or more remaining frames;
(3) a third process for dividing the concatenated frame in a state where any one of the plurality of frames that have been concatenated includes destination information and virtual network identification information, and the destination information and the virtual network identification information have been omitted from each of one or more remaining frames; and
(4) a fourth process for dividing the concatenated frame in which plurality of frames each including different destination information have been concatenated, and
the division unit selects any of the first to fourth processes, according to information that is included in the concatenated frame and identifies any of the first to fourth processes.
14. The frame restoration device according to claim 9, wherein any one of the plurality of frames is a frame placed at a beginning of the concatenated frame.
15. The frame restoration device according to claim 9, wherein the frame is a MAC frame including a TypeLength field in which one of a Type value indicating a type of an upper layer protocol and a Length value indicating a frame length is stored, and
the frame restoration device further comprises a reproduction unit that, when rewrite information indicating that the value of the TypeLength field of a first MAC frame located at the beginning of the concatenated frame has been rewritten is included in the concatenated frame, rewrites the value of the TypeLength field of the first MAC frame based on the frame length information corresponding to the first MAC frame.
16. A communication apparatus, comprising:
a storage unit to store a plurality of frames to be transmitted;
a generation unit to generate a concatenated frame including the plurality of frames read out from the storage unit and serially concatenated, and including frame length information on each frame attached thereto;
an attachment unit to attach information for establishing synchronization with a receiver of the concatenated frame, to the concatenated frame; and
a sending unit to send out the concatenated frame including the information for establishing synchronization attached thereto.
17. The communication apparatus according to claim 16, wherein the plurality of frames to be stored in the storage unit are received from one of an uplink and a downlink, and
the sending unit sends out the concatenated frame toward the other one of the uplink and the downlink.
18. A frame concatenation method, comprising:
generating a concatenated frame including a plurality of frames to be transmitted that are read out from a storage unit and concatenated, and including frame length information on each frame attached thereto; and
attaching information for establishing synchronization with a receiver of the concatenated frame, to the concatenated frame.
19. A frame restoration method, comprising:
receiving a concatenated frame including a plurality of frames serially concatenated and including frame length information on each frame attached thereto;
dividing the concatenated frame into the plurality of frames, based on the frame length information on each frame included in the concatenated frame; and
deleting the frame length information from each of the divided plurality of frames.
The claims below are in addition to those above.
All refrences to claim(s) which appear below refer to the numbering after this setence.
1. A method for navigation during medical interventions on tubular organ structures with curves or ramifications, comprising:
(a) recording and storing static image data of the tubular organ structures before the intervention,
(b) extracting the tubular organ structures from the static image data,
(c) converting a course of the tubular organ structures into a geometric description which is then used during the medical intervention for instrumentorgan recording, wherein the geometric description represents at least one of the group consisting of central lines, ramifications, and surfaces of the tubular organ structures, and
(d) spatially localizing the instrument position by a tracking system and successively correcting the instrument position in relation to the static image data, by a transformation that is defined by an optimization method which comprises:
taking into account the geometric description, movement of the tubular organ structures, and information on previous distance covered by the instrument,
wherein the movement of the tubular organ structures is calculated from a changing position of the instrument and thus, the position of the instrument is associated with the tubular organ structures in the static image data,
wherein the information on the distance covered represents the continuous recording of a spatial position of the instrument and contains further features which represent ramifications of the tubular organ structures, and
wherein the transformation is successively learned along the distance covered.
2. The method as claimed in claim 1, characterized in that the information on the distance covered represents the continuously recorded spatial position of the instrument.
3. The method as claimed in claim 2, characterized in that only the instrument tip is recorded as the spatial position of the instrument.
4. The method as claimed in claim 2, characterized in that several positions along the instrument are recorded as the spatial position of the instrument.
5. The method as claimed in claim 2, characterized in that the spatial position of the instrument is recorded continuously along the instrument.
6. The method as claimed in claim 2, characterized in that other parts of the organ tubular structure are recorded by registering the instrument position taking into account the calculated cyclical movements, wherein the cyclical movements, which can represent respiratory movements, of the tubular organ structure are calculated from the chronologically changing position of the instrument.
7. The method as claimed in claim 6, characterized in that the recorded collated infotmation can be used at a later time as static information.
8. The method as claimed in claim 1, characterized in that the information on the distance covered contains further features which can represent ramifications of the tubular organ structure.
9. The method as claimed in claim 1, characterized in that the transformation shapes the static image data.
10. The method as claimed in claim 1, characterized in that cyclical movements, which can in particular represent respiratory movements, of the tubular organ structure are calculated from the chronologically changing position of the instrument.
11. The method as claimed in claim 10, characterized in that the transfoiniation includes the calculated movements of the tubular organ structure.
12. The method as claimed in claim 1, characterized in that the movement of the tubular organ structure is computed from components of the movement of the instrument that are orthogonal to the tubular organ structure.
13. The method as claimed in claim 1, characterized in that, by applying external or internal markers, the movement of the tubular organ structure is recorded and included in the calculation of the transformation.
14. The method as claimed in claim 1, characterized in that the geometric description represents central lines of the tubular organ structure.
15. The method as claimed in claim 1, characterized in that the geometric description represents ramifications of the tubular organ structure.
16. The method as claimed in claim 1, characterized in that the geometric description represents a surface of the tubular organ structure.
17. The use of the method as claimed in claim 1 in bronchoscopy interventions.
18. The use of the method as claimed in claim 1 as a replacement for angiographic imaging in catheter interventions.
19. The use of the method as claimed in claim 1 in the implantation of cardiac pacemakers.
20. The use of the method as claimed in claim 1 for positioning of probes.
21. The use of the method as claimed in claim 1 for positioning of ablation electrodes.
22. The use of the method as claimed in claim 1 for positioning of stents in vessels and bronchi.
23. The use of the method as claimed in claim 1 for checking the position of a catheter.
24. The method as claimed in claim 1, characterized in that a generalized movement model of the tubular structure is taken into account in calculating the position.
25. The method as claimed in claim 1, characterized in that a generalized movement model of tissue surrounding the tubular organ structure is included in calculating the position.
26. The method as claimed in claim 1, characterized in that a patient-specific movement model of the tubular structure is taken into account in calculating the position.
27. The method as claimed in claim 1, characterized in that a patient-specific movement model tissue surrounding the tubular organ structure is taken into account in calculating the position.
28. The method as claimed in claim 1, characterized in that the recording is successively improved only at certain time intervals.
29. The method as claimed in claim 28, characterized in that all the information on the tubular structure is obtained from the recorded and movement-corrected instrument positions and is used as (quasi) static information.