ES2608820T3 - Sistema y método de visualización del interior de un cuerpo - Google Patents
Sistema y método de visualización del interior de un cuerpo Download PDFInfo
- Publication number
- ES2608820T3 ES2608820T3 ES09010523.0T ES09010523T ES2608820T3 ES 2608820 T3 ES2608820 T3 ES 2608820T3 ES 09010523 T ES09010523 T ES 09010523T ES 2608820 T3 ES2608820 T3 ES 2608820T3
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- image data
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2055—Optical tracking systems
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B2090/364—Correlation of different images or relation of image positions in respect to the body
- A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/372—Details of monitor hardware
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3937—Visible markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3995—Multi-modality markers
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Image Processing (AREA)
- Closed-Circuit Television Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
Abstract
Sistema para visualizar un interior de un cuerpo (34) desde una posición exterior, que comprende: un sistema de navegación (20) que presenta un monitor (22) y una cámara (24), estando la cámara (24) fijada al monitor (22) y sirviendo como un sistema de referencia, y siendo el monitor (22) posicionable de manera móvil entre un operador (36) y el cuerpo (34); una unidad de referencia óptica (40, 40', 40'') adaptada para ser fijada al cuerpo (34) con el fin de realizar un seguimiento de unos movimientos del cuerpo (34); un dispositivo de procesado electrónico (50) en comunicación con el sistema de navegación (20); y un conjunto de datos de imagen (82) que comprende unas características del interior del cuerpo (34), siendo el conjunto de datos de imagen (82) accesible para el dispositivo de procesado (50); en el que el dispositivo de procesado (50) recibe una imagen óptica (80) de una superficie exterior del cuerpo (34), obtenida con la cámara (24), registra el conjunto de datos de imagen (82) con respecto al sistema de referencia correlacionando una posición de la unidad de referencia óptica (40, 40', 40'') en el conjunto de datos de imagen (82) con una posición de la unidad de referencia óptica (40, 40', 40'') de la imagen óptica (80), y provoca que el monitor (22) visualice el conjunto de datos de imagen (82) superpuesto y en alineación con la imagen óptica (80), en una posición y una orientación que representa un ángulo de visión y un ángulo de apertura de la cámara (24) con respecto al cuerpo (34).
Description
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con forma de bola y está realizado con una sustancia, tal como metal, con el fin de que sea detectable en CT, MR, PET, rayos X, y conjuntos de datos de otra modalidad de formación de imágenes similar. No obstante, en función del sistema de formación de imágenes preoperatorias, el marcador de referencia 64 se puede realizar con cualquier otro material adecuado para que sea detectado por diversos sistemas de formación de imágenes. Además, el marcador de referencia radioopaco 66 puede tener cualquier forma que se ponga de manifiesto para alguien versado en la materia. En referencia nuevamente a la presente forma de realización, el marcador de referencia óptico 60 define una forma en general rectangular, cuyo centro se corresponde con el centro del marcador de referencia radioopaco
66. El marcador de referencia óptico 60 es reconocido por el sistema de navegación 20 utilizando, por ejemplo, software que implementa algoritmos de correspondencia de patrones convencionales, tales como “puntos más próximos iterativos, y sirve como patrón de registro para correlacionar la posición del paciente 34 con respecto a la cámara 24. En algunas formas de realización, el marcador de referencia óptico 60 se usa para el seguimiento del movimiento del paciente con respecto a la cámara 24. Se pueden usar una o más unidades de referencia 40 para correlacionar la posición del paciente 34 con respecto a la cámara 24, tal como se pondrá de manifiesto para alguien versado en la materia.
En referencia a la FIG. 2, la unidad de monitor 32 está posicionada entre el operador 36 y el paciente 34, con un mecanismo de fijación que permite que el monitor 22 se fije en una cierta posición con respecto al paciente 34 ó se aparte de la línea visual entre el operador 36 y el paciente 34, si así se desea. En una forma de realización, el mecanismo de fijación incluye un brazo móvil 70 conectado entre una mesa de operaciones 72 y el monitor 22. En el mecanismo de fijación se pueden realizar otras modificaciones, tal como se pondrá de manifiesto para alguien con conocimientos habituales, por ejemplo, el brazo móvil 70 se puede conectar a un carro o alguna otra estructura de soporte. En otra forma de realización, el mecanismo de fijación se puede omitir y la unidad de monitor 32 puede ser un dispositivo de mano que sea inalámbrico y alimentado por batería (véase, por ejemplo, la FIG. 11).
En la FIG. 2, la unidad de monitor 32 está posicionada con la cámara 24 dirigida al torso del paciente 34, y el lado frontal 38 del monitor 22 encarado en general al operador 36. La cámara 24 obtiene una imagen visible 80 de la superficie exterior del paciente 34, es decir, una vista real de la posición del paciente con respecto a la cámara 24, que se visualiza en el monitor de visualización 22. Adicionalmente, se adquiere un conjunto de datos de imagen 82 que se corresponde con datos virtuales del paciente, y el mismo se transfiere al monitor 22. Por ejemplo, el conjunto de datos de imagen 82 se puede adquirir durante una etapa de formación preoperatoria de imágenes y se puede cargar en la CPU 26 por medio de una interfaz apropiada de transferencia de datos. Dicho conjunto de datos de imagen 82 puede incluir datos de estructuras internas 84 que no son fácilmente visibles a través de la piel o la superficie exterior del paciente para la cámara 24, por ejemplo, una imagen de un órgano, una estructura ósea, un tumor, y similares, adquirida con una o más modalidades de formación de imágenes, tales como rayos X bidimensionales, CT, MR, y/o PET. En una forma de realización, el conjunto de datos de imagen 82 se visualiza en el monitor de visualización 22, superpuesto sobre la imagen visible 80 del paciente 34. En otra forma de realización, la imagen visible 80 y el conjunto de datos de imagen 82 se pueden visualizar una junto a otro o se pueden conmutar de forma alterna.
Para visualizar de forma precisa el conjunto de datos de imagen 82 superpuesto sobre la imagen visible 80 y, más preferentemente, para visualizar el conjunto de datos de imagen 82 en la misma posición y orientación que el cuerpo del paciente 34 según es visto por la cámara 24, se lleva a cabo un procedimiento de registro manual o automático. En la presente forma de realización, tres puntos predeterminados 86 del conjunto de datos de imagen 82 (véase la FIG. 2) se registran con puntos correspondientes 88 en el cuerpo del paciente 34 (véase la FIG. 1). El conjunto de datos de imagen 82 se puede registrar alternativamente con el paciente 34 correlacionando una superficie predeterminada del conjunto de datos de imagen 82 con una superficie correspondiente en el cuerpo del paciente
34.
En una forma de realización, el registro manual de la posición del paciente 34 con respecto al conjunto de datos de imagen 82 se lleva a cabo mediante un proceso de digitalización que usa un dispositivo señalador (no mostrado) que tiene una geometría conocida y está equipado con una o más unidades de referencia, tales como la unidad de referencia 40’ (según las FIGS. 12 a 16), u otros tipos de unidades de referencia conocidas. En función de la precisión requerida, como puntos digitalizados en el paciente 34 se pueden usar puntos palpados en la piel o marcas/estructuras anatómicas rígidas. Los puntos digitalizados 88 en el paciente 34 se comparan con puntos predefinidos correspondientes 86 del conjunto de datos de imagen 82 para registrar la posición del paciente con el conjunto de datos de imagen 82 usando métodos y técnicas que resultarán evidentes para alguien con conocimientos habituales en la materia.
Cuando ha finalizado el procedimiento de registro, el sistema de navegación 20 conoce la transformación entre el paciente 34 y la posición real de la unidad de monitor 32. Dicha transformación conocida permite que la cámara 24 sirva como sistema de seguimiento integrado y, puesto que el monitor 22 está fijado rígidamente a la cámara 24, no es necesaria una localización espacial del monitor 22.
Después del registro, el conjunto de datos de imagen 82 se procesa y se visualiza con un ángulo de visión y apertura en concordancia con la posición real del paciente 34 con respecto a la unidad de monitor 32, y correspondiente a la misma. Cuando la unidad de monitor 32 se posiciona entre el operador 36 y el paciente 34, el
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Claims (1)
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imagen1 imagen2 imagen3 imagen4
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US18930008P | 2008-08-15 | 2008-08-15 | |
US189300P | 2008-08-15 |
Publications (1)
Publication Number | Publication Date |
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ES2608820T3 true ES2608820T3 (es) | 2017-04-17 |
Family
ID=41278618
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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ES09010523.0T Active ES2608820T3 (es) | 2008-08-15 | 2009-08-14 | Sistema y método de visualización del interior de un cuerpo |
Country Status (3)
Country | Link |
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US (1) | US9248000B2 (es) |
EP (1) | EP2153794B1 (es) |
ES (1) | ES2608820T3 (es) |
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