JP2018061835A - 超音波を使用する位置追跡システムを用いた解剖学的画像の手術前の位置合わせ - Google Patents
超音波を使用する位置追跡システムを用いた解剖学的画像の手術前の位置合わせ Download PDFInfo
- Publication number
- JP2018061835A JP2018061835A JP2017194909A JP2017194909A JP2018061835A JP 2018061835 A JP2018061835 A JP 2018061835A JP 2017194909 A JP2017194909 A JP 2017194909A JP 2017194909 A JP2017194909 A JP 2017194909A JP 2018061835 A JP2018061835 A JP 2018061835A
- Authority
- JP
- Japan
- Prior art keywords
- tracking system
- bone tissue
- measurements
- site
- head
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000002604 ultrasonography Methods 0.000 title claims abstract description 91
- 238000005259 measurement Methods 0.000 claims abstract description 63
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 58
- 238000000034 method Methods 0.000 claims abstract description 46
- 238000002591 computed tomography Methods 0.000 claims description 39
- 238000006073 displacement reaction Methods 0.000 claims description 13
- 210000003128 head Anatomy 0.000 description 32
- 210000001519 tissue Anatomy 0.000 description 13
- 238000012285 ultrasound imaging Methods 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000001815 facial effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- 210000004872 soft tissue Anatomy 0.000 description 2
- 210000000746 body region Anatomy 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000002594 fluoroscopy Methods 0.000 description 1
- 238000002595 magnetic resonance imaging Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 230000002085 persistent effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
- 210000000216 zygoma Anatomy 0.000 description 1
Images
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/061—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body
- A61B5/062—Determining position of a probe within the body employing means separate from the probe, e.g. sensing internal probe position employing impedance electrodes on the surface of the body using magnetic field
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
- A61B5/6813—Specially adapted to be attached to a specific body part
- A61B5/6814—Head
- A61B5/6819—Nose
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
- A61B5/6846—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive
- A61B5/6847—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be brought in contact with an internal body part, i.e. invasive mounted on an invasive device
- A61B5/6852—Catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computed tomography [CT]
- A61B6/032—Transmission computed tomography [CT]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/12—Arrangements for detecting or locating foreign bodies
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/46—Arrangements for interfacing with the operator or the patient
- A61B6/461—Displaying means of special interest
- A61B6/463—Displaying means of special interest characterised by displaying multiple images or images and diagnostic data on one display
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
- A61B6/505—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for diagnosis of bone
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/52—Devices using data or image processing specially adapted for radiation diagnosis
- A61B6/5211—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data
- A61B6/5229—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image
- A61B6/5247—Devices using data or image processing specially adapted for radiation diagnosis involving processing of medical diagnostic data combining image data of a patient, e.g. combining a functional image with an anatomical image combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
- A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0875—Detecting organic movements or changes, e.g. tumours, cysts, swellings for diagnosis of bone
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
- A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/52—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/5215—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data
- A61B8/5238—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image
- A61B8/5261—Devices using data or image processing specially adapted for diagnosis using ultrasonic, sonic or infrasonic waves involving processing of medical diagnostic data for combining image data of patient, e.g. merging several images from different acquisition modes into one image combining images from different diagnostic modalities, e.g. ultrasound and X-ray
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0012—Biomedical image inspection
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/24—Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
-
- 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
- A61B2034/2051—Electromagnetic tracking systems
-
- 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
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
-
- 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
- A61B2034/2065—Tracking using image or pattern recognition
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2505/00—Evaluating, monitoring or diagnosing in the context of a particular type of medical care
- A61B2505/05—Surgical care
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/45—For evaluating or diagnosing the musculoskeletal system or teeth
- A61B5/4538—Evaluating a particular part of the muscoloskeletal system or a particular medical condition
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
- A61B8/0858—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving measuring tissue layers, e.g. skin, interfaces
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10072—Tomographic images
- G06T2207/10081—Computed x-ray tomography [CT]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30004—Biomedical image processing
- G06T2207/30008—Bone
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Optics & Photonics (AREA)
- High Energy & Nuclear Physics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Theoretical Computer Science (AREA)
- Human Computer Interaction (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Pulmonology (AREA)
- Quality & Reliability (AREA)
- General Physics & Mathematics (AREA)
- Vascular Medicine (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Rheumatology (AREA)
- Otolaryngology (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Description
サイナプラスティ等のいくつかの医療手技は、関連器官の解剖学的画像を位置追跡システムの座標系と位置合わせすることを必要とする。位置合わせを使用して、位置センサが嵌着された外科用ツールは、治療される器官へ進められ、解剖学的画像にオーバーレイされて視覚化される。
・位置追跡システムは、位置合わせツールの中に嵌着された位置センサの位置及び配向を測定する。
・US変換器は、それぞれの部位で骨組織を画像化する。
図1は、本発明の一実施形態によるサイナプラスティ外科システム20の概略的な絵画図である。システム20は、磁気位置追跡システムを備え、本システムは、患者22の頭部の1つ又は複数の位置センサの位置を追跡するように構成されている。磁気位置追跡システムは、磁界発生器及び1つ又は複数の位置センサを備える。位置センサは、磁場発生器から検知された外部磁場に応答して位置信号を生成し、それによって、プロセッサ34が、以下に説明するように、位置追跡システムの座標系内での各センサの位置をマッピングすることを可能にする。
図2は、本発明の実施形態によるワンド30の概略的な絵画図である。図は、ワンド30が患者の頭部41上の複数の事前定義された部位のうちの1つに置かれているのを示す。いくつかの実施形態では、ワンド30はハウジング58を備え、ハウジングは、超音波(US)変換器66のまわりに同心状に配置された位置センサ60を含む。US変換器は、USパルス70を組織の中へ生成するように構成される。図2は、例示的な組織構造体を示し、構造体は、皮膚層50、中間組織52、骨組織56、及び組織52と56との間の界面層54を備える。
(1) 方法であって、
超音波(US)変換器と位置追跡システムの位置センサとを備える位置合わせツールを使用して取得される複数の測定値を受信することであって、前記測定値が、患者の頭部上の複数の部位のそれぞれへ前記位置合わせツールを付け、かつ前記部位において前記位置センサのそれぞれの位置測定値と骨組織のそれぞれのUS測定値とを取得することによって取得される、ことと、
前記位置合わせツールを使用して得た前記位置測定値と前記US測定値とに基づいて、前記複数の部位における前記骨組織の第1の位置を計算することと、
前記患者の頭部の解剖学的画像中で、前記複数の部位における前記骨組織の第2の位置を特定することと、
前記位置追跡システムと位置合わせされた前記解剖学的画像を使用して、前記患者の頭部へ挿入されかつ前記位置追跡システムの別の位置センサを備える医療機器の追跡を可能にするために、前記第1の位置と前記第2の位置との相関をとることによって、前記解剖学的画像を前記位置追跡システムの座標系と位置合わせすることと、を含む方法。
(2) 前記US変換器が前記位置センサに対して固定した変位で配置され、前記第1の位置を計算することが、前記第1の位置の計算において前記固定した変位を考慮することを含む、実施態様1に記載の方法。
(3) 前記US変換器と前記位置センサとが同心である、実施態様1に記載の方法。
(4) 前記解剖学的画像が1つ又は複数のコンピュータ断層撮影(CT)画像を含む、実施態様1に記載の方法。
(5) 前記部位が、頬骨の突出部、鼻柱、鼻尖、及び顎からなるリストから選択される骨の特徴の部位を含む、実施態様1に記載の方法。
(7) 前記US測定値を受信することが、各部位において前記頭部の外面と前記それぞれの骨組織との間を横断するUSパルスの往復伝搬時間を受信することを含む、実施態様1に記載の方法。
(8) 前記医療機器がサイナプラスティカテーテル(sinuplasty catheter)を備える、実施態様1に記載の方法。
(9) 前記位置合わせツールが手持ち式ワンドを備える、実施態様1に記載の方法。
(10) 器具であって、
位置合わせツールであって、
前記位置合わせツールが患者の頭部上の複数のそれぞれの部位へ順次に付けられるとき、前記部位において骨組織のそれぞれのUS測定値を取得するように構成される超音波(US)変換器と、
前記部位において前記位置合わせツールのそれぞれの位置測定値を取得するように構成される位置追跡システムの位置センサと、を備える、位置合わせツールと、
プロセッサであって、
前記位置合わせツールによって取得された前記複数のUS測定値と前記それぞれの位置測定値とを受信し、
前記位置測定値と前記US測定値とに基づいて、前記複数の部位における前記骨組織の第1の位置を計算し、
前記患者の頭部の解剖学的画像中で、前記複数の部位における前記骨組織の第2の位置を特定し、
前記位置追跡システムと位置合わせされた前記解剖学的画像を使用して、前記患者の頭部へ挿入されかつ前記位置追跡システムの別の位置センサを備える医療機器の追跡を可能にするために、前記第1の位置と前記第2の位置との相関をとることによって、前記解剖学的画像を前記位置追跡システムの座標系と位置合わせするように構成されるプロセッサと、を備える、器具。
(12) 前記US変換器と前記位置センサとが同心である、実施態様10に記載の器具。
(13) 前記解剖学的画像が1つ又は複数のコンピュータ断層撮影(CT)画像を含む、実施態様10に記載の器具。
(14) 前記部位が、頬骨の突出部、鼻柱、鼻尖、及び顎からなるリストから選択される骨の特徴の部位を含む、実施態様10に記載の器具。
(15) 前記位置追跡システムが磁気位置追跡システムを含む、実施態様10に記載の器具。
(17) 前記医療機器がサイナプラスティカテーテルを備える、実施態様10に記載の器具。
(18) 前記位置合わせツールが手持ち式ワンドを備える、実施態様10に記載の器具。
Claims (18)
- 方法であって、
超音波(US)変換器と位置追跡システムの位置センサとを備える位置合わせツールを使用して取得される複数の測定値を受信することであって、前記測定値が、患者の頭部上の複数の部位のそれぞれへ前記位置合わせツールを付け、かつ前記部位において前記位置センサのそれぞれの位置測定値と骨組織のそれぞれのUS測定値とを取得することによって取得される、ことと、
前記位置合わせツールを使用して得た前記位置測定値と前記US測定値とに基づいて、前記複数の部位における前記骨組織の第1の位置を計算することと、
前記患者の頭部の解剖学的画像中で、前記複数の部位における前記骨組織の第2の位置を特定することと、
前記位置追跡システムと位置合わせされた前記解剖学的画像を使用して、前記患者の頭部へ挿入されかつ前記位置追跡システムの別の位置センサを備える医療機器の追跡を可能にするために、前記第1の位置と前記第2の位置との相関をとることによって、前記解剖学的画像を前記位置追跡システムの座標系と位置合わせすることと、を含む方法。 - 前記US変換器が前記位置センサに対して固定した変位で配置され、前記第1の位置を計算することが、前記第1の位置の計算において前記固定した変位を考慮することを含む、請求項1に記載の方法。
- 前記US変換器と前記位置センサとが同心である、請求項1に記載の方法。
- 前記解剖学的画像が1つ又は複数のコンピュータ断層撮影(CT)画像を含む、請求項1に記載の方法。
- 前記部位が、頬骨の突出部、鼻柱、鼻尖、及び顎からなるリストから選択される骨の特徴の部位を含む、請求項1に記載の方法。
- 前記位置追跡システムが磁気位置追跡システムを含む、請求項1に記載の方法。
- 前記US測定値を受信することが、各部位において前記頭部の外面と前記それぞれの骨組織との間を横断するUSパルスの往復伝搬時間を受信することを含む、請求項1に記載の方法。
- 前記医療機器がサイナプラスティカテーテルを備える、請求項1に記載の方法。
- 前記位置合わせツールが手持ち式ワンドを備える、請求項1に記載の方法。
- 器具であって、
位置合わせツールであって、
前記位置合わせツールが患者の頭部上の複数のそれぞれの部位へ順次に付けられるとき、前記部位において骨組織のそれぞれのUS測定値を取得するように構成される超音波(US)変換器と、
前記部位において前記位置合わせツールのそれぞれの位置測定値を取得するように構成される位置追跡システムの位置センサと、を備える、位置合わせツールと、
プロセッサであって、
前記位置合わせツールによって取得された前記複数のUS測定値と前記それぞれの位置測定値とを受信し、
前記位置測定値と前記US測定値とに基づいて、前記複数の部位における前記骨組織の第1の位置を計算し、
前記患者の頭部の解剖学的画像中で、前記複数の部位における前記骨組織の第2の位置を特定し、
前記位置追跡システムと位置合わせされた前記解剖学的画像を使用して、前記患者の頭部へ挿入されかつ前記位置追跡システムの別の位置センサを備える医療機器の追跡を可能にするために、前記第1の位置と前記第2の位置との相関をとることによって、前記解剖学的画像を前記位置追跡システムの座標系と位置合わせするように構成されるプロセッサと、を備える、器具。 - 前記US変換器が前記位置センサに対して固定した変位で配置され、前記プロセッサが前記第1の位置の計算において前記固定した変位を考慮するように構成されている、請求項10に記載の器具。
- 前記US変換器と前記位置センサとが同心である、請求項10に記載の器具。
- 前記解剖学的画像が1つ又は複数のコンピュータ断層撮影(CT)画像を含む、請求項10に記載の器具。
- 前記部位が、頬骨の突出部、鼻柱、鼻尖、及び顎からなるリストから選択される骨の特徴の部位を含む、請求項10に記載の器具。
- 前記位置追跡システムが磁気位置追跡システムを含む、請求項10に記載の器具。
- 前記複数のUS測定値が、各部位において前記頭部の外面と前記それぞれの骨組織との間を横断するUSパルスの往復伝搬時間を含む、請求項10に記載の器具。
- 前記医療機器がサイナプラスティカテーテルを備える、請求項10に記載の器具。
- 前記位置合わせツールが手持ち式ワンドを備える、請求項10に記載の器具。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/286,891 US20180098816A1 (en) | 2016-10-06 | 2016-10-06 | Pre-Operative Registration of Anatomical Images with a Position-Tracking System Using Ultrasound |
US15/286,891 | 2016-10-06 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2018061835A true JP2018061835A (ja) | 2018-04-19 |
JP7106258B2 JP7106258B2 (ja) | 2022-07-26 |
Family
ID=60051365
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2017194909A Active JP7106258B2 (ja) | 2016-10-06 | 2017-10-05 | 超音波を使用する位置追跡システムを用いた解剖学的画像の手術前の位置合わせ |
Country Status (7)
Country | Link |
---|---|
US (1) | US20180098816A1 (ja) |
EP (1) | EP3305202B1 (ja) |
JP (1) | JP7106258B2 (ja) |
CN (1) | CN107913102B (ja) |
AU (1) | AU2017235897A1 (ja) |
CA (1) | CA2981039A1 (ja) |
IL (1) | IL254680B2 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022529323A (ja) * | 2019-04-10 | 2022-06-21 | ブレインラボ アーゲー | 対象の関連表面点をサンプリングする方法 |
Families Citing this family (130)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11871901B2 (en) | 2012-05-20 | 2024-01-16 | Cilag Gmbh International | Method for situational awareness for surgical network or surgical network connected device capable of adjusting function based on a sensed situation or usage |
US11504192B2 (en) | 2014-10-30 | 2022-11-22 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US10510171B2 (en) | 2016-11-29 | 2019-12-17 | Biosense Webster (Israel) Ltd. | Visualization of anatomical cavities |
AU2018214021A1 (en) * | 2017-08-10 | 2019-02-28 | Biosense Webster (Israel) Ltd. | Method and apparatus for performing facial registration |
US11510741B2 (en) | 2017-10-30 | 2022-11-29 | Cilag Gmbh International | Method for producing a surgical instrument comprising a smart electrical system |
US11026712B2 (en) | 2017-10-30 | 2021-06-08 | Cilag Gmbh International | Surgical instruments comprising a shifting mechanism |
US11291510B2 (en) | 2017-10-30 | 2022-04-05 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11229436B2 (en) | 2017-10-30 | 2022-01-25 | Cilag Gmbh International | Surgical system comprising a surgical tool and a surgical hub |
US11564756B2 (en) | 2017-10-30 | 2023-01-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11311342B2 (en) | 2017-10-30 | 2022-04-26 | Cilag Gmbh International | Method for communicating with surgical instrument systems |
US11911045B2 (en) | 2017-10-30 | 2024-02-27 | Cllag GmbH International | Method for operating a powered articulating multi-clip applier |
US11801098B2 (en) | 2017-10-30 | 2023-10-31 | Cilag Gmbh International | Method of hub communication with surgical instrument systems |
US11413042B2 (en) | 2017-10-30 | 2022-08-16 | Cilag Gmbh International | Clip applier comprising a reciprocating clip advancing member |
US11317919B2 (en) | 2017-10-30 | 2022-05-03 | Cilag Gmbh International | Clip applier comprising a clip crimping system |
US11832840B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical instrument having a flexible circuit |
US11109866B2 (en) | 2017-12-28 | 2021-09-07 | Cilag Gmbh International | Method for circular stapler control algorithm adjustment based on situational awareness |
US11376002B2 (en) | 2017-12-28 | 2022-07-05 | Cilag Gmbh International | Surgical instrument cartridge sensor assemblies |
US11147607B2 (en) | 2017-12-28 | 2021-10-19 | Cilag Gmbh International | Bipolar combination device that automatically adjusts pressure based on energy modality |
US11857152B2 (en) | 2017-12-28 | 2024-01-02 | Cilag Gmbh International | Surgical hub spatial awareness to determine devices in operating theater |
US20190201594A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Method of sensing particulate from smoke evacuated from a patient, adjusting the pump speed based on the sensed information, and communicating the functional parameters of the system to the hub |
US10849697B2 (en) | 2017-12-28 | 2020-12-01 | Ethicon Llc | Cloud interface for coupled surgical devices |
US10944728B2 (en) | 2017-12-28 | 2021-03-09 | Ethicon Llc | Interactive surgical systems with encrypted communication capabilities |
US11937769B2 (en) | 2017-12-28 | 2024-03-26 | Cilag Gmbh International | Method of hub communication, processing, storage and display |
US11308075B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical network, instrument, and cloud responses based on validation of received dataset and authentication of its source and integrity |
US11076921B2 (en) | 2017-12-28 | 2021-08-03 | Cilag Gmbh International | Adaptive control program updates for surgical hubs |
US11432885B2 (en) | 2017-12-28 | 2022-09-06 | Cilag Gmbh International | Sensing arrangements for robot-assisted surgical platforms |
US10758310B2 (en) * | 2017-12-28 | 2020-09-01 | Ethicon Llc | Wireless pairing of a surgical device with another device within a sterile surgical field based on the usage and situational awareness of devices |
US10892899B2 (en) | 2017-12-28 | 2021-01-12 | Ethicon Llc | Self describing data packets generated at an issuing instrument |
US11419667B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Ultrasonic energy device which varies pressure applied by clamp arm to provide threshold control pressure at a cut progression location |
US11389164B2 (en) | 2017-12-28 | 2022-07-19 | Cilag Gmbh International | Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices |
US11786251B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11100631B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Use of laser light and red-green-blue coloration to determine properties of back scattered light |
US11633237B2 (en) | 2017-12-28 | 2023-04-25 | Cilag Gmbh International | Usage and technique analysis of surgeon / staff performance against a baseline to optimize device utilization and performance for both current and future procedures |
US11273001B2 (en) | 2017-12-28 | 2022-03-15 | Cilag Gmbh International | Surgical hub and modular device response adjustment based on situational awareness |
US11612444B2 (en) | 2017-12-28 | 2023-03-28 | Cilag Gmbh International | Adjustment of a surgical device function based on situational awareness |
US10892995B2 (en) | 2017-12-28 | 2021-01-12 | Ethicon Llc | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US11864728B2 (en) | 2017-12-28 | 2024-01-09 | Cilag Gmbh International | Characterization of tissue irregularities through the use of mono-chromatic light refractivity |
US11132462B2 (en) | 2017-12-28 | 2021-09-28 | Cilag Gmbh International | Data stripping method to interrogate patient records and create anonymized record |
US11659023B2 (en) | 2017-12-28 | 2023-05-23 | Cilag Gmbh International | Method of hub communication |
US10932872B2 (en) | 2017-12-28 | 2021-03-02 | Ethicon Llc | Cloud-based medical analytics for linking of local usage trends with the resource acquisition behaviors of larger data set |
US11056244B2 (en) | 2017-12-28 | 2021-07-06 | Cilag Gmbh International | Automated data scaling, alignment, and organizing based on predefined parameters within surgical networks |
US11744604B2 (en) | 2017-12-28 | 2023-09-05 | Cilag Gmbh International | Surgical instrument with a hardware-only control circuit |
US11051876B2 (en) | 2017-12-28 | 2021-07-06 | Cilag Gmbh International | Surgical evacuation flow paths |
US11576677B2 (en) | 2017-12-28 | 2023-02-14 | Cilag Gmbh International | Method of hub communication, processing, display, and cloud analytics |
US11096693B2 (en) | 2017-12-28 | 2021-08-24 | Cilag Gmbh International | Adjustment of staple height of at least one row of staples based on the sensed tissue thickness or force in closing |
US10898622B2 (en) | 2017-12-28 | 2021-01-26 | Ethicon Llc | Surgical evacuation system with a communication circuit for communication between a filter and a smoke evacuation device |
US11179208B2 (en) | 2017-12-28 | 2021-11-23 | Cilag Gmbh International | Cloud-based medical analytics for security and authentication trends and reactive measures |
US11213359B2 (en) | 2017-12-28 | 2022-01-04 | Cilag Gmbh International | Controllers for robot-assisted surgical platforms |
US11311306B2 (en) | 2017-12-28 | 2022-04-26 | Cilag Gmbh International | Surgical systems for detecting end effector tissue distribution irregularities |
US11257589B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Real-time analysis of comprehensive cost of all instrumentation used in surgery utilizing data fluidity to track instruments through stocking and in-house processes |
US11304720B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Activation of energy devices |
US11602393B2 (en) | 2017-12-28 | 2023-03-14 | Cilag Gmbh International | Surgical evacuation sensing and generator control |
US10987178B2 (en) | 2017-12-28 | 2021-04-27 | Ethicon Llc | Surgical hub control arrangements |
US11464559B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Estimating state of ultrasonic end effector and control system therefor |
US11410259B2 (en) | 2017-12-28 | 2022-08-09 | Cilag Gmbh International | Adaptive control program updates for surgical devices |
US11464535B2 (en) | 2017-12-28 | 2022-10-11 | Cilag Gmbh International | Detection of end effector emersion in liquid |
US11672605B2 (en) | 2017-12-28 | 2023-06-13 | Cilag Gmbh International | Sterile field interactive control displays |
US11771487B2 (en) | 2017-12-28 | 2023-10-03 | Cilag Gmbh International | Mechanisms for controlling different electromechanical systems of an electrosurgical instrument |
US11896322B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Sensing the patient position and contact utilizing the mono-polar return pad electrode to provide situational awareness to the hub |
US10695081B2 (en) | 2017-12-28 | 2020-06-30 | Ethicon Llc | Controlling a surgical instrument according to sensed closure parameters |
US11266468B2 (en) | 2017-12-28 | 2022-03-08 | Cilag Gmbh International | Cooperative utilization of data derived from secondary sources by intelligent surgical hubs |
US11291495B2 (en) | 2017-12-28 | 2022-04-05 | Cilag Gmbh International | Interruption of energy due to inadvertent capacitive coupling |
US11786245B2 (en) | 2017-12-28 | 2023-10-17 | Cilag Gmbh International | Surgical systems with prioritized data transmission capabilities |
US11446052B2 (en) | 2017-12-28 | 2022-09-20 | Cilag Gmbh International | Variation of radio frequency and ultrasonic power level in cooperation with varying clamp arm pressure to achieve predefined heat flux or power applied to tissue |
US11166772B2 (en) | 2017-12-28 | 2021-11-09 | Cilag Gmbh International | Surgical hub coordination of control and communication of operating room devices |
US11278281B2 (en) | 2017-12-28 | 2022-03-22 | Cilag Gmbh International | Interactive surgical system |
US11540855B2 (en) | 2017-12-28 | 2023-01-03 | Cilag Gmbh International | Controlling activation of an ultrasonic surgical instrument according to the presence of tissue |
US11559307B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method of robotic hub communication, detection, and control |
US11424027B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Method for operating surgical instrument systems |
US11559308B2 (en) | 2017-12-28 | 2023-01-24 | Cilag Gmbh International | Method for smart energy device infrastructure |
US11304745B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Surgical evacuation sensing and display |
US11179175B2 (en) | 2017-12-28 | 2021-11-23 | Cilag Gmbh International | Controlling an ultrasonic surgical instrument according to tissue location |
US11998193B2 (en) | 2017-12-28 | 2024-06-04 | Cilag Gmbh International | Method for usage of the shroud as an aspect of sensing or controlling a powered surgical device, and a control algorithm to adjust its default operation |
US11678881B2 (en) | 2017-12-28 | 2023-06-20 | Cilag Gmbh International | Spatial awareness of surgical hubs in operating rooms |
US11253315B2 (en) | 2017-12-28 | 2022-02-22 | Cilag Gmbh International | Increasing radio frequency to create pad-less monopolar loop |
US11284936B2 (en) | 2017-12-28 | 2022-03-29 | Cilag Gmbh International | Surgical instrument having a flexible electrode |
US10966791B2 (en) | 2017-12-28 | 2021-04-06 | Ethicon Llc | Cloud-based medical analytics for medical facility segmented individualization of instrument function |
US11589888B2 (en) | 2017-12-28 | 2023-02-28 | Cilag Gmbh International | Method for controlling smart energy devices |
US11234756B2 (en) | 2017-12-28 | 2022-02-01 | Cilag Gmbh International | Powered surgical tool with predefined adjustable control algorithm for controlling end effector parameter |
US11832899B2 (en) | 2017-12-28 | 2023-12-05 | Cilag Gmbh International | Surgical systems with autonomously adjustable control programs |
US20190206569A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Method of cloud based data analytics for use with the hub |
US11419630B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Surgical system distributed processing |
US11666331B2 (en) | 2017-12-28 | 2023-06-06 | Cilag Gmbh International | Systems for detecting proximity of surgical end effector to cancerous tissue |
US11903601B2 (en) | 2017-12-28 | 2024-02-20 | Cilag Gmbh International | Surgical instrument comprising a plurality of drive systems |
US20190201087A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Smoke evacuation system including a segmented control circuit for interactive surgical platform |
US20190201113A1 (en) | 2017-12-28 | 2019-07-04 | Ethicon Llc | Controls for robot-assisted surgical platforms |
US10595887B2 (en) | 2017-12-28 | 2020-03-24 | Ethicon Llc | Systems for adjusting end effector parameters based on perioperative information |
US11969142B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Method of compressing tissue within a stapling device and simultaneously displaying the location of the tissue within the jaws |
US11896443B2 (en) | 2017-12-28 | 2024-02-13 | Cilag Gmbh International | Control of a surgical system through a surgical barrier |
US11069012B2 (en) | 2017-12-28 | 2021-07-20 | Cilag Gmbh International | Interactive surgical systems with condition handling of devices and data capabilities |
US11423007B2 (en) | 2017-12-28 | 2022-08-23 | Cilag Gmbh International | Adjustment of device control programs based on stratified contextual data in addition to the data |
US11571234B2 (en) | 2017-12-28 | 2023-02-07 | Cilag Gmbh International | Temperature control of ultrasonic end effector and control system therefor |
US10943454B2 (en) | 2017-12-28 | 2021-03-09 | Ethicon Llc | Detection and escalation of security responses of surgical instruments to increasing severity threats |
US11202570B2 (en) | 2017-12-28 | 2021-12-21 | Cilag Gmbh International | Communication hub and storage device for storing parameters and status of a surgical device to be shared with cloud based analytics systems |
US11364075B2 (en) | 2017-12-28 | 2022-06-21 | Cilag Gmbh International | Radio frequency energy device for delivering combined electrical signals |
US11304763B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Image capturing of the areas outside the abdomen to improve placement and control of a surgical device in use |
US11160605B2 (en) | 2017-12-28 | 2021-11-02 | Cilag Gmbh International | Surgical evacuation sensing and motor control |
US11324557B2 (en) | 2017-12-28 | 2022-05-10 | Cilag Gmbh International | Surgical instrument with a sensing array |
US11317937B2 (en) | 2018-03-08 | 2022-05-03 | Cilag Gmbh International | Determining the state of an ultrasonic end effector |
US11969216B2 (en) | 2017-12-28 | 2024-04-30 | Cilag Gmbh International | Surgical network recommendations from real time analysis of procedure variables against a baseline highlighting differences from the optimal solution |
US11818052B2 (en) | 2017-12-28 | 2023-11-14 | Cilag Gmbh International | Surgical network determination of prioritization of communication, interaction, or processing based on system or device needs |
US11304699B2 (en) | 2017-12-28 | 2022-04-19 | Cilag Gmbh International | Method for adaptive control schemes for surgical network control and interaction |
US11529187B2 (en) | 2017-12-28 | 2022-12-20 | Cilag Gmbh International | Surgical evacuation sensor arrangements |
US11701162B2 (en) | 2018-03-08 | 2023-07-18 | Cilag Gmbh International | Smart blade application for reusable and disposable devices |
US11344326B2 (en) | 2018-03-08 | 2022-05-31 | Cilag Gmbh International | Smart blade technology to control blade instability |
US11259830B2 (en) | 2018-03-08 | 2022-03-01 | Cilag Gmbh International | Methods for controlling temperature in ultrasonic device |
US11166716B2 (en) | 2018-03-28 | 2021-11-09 | Cilag Gmbh International | Stapling instrument comprising a deactivatable lockout |
US11471156B2 (en) | 2018-03-28 | 2022-10-18 | Cilag Gmbh International | Surgical stapling devices with improved rotary driven closure systems |
US11278280B2 (en) | 2018-03-28 | 2022-03-22 | Cilag Gmbh International | Surgical instrument comprising a jaw closure lockout |
US11259806B2 (en) | 2018-03-28 | 2022-03-01 | Cilag Gmbh International | Surgical stapling devices with features for blocking advancement of a camming assembly of an incompatible cartridge installed therein |
US11219453B2 (en) | 2018-03-28 | 2022-01-11 | Cilag Gmbh International | Surgical stapling devices with cartridge compatible closure and firing lockout arrangements |
US11207067B2 (en) | 2018-03-28 | 2021-12-28 | Cilag Gmbh International | Surgical stapling device with separate rotary driven closure and firing systems and firing member that engages both jaws while firing |
US10973520B2 (en) | 2018-03-28 | 2021-04-13 | Ethicon Llc | Surgical staple cartridge with firing member driven camming assembly that has an onboard tissue cutting feature |
US11090047B2 (en) | 2018-03-28 | 2021-08-17 | Cilag Gmbh International | Surgical instrument comprising an adaptive control system |
US11096688B2 (en) | 2018-03-28 | 2021-08-24 | Cilag Gmbh International | Rotary driven firing members with different anvil and channel engagement features |
US11497566B2 (en) * | 2018-10-26 | 2022-11-15 | Biosense Webster (Israel) Ltd. | Loose mode for robot |
US11751872B2 (en) | 2019-02-19 | 2023-09-12 | Cilag Gmbh International | Insertable deactivator element for surgical stapler lockouts |
US11369377B2 (en) | 2019-02-19 | 2022-06-28 | Cilag Gmbh International | Surgical stapling assembly with cartridge based retainer configured to unlock a firing lockout |
US11357503B2 (en) | 2019-02-19 | 2022-06-14 | Cilag Gmbh International | Staple cartridge retainers with frangible retention features and methods of using same |
US11317915B2 (en) | 2019-02-19 | 2022-05-03 | Cilag Gmbh International | Universal cartridge based key feature that unlocks multiple lockout arrangements in different surgical staplers |
US11291444B2 (en) | 2019-02-19 | 2022-04-05 | Cilag Gmbh International | Surgical stapling assembly with cartridge based retainer configured to unlock a closure lockout |
USD950728S1 (en) | 2019-06-25 | 2022-05-03 | Cilag Gmbh International | Surgical staple cartridge |
USD952144S1 (en) | 2019-06-25 | 2022-05-17 | Cilag Gmbh International | Surgical staple cartridge retainer with firing system authentication key |
USD964564S1 (en) | 2019-06-25 | 2022-09-20 | Cilag Gmbh International | Surgical staple cartridge retainer with a closure system authentication key |
US11062445B2 (en) * | 2019-08-28 | 2021-07-13 | Hiwin Technologies Corp. | Method of medical image registration |
CN111329586B (zh) * | 2020-02-17 | 2021-05-11 | 南京航空航天大学 | 基于超声定位带的体内器械定位跟踪*** |
US11571260B2 (en) | 2020-03-31 | 2023-02-07 | Biosense Webster (Israel) Ltd. | Pre-operative registration of anatomical images with a position-tracking system using ultrasound measurement of skin tissue |
US20210330395A1 (en) | 2020-04-23 | 2021-10-28 | Johnson & Johnson Surgical Vision, Inc. | Location pad surrounding at least part of patient eye for tracking position of a medical instrument |
US11832883B2 (en) | 2020-04-23 | 2023-12-05 | Johnson & Johnson Surgical Vision, Inc. | Using real-time images for augmented-reality visualization of an ophthalmology surgical tool |
CN111938700B (zh) * | 2020-08-21 | 2021-11-09 | 电子科技大学 | 基于人体解剖结构实时匹配的超声探头引导***及方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1997029682A1 (en) * | 1996-02-15 | 1997-08-21 | Biosense Inc. | Locatable biopsy needle |
JP2001204739A (ja) * | 2000-01-27 | 2001-07-31 | Olympus Optical Co Ltd | 顕微鏡下手術支援システム |
JP2002510214A (ja) * | 1994-10-07 | 2002-04-02 | セントルイス ユニバーシティー | 基準および局所化フレームを備える外科用案内装置 |
Family Cites Families (25)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6006126A (en) * | 1991-01-28 | 1999-12-21 | Cosman; Eric R. | System and method for stereotactic registration of image scan data |
US5465724A (en) | 1993-05-28 | 1995-11-14 | Acuson Corporation | Compact rotationally steerable ultrasound transducer |
US5391199A (en) | 1993-07-20 | 1995-02-21 | Biosense, Inc. | Apparatus and method for treating cardiac arrhythmias |
CA2607769C (en) | 1994-08-19 | 2012-04-24 | Biosense, Inc. | Medical diagnosis, treatment and imaging systems |
US6690963B2 (en) | 1995-01-24 | 2004-02-10 | Biosense, Inc. | System for determining the location and orientation of an invasive medical instrument |
EP0891152B1 (en) | 1996-02-15 | 2003-11-26 | Biosense, Inc. | Independently positionable transducers for location system |
EP0910300B1 (en) | 1996-02-15 | 2003-12-03 | Biosense, Inc. | Site marking probe |
US6239724B1 (en) | 1997-12-30 | 2001-05-29 | Remon Medical Technologies, Ltd. | System and method for telemetrically providing intrabody spatial position |
US6484118B1 (en) | 2000-07-20 | 2002-11-19 | Biosense, Inc. | Electromagnetic position single axis system |
US7729742B2 (en) | 2001-12-21 | 2010-06-01 | Biosense, Inc. | Wireless position sensor |
US20040068178A1 (en) | 2002-09-17 | 2004-04-08 | Assaf Govari | High-gradient recursive locating system |
US7303530B2 (en) * | 2003-05-22 | 2007-12-04 | Siemens Medical Solutions Usa, Inc. | Transducer arrays with an integrated sensor and methods of use |
US20060063973A1 (en) * | 2004-04-21 | 2006-03-23 | Acclarent, Inc. | Methods and apparatus for treating disorders of the ear, nose and throat |
US7751868B2 (en) | 2004-11-12 | 2010-07-06 | Philips Electronics Ltd | Integrated skin-mounted multifunction device for use in image-guided surgery |
WO2006092602A1 (en) * | 2005-03-01 | 2006-09-08 | Kings College London | 3d ultrasound imaging |
US10143398B2 (en) | 2005-04-26 | 2018-12-04 | Biosense Webster, Inc. | Registration of ultrasound data with pre-acquired image |
US20090080737A1 (en) * | 2007-09-25 | 2009-03-26 | General Electric Company | System and Method for Use of Fluoroscope and Computed Tomography Registration for Sinuplasty Navigation |
US9456766B2 (en) * | 2007-11-26 | 2016-10-04 | C. R. Bard, Inc. | Apparatus for use with needle insertion guidance system |
CN103648397B (zh) * | 2011-06-27 | 2016-01-20 | 皇家飞利浦有限公司 | 超声图像引导的***与基于体积运动的校准方法 |
US10758209B2 (en) * | 2012-03-09 | 2020-09-01 | The Johns Hopkins University | Photoacoustic tracking and registration in interventional ultrasound |
DE102012103725A1 (de) * | 2012-04-27 | 2013-10-31 | Aesculap Ag | Vorrichtung und Verfahren zum Auffinden von Signalbeiträgen knöcherner Strukturen in Ultraschallbilddatensätzen |
CN103717142B (zh) * | 2012-07-30 | 2016-08-17 | 东芝医疗***株式会社 | 设备固定适配器以及超声波探头*** |
US20140276001A1 (en) * | 2013-03-15 | 2014-09-18 | Queen's University At Kingston | Device and Method for Image-Guided Surgery |
US10463242B2 (en) * | 2014-07-09 | 2019-11-05 | Acclarent, Inc. | Guidewire navigation for sinuplasty |
US10674933B2 (en) * | 2014-10-22 | 2020-06-09 | Biosense Webster (Israel) Ltd. | Enlargement of tracking volume by movement of imaging bed |
-
2016
- 2016-10-06 US US15/286,891 patent/US20180098816A1/en not_active Abandoned
-
2017
- 2017-09-25 IL IL254680A patent/IL254680B2/en unknown
- 2017-09-26 AU AU2017235897A patent/AU2017235897A1/en not_active Abandoned
- 2017-09-29 CN CN201710903790.8A patent/CN107913102B/zh active Active
- 2017-10-02 CA CA2981039A patent/CA2981039A1/en not_active Abandoned
- 2017-10-05 JP JP2017194909A patent/JP7106258B2/ja active Active
- 2017-10-05 EP EP17194989.4A patent/EP3305202B1/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2002510214A (ja) * | 1994-10-07 | 2002-04-02 | セントルイス ユニバーシティー | 基準および局所化フレームを備える外科用案内装置 |
WO1997029682A1 (en) * | 1996-02-15 | 1997-08-21 | Biosense Inc. | Locatable biopsy needle |
JP2001204739A (ja) * | 2000-01-27 | 2001-07-31 | Olympus Optical Co Ltd | 顕微鏡下手術支援システム |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2022529323A (ja) * | 2019-04-10 | 2022-06-21 | ブレインラボ アーゲー | 対象の関連表面点をサンプリングする方法 |
Also Published As
Publication number | Publication date |
---|---|
CN107913102A (zh) | 2018-04-17 |
AU2017235897A1 (en) | 2018-04-26 |
CN107913102B (zh) | 2022-08-16 |
CA2981039A1 (en) | 2018-04-06 |
IL254680B2 (en) | 2024-06-01 |
US20180098816A1 (en) | 2018-04-12 |
EP3305202A1 (en) | 2018-04-11 |
IL254680B1 (en) | 2024-02-01 |
EP3305202B1 (en) | 2024-03-06 |
JP7106258B2 (ja) | 2022-07-26 |
IL254680A0 (en) | 2017-11-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP7106258B2 (ja) | 超音波を使用する位置追跡システムを用いた解剖学的画像の手術前の位置合わせ | |
JP7171220B2 (ja) | 骨組織への近接に基づく解剖学的画像の位置追跡座標系との位置合わせ | |
US10631935B2 (en) | Head registration using a personalized gripper | |
JP4836122B2 (ja) | 手術支援装置、方法及びプログラム | |
CN108720924B (zh) | 基于到骨组织的视觉接近度来改善解剖图像与位置跟踪坐标系的配准 | |
JP2023080220A (ja) | 狭い通路における侵襲的手順の内視鏡画像 | |
JP2008126075A (ja) | Ctレジストレーション及びフィードバックの視覚的検証のためのシステム及び方法 | |
KR20170012077A (ko) | 자기 추적 시스템과 ct 이미지의 표면 정합 | |
WO2008035271A2 (en) | Device for registering a 3d model | |
US11160610B2 (en) | Systems and methods for soft tissue navigation | |
EP3505061B1 (en) | Improving impedance-based position tracking performance using principal component analysis | |
US11571260B2 (en) | Pre-operative registration of anatomical images with a position-tracking system using ultrasound measurement of skin tissue | |
KR20190054975A (ko) | 강성 ent 도구의 캘리브레이션 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20201005 |
|
A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20210922 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20211026 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20220126 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20220325 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220422 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20220628 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20220713 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7106258 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |