JP5243339B2 - 画像誘導移植術法 - Google Patents
画像誘導移植術法 Download PDFInfo
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- JP5243339B2 JP5243339B2 JP2009113062A JP2009113062A JP5243339B2 JP 5243339 B2 JP5243339 B2 JP 5243339B2 JP 2009113062 A JP2009113062 A JP 2009113062A JP 2009113062 A JP2009113062 A JP 2009113062A JP 5243339 B2 JP5243339 B2 JP 5243339B2
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- 238000002054 transplantation Methods 0.000 title description 4
- 238000000034 method Methods 0.000 claims description 92
- 239000003550 marker Substances 0.000 claims description 52
- 230000033001 locomotion Effects 0.000 claims description 18
- 238000001356 surgical procedure Methods 0.000 claims description 11
- 238000003384 imaging method Methods 0.000 claims description 9
- 210000001847 jaw Anatomy 0.000 description 41
- 210000000214 mouth Anatomy 0.000 description 22
- 238000002591 computed tomography Methods 0.000 description 21
- 238000002595 magnetic resonance imaging Methods 0.000 description 21
- 238000010586 diagram Methods 0.000 description 10
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- 230000006378 damage Effects 0.000 description 5
- 239000007943 implant Substances 0.000 description 5
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- 210000003128 head Anatomy 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 239000004053 dental implant Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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- 230000005855 radiation Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000005553 drilling Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 2
- 238000003325 tomography Methods 0.000 description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
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- 238000007373 indentation Methods 0.000 description 1
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- 210000004373 mandible Anatomy 0.000 description 1
- 210000004228 maxillary nerve Anatomy 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/08—Machine parts specially adapted for dentistry
- A61C1/082—Positioning or guiding, e.g. of drills
- A61C1/084—Positioning or guiding, e.g. of drills of implanting tools
-
- 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
- A61B6/51—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 dentistry
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
- G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C9/00—Impression cups, i.e. impression trays; Impression methods
- A61C9/004—Means or methods for taking digitized impressions
- A61C9/0093—Workpiece support
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S128/00—Surgery
- Y10S128/92—Computer assisted medical diagnostics
- Y10S128/922—Computer assisted medical diagnostics including image analysis
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Physics & Mathematics (AREA)
- Dentistry (AREA)
- Medical Informatics (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biophysics (AREA)
- Radiology & Medical Imaging (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- High Energy & Nuclear Physics (AREA)
- Epidemiology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- General Physics & Mathematics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Dental Prosthetics (AREA)
Description
本明細書に記載の全刊行物の開示の全体が参考としてここに組み込まれる。
(a)知られた位置に設置された走査画像において視認できるマーカーを有し、かつ記録装置に対して知られた位置に設置された基準トラッキング本体を有する記録装置を提供し、基準トラッキング本体の位置がトラッキングシステムにより追跡され、
(b)マーカーが画像内に視認可能なように記録装置の存在において客体の走査画像を形成し、
(c)トラッキングシステムにより記録装置の位置を決定して、マーカーの場所がトラッキングシステムに知られるようにし、
(d)記録装置と客体間の知られた位置関係により客体に関する位置データを入手し、かつ
(e)客体の走査画像と客体の位置データ間の関係を、走査画像上のマーカーの位置がトラッキングシステムにより知られたマーカーの場所と一致するように、調整する。
4 下顎
6 歯科ドリル
7 LEDエミッタ
10 記録装置
Claims (16)
- トラッキングシステムにより得られた客体に関する位置データを客体の走査画像により修正するシステムであって、
前記客体は主体の顎の少なくとも一部であり、
固定位置に複数の基準マーカーを有する記録装置、
位置感知装置を含むトラッキングシステム、および
前記主体の口の外側に基準トラッキング本体を含み、
前記基準マーカーが、三次元走査画像において視認できるように構成され、
前記記録装置は、主体の顎の少なくとも一部に対して精確な反復可能位置において、主体の顎の少なくとも一部であって主体の顎骨または歯に対して所定位置になるように主体の口内に除去可能かつ交換可能に設置できように構成されて、前記記録装置の除去および交換と関係なくまたは客体の走査画像の作成時および記録処理時に客体の予想される運動と関係なく客体に対する前記基準マーカーの三次元空間位置を一定に維持し、
前記位置感知装置は前記基準マーカーの位置データを得るように構成され、それにより(i)前記記録装置が客体に取り付けられるときに前記記録装置を追跡し、(ii)前記記録装置が客体から遠隔位置にあるときに前記記録装置を追跡し、(iii)前記記録装置が前記遠隔位置から移動して、客体に再度取り付けられるときに前記記録装置を追跡し、
前記トラッキングシステムは前記基準マーカーの位置データを提供するように構成され、
前記トラッキングシステムは、客体の走査画像と客体に関する位置データとの間の関係を、前記走査画像上の基準マーカーの位置が前記トラッキングシステムに知られた基準マーカーの位置と合致するように調整でき、
前記基準トラッキング本体は、前記記録装置に対して知られた位置において堅く連結され、
前記トラッキングシステムは前記基準トラッキング本体の位置を追跡することができ、それにより客体の画像走査に続く歯科処置時に前記基準マーカーを追跡し、
前記トラッキングシステムは、主体の顎の運動を含む主体の顎の少なくとも一部の走査画像により位置データを修正するように構成されている、
システム。 - 前記記録装置は馬蹄形であり、かつ前記基準マーカーが顎骨に沿って分布されるように顎骨の形状に対応している、請求項1に記載のシステム。
- 歯科外科装置を更に含み、前記歯科外科装置は歯科処置時に歯科医の運動を追跡するように構成された位置感知装置を含み、前記トラッキングシステムの位置感知装置は前記歯科外科装置を追跡するように構成され、かつ前記トラッキングシステムは主体の顎の少なくとも一部に対する前記歯科外科装置の位置を決定するように構成されている、請求項2記載のシステム。
- 前記歯科外科装置はLEDトランスミッタおよびIRトランスミッタの少なくとも一つを含む、請求項1記載のシステム。
- 前記歯科外科装置の画像を主体の顎の画像上に重ねて表示するように構成されたモニタを更に含む、請求項3記載のシステム。
- 主体の顎の少なくとも一部に取り付けることができるかまたは主体の顎の少なくとも一部に固定でき、前記記録装置が主体の顎へ再設置されるときに、前記基準マーカーが主体の顎の少なくとも一部に対して同一空間的位置に戻るように構成される少なくとも一つの取り付け要素を含む、請求項2記載のシステム。
- 前記記録装置が、前記遠隔位置のときに、取り付けられる記録ジグを更に含む、請求項1記載のシステム。
- 前記記録ジグは前記トラッキングシステムにおける前記記録ジグの位置をマークする位置マーキング装置を有し、
前記記録ジグは、前記記録装置の前記基準マーカーと前記記録ジグの前記位置マーキング装置との間に所定の空間的関係ができるように前記記録装置を受けることができる、請求項7記載のシステム。 - 変形本体が前記記録装置に連結されている、請求項1記載のシステム。
- 前記記録装置は、主体の顎の少なくとも一部に再現可能に位置決めされ、かつ
前記トラッキングシステムは、前記三次元走査画像と主体の顎の少なくとも一部の位置データとの間の関係を、その関係が主体の顎の少なくとも一部の運動時に維持されるように調整できる、請求項1記載のシステム。 - 前記トラッキングシステムは、前記記録装置が客体から遠隔のときに、手動誘導位置感知装置を使用して前記記録装置の基準マーカーを追跡できる、請求項1記載のシステム。
- 前記トラッキングシステムにより提供される位置データから画像を形成することのできる三次元画像システムを更に含む、請求項1記載のシステム。
- 前記走査画像はCT画像およびMRI画像で構成される群から選択されている、請求項1記載のシステム。
- 前記客体は主体の顎の少なくとも一部であり、かつ
前記記録装置は、前記記録装置の一部のみが歯科処置時に主体の口内にあるように、複数部に分割されている、請求項1記載のシステム。 - 主体の口内にある前記記録装置の一部は、歯科処置を干渉しないように構成される、請求項14記載のシステム。
- 前記トラッキングシステムは前記基準トラッキング本体の位置を追跡し、かつ
前記トラッキングシステムは、走査画像上に前記マーカーの位置を決定し、かつ前記マーカーと前記基準トラッキング本体との間の既知位置関係により前記マーカーに関する位置データを得るように構成され、
前記トラッキングシステムは、前記走査画像上の前記マーカーの位置が前記トラッキングシステムに知られた前記マーカーの場所と一致しない場合に、前記マーカーの走査画像と前記マーカーの位置データ間に変形が存在するかを確かめるように構成されている、請求項1記載のシステム。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US29422701P | 2001-05-31 | 2001-05-31 | |
US60/294,227 | 2001-05-31 | ||
IL148070 | 2002-02-06 | ||
IL148070A IL148070A (en) | 2001-05-31 | 2002-02-06 | Figure-guided implantation methods |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2002592781A Division JP4405734B2 (ja) | 2001-05-31 | 2002-05-30 | 画像誘導移植術法 |
Publications (2)
Publication Number | Publication Date |
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JP2009172411A JP2009172411A (ja) | 2009-08-06 |
JP5243339B2 true JP5243339B2 (ja) | 2013-07-24 |
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Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
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JP2002592781A Expired - Fee Related JP4405734B2 (ja) | 2001-05-31 | 2002-05-30 | 画像誘導移植術法 |
JP2009113062A Expired - Lifetime JP5243339B2 (ja) | 2001-05-31 | 2009-05-07 | 画像誘導移植術法 |
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JP2002592781A Expired - Fee Related JP4405734B2 (ja) | 2001-05-31 | 2002-05-30 | 画像誘導移植術法 |
Country Status (5)
Country | Link |
---|---|
US (1) | US7457443B2 (ja) |
EP (1) | EP1401323A4 (ja) |
JP (2) | JP4405734B2 (ja) |
AU (1) | AU2002309220B2 (ja) |
WO (1) | WO2002096261A2 (ja) |
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EP1401323A4 (en) | 2009-06-03 |
US20050163342A1 (en) | 2005-07-28 |
JP2009172411A (ja) | 2009-08-06 |
WO2002096261A3 (en) | 2003-02-27 |
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WO2002096261A2 (en) | 2002-12-05 |
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