JP5650732B2 - 外科的軌跡の視覚化 - Google Patents
外科的軌跡の視覚化 Download PDFInfo
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- JP5650732B2 JP5650732B2 JP2012516924A JP2012516924A JP5650732B2 JP 5650732 B2 JP5650732 B2 JP 5650732B2 JP 2012516924 A JP2012516924 A JP 2012516924A JP 2012516924 A JP2012516924 A JP 2012516924A JP 5650732 B2 JP5650732 B2 JP 5650732B2
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- 238000012800 visualization Methods 0.000 title description 9
- 238000000034 method Methods 0.000 claims description 55
- 210000003484 anatomy Anatomy 0.000 claims description 44
- 239000000523 sample Substances 0.000 claims description 33
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- 238000005259 measurement Methods 0.000 claims description 17
- 230000003287 optical effect Effects 0.000 claims description 11
- 238000004590 computer program Methods 0.000 claims description 8
- 210000005036 nerve Anatomy 0.000 claims description 8
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- 238000011017 operating method Methods 0.000 claims 11
- 238000002591 computed tomography Methods 0.000 claims 1
- 238000002595 magnetic resonance imaging Methods 0.000 claims 1
- 239000013307 optical fiber Substances 0.000 claims 1
- 210000004281 subthalamic nucleus Anatomy 0.000 description 22
- 238000010304 firing Methods 0.000 description 11
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- 210000004556 brain Anatomy 0.000 description 6
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- 238000011477 surgical intervention Methods 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
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- 210000000988 bone and bone Anatomy 0.000 description 1
- 210000004958 brain cell Anatomy 0.000 description 1
- 210000005013 brain tissue Anatomy 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
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- 238000002224 dissection Methods 0.000 description 1
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- 238000003384 imaging method Methods 0.000 description 1
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- 210000003523 substantia nigra Anatomy 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/107—Visualisation of planned trajectories or target regions
-
- 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
- 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
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
-
- 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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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Description
Claims (15)
- 外科軌跡を視覚化するシステムの作動方法であって、前記システムは、入力、プロセッサ及び表示装置を有し、前記作動方法は:
前記入力が、手術を行う領域の3Dイメージ情報を受け取るステップ;
前記プロセッサが、手術を行う前記領域の組み合わせマップを得るために、前記受け取った3Dイメージ情報を解剖モデルレポジトリーからのデータと組み合わせるステップであって、前記組み合わせマップは、手術を行う前記領域での解剖構造の予想される位置を含む、ステップ;
前記入力が、前記手術のための前記外科軌跡を受け取るステップ;
前記プロセッサが、前記組み合わせマップと前記外科軌跡を用いて、前記外科軌跡と前記解剖構造との交点の位置を決定するステップ;及び
前記表示装置が、前記外科軌跡に沿って定められた座標システムに前記交点の位置を与えるステップ;を含む、
作動方法。 - 請求項1に記載の作動方法であり、前記組み合わせマップが、手術を行う領域の統計マップを含み、前記統計マップが前記領域での前記解剖構造の確率を含む、作動方法。
- 請求項1に記載の作動方法であり、さらに、前記表示装置が、前記外科軌跡に沿って定められた前記座標システムでの前記交点の前記位置を表示するステップを含む、作動方法。
- 請求項1に記載の作動方法であり、前記交点の前記位置が、前記交点と前記外科軌跡の目標間の距離で与えられる、作動方法。
- 請求項1に記載の作動方法であり、前記外科軌跡が計画された軌跡である、作動方法。
- 請求項1に記載の作動方法であり、外科道具の現在位置が前記外科軌跡に沿って定められた配列された前記座標システム上にマッピングされる、作動方法。
- 請求項6に記載の作動方法であり、前記外科道具が電気生理学的プローブであり、前記作動方法はさらに:
前記入力が、前記プローブから電気生理学的シグナルを受け取るステップ;及び、
前記表示装置が、前記電気生理学的シグナルを前記座標システム中の関連する位置に視覚化するステップ;を含む、作動方法。 - 請求項6に記載の作動方法であり、前記外科道具が反射測定のための集積光学ファイバを持つ針プローブであり、前記作動方法はさらに:
前記プロセッサが、前記プローブから前記反射測定からの光学スペクトルを取得するステップ;及び
前記表示装置が、前記光学スペクトルを前記座標システム中の関連する位置に表示するステップ;を含む、作動方法。 - 請求項6に記載の作動方法であり、前記外科道具が電気生理学的プローブであり、前記作動方法はさらに:
前記入力が、前記プローブから電気生理学的シグナルを受け取るステップ;
前記プロセッサが、前記受け取った電気生理学的シグナルから特徴を抽出するステップ;
前記プロセッサが、前記抽出された特徴を前記座標システムに関連付けるステップ;及び
前記表示装置が、前記抽出された特徴を前記座標システムに関連付けされた位置と組み合わせて視覚化するステップ;を含む、作動方法。 - 請求項9に記載の作動方法であり、前記電気生理学的プローブが神経電気生理学的プローブである、作動方法。
- 請求項6に記載の作動方法であり、前記外科軌跡が、前記外科道具により前記現在位置へ辿られた経路の少なくとも1部を含む、作動方法。
- 請求項6に記載の作動方法であり、前記外科軌跡が、前記外科道具が前記現在位置から辿られるべき予想経路の少なくとも1部を含む、作動方法。
- 請求項1に記載の作動方法であり、前記3Dイメージ情報が、MRI又はCTスキャンイメージを含む、作動方法。
- コンピュータプログラムであり、前記プログラムが、
手術を行う前記領域の組み合わせマップを得るために、手術を行う領域の3Dイメージ情報を解剖モデルレポジトリーからのデータと組み合わせるステップであって、前記組み合わせマップは、手術を行う前記領域での解剖構造の予想される位置を含む、ステップ;及び
前記組み合わせマップと手術のための外科軌跡を用いて、前記外科軌跡と前記解剖構造との交点の位置を決定するステップ;を外科軌跡を視覚化するシステムのプロセッサに実行させる、コンピュータプログラム。 - 外科軌跡を視覚化するためのシステムであり、前記システムが:
手術を行う領域の3Dイメージ情報と前記手術のための前記外科軌跡を受け取る入力;
前記受け取った3Dイメージ情報、前記外科軌跡及び解剖モデルレポジトリーを記憶するための記憶装置;
プロセッサであって、
前記3Dイメージ情報を前記解剖レポジトリーからのデータと組み合わせて手術を行う前記領域の組み合わせマップを得て、前記組み合わせマップが手術を行う前記領域での解剖構造の予想される位置を含み、及び
前記組み合わせマップと前記外科軌跡を用いて、前記少なくとも1つの外科軌跡と前記解剖構造との交点の位置を決定する、
プロセッサ;及び
前記外科軌跡に沿って定められた座標システムに前記交点の位置を与える表示装置、とを含むシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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EP09163970 | 2009-06-29 | ||
EP09163970.8 | 2009-06-29 | ||
PCT/IB2010/052785 WO2011001322A1 (en) | 2009-06-29 | 2010-06-21 | Visualizing surgical trajectories |
Publications (3)
Publication Number | Publication Date |
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JP2012531936A JP2012531936A (ja) | 2012-12-13 |
JP2012531936A5 JP2012531936A5 (ja) | 2014-07-24 |
JP5650732B2 true JP5650732B2 (ja) | 2015-01-07 |
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JP2012516924A Active JP5650732B2 (ja) | 2009-06-29 | 2010-06-21 | 外科的軌跡の視覚化 |
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Country | Link |
---|---|
US (1) | US8831307B2 (ja) |
EP (1) | EP2448513B1 (ja) |
JP (1) | JP5650732B2 (ja) |
CN (1) | CN102470013B (ja) |
BR (1) | BRPI1010151B8 (ja) |
RU (1) | RU2559917C2 (ja) |
WO (1) | WO2011001322A1 (ja) |
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US20160074123A1 (en) * | 2013-05-31 | 2016-03-17 | Randall Bly | Surgery Pathway Guidance And Boundary System |
US9818231B2 (en) * | 2013-08-13 | 2017-11-14 | Boston Scientific Scimed, Inc. | Computer visualization of anatomical items |
WO2015023671A1 (en) | 2013-08-15 | 2015-02-19 | Intuitive Surgical Operations, Inc. | Systems and methods for medical procedure confirmation |
WO2015149170A1 (en) * | 2014-03-31 | 2015-10-08 | Functional Neuromodulation, Inc. | Systems and methods for determining a trajectory for a brain stimulation lead |
US9999772B2 (en) | 2014-04-03 | 2018-06-19 | Pacesetter, Inc. | Systems and method for deep brain stimulation therapy |
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- 2010-06-21 CN CN201080029329.0A patent/CN102470013B/zh active Active
- 2010-06-21 WO PCT/IB2010/052785 patent/WO2011001322A1/en active Application Filing
- 2010-06-21 US US13/378,094 patent/US8831307B2/en active Active
- 2010-06-21 RU RU2012102923/14A patent/RU2559917C2/ru active
- 2010-06-21 JP JP2012516924A patent/JP5650732B2/ja active Active
- 2010-06-21 EP EP10730241.6A patent/EP2448513B1/en active Active
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CN102470013A (zh) | 2012-05-23 |
BRPI1010151B1 (pt) | 2020-11-10 |
BRPI1010151B8 (pt) | 2021-06-22 |
RU2012102923A (ru) | 2013-08-10 |
BRPI1010151A2 (pt) | 2016-03-29 |
WO2011001322A1 (en) | 2011-01-06 |
CN102470013B (zh) | 2016-01-20 |
RU2559917C2 (ru) | 2015-08-20 |
US8831307B2 (en) | 2014-09-09 |
JP2012531936A (ja) | 2012-12-13 |
EP2448513B1 (en) | 2017-08-09 |
EP2448513A1 (en) | 2012-05-09 |
US20120099770A1 (en) | 2012-04-26 |
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