JP6114241B2 - 追跡装置および追跡方法 - Google Patents
追跡装置および追跡方法 Download PDFInfo
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- JP6114241B2 JP6114241B2 JP2014174515A JP2014174515A JP6114241B2 JP 6114241 B2 JP6114241 B2 JP 6114241B2 JP 2014174515 A JP2014174515 A JP 2014174515A JP 2014174515 A JP2014174515 A JP 2014174515A JP 6114241 B2 JP6114241 B2 JP 6114241B2
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- 238000000034 method Methods 0.000 title claims description 25
- 210000000988 bone and bone Anatomy 0.000 claims description 40
- 238000012545 processing Methods 0.000 claims description 21
- 230000003287 optical effect Effects 0.000 description 16
- 238000001356 surgical procedure Methods 0.000 description 12
- 238000012790 confirmation Methods 0.000 description 10
- 230000001133 acceleration Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000010072 bone remodeling Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000002329 infrared spectrum Methods 0.000 description 1
- 238000013150 knee replacement Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000002271 resection Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/14—Surgical saws ; Accessories therefor
- A61B17/15—Guides therefor
- A61B17/154—Guides therefor for preparing bone for knee prosthesis
- A61B17/155—Cutting femur
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/14—Surgical saws ; Accessories therefor
- A61B17/15—Guides therefor
- A61B17/154—Guides therefor for preparing bone for knee prosthesis
- A61B17/157—Cutting tibia
-
- 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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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00115—Electrical control of surgical instruments with audible or visual output
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00725—Calibration or performance testing
-
- 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
- A61B2034/2048—Tracking techniques using an accelerometer or inertia sensor
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- Health & Medical Sciences (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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- General Health & Medical Sciences (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Physical Education & Sports Medicine (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Transplantation (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Dentistry (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- Robotics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Evolutionary Computation (AREA)
- Mathematical Optimization (AREA)
- Pure & Applied Mathematics (AREA)
- Computer Hardware Design (AREA)
- Mathematical Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Computational Mathematics (AREA)
- Surgical Instruments (AREA)
- Prostheses (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
Description
Claims (9)
- 骨の3回転自由度の方向を追跡するためのコンピュータシステムの動作方法であって、
コンピュータシステムが、前記骨に取り付けられた1つの加速度計ベースの基準追跡部材から、2回転自由度の方向に関する方向データを受信することと、
コンピュータシステムが、前記骨に取り付けられた1つの加速度計ベースの較正追跡部材から、2回転自由度の方向に関する方向データを受信することと、
コンピュータシステムが、前記骨が、前記基準追跡部材の前記2回転自由度の方向のうち一方のみの軸線回りを回転している間に、前記基準追跡部材および前記較正追跡部材の角変化率を決定することと、
コンピュータシステムが、前記決定した角変化率を使用することにより、前記基準追跡部材を基準に前記骨の方向を較正して、前記基準追跡部材の第3回転自由度の方向を決定することと、
を含むコンピュータシステムの動作方法。 - 方向データを受信することは、骨に取り付けられた前記基準および較正追跡部材から方向データを受信することを含む請求項1に記載の方法。
- 前記基準追跡部材および前記較正追跡部材の角変化率を決定することは、操作者に前記骨を移動させるために、前記基準追跡部材の前記2回転自由度の方向のうち、前記1つの軸線回りの角変化率に関するデータを表示することを含む請求項1に記載の方法。
- 骨モデルまたは死体で前記方法を実行することをさらに含む請求項3に記載の方法。
- 前記較正後に、前記骨の追跡を3回転自由度の方向でインターフェース上に表示することをさらに含む請求項1に記載の方法。
- 骨の3回転自由度の方向を追跡するシステムであって、
前記骨に取り付けられる1つの加速度計ベースの基準追跡部材であって、2回転自由度の方向に関する方向データを作成する基準追跡部材と、
前記骨に取り付けられる1つの加速度計ベースの較正追跡部材であって、2回転自由度の方向に関する方向データを作成する較正追跡部材と、
前記基準追跡部材および前記較正追跡部材から前記方向データを受信する処理ユニットであって、
前記骨が前記基準追跡部材の前記2回転自由度のうち一方のみの軸線回りを回転している間に、前記基準追跡部材および前記較正追跡部材の角変化率を決定する方向計算部と、
前記決定した角変化率を使用することにより、前記基準追跡部材を基準に前記骨の方向を較正し、前記基準追跡部材の第3回転自由度の方向を決定する、較正計算部と、
を備え、これにより、前記骨は3回転自由度の方向で追跡可能である処理ユニットと、
を備えるシステムにおいて、
操作者に前記骨を移動させるために、前記基準追跡部材の前記2回転自由度の方向のうち、前記一方のみの軸線周りの角変化率に関するデータを表示するユーザインターフェースをさらに備えるシステム。 - 前記システムはコンピュータ支援手術システムであり、前記基準追跡部材および前記較正追跡部材は前記骨に取り付けられる請求項6に記載のシステム。
- 前記ユーザインターフェースは、較正後に、前記骨の追跡を3回転自由度の方向でインターフェース上に表示する請求項6または7に記載のシステム。
- 前記処理ユニットは、前記軸線回りの方向が最大値を超えて変動する場合に、角変化率を受信しない請求項6〜8のいずれかに記載のシステム。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US3918408P | 2008-03-25 | 2008-03-25 | |
US61/039,184 | 2008-03-25 | ||
US10017308P | 2008-09-25 | 2008-09-25 | |
US61/100,173 | 2008-09-25 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011501074A Division JP2011517971A (ja) | 2008-03-25 | 2009-03-25 | 追跡装置および追跡方法 |
Publications (2)
Publication Number | Publication Date |
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JP2015042252A JP2015042252A (ja) | 2015-03-05 |
JP6114241B2 true JP6114241B2 (ja) | 2017-04-12 |
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Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011501075A Active JP5651579B2 (ja) | 2008-03-25 | 2009-03-25 | 骨への変更を計画/誘導するための方法およびシステム |
JP2014174515A Active JP6114241B2 (ja) | 2008-03-25 | 2014-08-28 | 追跡装置および追跡方法 |
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JP2011501075A Active JP5651579B2 (ja) | 2008-03-25 | 2009-03-25 | 骨への変更を計画/誘導するための方法およびシステム |
Country Status (7)
Country | Link |
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US (4) | US8265790B2 (ja) |
EP (1) | EP2268215B1 (ja) |
JP (2) | JP5651579B2 (ja) |
CN (1) | CN101977557B (ja) |
AU (1) | AU2009227957B2 (ja) |
CA (1) | CA2716550C (ja) |
WO (1) | WO2009117833A1 (ja) |
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CN101977557B (zh) | 2013-03-13 |
US10251653B2 (en) | 2019-04-09 |
CA2716550C (en) | 2019-07-16 |
AU2009227957A1 (en) | 2009-10-01 |
CA2716550A1 (en) | 2009-10-01 |
CN101977557A (zh) | 2011-02-16 |
AU2009227957B2 (en) | 2014-07-10 |
JP2015042252A (ja) | 2015-03-05 |
US20140316545A1 (en) | 2014-10-23 |
US20090248044A1 (en) | 2009-10-01 |
EP2268215A4 (en) | 2013-03-06 |
WO2009117833A1 (en) | 2009-10-01 |
US8265790B2 (en) | 2012-09-11 |
EP2268215A1 (en) | 2011-01-05 |
US8718820B2 (en) | 2014-05-06 |
US9495509B2 (en) | 2016-11-15 |
EP2268215B1 (en) | 2018-05-16 |
US20130073067A1 (en) | 2013-03-21 |
US20170027590A1 (en) | 2017-02-02 |
JP5651579B2 (ja) | 2015-01-14 |
JP2011515163A (ja) | 2011-05-19 |
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