JP6545184B2 - 電磁追跡システムの品質保証及びデータ連携 - Google Patents
電磁追跡システムの品質保証及びデータ連携 Download PDFInfo
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- JP6545184B2 JP6545184B2 JP2016558218A JP2016558218A JP6545184B2 JP 6545184 B2 JP6545184 B2 JP 6545184B2 JP 2016558218 A JP2016558218 A JP 2016558218A JP 2016558218 A JP2016558218 A JP 2016558218A JP 6545184 B2 JP6545184 B2 JP 6545184B2
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- 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
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1027—Interstitial radiation therapy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1075—Monitoring, verifying, controlling systems and methods for testing, calibrating, or quality assurance of the radiation treatment apparatus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00274—Prostate operation, e.g. prostatectomy, turp, bhp treatment
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3411—Needle locating or guiding means using mechanical guide means with a plurality of holes, e.g. holes in matrix arrangement
-
- 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
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/02—Operational features
- A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
- A61N2005/1012—Templates or grids for guiding the introduction of sources
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Radiation-Therapy Devices (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
- Surgical Instruments (AREA)
- Instructional Devices (AREA)
- Endoscopes (AREA)
Description
TEMi→Ref=f(T’EMi→Ref) [1]
TP→Ref=f(T’P→Ref) [2]
ただし、T’P→Refは、EM追跡システムによる測定されたプローブから基準への変換行列であり、TP→Refは、補正されたプローブから基準への変換行列である。この新しいプローブ位置は、より正確であり、EM場21内の任意の歪みを考慮する。
Claims (4)
- 電磁場を発生させるように動作可能である電磁場発生器と、
解剖学的領域内へと電磁センサブロックを通り挿入される少なくとも1つの介入ツールのシミュレートされた電磁追跡を表すように、位置付けられ、かつ、方向付けられる少なくとも1つの電磁センサを含む前記電磁センサブロックと、
前記少なくとも1つの電磁センサに動作可能に接続される電磁品質保証ワークステーションと、
を含む、電磁品質保証システムにおいて、当該電磁品質保証システムは、
前記電磁センサブロックに対して位置合わせされるように動作可能である基準電磁センサ
を更に含み、
前記電磁場発生器が、前記少なくとも1つの電磁センサ及び前記基準電磁センサを取り囲む電磁場を発生させることに反応して、前記電磁品質保証ワークステーションは、前記解剖学的領域内へと前記電磁センサブロックを通る前記少なくとも1つの介入ツールの挿入の電磁追跡精度をテストするように動作可能であり、
前記電磁品質保証ワークステーションは更に、前記少なくとも1つの電磁センサそれぞれの追跡位置の電磁追跡精度の品質を示す少なくとも1つのメトリックを計算するように動作可能であることを特徴とする、電磁品質保証システム。 - 前記電磁センサブロックは、前記電磁センサブロックを通り延在する少なくとも1つのチャネルを含み、
各電磁センサは、前記少なくとも1つのチャネルのうちの1つのチャネル内に含まれる、請求項1に記載の電磁品質保証システム。 - 前記電磁場発生器が、前記少なくとも1つの電磁センサを取り囲む電磁場を発生させることに反応して、前記電磁品質保証ワークステーションは更に、前記少なくとも1つの電磁センサそれぞれの追跡位置の電磁追跡精度の品質を示す少なくとも1つのメトリックを計算するように動作可能である、請求項1に記載の電磁品質保証システム。
- 前記少なくとも1つのメトリックが、前記電磁場における歪みを示すことに反応して、前記電磁品質保証ワークステーションは更に、前記基準電磁センサの位置合わせされた位置に対する前記少なくとも1つの電磁センサそれぞれの前記追跡位置の電磁追跡の関数として、前記電磁場における前記歪みを補正するように動作可能である、請求項1に記載の電磁品質保証システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461969285P | 2014-03-24 | 2014-03-24 | |
US61/969,285 | 2014-03-24 | ||
PCT/IB2015/051924 WO2015145300A2 (en) | 2014-03-24 | 2015-03-17 | Quality assurance and data coordination for electromagnetic tracking systems |
Publications (3)
Publication Number | Publication Date |
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JP2017510349A JP2017510349A (ja) | 2017-04-13 |
JP2017510349A5 JP2017510349A5 (ja) | 2018-11-29 |
JP6545184B2 true JP6545184B2 (ja) | 2019-07-17 |
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ID=52998188
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2016558218A Active JP6545184B2 (ja) | 2014-03-24 | 2015-03-17 | 電磁追跡システムの品質保証及びデータ連携 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10786310B2 (ja) |
EP (1) | EP3122268B1 (ja) |
JP (1) | JP6545184B2 (ja) |
CN (1) | CN106132323B (ja) |
WO (1) | WO2015145300A2 (ja) |
Cited By (1)
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JP2018500996A (ja) * | 2014-12-24 | 2018-01-18 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 電磁誘導のための追跡品質制御 |
Families Citing this family (10)
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US10506947B2 (en) * | 2014-12-11 | 2019-12-17 | Koninklijke Philips N.V. | Automated selection of optimal calibration in tracked interventional procedures |
US10359458B2 (en) | 2015-10-05 | 2019-07-23 | Covidien Lp | Systems and methods for automated mapping and accuracy-testing |
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JP7089521B2 (ja) * | 2016-12-21 | 2022-06-22 | コーニンクレッカ フィリップス エヌ ヴェ | 高速且つ自動化された超音波プローブ校正のためのシステム及び方法 |
EP3381513A1 (en) | 2017-03-30 | 2018-10-03 | Servicio Cántabro de Salud | System and device for positioning medical needles |
EP3508252A1 (en) * | 2018-01-05 | 2019-07-10 | Koninklijke Philips N.V. | Invivo dosimeter positioning using catheter reconstruction |
CN108324373B (zh) * | 2018-03-19 | 2020-11-27 | 南开大学 | 一种基于电磁定位***的穿刺手术机器人精确定位实现方法 |
US11719850B2 (en) * | 2019-06-20 | 2023-08-08 | Sony Interactive Entertainment Inc. | Detecting and compensating for magnetic interference in electromagnetic (EM) positional tracking |
CN110363734B (zh) * | 2019-06-27 | 2021-07-13 | 上海交通大学 | 厚样本显微荧光图像重构方法及*** |
EP4186562B1 (en) * | 2021-11-26 | 2023-11-29 | Vilnius University | System and method for brachytherapy procedure planning and verification |
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2015
- 2015-03-17 CN CN201580015866.2A patent/CN106132323B/zh active Active
- 2015-03-17 JP JP2016558218A patent/JP6545184B2/ja active Active
- 2015-03-17 US US15/124,078 patent/US10786310B2/en active Active
- 2015-03-17 EP EP15718266.8A patent/EP3122268B1/en active Active
- 2015-03-17 WO PCT/IB2015/051924 patent/WO2015145300A2/en active Application Filing
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2018500996A (ja) * | 2014-12-24 | 2018-01-18 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 電磁誘導のための追跡品質制御 |
Also Published As
Publication number | Publication date |
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US20170014192A1 (en) | 2017-01-19 |
CN106132323A (zh) | 2016-11-16 |
JP2017510349A (ja) | 2017-04-13 |
WO2015145300A3 (en) | 2015-12-03 |
EP3122268A2 (en) | 2017-02-01 |
WO2015145300A2 (en) | 2015-10-01 |
EP3122268B1 (en) | 2019-01-02 |
US10786310B2 (en) | 2020-09-29 |
CN106132323B (zh) | 2019-06-04 |
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