JP7355407B2 - 椎弓根スクリューの固定プランニングシステム及び方法 - Google Patents
椎弓根スクリューの固定プランニングシステム及び方法 Download PDFInfo
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- 238000000034 method Methods 0.000 title claims description 41
- 238000003780 insertion Methods 0.000 claims description 99
- 230000037431 insertion Effects 0.000 claims description 99
- 239000000523 sample Substances 0.000 claims description 39
- 230000003287 optical effect Effects 0.000 claims description 15
- 210000000988 bone and bone Anatomy 0.000 claims description 6
- 239000012636 effector Substances 0.000 claims description 5
- 239000003550 marker Substances 0.000 claims description 4
- 230000008569 process Effects 0.000 description 24
- 238000010586 diagram Methods 0.000 description 15
- 238000001356 surgical procedure Methods 0.000 description 11
- 238000002591 computed tomography Methods 0.000 description 7
- 230000008901 benefit Effects 0.000 description 2
- 238000013135 deep learning Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000013170 computed tomography imaging Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
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- 230000009466 transformation Effects 0.000 description 1
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- A61B6/5205—Devices using data or image processing specially adapted for radiation diagnosis involving processing of raw data to produce diagnostic data
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- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7074—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling
- A61B17/7076—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation
- A61B17/7082—Tools specially adapted for spinal fixation operations other than for bone removal or filler handling for driving, positioning or assembling spinal clamps or bone anchors specially adapted for spinal fixation for driving, i.e. rotating, screws or screw parts specially adapted for spinal fixation, e.g. for driving polyaxial or tulip-headed screws
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- A61B6/44—Constructional features of apparatus for radiation diagnosis
- A61B6/4429—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units
- A61B6/4435—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure
- A61B6/4441—Constructional features of apparatus for radiation diagnosis related to the mounting of source units and detector units the source unit and the detector unit being coupled by a rigid structure the rigid structure being a C-arm or U-arm
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- Orthopedic Medicine & Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Human Computer Interaction (AREA)
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- Gynecology & Obstetrics (AREA)
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- Apparatus For Radiation Diagnosis (AREA)
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Description
20:挿入経路提供部
30:光学追跡装置
40:整合部
50:ガイド装置
60:スクリュー決定部
Claims (3)
- 椎弓根スクリューの固定プランニングシステムにおいて、
患者の脊椎の画像を撮影するC-armと、
前記C-armを介して取得したAP(Anterior-Posterior)の2D画像及びLL(Lateral-Lateral)の2D画像上で椎弓根スクリューのエントリポイント及び挿入エンドポイントを提供する挿入経路提供部と、
基準座標系を基に、前記エントリポイント及び前記挿入エンドポイントの空間座標を算出する整合部と、
前記エントリポイント及び前記挿入エンドポイントの空間座標を基に、前記椎弓根スクリューの挿入姿勢を決定し、前記挿入姿勢に応じて前記エントリポイントに向かって、プローブの挿入をガイドするためのガイド装置と、
前記プローブの挿入力を伝達するエンドエフェクタが取り付けられた光学式マーカーが接続された前記プローブの位置を追跡する光学追跡装置と、
前記光学追跡装置を通して、前記プローブが挿入されるに伴い、前記プローブの末端が骨に触れ合う始点の座標を、前記エンドエフェクタにより伝達された前記プローブの挿入力及び前記光学追跡装置により追跡された前記プローブの位置に基づいて取得し、前記挿入エンドポイントの座標と前記始点の座標との間の距離を算出して椎弓根スクリューの長さの条件を決定するスクリュー決定部を含むことを特徴とする椎弓根スクリューの固定プランニングシステム。 - 前記整合部は、前記プローブの位置が整合される前記APの2D画像及び前記LLの2D画像上のピクセルを決定し、
前記挿入経路提供部は、前記整合されたピクセルに、前記プローブの投影画像を表示することを特徴とする請求項1に記載の椎弓根スクリューの固定プランニングシステム。 - 前記挿入経路提供部は施術者が前記APの2D画像及び前記LLの2D画像上に前記エントリポイント及び前記挿入エンドポイントを選択できるユーザーインターフェイスを含むことを特徴とする請求項1乃至請求項2の中のいずれか一項に記載の椎弓根スクリューの固定プランニングシステム。
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KR10-2019-0028981 | 2019-03-13 | ||
PCT/KR2020/003565 WO2020185049A2 (ko) | 2019-03-13 | 2020-03-13 | 페디클 스크류 고정 플래닝 시스템 및 방법 |
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JP2023100449A Pending JP2023116743A (ja) | 2019-03-13 | 2023-06-20 | 椎弓根スクリューの固定プランニングシステム及び方法 |
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US (1) | US11666390B2 (ja) |
EP (1) | EP3939511A4 (ja) |
JP (2) | JP7355407B2 (ja) |
KR (1) | KR102166149B1 (ja) |
CN (1) | CN113543714B (ja) |
WO (1) | WO2020185049A2 (ja) |
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- 2020-03-13 US US17/437,713 patent/US11666390B2/en active Active
- 2020-03-13 CN CN202080019837.4A patent/CN113543714B/zh active Active
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Patent Citations (3)
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JP2008537496A (ja) | 2005-03-07 | 2008-09-18 | パチェコ,ヘクター,オー. | 後湾形成、椎骨形成、椎体生検、またはスクリューの配置のための椎体に進入する改良されたシステムおよび方法 |
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JP2018079304A (ja) | 2016-10-10 | 2018-05-24 | グローバス メディカル インコーポレイティッド | 2d−3d位置合わせの収束を改善するための方法及びシステム |
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EP3939511A2 (en) | 2022-01-19 |
JP2022524607A (ja) | 2022-05-09 |
US11666390B2 (en) | 2023-06-06 |
WO2020185049A3 (ko) | 2020-11-05 |
CN113543714A (zh) | 2021-10-22 |
KR102166149B1 (ko) | 2020-10-15 |
KR20200109641A (ko) | 2020-09-23 |
US20220039875A1 (en) | 2022-02-10 |
JP2023116743A (ja) | 2023-08-22 |
EP3939511A4 (en) | 2022-11-30 |
CN113543714B (zh) | 2024-07-05 |
WO2020185049A2 (ko) | 2020-09-17 |
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