CA2565040C - Appareil et methode pour le positionnement et l'orientation d'instruments medicaux - Google Patents

Appareil et methode pour le positionnement et l'orientation d'instruments medicaux Download PDF

Info

Publication number
CA2565040C
CA2565040C CA2565040A CA2565040A CA2565040C CA 2565040 C CA2565040 C CA 2565040C CA 2565040 A CA2565040 A CA 2565040A CA 2565040 A CA2565040 A CA 2565040A CA 2565040 C CA2565040 C CA 2565040C
Authority
CA
Canada
Prior art keywords
instrument
joint
driving means
driven
joints
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CA2565040A
Other languages
English (en)
Other versions
CA2565040A1 (fr
Inventor
Mile Ostojic
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Research Council of Canada
Original Assignee
National Research Council of Canada
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by National Research Council of Canada filed Critical National Research Council of Canada
Priority to CA2565040A priority Critical patent/CA2565040C/fr
Publication of CA2565040A1 publication Critical patent/CA2565040A1/fr
Application granted granted Critical
Publication of CA2565040C publication Critical patent/CA2565040C/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
    • A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
    • 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
    • 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
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3413—Needle locating or guiding means guided by ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B2018/00315—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for treatment of particular body parts
    • A61B2018/00547—Prostate
    • 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
    • A61N2005/1011—Apparatus for permanent insertion of sources

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Pathology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Manipulator (AREA)

Abstract

Cette invention traite d'une méthode et d'un appareil pour le positionnement, l'orientation et l'insertion d'un instrument médical. L'appareil comprend un premier mécanisme pentagonal qui offre deux degrés de liberté, et un deuxième mécanisme pentagonal qui offre trois degrés de liberté de mouvement. Les deux sont alignés le long d'un premier axe pour leur permettre de tenir un élément permettant de manipuler un instrument. L'élément permettant de manipuler un instrument est adapté pour tenir un instrument médical et adapté pour permettre audit instrument d'être déplacé et de pivoter sur son axe. L'élément permettant de manipuler l'instrument offre deux autres degrés de liberté de mouvement. L'appareil offre un total de six degrés de liberté.
CA2565040A 2006-10-20 2006-10-20 Appareil et methode pour le positionnement et l'orientation d'instruments medicaux Expired - Fee Related CA2565040C (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CA2565040A CA2565040C (fr) 2006-10-20 2006-10-20 Appareil et methode pour le positionnement et l'orientation d'instruments medicaux

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CA2565040A CA2565040C (fr) 2006-10-20 2006-10-20 Appareil et methode pour le positionnement et l'orientation d'instruments medicaux

Publications (2)

Publication Number Publication Date
CA2565040A1 CA2565040A1 (fr) 2008-04-20
CA2565040C true CA2565040C (fr) 2014-01-21

Family

ID=39325926

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2565040A Expired - Fee Related CA2565040C (fr) 2006-10-20 2006-10-20 Appareil et methode pour le positionnement et l'orientation d'instruments medicaux

Country Status (1)

Country Link
CA (1) CA2565040C (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
SG2012091609A (en) * 2012-12-11 2014-07-30 Biobot Surgical Pte Ltd An apparatus and method for biopsy and therapy

Also Published As

Publication number Publication date
CA2565040A1 (fr) 2008-04-20

Similar Documents

Publication Publication Date Title
Apuzzo et al. Computed tomographic guidance stereotaxis in the management of intracranial mass lesions
Kwoh et al. A robot with improved absolute positioning accuracy for CT guided stereotactic brain surgery
US5078140A (en) Imaging device - aided robotic stereotaxis system
EP2637571B1 (fr) Robot à centre de mouvement distant pour balayage d'image médicale et ciblage guidé par image
US10206708B2 (en) Device for controlling corporeal structures
US10188470B2 (en) Minimally invasive surgical instrument to provide needle-based therapy
Young Application of robotics to stereotactic neurosurgery
CN1522671A (zh) 机械臂式自动立体定位系统
WO1997000649A1 (fr) Bras articule pour des procedures medicales
WO2017050201A1 (fr) Système de robot médical très peu invasif
WO2021262565A1 (fr) Systèmes et procédés de définition et de modification de la plage de mouvement d'une sonde utilisée dans le traitement d'un patient
CN115551437B (zh) 机器人臂与外科手术探针的集成
Trejos et al. Robot‐assisted minimally invasive lung brachytherapy
US8221436B2 (en) Apparatus and method for positioning and orientation of medical instruments
CA2565040C (fr) Appareil et methode pour le positionnement et l'orientation d'instruments medicaux
WO2004022162A1 (fr) Procede et dispositif pour localiser une cible de traitement medical
EP2245987B1 (fr) Dispositif de fixation
US20190000572A1 (en) Robotic assisted prostate surgery device
Trejos et al. A device for robot-assisted minimally-invasive lung brachytherapy
Kronreif et al. Robotic System for Image Guided Therapie-B-RobII
Kheng et al. A HIFU robot for transperineal treatment of prostate cancer
Liang et al. Development and Experimental Testing of a Robot-Assisted Positioning System for Brachytherapy
Davies et al. Robotic surgery at imperial college london
CN117562664A (zh) Mri和ct环境兼容的神经外科手术机器人
Stoianovici et al. Fully automated MRI-guided robotics for prostate brachytherapy

Legal Events

Date Code Title Description
EEER Examination request
MKLA Lapsed

Effective date: 20201020