CA2878706A1 - Mechanical tracking system - Google Patents

Mechanical tracking system Download PDF

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Publication number
CA2878706A1
CA2878706A1 CA2878706A CA2878706A CA2878706A1 CA 2878706 A1 CA2878706 A1 CA 2878706A1 CA 2878706 A CA2878706 A CA 2878706A CA 2878706 A CA2878706 A CA 2878706A CA 2878706 A1 CA2878706 A1 CA 2878706A1
Authority
CA
Canada
Prior art keywords
linkage
tracking system
mechanical tracking
spherical
assembly
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.)
Abandoned
Application number
CA2878706A
Other languages
English (en)
French (fr)
Inventor
Aaron Fenster
Jeffrey Bax
Original Assignee
CENTRE FOR IMAGING TECHNOLOGY COMMERCIALIZATION
University of Western Ontario
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 CENTRE FOR IMAGING TECHNOLOGY COMMERCIALIZATION, University of Western Ontario filed Critical CENTRE FOR IMAGING TECHNOLOGY COMMERCIALIZATION
Publication of CA2878706A1 publication Critical patent/CA2878706A1/en
Abandoned legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • 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
    • A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/032—Transmission computed tomography [CT]
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/0841—Clinical applications involving detecting or locating foreign bodies or organic structures for locating instruments
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0833—Clinical applications involving detecting or locating foreign bodies or organic structures
    • A61B8/085—Clinical applications involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Clinical applications
    • A61B8/0858—Clinical applications involving measuring tissue layers, e.g. skin, interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/48—Diagnostic techniques
    • A61B8/483—Diagnostic techniques involving the acquisition of a 3D volume of data
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • 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
    • A61B2034/2059—Mechanical position encoders
    • 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
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • 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
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4263—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors not mounted on the probe, e.g. mounted on an external reference frame
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • A61B8/466—Displaying means of special interest adapted to display 3D data

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Physics & Mathematics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • General Physics & Mathematics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Pulmonology (AREA)
  • Theoretical Computer Science (AREA)
  • Optics & Photonics (AREA)
  • Robotics (AREA)
  • Vascular Medicine (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Manipulator (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
CA2878706A 2012-07-14 2013-07-15 Mechanical tracking system Abandoned CA2878706A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261671701P 2012-07-14 2012-07-14
US61/671701 2012-07-14
PCT/CA2013/000631 WO2014012163A1 (en) 2012-07-14 2013-07-15 Mechanical tracking system

Publications (1)

Publication Number Publication Date
CA2878706A1 true CA2878706A1 (en) 2014-01-23

Family

ID=49948127

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2878706A Abandoned CA2878706A1 (en) 2012-07-14 2013-07-15 Mechanical tracking system

Country Status (5)

Country Link
US (1) US9726517B2 (https=)
EP (1) EP2872853A4 (https=)
CA (1) CA2878706A1 (https=)
IN (1) IN2015DN01064A (https=)
WO (1) WO2014012163A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112809708A (zh) * 2021-02-26 2021-05-18 共享智能铸造产业创新中心有限公司 一种手柄操作装置及机器人

Families Citing this family (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160346940A1 (en) * 2014-02-07 2016-12-01 Centre For Imaging Technology Commercialization (Cimtec) Modular base link for a counterbalancing arm
CA2984570A1 (en) * 2015-03-31 2016-10-06 Centre For Imaging Technology Commercialization (Cimtec) A counterbalance system and/or a method for counterbalancing a load
CA2984578A1 (en) 2015-03-31 2016-10-06 Centre For Imaging Technology Commercialization (Cimtec) A counterbalancing apparatus for gimbal joints and/or a method for counterbalancing a load on a gimbal joint
CN105662587B (zh) * 2016-04-18 2017-11-14 山东科技大学 一种微创骨科手术机器人
CN107351120B (zh) * 2016-05-10 2023-11-10 尚可 重力负载平衡臂及机械臂
CN106236276B (zh) * 2016-09-28 2019-09-17 微创（上海）医疗机器人有限公司 手术机器人系统
CN106725898B (zh) * 2016-12-14 2020-02-14 西安交通大学医学院第一附属医院 一种用于ct引导下穿刺活检及粒子植入模板定位的装置
RU2746742C1 (ru) * 2017-05-12 2021-04-20 Сайбер Серджери, С.Л. Хирургический робот для ортопедических вмешательств
EP3697581B1 (en) * 2017-10-17 2025-01-08 Aalborg Universitet Exoskeleton with a joint comprising a compact spherical 3-dof mechanism constructed with scissor linkages
CN107981888B (zh) * 2017-12-21 2021-07-13 浙江深博医疗技术有限公司 计算机乳腺扫描自动机械定位系统
CN109342780A (zh) * 2018-11-17 2019-02-15 中国科学院理化技术研究所 探头支撑夹持机构及磁体空间的磁场测量装置
WO2020216425A1 (en) 2019-04-24 2020-10-29 Aalborg Universitet Spherical mechanism constructed with scissors linkages with control means
US20230184606A1 (en) * 2020-04-28 2023-06-15 Xerxes Maximilian Libsch System for substrate detection and mapping using force sensing and magnetic coupling
CN111658003B (zh) * 2020-06-19 2021-08-20 浙江大学 一种基于机械臂的可调压医学超声扫查装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5625576A (en) 1993-10-01 1997-04-29 Massachusetts Institute Of Technology Force reflecting haptic interface
WO2009039659A1 (en) 2007-09-26 2009-04-02 Robarts Research Institute Counterbalance assembly
US8770905B2 (en) * 2008-11-04 2014-07-08 King Fahd University Of Petroleum And Minerals Anthropomorphic force-reflective master arm
US9062989B2 (en) * 2010-12-15 2015-06-23 Nxp B.V. Magnetic field sensor for sensing rotation a reference component about the axis of rotation that is independent of alignment between the axis of rotation and the sensors
WO2013142978A1 (en) 2012-03-28 2013-10-03 University Of Western Ontario Actuator for moving an ultrasound probe

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112809708A (zh) * 2021-02-26 2021-05-18 共享智能铸造产业创新中心有限公司 一种手柄操作装置及机器人

Also Published As

Publication number Publication date
US9726517B2 (en) 2017-08-08
IN2015DN01064A (https=) 2015-06-26
EP2872853A4 (en) 2016-03-09
WO2014012163A1 (en) 2014-01-23
EP2872853A1 (en) 2015-05-20
US20150168179A1 (en) 2015-06-18

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Legal Events

Date Code Title Description
FZDE Discontinued

Effective date: 20190716