CN104684502B - 包括光学传感器和非光学传感器的导航系统 - Google Patents

包括光学传感器和非光学传感器的导航系统 Download PDF

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Publication number
CN104684502B
CN104684502B CN201380050199.2A CN201380050199A CN104684502B CN 104684502 B CN104684502 B CN 104684502B CN 201380050199 A CN201380050199 A CN 201380050199A CN 104684502 B CN104684502 B CN 104684502B
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Prior art keywords
marker
tracker
navigation system
velocity vector
optical sensor
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Chinese (zh)
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CN104684502A (zh
Inventor
吴春武
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Stryker Corp
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Stryker Corp
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Priority to CN202110822755.XA priority Critical patent/CN113545854B/zh
Priority to CN202411397155.3A priority patent/CN119279782A/zh
Priority to CN201811105300.0A priority patent/CN109171964B/zh
Publication of CN104684502A publication Critical patent/CN104684502A/zh
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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
    • 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
    • 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 diagnostic devices 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
    • A61B5/064—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 markers
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00115—Electrical control of surgical instruments with audible or visual output
    • A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
    • A61B2017/00123—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation and automatic shutdown
    • 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
    • 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
    • A61B2034/2053—Tracking an applied voltage gradient
    • 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
    • A61B2034/2055—Optical tracking systems
    • 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
    • A61B90/08—Accessories or related features not otherwise provided for
    • A61B2090/0818—Redundant systems, e.g. using two independent measuring systems and comparing the signals
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3937—Visible markers
    • A61B2090/3945—Active visible markers, e.g. light emitting diodes
    • 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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/46—Sensing device
    • Y10S901/47—Optical

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
CN201380050199.2A 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统 Active CN104684502B (zh)

Priority Applications (3)

Application Number Priority Date Filing Date Title
CN202110822755.XA CN113545854B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统
CN202411397155.3A CN119279782A (zh) 2012-09-26 2013-09-25 机器人控制的器械的光学和非光学传感器跟踪
CN201811105300.0A CN109171964B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201261705804P 2012-09-26 2012-09-26
US61/705,804 2012-09-26
US14/035,207 US9008757B2 (en) 2012-09-26 2013-09-24 Navigation system including optical and non-optical sensors
US14/035,207 2013-09-24
PCT/US2013/061642 WO2014052428A1 (en) 2012-09-26 2013-09-25 Navigation system including optical and non-optical sensors

Related Child Applications (3)

Application Number Title Priority Date Filing Date
CN201811105300.0A Division CN109171964B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统
CN202411397155.3A Division CN119279782A (zh) 2012-09-26 2013-09-25 机器人控制的器械的光学和非光学传感器跟踪
CN202110822755.XA Division CN113545854B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统

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CN104684502A CN104684502A (zh) 2015-06-03
CN104684502B true CN104684502B (zh) 2018-10-19

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CN201380050199.2A Active CN104684502B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统
CN202110822755.XA Active CN113545854B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统
CN202411397155.3A Pending CN119279782A (zh) 2012-09-26 2013-09-25 机器人控制的器械的光学和非光学传感器跟踪
CN201811105300.0A Active CN109171964B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统

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CN202110822755.XA Active CN113545854B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统
CN202411397155.3A Pending CN119279782A (zh) 2012-09-26 2013-09-25 机器人控制的器械的光学和非光学传感器跟踪
CN201811105300.0A Active CN109171964B (zh) 2012-09-26 2013-09-25 包括光学传感器和非光学传感器的导航系统

Country Status (8)

Country Link
US (7) US9008757B2 (enExample)
EP (2) EP3884900B1 (enExample)
JP (3) JP6370789B2 (enExample)
KR (3) KR102216509B1 (enExample)
CN (4) CN104684502B (enExample)
AU (3) AU2013323646B2 (enExample)
CA (1) CA2883508A1 (enExample)
WO (1) WO2014052428A1 (enExample)

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US11660147B2 (en) 2019-12-31 2023-05-30 Auris Health, Inc. Alignment techniques for percutaneous access
US12414686B2 (en) 2020-03-30 2025-09-16 Auris Health, Inc. Endoscopic anatomical feature tracking

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US20140088410A1 (en) 2014-03-27
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US12144565B2 (en) 2024-11-19
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