CN105517489B - 导航系统 - Google Patents

导航系统 Download PDF

Info

Publication number
CN105517489B
CN105517489B CN201480048813.6A CN201480048813A CN105517489B CN 105517489 B CN105517489 B CN 105517489B CN 201480048813 A CN201480048813 A CN 201480048813A CN 105517489 B CN105517489 B CN 105517489B
Authority
CN
China
Prior art keywords
shape
interventional
during
stored
navigation
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
CN201480048813.6A
Other languages
English (en)
Chinese (zh)
Other versions
CN105517489A (zh
Inventor
M·格拉斯
N·N·卡亚
S·普雷弗尔哈尔
M·费斯特格
E·S·汉西斯
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.)
Koninklijke Philips NV
Original Assignee
Koninklijke Philips NV
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 Koninklijke Philips NV filed Critical Koninklijke Philips NV
Publication of CN105517489A publication Critical patent/CN105517489A/zh
Application granted granted Critical
Publication of CN105517489B publication Critical patent/CN105517489B/zh
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • 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
    • A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
    • A61B5/066—Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
    • 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
    • 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
    • A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
    • 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
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • 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
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy

Landscapes

  • 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)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Robotics (AREA)
  • Gynecology & Obstetrics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
CN201480048813.6A 2013-09-06 2014-08-28 导航系统 Expired - Fee Related CN105517489B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP13183285 2013-09-06
EP13183285.9 2013-09-06
PCT/EP2014/068219 WO2015032676A1 (en) 2013-09-06 2014-08-28 Navigation system

Publications (2)

Publication Number Publication Date
CN105517489A CN105517489A (zh) 2016-04-20
CN105517489B true CN105517489B (zh) 2020-06-05

Family

ID=49111056

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201480048813.6A Expired - Fee Related CN105517489B (zh) 2013-09-06 2014-08-28 导航系统

Country Status (5)

Country Link
US (1) US11395702B2 (https=)
EP (1) EP3041409A1 (https=)
JP (1) JP6480938B2 (https=)
CN (1) CN105517489B (https=)
WO (1) WO2015032676A1 (https=)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3224804B1 (en) * 2014-11-27 2021-02-24 Koninklijke Philips N.V. Apparatus for determining positions of an interventional instrument in a projection image
CN108024698B (zh) 2015-08-14 2020-09-15 直观外科手术操作公司 用于图像引导外科手术的配准系统和方法
WO2017030915A1 (en) 2015-08-14 2017-02-23 Intuitive Surgical Operations, Inc. Systems and methods of registration for image-guided surgery
WO2017103046A2 (en) 2015-12-18 2017-06-22 Koninklijke Philips N.V. Medical instrument tracking
EP3478207B1 (en) 2016-06-30 2023-08-09 Koninklijke Philips N.V. Medical navigation system employing optical position sensing
WO2018116572A1 (ja) * 2016-12-22 2018-06-28 オリンパス株式会社 内視鏡挿入形状観測装置
CN110198755B (zh) * 2017-03-29 2021-07-23 泰尔茂株式会社 导丝
FR3073135B1 (fr) * 2017-11-09 2019-11-15 Quantum Surgical Dispositif robotise pour une intervention medicale mini-invasive sur des tissus mous
JP2021508586A (ja) * 2018-01-02 2021-03-11 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． Ｏｓｓインターベンショナルデバイスのアニメーション位置表示
US20240366308A1 (en) * 2023-05-01 2024-11-07 Siemens Medical Solutions Usa, Inc. View shuttling in robotic steering of a catheter
DE102024204912A1 (de) 2024-05-28 2025-12-04 Siemens Healthineers Ag Verfahren und Vorrichtung zur Steuerung der Bewegung eines länglichen medizinischen Instruments innerhalb eines Körpers

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011104056A (ja) * 2009-11-16 2011-06-02 Toshiba Corp Ｘ線診断装置
WO2012168855A1 (en) * 2011-06-10 2012-12-13 Koninklijke Philips Electronics N.V. Optical fiber sensing for determining real time changes in applicator geometry for interventional therapy

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6415167B1 (en) 2000-05-02 2002-07-02 Instrumentation Metrics, Inc. Fiber optic probe placement guide
US7386339B2 (en) 1999-05-18 2008-06-10 Mediguide Ltd. Medical imaging and navigation system
US7343195B2 (en) * 1999-05-18 2008-03-11 Mediguide Ltd. Method and apparatus for real time quantitative three-dimensional image reconstruction of a moving organ and intra-body navigation
US6679836B2 (en) 2002-06-21 2004-01-20 Scimed Life Systems, Inc. Universal programmable guide catheter
US10258285B2 (en) * 2004-05-28 2019-04-16 St. Jude Medical, Atrial Fibrillation Division, Inc. Robotic surgical system and method for automated creation of ablation lesions
US7772541B2 (en) 2004-07-16 2010-08-10 Luna Innnovations Incorporated Fiber optic position and/or shape sensing based on rayleigh scatter
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
JP4153963B2 (ja) * 2006-06-12 2008-09-24 オリンパスメディカルシステムズ株式会社 内視鏡挿入形状検出装置
US7538883B2 (en) 2006-06-16 2009-05-26 Luna Innovations Incorporated Distributed strain and temperature discrimination in polarization maintaining fiber
US20080183074A1 (en) * 2007-01-25 2008-07-31 Warsaw Orthopedic, Inc. Method and apparatus for coordinated display of anatomical and neuromonitoring information
WO2008115375A1 (en) 2007-03-16 2008-09-25 Luna Innovations Incorporated Fiber optic position and/or shape sensing based on rayleigh scatter
EP2628460B1 (en) 2007-08-14 2021-08-11 Koninklijke Philips N.V. Robotic instrument systems utilizing optical fiber sensors
JP5229873B2 (ja) * 2008-01-31 2013-07-03 東芝メディカルシステムズ株式会社 画像表示装置
US7720322B2 (en) 2008-06-30 2010-05-18 Intuitive Surgical, Inc. Fiber optic shape sensor
US20100030063A1 (en) 2008-07-31 2010-02-04 Medtronic, Inc. System and method for tracking an instrument
WO2010065786A1 (en) 2008-12-03 2010-06-10 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method for determining the positioin of the tip of a medical catheter within the body of a patient
JP5433253B2 (ja) 2009-02-24 2014-03-05 株式会社東芝 Ｘ線診断装置
US8337397B2 (en) 2009-03-26 2012-12-25 Intuitive Surgical Operations, Inc. Method and system for providing visual guidance to an operator for steering a tip of an endoscopic device toward one or more landmarks in a patient
JP5661264B2 (ja) 2009-09-03 2015-01-28 株式会社日立メディコ Ｘ線ナビゲーション装置
US8773650B2 (en) 2009-09-18 2014-07-08 Intuitive Surgical Operations, Inc. Optical position and/or shape sensing
US10610085B2 (en) * 2009-10-23 2020-04-07 Koninklijke Philips N.V. Optical sensing-enabled interventional instruments for rapid distributed measurements of biophysical parameters
EP2615993B1 (en) * 2010-09-15 2015-03-18 Koninklijke Philips N.V. Robotic control of an endoscope from blood vessel tree images
JP6195795B2 (ja) 2011-01-27 2017-09-13 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 形状検出装置固有の情報の保存及び検索
WO2012114224A1 (en) * 2011-02-24 2012-08-30 Koninklijke Philips Electronics N.V. Non-rigid-body morphing of vessel image using intravascular device shape
DE102011082444A1 (de) 2011-09-09 2012-12-20 Siemens Aktiengesellschaft Verfahren und Vorrichtung zur bildunterstützten Navigation eines endoskopischen Instruments
WO2013057620A1 (en) * 2011-10-20 2013-04-25 Koninklijke Philips Electronics N.V. Shape sensing assisted medical procedure
WO2013061225A1 (en) * 2011-10-26 2013-05-02 Koninklijke Philips Electronics N.V. Endoscopic registration of vessel tree images
JP6334517B2 (ja) * 2012-05-14 2018-05-30 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 形状センシングを使用した変形補償のためのシステム及び方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011104056A (ja) * 2009-11-16 2011-06-02 Toshiba Corp Ｘ線診断装置
WO2012168855A1 (en) * 2011-06-10 2012-12-13 Koninklijke Philips Electronics N.V. Optical fiber sensing for determining real time changes in applicator geometry for interventional therapy

Also Published As

Publication number Publication date
JP6480938B2 (ja) 2019-03-13
WO2015032676A1 (en) 2015-03-12
CN105517489A (zh) 2016-04-20
JP2016532513A (ja) 2016-10-20
US11395702B2 (en) 2022-07-26
US20160206381A1 (en) 2016-07-21
EP3041409A1 (en) 2016-07-13

Similar Documents

Publication Publication Date Title
CN105517489B (zh) 导航系统
Abi-Jaoudeh et al. Multimodality image fusion–guided procedures: technique, accuracy, and applications
CN102395327B (zh) 用于经颈静脉肝内门体静脉分流(tips)程序的方法、系统以及设备
US20210153955A1 (en) Systems and methods for providing proximity awareness to pleural boundaries, vascular structures, and other critical intra-thoracic structures during electromagnetic navigation bronchoscopy
JP6492188B2 (ja) 追跡ベース３ｄモデルのエンハンスメント
EP3003194B1 (en) Assisting apparatus for assisting a user during an interventional procedure
JP5285270B2 (ja) 自動ガイドワイヤ操作システム
CN106062822B (zh) 用于针插入的动态规划方法
JP2020503134A (ja) 形状検知デバイスを使用した医療ナビゲーションシステム及びその動作方法
CN105873538B (zh) 用于将成像设备与跟踪设备进行配准的配准系统和方法
AU2016213896B2 (en) Marker placement
JP7079771B2 (ja) 軟性点特徴部を使用して呼吸周期を予測し、端部位置合わせを改善する方法
JP6034374B2 (ja) 回転位置決定装置
US10806520B2 (en) Imaging apparatus for imaging a first object within a second object
CN108366834A (zh) 导航辅助系统
US20100261999A1 (en) System and method to determine the position of a medical instrument
US12347059B2 (en) Providing a corrected dataset
CN115317005B (zh) 用于提供经校正的数据组的方法和系统
JP6751145B2 (ja) ナビゲーション支援システム
US20250359942A1 (en) System for moving a medical object, method for providing a control specification, and computer program product
CN115317005A (zh) 用于提供经校正的数据组的方法和系统
JP2025516468A (ja) 外科的処置を支援するためのシステム及び方法
WO2016091766A1 (en) Supporting a user in performing an embolization procedure

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20200605

Termination date: 20210828