CN108135662B - 用于相对于医学图像对工具进行导航的荧光导航系统 - Google Patents

用于相对于医学图像对工具进行导航的荧光导航系统 Download PDF

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Publication number
CN108135662B
CN108135662B CN201680059932.0A CN201680059932A CN108135662B CN 108135662 B CN108135662 B CN 108135662B CN 201680059932 A CN201680059932 A CN 201680059932A CN 108135662 B CN108135662 B CN 108135662B
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China
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base
tracker
registration
bone
relative
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Expired - Fee Related
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Chinese (zh)
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CN108135662A (zh
Inventor
劳伦斯·范贝克
大卫·阿曼德
阿诺德·皮埃尔
埃尔韦·科莱
埃利·福尼尔
史蒂芬·拉瓦莱
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Ecential Robotics SAS
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Surgivisio
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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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/02—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors
    • A61B17/025—Joint distractors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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 or setting implements
    • 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, e.g. 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
    • 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
    • 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
    • A61B90/90—Identification means for patients or instruments, e.g. tags
    • A61B90/94—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text
    • A61B90/96—Identification means for patients or instruments, e.g. tags coded with symbols, e.g. text using barcodes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00681—Aspects not otherwise provided for
    • A61B2017/00725—Calibration or performance testing
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/00902—Material properties transparent or translucent
    • A61B2017/00915—Material properties transparent or translucent for radioactive radiation
    • A61B2017/0092—Material properties transparent or translucent for radioactive radiation for X-rays
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/02—Surgical instruments, devices or methods for holding wounds open, e.g. retractors; Tractors
    • A61B17/025—Joint distractors
    • A61B2017/0256—Joint distractors for the spine
    • 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
    • A61B2034/2055—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
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3966—Radiopaque markers visible in an X-ray image
    • 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
    • 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
    • A61B2090/3991—Markers, e.g. radio-opaque or breast lesions markers having specific anchoring means to fixate the marker to the tissue, e.g. hooks
    • 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
    • A61B6/12—Arrangements for detecting or locating foreign bodies
    • 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
    • A61B6/48—Diagnostic techniques
    • A61B6/486—Diagnostic techniques involving generating temporal series of image data
    • A61B6/487—Diagnostic techniques involving generating temporal series of image data involving fluoroscopy
    • 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
    • A61B6/58—Testing, adjusting or calibrating thereof
    • A61B6/582—Calibration
    • A61B6/583—Calibration using calibration phantoms
    • A61B6/584—Calibration using calibration phantoms determining position of components of the apparatus or device using images of the phantom

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Neurology (AREA)
  • Pathology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Robotics (AREA)
  • Surgical Instruments (AREA)
  • Prostheses (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Image Analysis (AREA)
CN201680059932.0A 2015-10-14 2016-10-14 用于相对于医学图像对工具进行导航的荧光导航系统 Expired - Fee Related CN108135662B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP15306634.5 2015-10-14
EP15306634 2015-10-14
PCT/EP2016/074715 WO2017064254A1 (en) 2015-10-14 2016-10-14 Fluoro-navigation system for navigating a tool relative to a medical image

Publications (2)

Publication Number Publication Date
CN108135662A CN108135662A (zh) 2018-06-08
CN108135662B true CN108135662B (zh) 2022-02-11

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CN201680059932.0A Expired - Fee Related CN108135662B (zh) 2015-10-14 2016-10-14 用于相对于医学图像对工具进行导航的荧光导航系统

Country Status (5)

Country Link
US (1) US11253322B2 (enExample)
EP (1) EP3361977B1 (enExample)
JP (1) JP2018538019A (enExample)
CN (1) CN108135662B (enExample)
WO (1) WO2017064254A1 (enExample)

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CN107595389A (zh) * 2017-10-18 2018-01-19 廖燚 一种用于骨科手术的示踪器及其连接结构
AU2019208033A1 (en) * 2018-01-12 2020-09-03 Capstone Surgical Technologies, Llc Surgical sensor anchor system
CN109044539B (zh) * 2018-08-24 2021-02-05 真健康（北京）医疗科技有限公司 一种用于红外导航的体表定位方法
WO2020072335A1 (en) * 2018-10-04 2020-04-09 Smith & Nephew, Inc. Dual-position tracking hardware mount for surgical navigation
EP3657391B1 (en) * 2018-11-21 2023-07-26 Siemens Healthcare GmbH Processing a medical image
US11589772B2 (en) * 2019-05-23 2023-02-28 Biosense Webster (Israel) Ltd. Probe with radiopaque tag
EP3821843A1 (en) 2019-11-12 2021-05-19 Surgivisio Surgical robotic system
WO2021116094A1 (en) * 2019-12-09 2021-06-17 Deutsches Krebsforschungszentrum A kit for a fiducial marker-based registration of preinterventional image data to an intra-interventional scene
EP3868325A1 (en) 2020-02-21 2021-08-25 Surgivisio Imaging kit for 2d or 3d images registration
EP3888563A1 (en) * 2020-03-31 2021-10-06 Ecential Robotics Method and system for generating images for a fluoroscopy-based navigation system
JP7716073B2 (ja) * 2020-07-16 2025-07-31 イェン ジ 画像測定とレジストレーション方法
US11992941B2 (en) 2020-12-11 2024-05-28 Depuy Ireland Unlimited Company High accuracy molded navigation arrays, systems, and methods
EP4169473A1 (en) * 2021-10-25 2023-04-26 Erbe Vision GmbH Apparatus and method for registering live and scan images
EP4215116A1 (en) * 2022-01-20 2023-07-26 Ecential Robotics Device for an x-ray imaging system
US12290324B2 (en) * 2022-01-25 2025-05-06 Intellijoint Surgical Inc. Tracker mounting apparatus with kinematic interfaces
EP4230172A1 (en) 2022-02-17 2023-08-23 Ecential Robotics Surgical robotic system for cementoplasty
EP4252695A1 (en) * 2022-03-29 2023-10-04 Ecential Robotics Method for registering a 3d medical image with a registration phantom
CN114601561A (zh) * 2022-05-12 2022-06-10 杭州键嘉机器人有限公司 一种被动标识点组件的快换装置
US12465432B2 (en) * 2023-07-26 2025-11-11 Depuy Ireland Unlimited Company Play-free fast locking navigation tracker connection
CN119970256A (zh) * 2023-11-09 2025-05-13 北京歌锐科技有限公司 一种标定设备、标定方法及标定装置
CN119097418B (zh) * 2024-03-12 2025-06-03 雅客智慧（北京）科技有限公司 传感器组件、定位装置及虚拟影像展示方法

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FR2941364B1 (fr) * 2009-01-26 2011-02-25 Univ Joseph Fourier Appareil de fixation d'un referentiel optique sur une personne
CN102933163A (zh) * 2010-04-14 2013-02-13 史密夫和内修有限公司 用于基于患者的计算机辅助手术程序的系统和方法
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Also Published As

Publication number Publication date
EP3361977B1 (en) 2020-01-01
US20180296278A1 (en) 2018-10-18
CN108135662A (zh) 2018-06-08
US11253322B2 (en) 2022-02-22
EP3361977A1 (en) 2018-08-22
WO2017064254A1 (en) 2017-04-20
JP2018538019A (ja) 2018-12-27

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