CN108289714B - 用于无网格经会阴前列腺介入的系统和工作流程 - Google Patents

用于无网格经会阴前列腺介入的系统和工作流程 Download PDF

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Publication number
CN108289714B
CN108289714B CN201680070940.5A CN201680070940A CN108289714B CN 108289714 B CN108289714 B CN 108289714B CN 201680070940 A CN201680070940 A CN 201680070940A CN 108289714 B CN108289714 B CN 108289714B
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China
Prior art keywords
prostate
ultrasound
instrument
prostate intervention
intervention
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Expired - Fee Related
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CN201680070940.5A
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English (en)
Chinese (zh)
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CN108289714A (zh
Inventor
S·巴拉特
A·波波维奇
A·K·贾殷
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Koninklijke Philips NV
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Koninklijke Philips NV
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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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • 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
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B2090/3782—Surgical systems with images on a monitor during operation using ultrasound transmitter or receiver in catheter or minimal invasive instrument
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • 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
    • 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

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • Robotics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Surgical Instruments (AREA)
  • Radiation-Therapy Devices (AREA)
CN201680070940.5A 2015-12-04 2016-11-29 用于无网格经会阴前列腺介入的系统和工作流程 Expired - Fee Related CN108289714B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201562263160P 2015-12-04 2015-12-04
US62/263,160 2015-12-04
PCT/IB2016/057174 WO2017093885A1 (en) 2015-12-04 2016-11-29 System and workflow for grid-less transperineal prostate interventions

Publications (2)

Publication Number Publication Date
CN108289714A CN108289714A (zh) 2018-07-17
CN108289714B true CN108289714B (zh) 2021-06-18

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201680070940.5A Expired - Fee Related CN108289714B (zh) 2015-12-04 2016-11-29 用于无网格经会阴前列腺介入的系统和工作流程

Country Status (5)

Country Link
US (1) US11096745B2 (enExample)
EP (1) EP3383305A1 (enExample)
JP (2) JP2019502432A (enExample)
CN (1) CN108289714B (enExample)
WO (1) WO2017093885A1 (enExample)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3492018A1 (en) * 2017-11-30 2019-06-05 Koninklijke Philips N.V. Device and method for providing information about a biopsy taking process and biopsy system
US11638569B2 (en) 2018-06-08 2023-05-02 Rutgers, The State University Of New Jersey Computer vision systems and methods for real-time needle detection, enhancement and localization in ultrasound
US11426142B2 (en) * 2018-08-13 2022-08-30 Rutgers, The State University Of New Jersey Computer vision systems and methods for real-time localization of needles in ultrasound images
WO2020183226A1 (en) * 2019-03-12 2020-09-17 B-K Medical Aps Ultrasound-guided transperineal and/or transrectal biopsy
WO2023110598A1 (en) * 2021-12-16 2023-06-22 Koninklijke Philips N.V. System and method for estimating and visualizing trajectories of robotically controlled interventional device
EP4197476A1 (en) * 2021-12-16 2023-06-21 Koninklijke Philips N.V. System and method for estimating and visualizing trajectories of robotically controlled interventional device
TWI798040B (zh) * 2022-03-30 2023-04-01 國立成功大學 針具引導裝置
CN115211963B (zh) * 2022-07-20 2024-12-27 上海介航机器人有限公司 轨迹显示方法、手术机器人和计算机可读存储介质
CN118415727B (zh) * 2024-07-05 2024-09-27 杭州唯精医疗机器人有限公司 穿刺针进针控制方法、控制器和手术机器人

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IL107523A (en) * 1993-11-07 2000-01-31 Ultraguide Ltd Articulated needle guide for ultrasound imaging and method of using same
US6626832B1 (en) * 1999-04-15 2003-09-30 Ultraguide Ltd. Apparatus and method for detecting the bending of medical invasive tools in medical interventions
US6695786B2 (en) * 2001-03-16 2004-02-24 U-Systems, Inc. Guide and position monitor for invasive medical instrument
ATE347397T1 (de) 2003-01-27 2006-12-15 Nucletron Bv Einrichtung zur automatischen bildgesteuerten einführung einer langen hohlnadel zur brachytherapie
CA2559053C (en) * 2004-03-09 2015-11-03 Robarts Research Institute An apparatus and computing device for performing brachytherapy and methods of imaging using the same
CN101578073A (zh) * 2006-01-09 2009-11-11 拜奥斯皮罗有限公司 用于热处理组织的系统和方法
EP1983899B1 (en) * 2006-01-26 2010-10-27 Nanyang Technological University Apparatus for motorised placement of needle
WO2007095917A2 (de) 2006-02-21 2007-08-30 Rainer Burgkart Justier- und führungssystem für werkzeuge
CA2646363C (en) 2006-03-14 2015-07-21 The Johns Hopkins University Apparatus for insertion of a medical device within a body during a medical imaging process and devices and methods related thereto
WO2007147232A1 (en) * 2006-06-19 2007-12-27 Robarts Research Institute Apparatus for guiding a medical tool
US8374673B2 (en) * 2007-01-25 2013-02-12 Warsaw Orthopedic, Inc. Integrated surgical navigational and neuromonitoring system having automated surgical assistance and control
ES2398869T3 (es) 2009-04-01 2013-03-22 Nucletron Operations B.V. Componentes y ensamblaje para realizar tratamiento de braquiterapia de tejido tumoral en un cuerpo humano o animal
US9521994B2 (en) * 2009-05-11 2016-12-20 Siemens Healthcare Gmbh System and method for image guided prostate cancer needle biopsy
US9895135B2 (en) * 2009-05-20 2018-02-20 Analogic Canada Corporation Freehand ultrasound imaging systems and methods providing position quality feedback
JP5863654B2 (ja) 2009-08-26 2016-02-16 リージェンツ オブ ザ ユニバーシティー オブ ミシガン 治療および画像処理超音波変換器用のマイクロマニピュレータ制御アーム
US20110071380A1 (en) * 2009-09-09 2011-03-24 Goldenberg Andrew A Manual Instrumented Medical Tool System
US9282946B2 (en) * 2010-05-03 2016-03-15 Koninklijke Philips N.V. Ultrasonic tracking of ultrasound transducer(s) aboard an interventional tool
JP6021484B2 (ja) * 2011-08-04 2016-11-09 オリンパス株式会社 医療用マニピュレータ
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WO2013155156A1 (en) * 2012-04-10 2013-10-17 The Johns Hopkins University Cohesive robot-ultrasound probe for prostate biopsy
FR2991160B1 (fr) * 2012-06-01 2015-05-15 Koelis Dispositif de guidage d’une sonde d’imagerie medicale, sonde d’imagerie medicale adaptee a etre guidee par un tel dispositif et procede de guidage d’une telle sonde.
WO2014033583A1 (en) * 2012-08-28 2014-03-06 Koninklijke Philips N.V. Interventional guidance system with integrated tracking setup

Also Published As

Publication number Publication date
WO2017093885A1 (en) 2017-06-08
JP2019502432A (ja) 2019-01-31
US20180325602A1 (en) 2018-11-15
CN108289714A (zh) 2018-07-17
EP3383305A1 (en) 2018-10-10
US11096745B2 (en) 2021-08-24
JP2022058793A (ja) 2022-04-12

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