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 (https=)
EP (1) EP3383305A1 (https=)
JP (2) JP2019502432A (https=)
CN (1) CN108289714B (https=)
WO (1) WO2017093885A1 (https=)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
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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
EP3836843A4 (en) * 2018-08-13 2022-02-16 Rutgers, the State University of New Jersey ARTIFICIAL VISION SYSTEMS AND METHODS FOR REAL-TIME LOCATION OF NEEDLES IN ULTRASOUND IMAGES
US12053248B2 (en) * 2019-03-12 2024-08-06 B-K Medical Aps Ultrasound-guided transperineal and/or transrectal biopsy
EP4447841B1 (en) * 2021-12-16 2025-10-15 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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JP2002541947A (ja) * 1999-04-15 2002-12-10 ウルトラガイド・リミテッド 医療行為中の医療用侵襲器具の曲がり具合を検出する装置及びその方法
US6695786B2 (en) * 2001-03-16 2004-02-24 U-Systems, Inc. Guide and position monitor for invasive medical instrument
ES2278111T3 (es) 2003-01-27 2007-08-01 Nucletron B.V. Dispositivo para insercion automatica, guiada mediante imagenes, de una aguja hueca alargada para braquiterapia.
WO2005092197A1 (en) * 2004-03-09 2005-10-06 Robarts Research Institute An apparatus and computing device for performing brachytherapy and methods of imaging using the same
JP2009522037A (ja) * 2006-01-09 2009-06-11 バイオスパイラル リミティッド 組織の熱治療システムとその方法
ATE485772T1 (de) * 2006-01-26 2010-11-15 Univ Nanyang Vorrichtung zur motorisierten nadelplatzierung
WO2007095917A2 (de) 2006-02-21 2007-08-30 Rainer Burgkart Justier- und führungssystem für werkzeuge
WO2007106558A2 (en) * 2006-03-14 2007-09-20 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
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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
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US9895135B2 (en) * 2009-05-20 2018-02-20 Analogic Canada Corporation Freehand ultrasound imaging systems and methods providing position quality feedback
CA2770700C (en) 2009-08-26 2018-04-24 William W. Roberts Micromanipulator control arm for therapeutic and imaging ultrasound transducers
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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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JP6426092B2 (ja) * 2012-08-28 2018-11-21 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． トラッキングセットアップと一体化した介入誘導システム

Also Published As

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

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