CN113905682B - 用于在x射线设备或超声设备环境中瞄准和对准治疗工具的系统和方法 - Google Patents

用于在x射线设备或超声设备环境中瞄准和对准治疗工具的系统和方法 Download PDF

Info

Publication number
CN113905682B
CN113905682B CN202080038693.7A CN202080038693A CN113905682B CN 113905682 B CN113905682 B CN 113905682B CN 202080038693 A CN202080038693 A CN 202080038693A CN 113905682 B CN113905682 B CN 113905682B
Authority
CN
China
Prior art keywords
treatment tool
orientation
relative
camera
ray
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.)
Active
Application number
CN202080038693.7A
Other languages
English (en)
Chinese (zh)
Other versions
CN113905682A (zh
Inventor
龙·艾金斯基
阿里·哈纳内尔
盖伊·梅丹
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.)
Fus Mobile Inc
Original Assignee
Fus Mobile Inc
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 Fus Mobile Inc filed Critical Fus Mobile Inc
Priority to CN202411841887.7A priority Critical patent/CN119770171A/zh
Publication of CN113905682A publication Critical patent/CN113905682A/zh
Application granted granted Critical
Publication of CN113905682B publication Critical patent/CN113905682B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/32—Surgical cutting instruments
    • A61B17/320068—Surgical cutting instruments using mechanical vibrations, e.g. ultrasonic
    • 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
    • A61B34/25—User interfaces for surgical 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • 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
    • 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
    • A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
    • A61N7/00—Ultrasound therapy
    • A61N7/02—Localised ultrasound hyperthermia
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • 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
    • 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
    • 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
    • A61B2034/2057—Details of tracking cameras
    • 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
    • A61B2034/2063—Acoustic tracking systems, e.g. using 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • 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
    • A61B2034/2068—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis using pointers, e.g. pointers having reference marks for determining coordinates of body points
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
    • 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
    • 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
    • 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
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10116—X-ray image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10132—Ultrasound image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Gynecology & Obstetrics (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Human Computer Interaction (AREA)
  • Dentistry (AREA)
  • Mechanical Engineering (AREA)
  • Apparatus For Radiation Diagnosis (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Surgical Instruments (AREA)
CN202080038693.7A 2019-03-25 2020-03-25 用于在x射线设备或超声设备环境中瞄准和对准治疗工具的系统和方法 Active CN113905682B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202411841887.7A CN119770171A (zh) 2019-03-25 2020-03-25 X射线设备或超声设备环境中对准治疗工具的系统和方法

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201962823020P 2019-03-25 2019-03-25
US62/823,020 2019-03-25
US201962934002P 2019-11-12 2019-11-12
US62/934,002 2019-11-12
PCT/IL2020/050355 WO2020194302A1 (en) 2019-03-25 2020-03-25 Systems and methods for aiming and aligning of a treatment tool within an x-ray device or an ultrasound device environment

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN202411841887.7A Division CN119770171A (zh) 2019-03-25 2020-03-25 X射线设备或超声设备环境中对准治疗工具的系统和方法

Publications (2)

Publication Number Publication Date
CN113905682A CN113905682A (zh) 2022-01-07
CN113905682B true CN113905682B (zh) 2024-12-24

Family

ID=72610281

Family Applications (2)

Application Number Title Priority Date Filing Date
CN202080038693.7A Active CN113905682B (zh) 2019-03-25 2020-03-25 用于在x射线设备或超声设备环境中瞄准和对准治疗工具的系统和方法
CN202411841887.7A Pending CN119770171A (zh) 2019-03-25 2020-03-25 X射线设备或超声设备环境中对准治疗工具的系统和方法

Family Applications After (1)

Application Number Title Priority Date Filing Date
CN202411841887.7A Pending CN119770171A (zh) 2019-03-25 2020-03-25 X射线设备或超声设备环境中对准治疗工具的系统和方法

Country Status (8)

Country Link
US (2) US12446967B2 (https=)
EP (2) EP4714391A2 (https=)
JP (2) JP7538812B2 (https=)
KR (2) KR102874348B1 (https=)
CN (2) CN113905682B (https=)
CA (1) CA3131167A1 (https=)
IL (2) IL286650B2 (https=)
WO (1) WO2020194302A1 (https=)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113905682B (zh) 2019-03-25 2024-12-24 福斯移动有限公司 用于在x射线设备或超声设备环境中瞄准和对准治疗工具的系统和方法
US11871998B2 (en) 2019-12-06 2024-01-16 Stryker European Operations Limited Gravity based patient image orientation detection
WO2022125833A1 (en) * 2020-12-10 2022-06-16 The Johns Hopkins University Video-guided placement of surgical instrumentation
EP4351463A1 (en) * 2021-06-08 2024-04-17 Stryker European Operations Limited Surgical tracking system for tracking an instrument with respect to a reference body
JP2025522447A (ja) * 2022-06-13 2025-07-15 ストライカー・コーポレイション 外科的処置中の手持ち式手術用ツールの軌道案内
WO2024125773A1 (en) * 2022-12-13 2024-06-20 Stryker European Operations Limited Wide angle navigation system

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108601629A (zh) * 2015-12-14 2018-09-28 纽文思公司 外科手术期间减少辐射暴露的3d可视化
WO2019012520A1 (en) * 2017-07-08 2019-01-17 Vuze Medical Ltd. APPARATUS AND METHODS FOR USE WITH IMAGE-GUIDED SKELETAL PROCEDURES

Family Cites Families (38)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6405072B1 (en) 1991-01-28 2002-06-11 Sherwood Services Ag Apparatus and method for determining a location of an anatomical target with reference to a medical apparatus
US6856826B2 (en) 2000-04-28 2005-02-15 Ge Medical Systems Global Technology Company, Llc Fluoroscopic tracking and visualization system
CA2334495A1 (en) 2001-02-06 2002-08-06 Surgical Navigation Specialists, Inc. Computer-aided positioning method and system
DE10206193C1 (de) * 2002-02-14 2003-07-03 Siemens Ag Vorrichtung und Verfahren zur Ausrichtung eines Röntgengerätes und eines Therapiegerätes relativ zueinander
US6947786B2 (en) * 2002-02-28 2005-09-20 Surgical Navigation Technologies, Inc. Method and apparatus for perspective inversion
AU2003282320A1 (en) 2002-12-11 2004-06-30 Koninklijke Philips Electronics N.V. C-arm x-ray apparatus having means of calibration
JP4479503B2 (ja) 2004-12-28 2010-06-09 株式会社島津製作所 断層撮影装置
RU2492884C2 (ru) 2007-11-15 2013-09-20 Конинклейке Филипс Электроникс, Н.В. Способ и устройство для отслеживания положения терапевтического ультразвукового преобразователя
JP5417609B2 (ja) 2008-03-04 2014-02-19 株式会社日立メディコ 医用画像診断装置
EP2119397B1 (de) 2008-05-15 2013-12-18 Brainlab AG Bestimmung einer Kalibrier-Information für ein Röntgengerät
US9895135B2 (en) 2009-05-20 2018-02-20 Analogic Canada Corporation Freehand ultrasound imaging systems and methods providing position quality feedback
JP2012196327A (ja) 2011-03-22 2012-10-18 Shimadzu Corp 軸合わせ方法およびｘ線撮影装置
US9439623B2 (en) * 2012-05-22 2016-09-13 Covidien Lp Surgical planning system and navigation system
US9498182B2 (en) 2012-05-22 2016-11-22 Covidien Lp Systems and methods for planning and navigation
EP2769689B8 (en) 2013-02-25 2018-06-27 Stryker European Holdings I, LLC Computer-implemented technique for calculating a position of a surgical device
JP6282934B2 (ja) 2013-06-11 2018-02-21 キヤノンメディカルシステムズ株式会社 超音波診断装置及び医用画像診断装置
US9622720B2 (en) * 2013-11-27 2017-04-18 Clear Guide Medical, Inc. Ultrasound system with stereo image guidance or tracking
EP3079622B1 (en) 2013-12-10 2017-08-02 Koninklijke Philips N.V. Radiation-free registration of an optical shape sensing system to an imaging system
FR3028039B1 (fr) 2014-11-05 2016-12-30 Univ Joseph Fourier Systeme d'imagerie radiographique et procede de positionnement d'un tel systeme
US9436993B1 (en) * 2015-04-17 2016-09-06 Clear Guide Medical, Inc System and method for fused image based navigation with late marker placement
CN108290053B (zh) 2015-08-10 2020-11-13 福斯移动有限公司 图像引导的聚焦超声治疗设备和瞄准装置
CN108135661B (zh) * 2015-10-14 2021-03-30 苏尔吉维索公司 模块化荧光导航仪器
JP6906239B2 (ja) 2015-12-28 2021-07-21 ザクト ロボティクス リミテッド 調節可能レジストレーションフレーム
JP2017131433A (ja) 2016-01-28 2017-08-03 ゼネラル・エレクトリック・カンパニイ 医用画像表示装置、その制御プログラム及び医用画像表示システム
US11596369B2 (en) * 2016-05-03 2023-03-07 Daegu Gyeongbuk Institute Of Science And Technology Navigation system for vascular intervention and method for generating virtual x-ray image
WO2018049196A1 (en) 2016-09-09 2018-03-15 GYS Tech, LLC d/b/a Cardan Robotics Methods and systems for display of patient data in computer-assisted surgery
AU2017356228B2 (en) 2016-11-14 2022-12-01 Gynesonics, Inc. Methods and systems for real-time planning and monitoring of ablation needle deployment in tissue
DE102016223841A1 (de) * 2016-11-30 2018-05-30 Siemens Healthcare Gmbh Berechnen eines Kalibrierungsparameters eines Roboterwerkzeugs
DE102016225613A1 (de) * 2016-12-20 2018-06-21 Kuka Roboter Gmbh Verfahren zum Kalibrieren eines Manipulators eines diagnostischen und/oder therapeutischen Manipulatorsystems
US10716682B2 (en) * 2017-07-19 2020-07-21 Acumed Llc Orthopedic alignment guide
JP7277967B2 (ja) 2018-01-08 2023-05-19 リヴァンナ メディカル、インク． 超音波画像データの三次元撮像およびモデリング
US11348257B2 (en) * 2018-01-29 2022-05-31 Philipp K. Lang Augmented reality guidance for orthopedic and other surgical procedures
AU2019265531A1 (en) 2018-05-07 2020-10-08 Hologic, Inc. Breast ultrasound workflow application
US20200037998A1 (en) 2018-08-03 2020-02-06 Butterfly Network, Inc. Methods and apparatuses for guiding collection of ultrasound data using motion and/or orientation data
JP2020044045A (ja) 2018-09-18 2020-03-26 オリンパス株式会社 超音波観測装置、超音波観測装置の作動方法および超音波観測装置の作動プログラム
US11382701B2 (en) * 2018-10-17 2022-07-12 Envizion Medical Ltd. Insertion device positioning guidance system and method
CN113905682B (zh) 2019-03-25 2024-12-24 福斯移动有限公司 用于在x射线设备或超声设备环境中瞄准和对准治疗工具的系统和方法
CN212281375U (zh) 2020-03-30 2021-01-05 北京诺影医疗科技有限公司 带有手术定位和导航功能的c形臂x光机

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108601629A (zh) * 2015-12-14 2018-09-28 纽文思公司 外科手术期间减少辐射暴露的3d可视化
WO2019012520A1 (en) * 2017-07-08 2019-01-17 Vuze Medical Ltd. APPARATUS AND METHODS FOR USE WITH IMAGE-GUIDED SKELETAL PROCEDURES

Also Published As

Publication number Publication date
US12446967B2 (en) 2025-10-21
CA3131167A1 (en) 2020-10-01
JP2024156967A (ja) 2024-11-06
KR102874348B1 (ko) 2025-10-21
EP3946127A1 (en) 2022-02-09
IL286650A (en) 2021-10-31
KR20220058840A (ko) 2022-05-10
EP3946127B1 (en) 2025-12-31
EP4714391A2 (en) 2026-03-25
IL322999A (en) 2025-10-01
IL286650B1 (en) 2025-10-01
KR20250157451A (ko) 2025-11-04
JP7804387B2 (ja) 2026-01-22
EP3946127C0 (en) 2025-12-31
CN119770171A (zh) 2025-04-08
JP2022526910A (ja) 2022-05-27
WO2020194302A1 (en) 2020-10-01
CN113905682A (zh) 2022-01-07
US20250352277A1 (en) 2025-11-20
IL286650B2 (en) 2026-02-01
JP7538812B2 (ja) 2024-08-22
US20220175461A1 (en) 2022-06-09
EP3946127A4 (en) 2023-03-15

Similar Documents

Publication Publication Date Title
CN113905682B (zh) 用于在x射线设备或超声设备环境中瞄准和对准治疗工具的系统和方法
EP3254621B1 (en) 3d image special calibrator, surgical localizing system and method
JP6360260B2 (ja) 受動マーカーに基づく光学追跡方法およびシステム
US7912532B2 (en) Method and instrument for surgical navigation
US10846883B2 (en) Method for calibrating objects in a reference coordinate system and method for tracking objects
US20200322582A1 (en) Laser projection apparatus, control method thereof, and laser guidance system including the apparatus
US20140214358A1 (en) Method and apparatus for directional calibration and tracking
CN109297409B (zh) 电池位移的识别定位装置及方法
US20210236208A1 (en) Method of calibrating a medical instrument
US12053273B2 (en) System and method to register anatomy without a probe
Liu et al. On-demand calibration and evaluation for electromagnetically tracked laparoscope in augmented reality visualization
WO2019037605A1 (zh) Ar眼镜及其追踪系统
CN108113629B (zh) 硬管内窥镜旋转角度测量方法和装置
US20230248467A1 (en) Method of medical navigation
CN105559809B (zh) 一种扫描方法及装置
CN210228333U (zh) 定位系统
CN116138878B (zh) 一种激光导航标定方法
TWM605788U (zh) 定位系統
JPWO2020194302A5 (https=)
CN109938848B (zh) 定位系统和靶点定位方法
CN117462267B (zh) 一种透视引导下机器人末端执行器的瞄准方法
WO2014065154A1 (ja) 表示装置、医用装置、表示方法、およびプログラム
CN119850716A (zh) 器械标注方法、系统、装置、设备及介质
JP2022049256A (ja) 手術ナビゲーションシステム、手術ナビゲーション機能を備えた医用撮像システム、および、手術ナビゲーション用の医用画像の位置合わせ方法

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant