CN1267064C - 用于定位外科手术仪器的装置 - Google Patents
用于定位外科手术仪器的装置 Download PDFInfo
- Publication number
- CN1267064C CN1267064C CNB018121357A CN01812135A CN1267064C CN 1267064 C CN1267064 C CN 1267064C CN B018121357 A CNB018121357 A CN B018121357A CN 01812135 A CN01812135 A CN 01812135A CN 1267064 C CN1267064 C CN 1267064C
- Authority
- CN
- China
- Prior art keywords
- instrument
- bone
- coordinate system
- signal
- surgical instrument
- 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
Links
Images
Classifications
-
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based 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
- A61B34/20—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
- A61B34/20—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
- A61B2034/2072—Reference field transducer attached to an instrument or patient
-
- 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
- A61B2090/363—Use of fiducial points
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Eye Examination Apparatus (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
Claims (10)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB0015683.6 | 2000-06-28 | ||
GBGB0015683.6A GB0015683D0 (en) | 2000-06-28 | 2000-06-28 | Apparatus for positioning a surgical instrument |
Publications (2)
Publication Number | Publication Date |
---|---|
CN1440260A CN1440260A (zh) | 2003-09-03 |
CN1267064C true CN1267064C (zh) | 2006-08-02 |
Family
ID=33396989
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CNB018121357A Expired - Fee Related CN1267064C (zh) | 2000-06-28 | 2001-06-27 | 用于定位外科手术仪器的装置 |
Country Status (12)
Country | Link |
---|---|
US (1) | US20040143243A1 (zh) |
EP (1) | EP1294300B1 (zh) |
JP (1) | JP2004500958A (zh) |
KR (1) | KR100811329B1 (zh) |
CN (1) | CN1267064C (zh) |
AT (1) | ATE281122T1 (zh) |
AU (2) | AU2001266207B2 (zh) |
CA (1) | CA2413133C (zh) |
DE (1) | DE60106913T2 (zh) |
GB (1) | GB0015683D0 (zh) |
WO (1) | WO2002000131A1 (zh) |
ZA (1) | ZA200210169B (zh) |
Families Citing this family (65)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7635390B1 (en) | 2000-01-14 | 2009-12-22 | Marctec, Llc | Joint replacement component having a modular articulating surface |
US7708741B1 (en) | 2001-08-28 | 2010-05-04 | Marctec, Llc | Method of preparing bones for knee replacement surgery |
KR100462389B1 (ko) * | 2002-01-19 | 2004-12-17 | 한국과학기술원 | 광전자 시스템을 이용한 관골구의 위치결정장치 |
US8996169B2 (en) | 2011-12-29 | 2015-03-31 | Mako Surgical Corp. | Neural monitor-based dynamic haptics |
US8010180B2 (en) | 2002-03-06 | 2011-08-30 | Mako Surgical Corp. | Haptic guidance system and method |
AU2003218010A1 (en) | 2002-03-06 | 2003-09-22 | Z-Kat, Inc. | System and method for using a haptic device in combination with a computer-assisted surgery system |
US11202676B2 (en) | 2002-03-06 | 2021-12-21 | Mako Surgical Corp. | Neural monitor-based dynamic haptics |
WO2004112610A2 (en) | 2003-06-09 | 2004-12-29 | Vitruvian Orthopaedics, Llc | Surgical orientation device and method |
US7559931B2 (en) | 2003-06-09 | 2009-07-14 | OrthAlign, Inc. | Surgical orientation system and method |
US7379790B2 (en) * | 2004-05-04 | 2008-05-27 | Intuitive Surgical, Inc. | Tool memory-based software upgrades for robotic surgery |
US20070078332A1 (en) * | 2005-09-30 | 2007-04-05 | General Electric Company | Method of position landmarking using a touch sensitive array |
KR100719347B1 (ko) * | 2005-11-18 | 2007-05-17 | 한양대학교 산학협력단 | 수술도구 위치 설정용 3자유도 직교형 수술로봇 |
US9675375B2 (en) * | 2006-03-29 | 2017-06-13 | Ethicon Llc | Ultrasonic surgical system and method |
JP4458492B2 (ja) * | 2006-03-29 | 2010-04-28 | 学校法人早稲田大学 | 手術支援ロボットの動作制御システム及び位置検出装置 |
JP5449768B2 (ja) * | 2006-04-18 | 2014-03-19 | 国立大学法人大阪大学 | 経頭蓋磁気刺激用頭部固定具及び経頭蓋磁気刺激装置 |
EP1854425A1 (de) | 2006-05-11 | 2007-11-14 | BrainLAB AG | Medizintechnische Positionsbestimmung mit redundanten Positionserfassungseinrichtungen und Prioritätsgewichtung für die Positionserfassungseinrichtungen |
CA2654261C (en) | 2006-05-19 | 2017-05-16 | Mako Surgical Corp. | Method and apparatus for controlling a haptic device |
JP4960112B2 (ja) * | 2007-02-01 | 2012-06-27 | オリンパスメディカルシステムズ株式会社 | 内視鏡手術装置 |
WO2008114166A2 (en) * | 2007-03-16 | 2008-09-25 | Philips Intellectual Property & Standards Gmbh | System for rehabilitation and/or physical therapy for the treatment of neuromotor disorders |
CA3050929A1 (en) | 2008-07-24 | 2010-01-28 | OrthAlign, Inc. | Systems and methods for joint replacement |
WO2010030809A1 (en) | 2008-09-10 | 2010-03-18 | Orthalign, Inc | Hip surgery systems and methods |
JP2010082188A (ja) * | 2008-09-30 | 2010-04-15 | Olympus Corp | 手術マニピュレータシステム |
KR101057702B1 (ko) | 2009-04-09 | 2011-08-18 | 의료법인 우리들의료재단 | 수술용 로봇의 제어 방법 및 그 시스템 |
US8118815B2 (en) | 2009-07-24 | 2012-02-21 | OrthAlign, Inc. | Systems and methods for joint replacement |
US10869771B2 (en) | 2009-07-24 | 2020-12-22 | OrthAlign, Inc. | Systems and methods for joint replacement |
AU2011341678B2 (en) | 2010-01-21 | 2014-12-11 | OrthAlign, Inc. | Systems and methods for joint replacement |
WO2011140704A1 (en) * | 2010-05-11 | 2011-11-17 | Abb Research Ltd. | Apparatus, method, program and recording medium for robot offline teaching |
US9921712B2 (en) | 2010-12-29 | 2018-03-20 | Mako Surgical Corp. | System and method for providing substantially stable control of a surgical tool |
US9119655B2 (en) | 2012-08-03 | 2015-09-01 | Stryker Corporation | Surgical manipulator capable of controlling a surgical instrument in multiple modes |
KR101195994B1 (ko) * | 2011-02-11 | 2012-10-30 | 전남대학교산학협력단 | 3차원 광학 측정기를 이용한 뼈 움직임 감지 및 경로 보정 시스템 |
CA3067299A1 (en) | 2011-09-02 | 2013-03-07 | Stryker Corporation | Surgical instrument including a cutting accessory extending from a housing and actuators that establish the position of the cutting accessory relative to the housing |
KR101334007B1 (ko) * | 2012-01-12 | 2013-11-27 | 의료법인 우리들의료재단 | 수술용 로봇제어 시스템 및 그 제어방법 |
CA2873547A1 (en) | 2012-05-18 | 2013-11-21 | OrthAlign, Inc. | Devices and methods for knee arthroplasty |
DE102012209769C5 (de) | 2012-06-12 | 2021-11-11 | Kuka Deutschland Gmbh | Verfahren zum Betreiben eines Roboters und Vorrichtung mit einem Roboter |
CA2879414A1 (en) | 2012-08-03 | 2014-02-06 | Stryker Corporation | Systems and methods for robotic surgery |
US9226796B2 (en) | 2012-08-03 | 2016-01-05 | Stryker Corporation | Method for detecting a disturbance as an energy applicator of a surgical instrument traverses a cutting path |
US9820818B2 (en) | 2012-08-03 | 2017-11-21 | Stryker Corporation | System and method for controlling a surgical manipulator based on implant parameters |
US9649160B2 (en) | 2012-08-14 | 2017-05-16 | OrthAlign, Inc. | Hip replacement navigation system and method |
US9008757B2 (en) | 2012-09-26 | 2015-04-14 | Stryker Corporation | Navigation system including optical and non-optical sensors |
US10842700B2 (en) | 2012-10-17 | 2020-11-24 | Peter E. Schuerch, JR. | Adjustable position limb support for surgical tables, including quick-connect universal boot mount |
US11877962B2 (en) | 2012-10-17 | 2024-01-23 | Peter E. Schuerch, JR. | Adjustable position limb support for surgical tables, including locking gas cylinder |
US9801771B2 (en) | 2012-10-17 | 2017-10-31 | Peter E. Schuerch, JR. | Adjustable position limb support for surgical tables |
US9333142B2 (en) | 2013-01-29 | 2016-05-10 | Peter E Schuerch, Jr. | Adjustable-position limb and/or instrument support arm for medical tables |
AU2014248758B2 (en) | 2013-03-13 | 2018-04-12 | Stryker Corporation | System for establishing virtual constraint boundaries |
US9652591B2 (en) | 2013-03-13 | 2017-05-16 | Stryker Corporation | System and method for arranging objects in an operating room in preparation for surgical procedures |
FR3010628B1 (fr) | 2013-09-18 | 2015-10-16 | Medicrea International | Procede permettant de realiser la courbure ideale d'une tige d'un materiel d'osteosynthese vertebrale destinee a etayer la colonne vertebrale d'un patient |
FR3012030B1 (fr) | 2013-10-18 | 2015-12-25 | Medicrea International | Procede permettant de realiser la courbure ideale d'une tige d'un materiel d'osteosynthese vertebrale destinee a etayer la colonne vertebrale d'un patient |
CN105916461B (zh) | 2014-01-31 | 2020-02-18 | 柯惠Lp公司 | 用于手术系统的接口 |
US10363149B2 (en) | 2015-02-20 | 2019-07-30 | OrthAlign, Inc. | Hip replacement navigation system and method |
WO2017079655A2 (en) | 2015-11-04 | 2017-05-11 | Mcafee Paul C | Methods and apparatus for spinal reconstructive surgery and measuring spinal length and intervertebral spacing, tension and rotation |
WO2017117369A1 (en) | 2015-12-31 | 2017-07-06 | Stryker Corporation | System and methods for performing surgery on a patient at a target site defined by a virtual object |
AU2017269374B2 (en) | 2016-05-26 | 2021-07-08 | Covidien Lp | Instrument drive units |
WO2017205481A1 (en) | 2016-05-26 | 2017-11-30 | Covidien Lp | Robotic surgical assemblies and instrument drive units thereof |
US11272992B2 (en) | 2016-06-03 | 2022-03-15 | Covidien Lp | Robotic surgical assemblies and instrument drive units thereof |
WO2018109556A1 (en) | 2016-12-12 | 2018-06-21 | Medicrea International | Systems and methods for patient-specific spinal implants |
WO2018112025A1 (en) | 2016-12-16 | 2018-06-21 | Mako Surgical Corp. | Techniques for modifying tool operation in a surgical robotic system based on comparing actual and commanded states of the tool relative to a surgical site |
AU2018236220A1 (en) | 2017-03-14 | 2019-09-26 | OrthAlign, Inc. | Hip replacement navigation systems and methods |
CA3056495A1 (en) | 2017-03-14 | 2018-09-20 | OrthAlign, Inc. | Soft tissue measurement & balancing systems and methods |
EP3612125A1 (en) | 2017-04-21 | 2020-02-26 | Medicrea International | A system for providing intraoperative tracking to assist spinal surgery |
US10918422B2 (en) | 2017-12-01 | 2021-02-16 | Medicrea International | Method and apparatus for inhibiting proximal junctional failure |
US11877801B2 (en) | 2019-04-02 | 2024-01-23 | Medicrea International | Systems, methods, and devices for developing patient-specific spinal implants, treatments, operations, and/or procedures |
US11925417B2 (en) | 2019-04-02 | 2024-03-12 | Medicrea International | Systems, methods, and devices for developing patient-specific spinal implants, treatments, operations, and/or procedures |
US11769251B2 (en) | 2019-12-26 | 2023-09-26 | Medicrea International | Systems and methods for medical image analysis |
JPWO2022054123A1 (zh) * | 2020-09-08 | 2022-03-17 | ||
CN114638798A (zh) * | 2022-03-10 | 2022-06-17 | 重庆海扶医疗科技股份有限公司 | 目标区域的定位方法、电子设备、介质 |
Family Cites Families (13)
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EP0647428A3 (en) * | 1989-11-08 | 1995-07-12 | George S Allen | Interactive image-guided surgery system. |
US5279309A (en) * | 1991-06-13 | 1994-01-18 | International Business Machines Corporation | Signaling device and method for monitoring positions in a surgical operation |
JPH05305073A (ja) * | 1992-05-01 | 1993-11-19 | Olympus Optical Co Ltd | 挿入具の位置検出表示装置 |
US5309913A (en) * | 1992-11-30 | 1994-05-10 | The Cleveland Clinic Foundation | Frameless stereotaxy system |
US5588430A (en) * | 1995-02-14 | 1996-12-31 | University Of Florida Research Foundation, Inc. | Repeat fixation for frameless stereotactic procedure |
JP3329199B2 (ja) * | 1996-08-08 | 2002-09-30 | 株式会社日立製作所 | 半導体装置の製造方法及び製造装置 |
DE19653966C2 (de) * | 1996-12-21 | 1999-06-10 | Juergen Dr Ing Wahrburg | Vorrichtung zum Positionieren und Führen eines chirurgischen Werkzeuges bei orthopädischen Eingriffen |
DE19747427C2 (de) * | 1997-10-28 | 1999-12-09 | Zeiss Carl Fa | Vorrichtung zur Knochensegmentnavigation |
DE19817039A1 (de) * | 1998-04-17 | 1999-10-21 | Philips Patentverwaltung | Anordnung für die bildgeführte Chirurgie |
US6033415A (en) | 1998-09-14 | 2000-03-07 | Integrated Surgical Systems | System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system |
ES2260901T3 (es) * | 1999-03-17 | 2006-11-01 | Synthes Ag Chur | Dispositivo de planificacion y guia in situ de un injerto de ligamentos. |
JP3720221B2 (ja) * | 1999-08-10 | 2005-11-24 | 株式会社モリタ製作所 | 再構成画像による歯科実習方法、歯科実習システム、この方法を実現するプログラムを記録した記録媒体、及び、再構成画像による歯科表示システム、このシステムを実現するプログラムを記録した記録媒体 |
JP3772063B2 (ja) * | 2000-02-28 | 2006-05-10 | オリンパス株式会社 | 位置検出装置、及び、位置検出システム |
-
2000
- 2000-06-28 GB GBGB0015683.6A patent/GB0015683D0/en not_active Ceased
-
2001
- 2001-06-27 CN CNB018121357A patent/CN1267064C/zh not_active Expired - Fee Related
- 2001-06-27 EP EP01943669A patent/EP1294300B1/en not_active Expired - Lifetime
- 2001-06-27 JP JP2002504916A patent/JP2004500958A/ja active Pending
- 2001-06-27 AU AU2001266207A patent/AU2001266207B2/en not_active Ceased
- 2001-06-27 CA CA002413133A patent/CA2413133C/en not_active Expired - Fee Related
- 2001-06-27 DE DE60106913T patent/DE60106913T2/de not_active Expired - Lifetime
- 2001-06-27 AU AU6620701A patent/AU6620701A/xx active Pending
- 2001-06-27 WO PCT/GB2001/002899 patent/WO2002000131A1/en active IP Right Grant
- 2001-06-27 KR KR1020027017696A patent/KR100811329B1/ko not_active IP Right Cessation
- 2001-06-27 AT AT01943669T patent/ATE281122T1/de not_active IP Right Cessation
-
2002
- 2002-12-13 ZA ZA200210169A patent/ZA200210169B/en unknown
-
2003
- 2003-01-08 US US10/337,621 patent/US20040143243A1/en not_active Abandoned
Also Published As
Publication number | Publication date |
---|---|
DE60106913T2 (de) | 2005-12-08 |
CA2413133C (en) | 2008-12-02 |
EP1294300A1 (en) | 2003-03-26 |
ATE281122T1 (de) | 2004-11-15 |
GB0015683D0 (en) | 2000-08-16 |
AU2001266207B2 (en) | 2005-08-18 |
KR100811329B1 (ko) | 2008-03-07 |
AU6620701A (en) | 2002-01-08 |
DE60106913D1 (de) | 2004-12-09 |
WO2002000131A1 (en) | 2002-01-03 |
CN1440260A (zh) | 2003-09-03 |
JP2004500958A (ja) | 2004-01-15 |
KR20030018008A (ko) | 2003-03-04 |
CA2413133A1 (en) | 2002-01-03 |
ZA200210169B (en) | 2003-10-31 |
EP1294300B1 (en) | 2004-11-03 |
US20040143243A1 (en) | 2004-07-22 |
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C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
ASS | Succession or assignment of patent right |
Owner name: JURGEN WARBURG Free format text: FORMER OWNER: DEPUY INTERNATIONAL LTD. Effective date: 20081031 |
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Effective date of registration: 20081031 Address after: Ma Lei, Germany, Hyde Patentee after: Jurgen Walburg Address before: Liz County, England Patentee before: Depuy International Ltd. |
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CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20060802 Termination date: 20140627 |
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