DE19917867A1 - Verfahren und Vorrichtung zur bildunterstützten Behandlung von Behandlungszielen mit Integration von Röntgenerfassung und Navigationssystem - Google Patents
Verfahren und Vorrichtung zur bildunterstützten Behandlung von Behandlungszielen mit Integration von Röntgenerfassung und NavigationssystemInfo
- Publication number
- DE19917867A1 DE19917867A1 DE19917867A DE19917867A DE19917867A1 DE 19917867 A1 DE19917867 A1 DE 19917867A1 DE 19917867 A DE19917867 A DE 19917867A DE 19917867 A DE19917867 A DE 19917867A DE 19917867 A1 DE19917867 A1 DE 19917867A1
- Authority
- DE
- Germany
- Prior art keywords
- ray
- image
- reference structure
- treatment
- navigation system
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005855 radiation Effects 0.000 claims description 17
- 238000001514 detection method Methods 0.000 claims description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 108090000623 proteins and genes Proteins 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- RZVAJINKPMORJF-UHFFFAOYSA-N Acetaminophen Chemical compound CC(=O)NC1=CC=C(O)C=C1 RZVAJINKPMORJF-UHFFFAOYSA-N 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000003550 marker Substances 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 210000004072 lung Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000036651 mood Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- WFKWXMTUELFFGS-UHFFFAOYSA-N tungsten Chemical compound [W] WFKWXMTUELFFGS-UHFFFAOYSA-N 0.000 description 1
- 229910052721 tungsten Inorganic materials 0.000 description 1
- 239000010937 tungsten Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- A61B6/54—Control of apparatus or devices for radiation diagnosis
- A61B6/547—Control of apparatus or devices for radiation diagnosis involving tracking of position of the device or parts of the device
-
- 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
- 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
- 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
-
- 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
- A61B90/36—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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Description
- - mittels eines Röntgengeräts mindestens eine Aufnahme eines Behandlungsgebietes erstellt wird, wobei gleichzeitig ein Abbild einer Referenzstruktur erfaßt wird;
- - die räumliche Lage der Referenzstruktur über ein kameraunterstütztes Navigationssystem ermittelt wird; und bei dem
- - die Positionsdaten des Behandlungsziels, die aus der Röntgenaufnahme und vom Navigati onssystem ermittelt wurden, in einer einzigen Rechnereinheit mit einer einzigen Bildschir mausgabe so verknüpft werden, daß Positionsdaten von Behandlungsgeräten, die bei der Be handlung von dem Navigationssystem ermittelt werden, auf dem Bildschirm in richtiger La gezuordnung zu den Positionen auf der Röntgenaufnahme ausgegeben werden.
- - ein Röntgengerät mit dem mindestens eine Aufnahme eines Behandlungsgebietes erstellt wird,
- - eine Referenzstruktur, deren Abbild gleichzeitig von dem Röntgengerät erfaßt wird;
- - ein kameraunterstütztes Navigationssystem, das die räumliche Lage der Referenzstruktur ermittelt; sowie
- - eine einzige Rechnereinheit mit einer einzigen Bildschirmausgabe, welche die Positionsda ten des Behandlungsziels, die aus der Röntgenaufnahme und vom Navigationssystem ermittelt wurden, so verknüpft, daß Positionsdaten von Behandlungsgeräten, die bei der Behandlung von dem Navigationssystem ermittelt werden, auf dem Bildschirm in richtiger Lagezuordnung zu den Positionen auf der Röntgenaufnahme ausgegeben werden.
Claims (16)
- - mittels eines Röntgengeräts (10) mindestens eine Aufnahme eines Behandlungsgebietes er stellt wird, wobei gleichzeitig ein Abbild einer Referenzstruktur (17) erfaßt wird;
- - die räumliche Lage der Referenzstruktur (17) über ein kameraunterstütztes Navigationssy stem ermittelt wird; und bei dem
- - die Positionsdaten des Behandlungsziels (T), die aus der Röntgenaufnahme und vom Navi gationssystem ermittelt wurden, in einer einzigen Rechnereinheit (C) mit einer einzigen Bild schirmausgabe (S) so verknüpft werden, daß Positionsdaten von Behandlungsgeräten, die bei der Behandlung von dem Navigationssystem ermittelt werden, auf dem Bildschirm (S) in richtiger Lagezuordnung zu den Positionen auf der Röntgenaufnahme ausgegeben werden.
- - einem Röntgengerät (10) mit dem mindestens eine Aufnahme eines Behandlungsgebietes erstellt wird,
- - einer Referenzstruktur (17), deren Abbild gleichzeitig von dem Röntgengerät (10) erfaßt wird;
- - einem kameraunterstützten Navigationssystem, das die räumliche Lage der Referenzstruktur (17) ermittelt; dadurch gekennzeichnet, daß
- - eine einzige Rechnereinheit (C) mit einer einzigen Bildschirmausgabe (S) vorgesehen ist, welche die Positionsdaten des Behandlungsziels (T), die aus der Röntgenaufnahme und vom Navigationssystem ermittelt wurden, so verknüpft, daß Positionsdaten von Behandlungsgerä ten, die bei der Behandlung von dem Navigationssystem ermittelt werden, auf dem Bild schirm in richtiger Lagezuordnung zu den Positionen auf der Röntgenaufnahme ausgegeben werden.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19917867A DE19917867B4 (de) | 1999-04-20 | 1999-04-20 | Verfahren und Vorrichtung zur Bildunterstützung bei der Behandlung von Behandlungszielen mit Integration von Röntgenerfassung und Navigationssystem |
US09/387,597 US6527443B1 (en) | 1999-04-20 | 1999-08-31 | Process and apparatus for image guided treatment with an integration of X-ray detection and navigation system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19917867A DE19917867B4 (de) | 1999-04-20 | 1999-04-20 | Verfahren und Vorrichtung zur Bildunterstützung bei der Behandlung von Behandlungszielen mit Integration von Röntgenerfassung und Navigationssystem |
Publications (2)
Publication Number | Publication Date |
---|---|
DE19917867A1 true DE19917867A1 (de) | 2000-11-09 |
DE19917867B4 DE19917867B4 (de) | 2005-04-21 |
Family
ID=7905221
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE19917867A Expired - Lifetime DE19917867B4 (de) | 1999-04-20 | 1999-04-20 | Verfahren und Vorrichtung zur Bildunterstützung bei der Behandlung von Behandlungszielen mit Integration von Röntgenerfassung und Navigationssystem |
Country Status (2)
Country | Link |
---|---|
US (1) | US6527443B1 (de) |
DE (1) | DE19917867B4 (de) |
Cited By (18)
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WO2002056770A1 (en) * | 2000-12-28 | 2002-07-25 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic x-ray tomography imaging |
EP1234542A1 (de) | 2001-02-22 | 2002-08-28 | Siemens Aktiengesellschaft | Vorrichtung und Verfahren zur Bestimmung der räumlichen Beziehung von einander unabhängig aufgenommenen Röntgendatensätzen |
WO2002065931A1 (de) * | 2001-02-22 | 2002-08-29 | Siemens Aktiengesellschaft | Voorichtung und verfahren zur steuerung von chirurgischen instrumenten |
EP1260179A1 (de) * | 2001-05-22 | 2002-11-27 | BrainLAB AG | Röntgenbildregistrierungseinrichtung mit einem medizinischen Navigationssystem |
DE10206193C1 (de) * | 2002-02-14 | 2003-07-03 | Siemens Ag | Vorrichtung und Verfahren zur Ausrichtung eines Röntgengerätes und eines Therapiegerätes relativ zueinander |
DE10210287A1 (de) * | 2002-03-08 | 2003-10-02 | Siemens Ag | Verfahren und Vorrichtung zur markerlosen Registrierung für navigationsgeführte Eingriffe |
EP1378206A1 (de) * | 2002-09-12 | 2004-01-07 | BrainLAB AG | Röntgenbildunterstützte Navigation mit ursprünglichen, zweidimensionalen Röntgenbildern |
DE10360025A1 (de) * | 2003-12-19 | 2005-07-14 | Siemens Ag | Verfahren und Einrichtung zur Bildunterstützung eines mit einem medizinischen Instrument durchgeführten operativen Eingriffes |
DE10202091B4 (de) * | 2002-01-21 | 2005-09-08 | Siemens Ag | Vorrichtung zur Ermittlung einer Koordinatentransformation |
DE102006008042A1 (de) * | 2006-02-21 | 2007-07-19 | Siemens Ag | Medizinisches Gerät mit im medizinischen Gerät kombinierter Bilderfassungs- und Positionsbestimmungsvorrichtung |
US7251522B2 (en) | 2002-09-12 | 2007-07-31 | Brainlab Ag | X-ray image-assisted navigation using original, two-dimensional x-ray images |
EP1990007A1 (de) | 2007-05-05 | 2008-11-12 | Ziehm Imaging GmbH | Lokalisationseinheit für eine chirurgische Röntgendiagnostikeinrichtung mit Sterilabdeckfolie |
DE102009031399A1 (de) | 2009-07-01 | 2011-01-05 | Siemens Aktiengesellschaft | Verfahren und Einrichtung zur Bildunterstützung eines mit einem medizinischen Instrument durchgeführten medizinischen Eingriffes |
DE102010007653A1 (de) | 2010-02-11 | 2011-08-11 | Siemens Aktiengesellschaft, 80333 | Verfahren und Einrichtung zur Bildunterstützung eines mit einem medizinischen Instrument durchgeführten medizinischen Eingriffes |
US8104958B2 (en) | 2008-08-22 | 2012-01-31 | Brainlab Ag | Assigning X-ray markers to image markers imaged in the X-ray image |
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DE102007034218B4 (de) * | 2007-07-23 | 2013-06-13 | Siemens Aktiengesellschaft | Vorrichtung und Verfahren zur Bildzusammensetzung |
US11311339B2 (en) | 2002-10-04 | 2022-04-26 | Orthosoft Inc. | Computer-assisted hip replacement surgery |
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JP3432825B2 (ja) | 1992-08-14 | 2003-08-04 | ブリテイッシュ・テレコミュニケーションズ・パブリック・リミテッド・カンパニー | 位置決定システム |
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US8359085B2 (en) | 2006-02-02 | 2013-01-22 | Ziehm Imaging Gmbh | Method and system for performing coordinate transformation for navigation-guided procedures utilizing an imaging tool and a position-determining system |
DE102006008042A1 (de) * | 2006-02-21 | 2007-07-19 | Siemens Ag | Medizinisches Gerät mit im medizinischen Gerät kombinierter Bilderfassungs- und Positionsbestimmungsvorrichtung |
EP1990007A1 (de) | 2007-05-05 | 2008-11-12 | Ziehm Imaging GmbH | Lokalisationseinheit für eine chirurgische Röntgendiagnostikeinrichtung mit Sterilabdeckfolie |
US8225495B2 (en) | 2007-05-05 | 2012-07-24 | Ziehm Imaging Gmbh | Localizing unit for an X-ray diagnostic system with a sterile drape |
DE102007034218B4 (de) * | 2007-07-23 | 2013-06-13 | Siemens Aktiengesellschaft | Vorrichtung und Verfahren zur Bildzusammensetzung |
US8104958B2 (en) | 2008-08-22 | 2012-01-31 | Brainlab Ag | Assigning X-ray markers to image markers imaged in the X-ray image |
DE102009031399A1 (de) | 2009-07-01 | 2011-01-05 | Siemens Aktiengesellschaft | Verfahren und Einrichtung zur Bildunterstützung eines mit einem medizinischen Instrument durchgeführten medizinischen Eingriffes |
DE102010007653A1 (de) | 2010-02-11 | 2011-08-11 | Siemens Aktiengesellschaft, 80333 | Verfahren und Einrichtung zur Bildunterstützung eines mit einem medizinischen Instrument durchgeführten medizinischen Eingriffes |
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DE19917867B4 (de) | 2005-04-21 |
US6527443B1 (en) | 2003-03-04 |
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