DE20315470U1 - Body part position determining device using navigation system and marker on body part, determines position of fixed structure relative to navigation system using data from position-determining device - Google Patents
Body part position determining device using navigation system and marker on body part, determines position of fixed structure relative to navigation system using data from position-determining device Download PDFInfo
- Publication number
- DE20315470U1 DE20315470U1 DE20315470U DE20315470U DE20315470U1 DE 20315470 U1 DE20315470 U1 DE 20315470U1 DE 20315470 U DE20315470 U DE 20315470U DE 20315470 U DE20315470 U DE 20315470U DE 20315470 U1 DE20315470 U1 DE 20315470U1
- Authority
- DE
- Germany
- Prior art keywords
- navigation system
- body part
- relative
- marking element
- determining device
- 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 - Lifetime
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Classifications
-
- 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
- A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
-
- 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
- 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
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
- A61B2090/3908—Soft tissue, e.g. breast tissue
-
- 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
- A61B2090/3904—Markers, e.g. radio-opaque or breast lesions markers specially adapted for marking specified tissue
- A61B2090/3916—Bone tissue
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/103—Detecting, measuring or recording devices for testing the shape, pattern, colour, size or movement of the body or parts thereof, for diagnostic purposes
- A61B5/107—Measuring physical dimensions, e.g. size of the entire body or parts thereof
Abstract
Description
Die Erfindung betrifft eine Vorrichtung zur Lagebestimmung eines Körperteils mit einem Navigationssystem und mindestens einem an dem Körperteil gehaltenen Markierelement, dessen Lage relativ zum Navigationssystem durch das Navigationssystem bestimmbar ist.The invention relates to a device for determining the position of a body part with a navigation system and at least one held on the body part Marking element, whose location relative to the navigation system the navigation system can be determined.
Bei chirurgischen Operationen ist es inzwischen weit verbreitet, die Lage von Körperteilen, beispielsweise eines Hüftknochens oder eines Femurs, mit Hilfe eines Navigationssystems zu bestimmen. Dazu wird an dem Körperteil ein Markierelement befestigt, dessen Lage im Raum vom Navigationssystem erkannt und bestimmt wird, beispielsweise über die Aussendung von Infrarotstrahlung, die an verschiedenen Stellen des Markierelementes reflektiert und dann vom Navigationssystem wieder aufgefangen wird. Das Markierelement wird bei dem bekannten Verfahren starr mit dem Körperteil verbunden, beispielsweise durch Eindrehen von Knochenschrauben in starre Strukturen des Körperteils. Dazu müssen die Knochenschrauben durch Weichteilgewebe hindurchgeführt werden, und es entstehen an diesen Stellen Wunden, die Schmerzen und Infektionsgefahr verursachen.For surgical operations it is now widely used, the location of body parts, for example of a hip bone or a femur, using a navigation system. To is on the body part a marker attached, its location in space by the navigation system is recognized and determined, for example via the emission of infrared radiation, which is reflected at various points on the marking element and is then caught again by the navigation system. The marking element is rigidly connected to the body part in the known method, for example by screwing bone screws into rigid structures of the body part. To do this the bone screws are passed through soft tissue, and there are wounds in these places, the pain and the risk of infection cause.
Es ist Aufgabe der Erfindung, eine gattungsgemäße Vorrichtung so auszugestalten, daß die am Körperteil gehaltenen Markierelementen nicht starr mit festen Strukturen des Körperteils verbunden werden müssen.It is an object of the invention generic device so that the on the body part held marking elements not rigid with fixed structures of the body part need to be connected.
Diese Aufgabe wird bei einer Vorrichtung der eingangs beschriebenen Art erfindungsgemäß dadurch gelöst, daß das Markierelement verbunden ist mit einer Lagebestimmungseinrichtung, die die Lage einer festen Struktur des Körperteils relativ zu dem Markierelement bestimmt und die dieser Lage entsprechende Lagedaten der Navigationseinrichtung zuführt, die aufgrund dieser Lagedaten und der Lagedaten des Markierelementes relativ zum Navigationssystem die Lage der festen Struktur relativ zum Navigationssystem bestimmt.This task is done with a device of the type described in the introduction solved according to the invention in that the marking element is connected to a position determination device which determines the position of a solid structure of the body part determined relative to the marking element and corresponding to this position Position data of the navigation device that is based on this position data and the position data of the marking element relative to the navigation system determines the position of the fixed structure relative to the navigation system.
Das Markierelement wird also mit einer weiteren Lagebestimmungseinrichtung fest verbunden, und diese Lagebestimmungseinrichtung stellt die Lage einer festen Struktur im Körperteil fest, beispielsweise einer knöcherne Struktur oder eines in den Körper eingebrachten, mit der knöchernen Struktur verbundenen Markierpunktes (in der englischen Sprache "fiducial" genannt). Diese Lagebestimmungseinrichtung bestimmt also umgekehrt die relative Lage des Markierelementes zu der festen Struktur, und aus dieser doppelten Lagebestimmung einmal der Lage des Markierelementes relativ zur festen Struktur und zum anderen des Markierelementes relativ zum Navigationssystem bestimmt dieses die Lage der festen Struktur des Körperteils relativ zum Navigationssystem. Die genaue Lage des Markierelementes ist dabei nicht wesentlich, das heißt das Markierelement muß nicht in einer festen Relation zu der festen Struktur des Körperteils stehen, es genügt, wenn das Markierelement an dem Körperteil gehalten ist, dessen Lage bestimmt werden soll.The marking element is also with another position determination device firmly connected, and this Location determination device provides the location of a solid structure in the body part firm, for example a bony Structure or one in the body brought in, with the bony Structure of the connected marker point (called "fiducial" in English). This Conversely, the position determination device determines the relative Location of the marking element to and from the solid structure double determination of the position of the marking element relative relative to the fixed structure and the other of the marking element for the navigation system, this determines the position of the fixed structure of the body part relative to the navigation system. The exact location of the marking element is not essential, that is, the marking element does not have to in a fixed relation to the fixed structure of the body part stand, it is sufficient if the marking element on the body part is held, the location of which is to be determined.
Es ist beispielsweise möglich, das Markierelement auf der Körperoberfläche zu befestigen, beispielsweise mittels eines Riemens, eines Bandes oder durch Aufkleben oder Aufnähen auf die Oberfläche. Obwohl bei der Bewegung des Körperteils die zwischen dem Markierelement und der festen Struktur des Kör perteils liegenden Weichteilgewebe ihre Form ändern und damit sich auch die Position des Markierelementes relativ zur festen Struktur ändert, kann diese Änderung durch die Lagebestimmungseinrichtung bestimmt und bei der Berechnung der Lage der festen Struktur relativ zum Navigationssystem berücksichtigt werden.For example, it is possible To attach the marking element to the surface of the body, for example by means of a belt, a tape or by gluing or sew on to the surface. Although when moving the body part the perteil between the marking element and the solid structure of the body lying soft tissue change their shape and thus the Position of the marking element changes relative to the fixed structure, can this change determined by the location determination device and in the calculation the location of the fixed structure relative to the navigation system become.
Besonders vorteilhaft ist es, wenn die Lagebestimmungseinrichtung mehrere Ultraschallsender und Ultraschallempfänger umfaßt, insbesondere können diese Ultraschallsender und -empfänger in einem zweidimensionalen Raster angeordnet sein, so daß diese Ultraschallsender und -empfänger sozusagen ein rasterförmiges Abbild der festen Struktur des Körperteils liefern, beispielsweise die Randkontur eines Femurs, und die Veränderung der Lage dieser speziellen Kontur ist gleichzeitig ein Maß für die Veränderung der Position des Markierelementes relativ zu der festen Struktur.It is particularly advantageous if the position determination device comprises a plurality of ultrasound transmitters and ultrasound receivers; Ultrasound transmitters and receivers be arranged in a two-dimensional grid so that these Ultrasound transmitters and receivers a grid-like, so to speak Image of the solid structure of the body part deliver, for example the edge contour of a femur, and the change The location of this special contour is also a measure of the change the position of the marking element relative to the fixed structure.
Es können auch andere Lagebestimmungseinrichtungen verwendet werden, beispielsweise Kernspintomographen mit Oberflächenspulen oder sogenannte Low-Dose X-Ray Digitizers.Other location determination devices can also be used are used, for example magnetic resonance tomographs with surface coils or so-called low-dose X-Ray digitizers.
Die nachfolgende Beschreibung bevorzugter Ausführungsformen der Erfindung dient im Zusammenhang mit der Zeichnung der näheren Erläuterung. Es zeigen:The following description of preferred embodiments the invention serves in conjunction with the drawing for a more detailed explanation. Show it:
Die Erfindung wird nachstehend am
Beispiel der Bestimmung der Lage eines Oberschenkels
Um diese Lagen zu bestimmen, werden
auf die Außenseite
des Oberschenkels
Dieses umfaßt einen plattenförmigen Fuß
Den Markierelementen
Durch die aufgenommene Strahlung
können die
Empfangseinrichtungen
Diese Lagedaten können einer dem Navigationssystem
Im Fuß
In
Die Datenverarbeitungseinrichtung
Es ist also mit diesem Verfahren
und dieser Vorrichtung nicht notwendig, die Markierelemente
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE20315470U DE20315470U1 (en) | 2003-10-08 | 2003-10-08 | Body part position determining device using navigation system and marker on body part, determines position of fixed structure relative to navigation system using data from position-determining device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE20315470U DE20315470U1 (en) | 2003-10-08 | 2003-10-08 | Body part position determining device using navigation system and marker on body part, determines position of fixed structure relative to navigation system using data from position-determining device |
Publications (1)
Publication Number | Publication Date |
---|---|
DE20315470U1 true DE20315470U1 (en) | 2003-12-11 |
Family
ID=29762496
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE20315470U Expired - Lifetime DE20315470U1 (en) | 2003-10-08 | 2003-10-08 | Body part position determining device using navigation system and marker on body part, determines position of fixed structure relative to navigation system using data from position-determining device |
Country Status (1)
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DE (1) | DE20315470U1 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2186477A1 (en) | 2008-11-18 | 2010-05-19 | ITBB Institut für Technologien der Biomechanik und Biomaterialien GmbH | Non-invasive sensor for the examination of the human or animal locomotor system |
EP2198801A1 (en) | 2008-12-19 | 2010-06-23 | BrainLAB AG | Marker application device for applying a marker device |
WO2015150185A1 (en) * | 2014-04-03 | 2015-10-08 | Aesculap Ag | Medical securing device and referencing device, and medical instrumentation |
-
2003
- 2003-10-08 DE DE20315470U patent/DE20315470U1/en not_active Expired - Lifetime
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2186477A1 (en) | 2008-11-18 | 2010-05-19 | ITBB Institut für Technologien der Biomechanik und Biomaterialien GmbH | Non-invasive sensor for the examination of the human or animal locomotor system |
EP2198801A1 (en) | 2008-12-19 | 2010-06-23 | BrainLAB AG | Marker application device for applying a marker device |
WO2015150185A1 (en) * | 2014-04-03 | 2015-10-08 | Aesculap Ag | Medical securing device and referencing device, and medical instrumentation |
JP2017509428A (en) * | 2014-04-03 | 2017-04-06 | アエスキュラップ アーゲー | Medical fastening device and reference device, and medical device |
US10507062B2 (en) | 2014-04-03 | 2019-12-17 | Aesculap Ag | Medical fastening device and referencing device and medical instrumentation |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
R207 | Utility model specification |
Effective date: 20040122 |
|
R150 | Term of protection extended to 6 years |
Effective date: 20061020 |
|
R081 | Change of applicant/patentee |
Owner name: AESCULAP AG, DE Free format text: FORMER OWNER: AESCULAP AG & CO. KG, 78532 TUTTLINGEN, DE Effective date: 20080624 |
|
R151 | Term of protection extended to 8 years |
Effective date: 20100113 |
|
R152 | Term of protection extended to 10 years | ||
R152 | Term of protection extended to 10 years |
Effective date: 20120110 |
|
R071 | Expiry of right | ||
R071 | Expiry of right |