DK2997927T3 - System til bestemmelse og sporing af bevægelse under en medicinsk procedure - Google Patents
System til bestemmelse og sporing af bevægelse under en medicinsk procedure Download PDFInfo
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- DK2997927T3 DK2997927T3 DK15185062.5T DK15185062T DK2997927T3 DK 2997927 T3 DK2997927 T3 DK 2997927T3 DK 15185062 T DK15185062 T DK 15185062T DK 2997927 T3 DK2997927 T3 DK 2997927T3
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Classifications
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- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0077—Devices for viewing the surface of the body, e.g. camera, magnifying lens
-
- 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
- A61B6/50—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications
- A61B6/51—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment specially adapted for specific body parts; specially adapted for specific clinical applications for dentistry
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C1/00—Dental machines for boring or cutting ; General features of dental machines or apparatus, e.g. hand-piece design
- A61C1/08—Machine parts specially adapted for dentistry
- A61C1/082—Positioning or guiding, e.g. of drills
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C9/00—Impression cups, i.e. impression trays; Impression methods
- A61C9/004—Means or methods for taking digitized impressions
- A61C9/0046—Data acquisition means or methods
-
- 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
- A61B2034/2065—Tracking using image or pattern recognition
-
- 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
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Dentistry (AREA)
- Pathology (AREA)
- Epidemiology (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Radiology & Medical Imaging (AREA)
- Dental Tools And Instruments Or Auxiliary Dental Instruments (AREA)
- Image Processing (AREA)
Claims (11)
1. Billedstyringssystem (10) til sporing af et kirurgisk instrument under oral kirurgi, som omfatter: et fikstur (12), der er konfigureret til at blive aftageligt fastgjort til en eller flere tænder i en patients mund i en placering tæt på et operationsområde; en første sporingsindretning (200), der indbefatter en bæreindretning (100), der er aftageligt fastgjort til fiksturet (12), og en første sporingsmønsterflade (208), hvilken første sporingsmønsterflade (208) indbefatter et første optisk synligt mønster, hvor bæreindretningen (100) positionerer det første sporingsmønster i en placering i en afstand fra operationsområdet; et redskab (302) til anvendelse i den kirurgiske procedure; en anden sporingsindretning (300), der indbefatter en anden sporingsmønsterflade (306), der er monteret til redskabet (302), hvilken anden sporingsmønsterflade (302) indbefatter et andet optisk synligt mønster; en flerhed af kameraer (800), der er monteret væk fra operationsområdet i en position, der åbner mulighed for, at kameraerne (800), når de aktiveres, kan indfange billeder af de optisk synlige mønstre på den første og anden sporingsmønsterflade (208, 306); et referencedatasæt, der indbefatter placeringen og orienteringen af fiksturet (12) i relation til en scanning af operationsområdet; og et processorsystem til behandling af de indfangede billeder, som er konfigureret til at genkende de optisk synlige mønstre og triangulere placeringen og orienteringen af den første og anden sporingsindretning (200, 300), hvor processorsystemet bestemmer placeringen og orienteringen af det sporede redskab (302) på baggrund af referencedatasættet og analyse af relative transformeringer mellem hvert kamera af de optisk synlige mønstre på den første og anden sporingsmønsterflade (208, 306), der er kendetegnet ved, at fiksturet (12) indbefatter en stiv understøtning (14), der indbefatter en basis (16) og en indvendig væg (18) og en udvendig væg (20), der er fastgjort som en integreret del til og strækker sig udad fra basis (16), hvor mellemrummet mellem den indvendige og udvendige væg (18, 20) er større end bredden af patientens tænder, et formbart materiale på en nedre overflade af basis (16), der er indrettet til at blive fastgjort til patientens tænder i en hærdet tilstand, en flerhed af referencemarkører (80), der er monteret på understøtningen (14), så de kan positioneres i patientens mund, hvilke referencemarkører (80) har en stråledensitet, der er forskellig fra fiksturet (12), mindst én flange (28), der strækker sig udad fra den udvendige væg (20); og hvor bæreindretningen (100) indbefatter et bærebeslag (102), der er aftageligt fastgjort til flangen (28) på fiksturet (12), et sporingsbeslag (106), der er fastgjort til den første sporingsmønsterflade (208), og en understøtningsarm (104), der fastgør bærebeslaget (102) til sporingsbeslaget (106).
2. Billedstyringssystem ifølge krav 1, hvor bærebeslaget indbefatter to med mellemrum adskilte monteringsposter, der går i indgreb med flangen.
3. Billedstyringssystem ifølge et hvilket som helst af ovennævnte krav, hvor fastgørelsen afsporingsbeslaget til den første sporingsmønsterflade er justerbar.
4. Billedstyringssystem ifølge et hvilket som helst af kravene 1-3, hvor sporingsbeslaget indbefatter en basis med en serie af indhak og fremspring.
5. Billedstyringssystem ifølge krav 4, hvor den første sporingsindretning indbefatter en ramme med en fastgørelse til sporingsbeslaget, hvilken fastgørelse er konfigureret til at åbne mulighed for, at rammen kan justeres i forhold til bæreindretningen.
6. Billedstyringssystem ifølge krav 5, hvor rammen indbefatter en serie af indhak og fremspring, der er konfigureret, så de passer med indhakkene og fremspringene på sporingsbeslaget til muliggørelse af, at den rotationelle orientering afsporingsrammen i forhold til basis kan justeres.
7. Billedstyringssystem ifølge et hvilket som helst af ovennævnte krav, hvor de optisk synlige mønstre hver indeholder en flerhed af 2D-kontrastformer, hvilke kontrastformer er anbragt, så de på en unik måde differentierer hvert optisk synlige mønster fra det andet optisk synlige mønster.
8. Billedstyringssystem ifølge et hvilket som helst af ovennævnte krav, hvor hvert kamera er placeret, så det indfanger mindst en del af det optisk synlige mønster på hver af den første og anden sporingsmønsterflade, således at billedet af hvert optisk synlige mønster, der indfanges af kameraet, er i en anden visningsvinkel end billedet af det samme optisk synlige mønster, der indfanges af det eller de andre kameraer, hvor kameraerne er konfigureret til at sende data til processoren, der er repræsentative for 2D-billederne af de optisk synlige mønstre, der indfanges af kameraerne.
9. Billedstyringssystem ifølge krav 8, hvor processoren indbefatter et datasæt af mønstre, der indbefatter placeringsdata for kontrastformer på hvert af mønstrene i datasættet, og hvor processoren er konfigureret til at analysere datasættet af mønstre til bestemmelse af, hvilket af mønstrene i datasættet, der svarer til hvert af de optisk synlige mønstre i 2D-billederne, der modtages fra kameraerne.
10 Billedstyringssystem ifølge krav 9, hvor kontrastformerne indbefatter tilstødende kasser med forskellig farve, idet hvert sæt at tilstødende kasser er adskilt fra hinanden af en linje, og hvor et defineret punkt frembringes ved hjælp af et midterpunkt af to skærende linjer, og hvor processoren bestemmer placeringen af definerede punkter i datasættet af mønstre og de optisk synlige mønstre til bestemmelse af, om et bestemt mønster fra datasættet af mønstre svarer til de optisk synlige mønstre.
11. Billedstyringssystem ifølge et hvilket som helst af kravene 1-10, hvor fiksturet er konfigureret til at blive aftageligt klikket på en eller flere af patientens tænder, og hvor flangen strækker sig udad væk fra, hvor patientens tand ville være placeret.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US14/487,987 US9402691B2 (en) | 2014-09-16 | 2014-09-16 | System for determining and tracking movement during a medical procedure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DK2997927T3 true DK2997927T3 (da) | 2019-02-18 |
Family
ID=54196771
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK15185062.5T DK2997927T3 (da) | 2014-09-16 | 2015-09-14 | System til bestemmelse og sporing af bevægelse under en medicinsk procedure |
Country Status (6)
| Country | Link |
|---|---|
| US (1) | US9402691B2 (da) |
| EP (1) | EP2997927B1 (da) |
| KR (1) | KR101776062B1 (da) |
| CN (1) | CN105411678B (da) |
| DK (1) | DK2997927T3 (da) |
| ES (1) | ES2708555T3 (da) |
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| US10022202B2 (en) | 2013-03-15 | 2018-07-17 | Triagenics, Llc | Therapeutic tooth bud ablation |
| USD776813S1 (en) * | 2014-09-16 | 2017-01-17 | X-Nav Technologies, LLC | Tracking pattern holder |
| USD779062S1 (en) * | 2015-09-14 | 2017-02-14 | X-Nav Technologies, LLC | Tracking pattern holder for a surgical tool |
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| KR101820682B1 (ko) * | 2016-08-09 | 2018-01-23 | 주식회사 고영테크놀러지 | 옵티컬 트래킹용 마커, 옵티컬 트래킹 시스템 및 옵티컬 트래킹 방법 |
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2014
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2015
- 2015-09-14 DK DK15185062.5T patent/DK2997927T3/da active
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- 2015-09-16 CN CN201510591924.8A patent/CN105411678B/zh active Active
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|---|---|
| EP2997927A2 (en) | 2016-03-23 |
| CN105411678B (zh) | 2018-02-02 |
| EP2997927B1 (en) | 2018-11-07 |
| US20160074129A1 (en) | 2016-03-17 |
| ES2708555T3 (es) | 2019-04-10 |
| US9402691B2 (en) | 2016-08-02 |
| KR20160032694A (ko) | 2016-03-24 |
| KR101776062B1 (ko) | 2017-09-07 |
| EP2997927A3 (en) | 2016-08-31 |
| CN105411678A (zh) | 2016-03-23 |
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