EP3253320A4 - Système et procédé de positionnement de navigation de robot neurochirurgical - Google Patents

Système et procédé de positionnement de navigation de robot neurochirurgical Download PDF

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Publication number
EP3253320A4
EP3253320A4 EP16741841.7A EP16741841A EP3253320A4 EP 3253320 A4 EP3253320 A4 EP 3253320A4 EP 16741841 A EP16741841 A EP 16741841A EP 3253320 A4 EP3253320 A4 EP 3253320A4
Authority
EP
European Patent Office
Prior art keywords
positioning system
navigation positioning
robot navigation
neurosurgical robot
neurosurgical
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.)
Withdrawn
Application number
EP16741841.7A
Other languages
German (de)
English (en)
Other versions
EP3253320A1 (fr
Inventor
Rongjun Wang
Depeng ZHAO
Lilong ZHANG
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.)
Beijing Baihui Weikang Technology Co Ltd
Original Assignee
Beijing Baihui Weikang Technology Co Ltd
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 Beijing Baihui Weikang Technology Co Ltd filed Critical Beijing Baihui Weikang Technology Co Ltd
Publication of EP3253320A1 publication Critical patent/EP3253320A1/fr
Publication of EP3253320A4 publication Critical patent/EP3253320A4/fr
Withdrawn legal-status Critical Current

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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
    • A61B34/30—Surgical robots
    • A61B34/32—Surgical robots operating autonomously
    • 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
    • A61B34/30—Surgical robots
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H50/00—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics
    • G16H50/50—ICT specially adapted for medical diagnosis, medical simulation or medical data mining; ICT specially adapted for detecting, monitoring or modelling epidemics or pandemics for simulation or modelling of medical disorders
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/101—Computer-aided simulation of surgical operations
    • A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45117—Medical, radio surgery manipulator

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Robotics (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Pathology (AREA)
  • General Business, Economics & Management (AREA)
  • Business, Economics & Management (AREA)
  • Urology & Nephrology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Data Mining & Analysis (AREA)
  • Databases & Information Systems (AREA)
  • Manipulator (AREA)
EP16741841.7A 2016-04-29 2016-07-21 Système et procédé de positionnement de navigation de robot neurochirurgical Withdrawn EP3253320A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610285561.XA CN105852970B (zh) 2016-04-29 2016-04-29 神经外科机器人导航定位系统及方法
PCT/CN2016/090789 WO2017185540A1 (fr) 2016-04-29 2016-07-21 Système et procédé de positionnement de navigation de robot neurochirurgical

Publications (2)

Publication Number Publication Date
EP3253320A1 EP3253320A1 (fr) 2017-12-13
EP3253320A4 true EP3253320A4 (fr) 2017-12-13

Family

ID=56628880

Family Applications (1)

Application Number Title Priority Date Filing Date
EP16741841.7A Withdrawn EP3253320A4 (fr) 2016-04-29 2016-07-21 Système et procédé de positionnement de navigation de robot neurochirurgical

Country Status (3)

Country Link
EP (1) EP3253320A4 (fr)
CN (1) CN105852970B (fr)
WO (1) WO2017185540A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
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CN117653332B (zh) * 2024-02-01 2024-04-12 四川省肿瘤医院 一种影像导航策略的确定方法及系统

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CN107536643A (zh) * 2017-08-18 2018-01-05 北京航空航天大学 一种前交叉韧带重建的增强现实手术导航系统
CN107374729B (zh) * 2017-08-21 2021-02-23 刘洋 基于ar技术的手术导航系统及方法
CN107440797B (zh) * 2017-08-21 2020-04-03 刘洋 用于手术导航的注册配准系统及方法
CN107595287B (zh) * 2017-09-21 2020-09-25 燕山大学 一种将鲤鱼磁共振扫描坐标转换为脑立体定位坐标的方法
CN109596125B (zh) * 2017-09-30 2022-03-11 北京柏惠维康科技有限公司 一种机器人的空间坐标系转换关系的确定方法和装置
CN107997822B (zh) * 2017-12-06 2021-03-19 上海卓梦医疗科技有限公司 微创手术定位系统
CN116602766A (zh) * 2018-01-31 2023-08-18 武汉联影智融医疗科技有限公司 骨科操作系统及其控制方法
US11229493B2 (en) * 2019-01-18 2022-01-25 Nuvasive, Inc. Motion programming of a robotic device
CN109877832B (zh) * 2019-02-28 2022-05-10 广东工业大学 一种位置确定方法、系统及相关装置
CN109935311A (zh) * 2019-03-21 2019-06-25 刘伟民 一种大型数字化医疗器械安全管理方法及系统
FR3094124B1 (fr) * 2019-03-21 2022-08-12 Squaremind Procede de guidage d’un bras robot, systeme de guidage
CN109938842B (zh) * 2019-04-18 2021-07-30 雅客智慧（北京）科技有限公司 面部外科手术定位导航方法及装置
CN110000793A (zh) * 2019-04-29 2019-07-12 武汉库柏特科技有限公司 一种机器人运动控制方法、装置、存储介质和机器人
CN110192920A (zh) * 2019-06-19 2019-09-03 雅客智慧（北京）科技有限公司 一种手术机器人
CN110215285A (zh) * 2019-07-16 2019-09-10 华志微创医疗科技（北京）有限公司 手术导航的纠偏方法及系统
CN110897717B (zh) * 2019-12-09 2021-06-18 苏州微创畅行机器人有限公司 导航手术系统及其注册方法与电子设备
CN113041519A (zh) * 2019-12-27 2021-06-29 重庆海扶医疗科技股份有限公司 一种智能空间定位方法
CN111202651B (zh) * 2020-01-20 2022-01-25 武汉联影智融医疗科技有限公司 手术辅助机器人系统、支撑解锁机构及其解锁方法
CN111481268B (zh) * 2020-04-17 2021-06-29 吉林大学第一医院 颅底卵圆孔自动定位及引导系统
CN111640345A (zh) * 2020-05-22 2020-09-08 北京数医脊微科技有限公司 脊柱内镜穿刺置管训练方法、装置及计算机设备
CN112807084B (zh) * 2020-06-01 2023-06-02 上海库欣医疗科技有限公司 用于脑干出血手术导航的颅脑穿刺路径建立方法及导航方法
CN111821025B (zh) * 2020-07-21 2022-05-13 腾讯科技（深圳）有限公司 空间定位方法、装置、设备、存储介质以及导航棒
CN111887990B (zh) * 2020-08-06 2021-08-13 杭州湖西云百生科技有限公司 基于5g技术的远程手术导航云桌面系统
CN114454172B (zh) * 2020-09-25 2024-04-23 武汉联影智融医疗科技有限公司 机械臂的末端适配器的控制方法
CN112155732B (zh) * 2020-09-29 2022-05-17 苏州微创畅行机器人有限公司 可读存储介质、骨建模配准系统及骨科手术系统
CN112336462B (zh) * 2020-11-05 2022-03-18 华志微创医疗科技（北京）有限公司 一种智能型主从结合机械臂
CN112587232B (zh) * 2020-12-10 2022-05-13 中国人民解放军空军军医大学 一种用于神经外科手术的vr模拟牵引装置及系统
CN113100934A (zh) * 2021-04-06 2021-07-13 德智鸿(上海)机器人有限责任公司 手术辅助方法、装置、计算机设备和存储介质
CN113100939A (zh) * 2021-04-06 2021-07-13 德智鸿(上海)机器人有限责任公司 骨科手术导航方法、装置、计算机设备、系统和存储介质
CN113855244B (zh) * 2021-09-08 2022-10-18 江苏集奥医工交叉科技有限公司 一种用于疼痛治疗的手术机器人
CN115005851A (zh) * 2022-06-09 2022-09-06 上海市胸科医院 基于三角定位的结节定位方法、装置和电子设备

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US20130218005A1 (en) * 2012-02-08 2013-08-22 University Of Maryland, Baltimore Minimally invasive neurosurgical intracranial robot system and method
US20150335390A1 (en) * 2010-12-21 2015-11-26 Renishaw (Ireland) Limited Method and apparatus for analysing images

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US20090177081A1 (en) * 2005-01-13 2009-07-09 Mazor Surgical Technologies, Ltd. Image guided robotic system for keyhole neurosurgery
US20100137880A1 (en) * 2007-06-19 2010-06-03 Medtech S.A. Multi-application robotized platform for neurosurgery and resetting method
US20150335390A1 (en) * 2010-12-21 2015-11-26 Renishaw (Ireland) Limited Method and apparatus for analysing images
US20120226145A1 (en) * 2011-03-03 2012-09-06 National University Of Singapore Transcutaneous robot-assisted ablation-device insertion navigation system
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Title
See also references of WO2017185540A1 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117653332B (zh) * 2024-02-01 2024-04-12 四川省肿瘤医院 一种影像导航策略的确定方法及系统

Also Published As

Publication number Publication date
EP3253320A1 (fr) 2017-12-13
WO2017185540A1 (fr) 2017-11-02
CN105852970B (zh) 2019-06-14
CN105852970A (zh) 2016-08-17

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