EP3946136A1 - Système de positionnement 3d assisté par laser - Google Patents

Système de positionnement 3d assisté par laser

Info

Publication number
EP3946136A1
EP3946136A1 EP20720904.0A EP20720904A EP3946136A1 EP 3946136 A1 EP3946136 A1 EP 3946136A1 EP 20720904 A EP20720904 A EP 20720904A EP 3946136 A1 EP3946136 A1 EP 3946136A1
Authority
EP
European Patent Office
Prior art keywords
radiation
radiation unit
carrier
patient table
carrier 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.)
Pending
Application number
EP20720904.0A
Other languages
German (de)
English (en)
Inventor
Martin Deli
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.)
Amedo Smart Tracking Solutions GmbH
Original Assignee
Amedo Smart Tracking Solutions GmbH
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 Amedo Smart Tracking Solutions GmbH filed Critical Amedo Smart Tracking Solutions GmbH
Publication of EP3946136A1 publication Critical patent/EP3946136A1/fr
Pending legal-status Critical Current

Links

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
    • A61B90/11—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 with guides for needles or instruments, e.g. arcuate slides or ball joints
    • A61B90/13—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 with guides for needles or instruments, e.g. arcuate slides or ball joints guided by light, e.g. laser pointers
    • 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
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/032—Transmission computed tomography [CT]
    • A61B6/035—Mechanical aspects of CT
    • 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
    • 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
    • A61B6/04—Positioning of patients; Tiltable beds or the like
    • A61B6/0407—Supports, e.g. tables or beds, for the body or parts of the body
    • 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
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B2090/374—NMR or MRI
    • 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
    • A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
    • 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
    • A61B6/02—Arrangements for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
    • A61B6/03—Computed tomography [CT]
    • A61B6/032—Transmission computed tomography [CT]
    • 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
    • A61B6/08—Auxiliary means for directing the radiation beam to a particular spot, e.g. using light beams
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R33/00—Arrangements or instruments for measuring magnetic variables
    • G01R33/20—Arrangements or instruments for measuring magnetic variables involving magnetic resonance
    • G01R33/44—Arrangements or instruments for measuring magnetic variables involving magnetic resonance using nuclear magnetic resonance [NMR]
    • G01R33/48—NMR imaging systems

Definitions

  • the invention relates to a device for positioning instruments within an examination room, in which a radiation element marks an access area and the relative orientation of the instrument to reach a target area by means of visible radiation.
  • the invention also relates to a method for positioning an instrument within an examination room and elements for use in the method.
  • CT computed tomography
  • MRT magnetic resonance tomography
  • MRT in particular, is becoming more and more important as an imaging process. So far, no side effects of MRI are known and the patient is not exposed to any stressful X-rays. At the same time, MRT enables free slice positioning, a very detailed resolution of the soft tissue and a contrast medium-free display of blood vessels, which makes the use of this method for the display of organs and possible pathologies of them predestined.
  • a challenge in interventional radiology is still the correct placement of the instruments used for minimally invasive surgery such as needles, cannulas, etc. Because even if a suitable puncture point or a suitable access point on the body surface is relatively easy to mark, that is Introducing the instrument at the correct entry angle and with the correct puncture depth is still a major challenge for the surgeon.
  • Such a device for positioning instruments is known, for example, from WO 2006125605 A1, in which a needle positioning system according to the preamble of claim 1 is described.
  • the known system comprises a radiation source which, on the basis of image data that was acquired, for example, by CT or MRT, projects a visible beam onto the patient that images the access point and entry angle selected according to the image data. If the surgeon aligns the invasive instrument within the trajectory, correct placement of the instrument with regard to the entry point and entry angle is possible.
  • Another new feature of the known system is that it is installed in a fixed position and can therefore be used immediately.
  • the narrow range of motion of robotic navigation systems in turn often means that repositioning, scanning and registration have to be carried out because the planned intervention lies outside the set range of motion of the system. If the needles are not close together in multi-needle interventions, they must be positioned, scanned and registered several times.
  • Electromagnetic systems that are also available have a short range and the transmitter coil hinders the puncture.
  • the accuracy of such a system varies depending on the metal parts around the puncture site.
  • Expensive special needles are required for appropriate interventions and, due to the narrow registration area, only needles that are close together can be navigated.
  • Special needles for special applications are hardly available.
  • a reference frame When positioning with optical tracking systems, a reference frame must be immovably connected to the patient and the optical line must be maintained between the cameras and the reference frame.
  • the frame of reference associated with the puncture instrument hinders the surgeon and, due to his weight, has to be supported during control exposures.
  • the aim of the present invention is to develop a practical navigation system that overcomes the aforementioned limitations.
  • the system like the needle positioning system described in WO 2006125605 A1 - must be able to be used immediately at any time without registration procedures, but its use must not be limited to purely transverse access during the interventions.
  • the navigation system according to the invention should also enable the free planning and display of caudocranial and craniocaudal angled needle paths so that the most medically or therapeutically sensible access to the destination of the treatment or biopsy can always be selected. This prevents an unfavorable access from having to be used simply because this is only on one of the levels that can be represented by the system. It would be desirable to have a positioning system that can represent a flexible access path by means of a trajectory, even if the access point and target point are not in the same transverse plane.
  • this object is achieved according to the invention in that directed electromagnetic radiation marks an access area and the relative orientation of the instrument to reach the target area located in the trajectory.
  • the device according to the invention for positioning interventional instruments allows, with the directed electromagnetic radiation emanating from a radiation source, to mark a trajectory with precise positioning that corresponds to the extension of the straight line between the selected access area and the selected target area and in particular between the selected access point and the selected target point.
  • a beam or radiation in the range of radio frequencies, microwaves, infrared, also the far or near infrared, the UV range and, in particular, the visible or Vis range come into consideration as directed electromagnetic radiation.
  • the device according to the invention for positioning interventional instruments comprises an imaging system, it being possible for the imaging system to be an MR system, a CT system, an ultrasound system or another sectional image method. Layer imaging methods such as MRT and CT in particular are preferred.
  • the diagnostic film imaging systems allow the determination of the target area as well as the area by recording the examination area Access area, in particular the determination of the access point and the destination point.
  • the trajectory extends the straight line between the access area and the target area or between the access point and the target point and thus directly defines the relative orientation of the instrument.
  • the device according to the invention comprises a patient table which can be moved and / or rotated at least transversely.
  • the material of the patient table and the couch that may be placed on it is expediently made from MR-compatible material or X-ray-weak material.
  • the device according to the invention is assigned at least one carrier device.
  • at least one radiation unit is assigned to this at least one carrier device, the at least one radiation unit comprising the radiation source itself or the radiation emanating from the radiation source, for example via a radiation guide.
  • carrier device and “radiation unit” are used in the following in the singular, wherein devices according to the invention, as described, can also comprise several carrier devices and / or several radiation units.
  • a radiation guide can comprise an arrangement of glass fibers.
  • the term “radiation”, as opposed to the term “radiation source”, is to be understood in such a way that radiation - unless explicitly stated otherwise - is not only the actual radiation but also the radiation conducted away from the radiation source in a radiation conductor, for example as described above in a fiber optic cable.
  • the radiation unit and thus also the corresponding radiation can be aligned transversely relative to the patient table in a first degree of freedom.
  • the carrier device is preferably guided as a bridge in the form of a circle or a segment of a circle on a radius around the patient table, so that the radiation unit with the radiation source can be moved along the carrier device on a radius relative to the patient table.
  • the device comprises three carrier devices and three radiation units, each carrier device being assigned precisely one radiation unit.
  • the support devices are arranged in a U-shape around the patient table, with the opening of the "U" pointing downwards.
  • the three carrier devices are arranged above and to the right and left of the patient table, preferably in a plane which is perpendicular to the longitudinal axis of the patient table.
  • the carrier devices are essentially straight, but can also be partially or completely curved.
  • the carrier devices can be separate from one another or connected to one another. To represent the trajectory, the most suitable radiation unit is selected in each case, that is to say the radiation unit which is suitable for depicting the trajectory at the required angle on the examination object.
  • the carrier devices are preferably arranged at right angles to one another, but other angles are also conceivable.
  • This alternative embodiment with three carrier devices and three radiation units is advantageous, for example, when an arcuate carrier device is difficult to assemble. Also, components that are essentially straight are generally less prone to failure and easier to manufacture and thus more cost-effective than bent components. It is possible for the person skilled in the art to choose further arrangements of carrier devices and radiation units in accordance with the respective requirements.
  • the mobility of the radiation unit along the carrier device can be provided actively, that is to say by means of a drive located in the radiation unit, or passively, that is to say via a drive located outside the radiation unit.
  • a passive drive outside the radiation unit is preferred.
  • Such a passive drive can be implemented, for example, in that the radiation unit is fixed to a rope or belt-shaped transport element which is provided movably along the carrier device.
  • the transport element can be moved, for example, by a stepping motor of the type described below and the radiation unit can thus be brought into a desired position along the carrier device.
  • the carrier device is accordingly preferably designed to receive such a transport element with at least one drive motor.
  • the carrier device comprises a power supply for the radiation unit.
  • Such a power supply can be provided, for example, in the form of contact rails.
  • the advantage of contact bars is that no wiring could hinder the freedom of movement of the radiation unit.
  • the radiation unit accordingly has contacts for taking the current from the contact rail (s).
  • the radiation unit according to the invention comprises an alignment device.
  • the alignment device enables the radiation to be aligned in at least two further degrees of freedom, that is to say at least in a second and a third degree of freedom.
  • the first degree of freedom enables the entire radiation unit to be aligned transversely (within a transverse plane) relative to the patient table.
  • the second degree of freedom enables an additional alignment of the radiation within this transverse plane.
  • the first and second degrees of freedom thus enable the radiation to be aligned within a transverse plane along the sagittal and transversal axes spanning it.
  • the third degree of freedom enables the additional alignment of the radiation from the transverse plane along the longitudinal axis of the patient or the patient table.
  • the radiation can be aligned with three degrees of freedom along the three axes of movement.
  • the alignment device comprises alignment elements, in particular joints and mirror elements, in order to implement the alignment of the radiation, the mirror elements being provided movably.
  • the person skilled in the art selects the joints suitable for the particular desired mobility, for example swivel joints, ball joints, etc., as the joints.
  • the alignment elements for aligning the radiation preferably include at least one swivel joint and at least one mirror element. However, embodiments are also conceivable in which the alignment elements only comprise joints or only mirror elements.
  • the radiation through the alignment elements of the alignment device can be pivoted along the longitudinal axis and the transverse axis by up to 100 °, preferably by up to 90 ° and in particular by up to 88 °.
  • a pivoting of 90 ° along the longitudinal axis means, for example, that starting from a vertical beam on the patient table, the radiation can be pivoted by 45 ° in a first direction along the longitudinal axis, for example towards the head end of the patient table, and the radiation can be pivoted by 45 ° ° in a second Direction can take place along the longitudinal axis, for example to the foot of the patient table.
  • a goniometer can be used for precise adjustment of the laser beam relative to the patient table in the coordinate system of the examination room.
  • stepper motors are preferred, which are able to cover very small angular ranges of up to 10 4 °.
  • contact rails for powering the radiation unit in addition to the contact rails for powering the radiation unit, further contact rails for data transmission can also be provided in the carrier device.
  • the data transmission to the radiation unit can also take place in other ways, in particular via cables or also wirelessly. The person skilled in the art selects the appropriate option here.
  • the alignment of the patient table can be carried out in equally small steps, purely transversely, for example up / down, forwards / backwards or right / left.
  • a slight inclination or rotation of the patient table can also take place, but it should only take place to a small extent in order to avoid the patient's own position change in the examination room and thus in the coordinate system of the device.
  • an imaging method for example a computer tomograph, a magnetic resonance tomograph or another imaging system, is used for the control and alignment of electromagnetic radiation within the examination room.
  • the computer program required for this can be implemented, for example, on the existing hardware of the imaging systems.
  • the computer program enables the positioning device according to the invention to be controlled.
  • the computer program calculates possible position data for access areas and target areas, preferably access points and target points, or access areas and target areas, preferably access points and target points, can be selected by the surgeon on the basis of the image data. Based on the selection, the program calculates the trajectory required for correct positioning and controls a suitable carrier device with an assigned radiation unit via a control unit, so that the directed electromagnetic beam lies in the calculated trajectory.
  • the device according to the invention has the advantage over the prior art that it can display the possible freely angled access routes for invasive interventions, such as biopsies, drainage, drug delivery or tumor treatments, without contact.
  • the surgeon is not limited to a transversal access, but can choose the best possible access route with the device now proposed.
  • Fig. 1 shows the arrangement of the invention
  • FIG. 2 shows a schematic overview of the device according to the invention with a representation of the possible setting angles of the radiation.
  • FIG. 3 shows a detailed view of the
  • Carrier device with contact rails and transport element
  • Fig. 4 is a detailed view of the
  • Radiation unit with radiation guide and alignment elements
  • FIG. 5 shows a schematic view of an alternative embodiment of the device with three radiation units and three carrier devices
  • the device 1 shows the device 1 according to the invention in this case in combination with a CT as the imaging system 11.
  • the device 1 according to the invention furthermore comprises the radiation unit 2 and the carrier device 3.
  • the carrier device 3 is arranged in a segment of a circle around the patient table 4.
  • the radiation unit 2 is provided on the carrier device 3 so that it can be moved.
  • the carrier device 3 is on a folding element A at one in Connected to a defined position with respect to the tomograph 11, for example to the ceiling of the CT room or to the tomograph 11.
  • the radiation 5 can be aligned both along the transverse axis B and along the longitudinal axis C starting from the radiation unit 2. This is one of the essential advantages of the device 1 according to the invention, since it thus allows the selection of an access route outside of a purely transverse orientation within the transverse plane.
  • the radiation 5 emanating from the radiation unit 2 can preferably be pivoted by the alignment elements 7, 8 of the alignment device 6 (not shown) along the transverse axis B and the longitudinal axis C in each case by up to 90 °.
  • a pivoting of 90 ° along the longitudinal axis means, for example, that starting from an imaginary vertical beam D on the patient table (not shown), the radiation can be pivoted by 45 ° in a first direction along the longitudinal axis C, for example towards the head end of the patient table, and the radiation can be pivoted by 45 ° in a second direction along the longitudinal axis C, for example towards the foot end of the patient table.
  • FIG. 3 shows a detailed view of the carrier device 3 with contact rails 9 and transport element 10.
  • the contact rails 9 serve to supply power to the radiation unit 2, which has corresponding contacts (both not shown). These or further contact rails 9 can also be provided for the transmission of data to the radiation unit 2.
  • the transport elements 10 are presently provided as belts that can be driven by motors (not shown). In this case, the radiation unit 2 is connected to the transport element 10 and can be aligned as a passive drive along the carrier device 3 via this.
  • Fig. 4 shows a detailed view of the opened radiation unit 2 with alignment device 6.
  • the alignment device 6 comprises for implementing the Alignment of the radiation 5 alignment elements 7, 8, in the present case a swivel joint 7 for aligning the radiation guide 5 and a mirror element 8 for aligning the radiation 5 emanating from the radiation guide.
  • the alignment elements 7, 8 are provided movably via motors.
  • the person skilled in the art selects the joints 7 according to the mobility desired in each case. For example, embodiments with ball joints etc. are also conceivable. Likewise, the person skilled in the art selects the mirror elements 8 according to his specialist knowledge.
  • the alignment device 6 enables the alignment of the radiation 5 by means of the alignment elements 7, 8 - in addition to the first degree of freedom possible via the mobility of the radiation unit 2 along the carrier device - in at least two further degrees of freedom, i.e. at least in a second and a third degree of freedom. It is important here that the three degrees of freedom relate at least partially to different axes, as shown in FIG. 2.
  • FIG. 5 shows an alternative embodiment of the device 1A according to the invention with three radiation units 2A, 2B, 2C, which are each assigned to a carrier device 3A, 3B, 3C.
  • the technical structure of the radiation units 2A, 2B, 2C and the carrier devices 3A, 3B, 3C corresponds to the structure described above.
  • This alternative embodiment of the device 1A differs from the previously described embodiment with only one radiation unit and a circular-arc-shaped carrier element (as shown in FIG. 2) in that a single circular-arc-shaped carrier device with only one movable radiation unit arranged on it is not provided to represent different trajectories is.
  • three radiation units 2A, 2B, 2C are provided, each of which is assigned to a carrier device 3A, 3B, 3C.
  • the carrier devices 3A, 3B, 3C are preferably provided in a straight shape, but embodiments are also conceivable in which all or some of the carrier devices 3A, 3B, 3C can be bent.
  • the carrier devices 3A, 3B, 3C are preferably arranged in a U-shape around the patient table 4 in such a way that the opening of the “U” points downwards.
  • the carrier devices 3A, 3B, 3C are preferably arranged at a right angle to one another, arrangements at a different angle also being conceivable.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Medical Informatics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Molecular Biology (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pathology (AREA)
  • Optics & Photonics (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • High Energy & Nuclear Physics (AREA)
  • Robotics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pulmonology (AREA)
  • Theoretical Computer Science (AREA)
  • Apparatus For Radiation Diagnosis (AREA)

Abstract

Dispositif (1) de positionnement d'instruments interventionnels à l'intérieur d'une chambre d'analyse comportant un tomographe (11) pour l'enregistrement de données graphiques de diagnostic de la chambre d'analyse, une table de patient (4) déplaçable dans le sens transversal et/ou rotative, au moins une unité de rayonnement (2, 2A, 2B, 2C) pourvue d'une source de rayons qui produit le rayon électromagnétique dirigé, au moins un dispositif de support (3, 3A, 3B, 3C) affecté à chaque unité de rayonnement (2, 2A, 2B, 2C), une unité de commande pour orienter chaque unité de rayonnement (2, 2A, 2B, 2C) et la table de patient (4) selon les points d'accès et cibles choisis à l'aide des données graphiques de diagnostic, chaque unité de rayonnement (2, 2A, 2B, 2C) étant montée sur le dispositif de support respectif (3, 3A, 3B, 3C) de manière à être déplaçable avec un premier degré de liberté et le dispositif de support (3, 3A, 3B, 3C) autorisant l'aptitude au déplacement de cette unité de rayonnement (2, 2A, 2B, 2C) par rapport à la table de patient (4), un point d'accès et l'orientation relative d'un instrument pour l'obtention d'un point d'accès qui se situe sur une trajectoire de l'instrument pouvant être marqués au moyen de l'unité de rayonnement respective (2, 2A, 2B, 2C), le positionnement du dispositif de support (3, 3A, 3B, 3C) dans le système de coordonnées du tomographe (11) s'effectuant sans concordance avec un deuxième système de coordonnées du dispositif de support (3, 3A, 3B, 3C) ou de la source de rayonnement, le point d'accès et le point cible pouvant être choisis indépendamment à partir des données graphiques de diagnostic et l'unité de rayonnement (2, 2A, 2B, 2C) comprenant un dispositif d'orientation (6) pour l'orientation de la source de rayons et/ou du rayonnement (5) à au moins un deuxième et un troisième degrés de liberté, le deuxième et le troisième degrés de liberté concernant des axes de déplacement différents. (Figure 2)
EP20720904.0A 2019-04-03 2020-04-02 Système de positionnement 3d assisté par laser Pending EP3946136A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102019108753.8A DE102019108753A1 (de) 2019-04-03 2019-04-03 3D Laser-gestütztes Positionierungssystem
PCT/EP2020/059410 WO2020201428A1 (fr) 2019-04-03 2020-04-02 Système de positionnement 3d assisté par laser

Publications (1)

Publication Number Publication Date
EP3946136A1 true EP3946136A1 (fr) 2022-02-09

Family

ID=70416436

Family Applications (1)

Application Number Title Priority Date Filing Date
EP20720904.0A Pending EP3946136A1 (fr) 2019-04-03 2020-04-02 Système de positionnement 3d assisté par laser

Country Status (4)

Country Link
US (1) US20220142592A1 (fr)
EP (1) EP3946136A1 (fr)
DE (1) DE102019108753A1 (fr)
WO (1) WO2020201428A1 (fr)

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