JP2000510730A - 定位手術処置装置および方法 - Google Patents
定位手術処置装置および方法Info
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- JP2000510730A JP2000510730A JP09541086A JP54108697A JP2000510730A JP 2000510730 A JP2000510730 A JP 2000510730A JP 09541086 A JP09541086 A JP 09541086A JP 54108697 A JP54108697 A JP 54108697A JP 2000510730 A JP2000510730 A JP 2000510730A
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- 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
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Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.位置合わせアーティファクトの既知の座標フレームに対し既知の位置に複 数の基準点を含む位置合わせアーティファクトを身体に隣接するように設置する 工程と、 患者の身体および位置合わせアーティファクトから撮られた画像をコンピュー タのモニタにディスプレイする工程と、 画像にディスプレイされた位置合わせアーティファクトの基準点の二次元座標 を識別するための入力信号を受信する工程と、 画像ポイントに三次元座標を投影するパラメータを有する幾何学的モデルを作 成し、基準点の既知の三次元座標の投影が画像内の識別された二次元座標に最良 に適合するように、幾何学的モデルのパラメータを数値的に最適化することによ り、画像の位置合わせを行う工程とを備えた、身体の画像を発生するための透視 装置を使用して定位手術方法のプランを策定するための方法。 2.第1画像の角度と異なる角度からの、患者の身体および位置合わせアーテ ィファクトから撮られた第2画像をディスプレイする工程と、 第2画像上にディスプレイされた位置合わせアーティファクトの基準点の二次 現座標を識別する入力信号を受信する工程と、 画像ポイントに三次元座標を投影するパラメータを有する幾何学的モデルを作 成し、基準点の既知の三次元座標の投影が第2画像内の識別された二次元座標に 最良に適合するように、幾何学的モデルのパラメータを数値的に最適化すること により、第2画像の位置合わせを行う工程とを更に備えた、請求項1記載の方法 。 3.仮想ガイドワイヤーを部分的に指定するポイントを第2画像上に選択する ためのユーザー入力信号を受信するための工程を更に含む、請求項2記載の方法 。 4.仮想ガイドワイヤーの位置、長さおよび角度を特定する入力信号を受信す る工程を更に含む、請求項3記載の方法。 5.投影されたガイドワイヤーが画像上の仮想ガイドワイヤーの投影となるよ うに画像に投影されたガイドワイヤーのセグメントを描く工程を更に含む、請求 項4記載の方法。 6.2つの投影されたガイドワイヤーの投影である仮想ガイドワイヤーを変更 し、変更された仮想ガイドワイヤーに対応してそれぞれの画像に2つの投影され たガイドワイヤーを描き直すことにより、いずれかの画像上の投影されたガイド ワイヤーのいずれかの端部を移動するためのユーザー入力信号を受信する工程を 更に含む、請求項5記載の方法。 7.仮想ガイドワイヤーの長さを変えるためのユーザー入力信号を受信する工 程と、変更された仮想ガイドワイヤーに対応し、それぞれの画像上の2つの投影 されたガイドワイヤーを描き直す工程を更に含む、請求項5記載の方法。 8.仮想ガイドワイヤーのサジタル角を変更するためのユーザー入力信号を受 信する工程と、新しいサジタル角に基づき、仮想ガイドワイヤーの配置を更新し 、変更された仮想ガイドワイヤーに対応し、それぞれの画像上の2つの投影され たガイドワイヤーを描き直す工程とを更に備えた、請求項5記載の方法。 9.仮想ガイドワイヤーの横断角を調節するためのユーザー入力信号を受信す る工程と、新しい横断角に基づき、仮想ガイドワイヤーの配置を更新し、変更さ れた仮想ガイドワイヤーに対応し、それぞれの画像上の2つの投影されたガイド ワイヤーを描き直す工程とを更に備えた、請求項5記載の方法。 10.仮想ガイドワイヤーの頭頂角を調節するためのユーザー入力信号を受信 する工程と、新しい頭頂角に基づき、仮想ガイドワイヤーの配置を更新し、変更 された仮想ガイドワイヤーに対応し、それぞれの画像上の2つの投影されたガイ ドワイヤーを描き直す工程とを更に備えた、請求項5記載の方法。 11.器具ガイドの軸線が仮想ガイドワイヤーに一致するように器具ガイドの 座標を調節するための出力信号を発生する工程を更に含む、請求項5記載の方法 。 12.器具ガイドの軸線に沿ったガイドの位置が仮想ガイドワイヤーの端部ポ イントから所定距離だけずれるように、器具ガイドの座標を調節するための出力 信号を発生する工程を更に含む、請求項11載の方法。 13.自動機械装置に前記座標を送信する工程を更に含む、請求項11記載の 方法。 14.オペレータ要員が機械装置を手で調節する際に使用する前記座標をディ スプレイする工程を更に含む、請求項11記載の方法。 15.位置合わせアーティファクトが器具ガイドを含む、請求項11記載の方 法。 16.手術器具に対する仮想ターゲットポイントを部分的に指定するポイント を第1画像上に選択するためのユーザー入力信号を受信するための工程を更に含 む、請求項2記載の方法。 17.投影されたターゲットポイントが画像上の仮想ターゲットポイントの投 影となるように、第1画像に投影されたターゲットポイントおよび第2画像に別 の投影されたターゲットポイントを描く工程を更に含む、請求項16記載の方法 。 18.2つの投影されたターゲットポイントの投影である仮想ターゲットポイ ントを変更し、変更された仮想ターゲットポイントに対応してそれぞれの画像に 2つの投影されたターゲットポイントを描き直すことにより、いずれかの画像上 で投影されたターゲットポイントを移動するためのユーザー入力信号を受信する 工程を更に含む、請求項17記載の方法。 19.器具ガイドの軸線が仮想ターゲットポイントに交差するように器具ガイ ドの座標を調節するための出力信号を発生する工程を更に含む、請求項18記載 の方法。 20.器具ガイドの軸線に沿ったガイドの位置が仮想ターゲットポイントの端 部ポイントから所定距離だけずれるように、器具ガイドの座標を調節するための 出力信号を発生する工程を更に含む、請求項19載の方法。 21.自動機械装置に前記座標を送信する工程を更に含む、請求項19記載の 方法。 22.オペレータ要員が機械装置を手で調節する際に使用する前記座標をディ スプレイする工程を更に含む、請求項19記載の方法。 23.位置合わせアーティファクトが器具ガイドを含む、請求項19記載の方 法。 24.身体への手術器具の軌道を示す仮想ガイドワイヤーを示すポイントを第 1画像上で選択するためのユーザー入力信号を受信するための工程を更に含む、 請求項1記載の方法。 25.器具ガイドの軸線が仮想ガイドワイヤーに一致するように器具ガイドの 座標を調節するための出力信号を発生する工程を更に含む、請求項24記載の方 法。 26.自動機械装置に前記座標を送信する工程を更に含む、請求項25記載の 方法。 27.オペレータ要員が機械装置を手で調節する際に使用する前記座標をディ スプレイする工程を更に含む、請求項25記載の方法。 28.位置合わせアーティファクトが器具ガイドを含む、請求項25記載の方 法。 29.複数の基準点を含む位置合わせアーティファクトを身体に隣接させるよ うに設置するための手段と、 身体および基準点から撮られた画像をディスプレイするための手段と、 画像内の基準点の二次元座標を識別するための手段と、 前記基準点のアーティファクトに対し、画像の位置合わせを行うための手段と 、 前記ガイドワイヤーまたはターゲットポイントの投影を画像に重ねてディスプ レイしながら、仮想ガイドワイヤーまたはターゲットポイントを選択し、調節す るための入力信号を受信するための手段と、 器具ガイドの座標を調節するための出力信号を発生するための手段とを備えた 、身体の画像を発生するための透視装置を使用する、定位手術方法のプランを策 定するための装置。 30.既知の座標フレームに対する既知の三次元座標に位置する複数の基準点 を含む、身体に隣接する位置合わせアーティファクトと、 身体および基準点から撮られた少なくとも1つの画像を少なくとも1つのコン ピュータのモニタ上にディスプレイするための手段と、 各々の画像における基準点の二次現座標を識別するための手段と、 基準点の既知の三次元座標の投影が画像内の識別された二次元座標に最良に適 合するように、画像ポイントに三次元座標を投影する幾何学的モデルのパラメー タを数値的に最適にするための手段とを備えた、身体の画像を発生するための透 視装置を使用して身体へ手術器具を線上軌道に沿って挿入するための定位手術方 法のプランを策定するための装置。 31.仮想ガイドワイヤーの位置、長さおよび角度を選択するためのユーザー 入力信号を受信するための手段と、仮想ガイドワイヤーの位置を示す各位置合わ せされた画像上の投影されたガイドワイヤーセグメントをディスプレイするため の手段とを更に備えた、請求項30記載の装置。 32.器具ガイドと、この器具ガイドの座標を調節するための出力信号を発生 するための手段とを更に備えた、請求項30記載の装置。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US64831396A | 1996-05-15 | 1996-05-15 | |
US08/648,313 | 1996-05-15 | ||
US08/649,798 | 1996-05-17 | ||
US08/649,798 US5799055A (en) | 1996-05-15 | 1996-05-17 | Apparatus and method for planning a stereotactic surgical procedure using coordinated fluoroscopy |
PCT/US1997/008128 WO1997042898A1 (en) | 1996-05-15 | 1997-05-14 | Stereotactic surgical procedure apparatus and method |
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JP2007187400A Division JP5065783B2 (ja) | 1996-05-15 | 2007-07-18 | 定位手術処置装置および方法 |
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JP2000510730A true JP2000510730A (ja) | 2000-08-22 |
JP2000510730A5 JP2000510730A5 (ja) | 2005-01-13 |
JP4469423B2 JP4469423B2 (ja) | 2010-05-26 |
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JP54108697A Expired - Fee Related JP4469423B2 (ja) | 1996-05-15 | 1997-05-14 | 定位手術処置装置および方法 |
JP2007187400A Expired - Lifetime JP5065783B2 (ja) | 1996-05-15 | 2007-07-18 | 定位手術処置装置および方法 |
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CA (1) | CA2255041C (ja) |
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- 1997-05-14 CA CA002255041A patent/CA2255041C/en not_active Expired - Lifetime
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JP2016503322A (ja) * | 2012-11-16 | 2016-02-04 | キュンポク ナショナル ユニバーシティ インダストリー−アカデミック コーオペレーション ファウンデーションKyungpook National University Industry−Academic Coorperation Foundation | 整復施術ロボット及びその駆動制御方法 |
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NZ332764A (en) | 2000-08-25 |
WO1997042898A1 (en) | 1997-11-20 |
CA2255041A1 (en) | 1997-11-20 |
EP0955935A4 (en) | 2002-02-27 |
US5799055A (en) | 1998-08-25 |
CA2255041C (en) | 2006-11-21 |
IL127027A0 (en) | 1999-09-22 |
JP2007307399A (ja) | 2007-11-29 |
EP0955935A1 (en) | 1999-11-17 |
AU3066497A (en) | 1997-12-05 |
TW384217B (en) | 2000-03-11 |
IL127027A (en) | 2003-05-29 |
US6198794B1 (en) | 2001-03-06 |
JP5065783B2 (ja) | 2012-11-07 |
US6069932A (en) | 2000-05-30 |
JP4469423B2 (ja) | 2010-05-26 |
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